2025-02-05T23:31:42.690Z,1738798302.690 [CommandExec](IMPORTANT): got command restart logs
2025-02-05T23:31:43.610Z,1738798303.610 [DataOverHttps](IMPORTANT): SBD MTMSN=20250205T233142
2025-02-05T23:31:53.510Z,1738798313.510 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.771 degree;set transit.Longitude -121.860001 degree;set transit.Depth 3 m;set transit.MaxDepth 9 m" 1a9ce 1 2
2025-02-05T23:31:53.529Z,1738798313.529 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.771 degree;set transit.Longitude -121.860001 degree;set transit.Depth 3 m;set transit.MaxDepth 9 m" 1a9ce 1 2.000000
2025-02-05T23:31:53.529Z,1738798313.529 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1a9ce
2025-02-05T23:31:53.530Z,1738798313.530 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='1a9ce'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.771 degree;set transit.Longitude -121.860001 degree;set transit.Depth 3 m;set transit.MaxDepth 9 m", ASAP
2025-02-05T23:31:54.502Z,1738798314.502 [DataOverHttps](IMPORTANT): SBD MTMSN=20250205T233153
2025-02-05T23:32:02.020Z,1738798322.020 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.0001 km;run" 1a9ce 2 2
2025-02-05T23:32:02.036Z,1738798322.036 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.0001 km;run" 1a9ce 2 2.000000
2025-02-05T23:32:02.036Z,1738798322.036 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1a9ce
2025-02-05T23:32:02.037Z,1738798322.037 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='1a9ce'): "set transit.MinOffshore 0.0001 km;run", ASAP
2025-02-05T23:32:02.166Z,1738798322.166 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-05T23:32:02.166Z,1738798322.166 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-05T23:32:02.166Z,1738798322.166 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-05T23:32:02.167Z,1738798322.167 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-05T23:32:02.848Z,1738798322.848 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-02-05T23:32:02.853Z,1738798322.853 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-05T23:32:02.855Z,1738798322.855 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-05T23:32:02.859Z,1738798322.859 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-05T23:32:02.862Z,1738798322.862 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-05T23:32:02.864Z,1738798322.864 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-05T23:32:02.866Z,1738798322.866 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-05T23:32:02.868Z,1738798322.868 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-05T23:32:02.870Z,1738798322.870 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-05T23:32:02.872Z,1738798322.872 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-05T23:32:02.874Z,1738798322.874 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-05T23:32:02.877Z,1738798322.877 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-05T23:32:02.878Z,1738798322.878 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-05T23:32:02.880Z,1738798322.880 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-05T23:32:02.881Z,1738798322.881 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-05T23:32:02.881Z,1738798322.881 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-05T23:32:02.882Z,1738798322.882 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-05T23:32:03.247Z,1738798323.247 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-02-05T23:32:03.260Z,1738798323.260 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-05T23:32:03.262Z,1738798323.262 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-05T23:32:03.265Z,1738798323.265 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-05T23:32:03.267Z,1738798323.267 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-05T23:32:03.269Z,1738798323.269 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-05T23:32:03.271Z,1738798323.271 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-05T23:32:03.274Z,1738798323.274 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-05T23:32:03.276Z,1738798323.276 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-05T23:32:03.282Z,1738798323.282 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-05T23:32:03.351Z,1738798323.351 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-05T23:32:03.351Z,1738798323.351 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-05T23:32:03.352Z,1738798323.352 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-05T23:32:03.415Z,1738798323.415 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-02-05T23:32:03.419Z,1738798323.419 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-05T23:32:03.422Z,1738798323.422 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-05T23:32:03.424Z,1738798323.424 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-05T23:32:03.426Z,1738798323.426 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-05T23:32:03.427Z,1738798323.427 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-05T23:32:03.432Z,1738798323.432 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-05T23:32:03.438Z,1738798323.438 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-05T23:32:03.503Z,1738798323.503 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-05T23:32:03.503Z,1738798323.503 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-05T23:32:03.505Z,1738798323.505 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-05T23:32:03.554Z,1738798323.554 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-02-05T23:32:03.561Z,1738798323.561 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-05T23:32:03.563Z,1738798323.563 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-05T23:32:03.566Z,1738798323.566 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-05T23:32:03.566Z,1738798323.566 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-05T23:32:03.567Z,1738798323.567 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-05T23:32:03.709Z,1738798323.709 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-02-05T23:32:03.715Z,1738798323.715 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-05T23:32:03.717Z,1738798323.717 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-05T23:32:03.719Z,1738798323.719 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-05T23:32:03.727Z,1738798323.727 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-05T23:32:03.730Z,1738798323.730 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-05T23:32:03.736Z,1738798323.736 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-05T23:32:03.737Z,1738798323.737 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-05T23:32:03.740Z,1738798323.740 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-05T23:32:03.746Z,1738798323.746 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-05T23:32:03.750Z,1738798323.750 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-05T23:32:03.753Z,1738798323.753 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-05T23:32:03.791Z,1738798323.791 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for commumications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
      set northingsDelta = Northings
      set eastingsDelta = Eastings
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-02-05T23:32:03.814Z,1738798323.814 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-05T23:32:12.085Z,1738798332.085 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2025-02-05T23:32:12.087Z,1738798332.088 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute
2025-02-05T23:32:12.091Z,1738798332.091 [CommandExec](IMPORTANT): got command set transit.Latitude 36.771 degree
2025-02-05T23:32:12.094Z,1738798332.094 [CommandExec](IMPORTANT): got command set transit.Longitude -121.860001 degree
2025-02-05T23:32:12.095Z,1738798332.095 [CommandExec](IMPORTANT): got command set transit.Depth 3 meter
2025-02-05T23:32:12.095Z,1738798332.095 [CommandExec](IMPORTANT): got command set transit.MaxDepth 9 meter
2025-02-05T23:32:13.523Z,1738798333.523 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.0001 kilometer
2025-02-05T23:32:13.524Z,1738798333.524 [CommandExec](IMPORTANT): got command run
2025-02-05T23:32:13.525Z,1738798333.525 [CommandExec](IMPORTANT): Running 
2025-02-05T23:32:13.607Z,1738798333.607 [Default] Stopped
2025-02-05T23:32:13.607Z,1738798333.607 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-05T23:32:13.607Z,1738798333.607 [Default:B.GoToSurface] Stopped
2025-02-05T23:32:13.607Z,1738798333.607 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-05T23:32:13.608Z,1738798333.608 [Default:CheckIn] Stopped
2025-02-05T23:32:13.608Z,1738798333.608 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-05T23:32:13.608Z,1738798333.608 [Default:CheckIn:C.Wait] Stopped
2025-02-05T23:32:13.608Z,1738798333.608 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-05T23:32:13.608Z,1738798333.608 [MissionManager](IMPORTANT): Started mission transit
2025-02-05T23:32:13.608Z,1738798333.608 [transit] Running Loop=1
2025-02-05T23:32:13.609Z,1738798333.609 [transit](DEBUG): Aggregate::initialize transit
2025-02-05T23:32:13.609Z,1738798333.609 [transit:StandardEnvelopes] Running Loop=1
2025-02-05T23:32:13.609Z,1738798333.609 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-02-05T23:32:13.609Z,1738798333.609 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-05T23:32:13.609Z,1738798333.609 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-05T23:32:13.609Z,1738798333.609 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-05T23:32:13.609Z,1738798333.609 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-05T23:32:13.609Z,1738798333.609 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-05T23:32:13.609Z,1738798333.609 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-05T23:32:13.609Z,1738798333.609 [transit:BackseatDriver] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-02-05T23:32:13.610Z,1738798333.610 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:PowerOnly] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-02-05T23:32:13.610Z,1738798333.610 [transit:PowerOnly:A] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:PowerOnly:B] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:PowerOnly:C] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:PowerOnly:D] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:PowerOnly:E.Wait] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-05T23:32:13.610Z,1738798333.610 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-05T23:32:13.610Z,1738798333.610 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-05T23:32:13.611Z,1738798333.611 [transit:MassHold.Pitch] Running Loop=1
2025-02-05T23:32:13.611Z,1738798333.611 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-02-05T23:32:13.611Z,1738798333.611 [transit:B] Running Loop=1
2025-02-05T23:32:13.611Z,1738798333.611 [transit:MassHold.Pitch] Running Loop=1
2025-02-05T23:32:13.628Z,1738798333.628 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-05T23:32:13.629Z,1738798333.629 [transit:PowerOnly] Running Loop=1
2025-02-05T23:32:13.629Z,1738798333.629 [transit:PowerOnly:D] Stopped
2025-02-05T23:32:13.629Z,1738798333.629 [transit:PowerOnly:C] Stopped
2025-02-05T23:32:13.629Z,1738798333.629 [transit:PowerOnly:B] Stopped
2025-02-05T23:32:13.629Z,1738798333.629 [transit:PowerOnly:A] Stopped
2025-02-05T23:32:13.629Z,1738798333.629 [transit:BackseatDriver] Running Loop=1
2025-02-05T23:32:13.629Z,1738798333.629 [transit:StandardEnvelopes] Running Loop=1
2025-02-05T23:32:13.630Z,1738798333.630 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-05T23:32:13.630Z,1738798333.630 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-02-05T23:32:13.646Z,1738798333.646 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-05T23:32:13.646Z,1738798333.646 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-05T23:32:13.647Z,1738798333.647 [transit:B] Stopped
2025-02-05T23:32:13.647Z,1738798333.647 [transit:C] Running Loop=1
2025-02-05T23:32:14.003Z,1738798334.003 [transit:C] Stopped
2025-02-05T23:32:14.003Z,1738798334.003 [transit:E] Running Loop=1
2025-02-05T23:32:14.409Z,1738798334.409 [transit:E] Stopped
2025-02-05T23:32:14.409Z,1738798334.409 [transit:F] Running Loop=1
2025-02-05T23:32:14.801Z,1738798334.801 [transit:F] Stopped
2025-02-05T23:32:14.801Z,1738798334.801 [transit:G] Running Loop=1
2025-02-05T23:32:15.221Z,1738798335.221 [transit:G] Stopped
2025-02-05T23:32:15.221Z,1738798335.221 [transit:Transit] Running Loop=1
2025-02-05T23:32:15.221Z,1738798335.221 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-02-05T23:32:15.221Z,1738798335.221 [transit:Transit:A.Pitch] Running Loop=1
2025-02-05T23:32:15.221Z,1738798335.221 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-02-05T23:32:15.221Z,1738798335.221 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-05T23:32:15.221Z,1738798335.221 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-02-05T23:32:15.221Z,1738798335.221 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-05T23:32:15.222Z,1738798335.222 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-05T23:32:15.223Z,1738798335.223 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.771000,-121.860001
2025-02-05T23:32:15.223Z,1738798335.223 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-05T23:32:15.608Z,1738798335.608 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.771000,-121.860001
2025-02-05T23:32:15.609Z,1738798335.609 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-05T23:32:15.609Z,1738798335.609 [transit:Transit:A.Pitch] Running Loop=1
2025-02-05T23:33:26.393Z,1738798406.393 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:33:49.128Z,1738798429.128 [Radio_Surface](INFO): Powering down
2025-02-05T23:33:57.520Z,1738798437.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:33:58.527Z,1738798438.527 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-05T23:35:34.961Z,1738798534.961 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.783508
2025-02-05T23:40:27.423Z,1738798827.423 [transit:NeedComms] Running Loop=1
2025-02-05T23:40:27.423Z,1738798827.423 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-02-05T23:40:27.423Z,1738798827.423 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-02-05T23:40:27.423Z,1738798827.423 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-05T23:40:27.423Z,1738798827.423 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-05T23:40:27.424Z,1738798827.424 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-05T23:40:27.424Z,1738798827.424 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-05T23:40:27.425Z,1738798827.425 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-05T23:40:27.425Z,1738798827.425 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-05T23:40:27.425Z,1738798827.425 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-05T23:40:27.426Z,1738798827.426 [transit:NeedComms:A] Running Loop=1
2025-02-05T23:40:27.428Z,1738798827.428 [transit:NeedComms:A](INFO): last time_fix was:  1738798106.000000 second since 1970/01/01T00:00:00Z 
2025-02-05T23:40:27.428Z,1738798827.428 [transit:NeedComms:A] Stopped
2025-02-05T23:40:39.972Z,1738798839.972 [transit:NeedComms:C] Running Loop=1
2025-02-05T23:40:40.359Z,1738798840.359 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-05T23:40:40.438Z,1738798840.438 [Radio_Surface](INFO): Powering up
2025-02-05T23:40:46.260Z,1738798846.260 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-05T23:41:04.991Z,1738798864.991 [NAL9602](INFO): SBD MO Status=0, MOMSN=12497, MT Status=0, MTMSN=0
2025-02-05T23:41:04.991Z,1738798864.991 [NAL9602](INFO): No messages in MT queue
2025-02-05T23:41:06.207Z,1738798866.207 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234105.00,A,3647.69045,N,12148.40625,W,0.544,193.42,050225,,,A*76
2025-02-05T23:41:06.209Z,1738798866.209 [NAL9602](INFO): GPS fix at 20250205T234105: (36.794841, -121.806771)
2025-02-05T23:41:06.239Z,1738798866.239 [transit:NeedComms:C] Stopped
2025-02-05T23:41:06.240Z,1738798866.240 [transit:NeedComms:D] Running Loop=1
2025-02-05T23:41:06.655Z,1738798866.655 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-05T23:41:15.998Z,1738798875.998 [NAL9602](INFO): SBD MO Status=1, MOMSN=12498, MT Status=0, MTMSN=0
2025-02-05T23:41:16.048Z,1738798876.048 [NAL9602](INFO): Sent 39 bytes from file Logs/20250205T184825/Courier0118.lzma
2025-02-05T23:41:16.048Z,1738798876.048 [NAL9602](INFO): Packets left to send: 0
2025-02-05T23:41:16.380Z,1738798876.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:41:25.877Z,1738798885.877 [NAL9602](INFO): SBD MO Status=1, MOMSN=12499, MT Status=0, MTMSN=0
2025-02-05T23:41:25.937Z,1738798885.937 [NAL9602](INFO): Sent 268 bytes from file Logs/20250205T233142/Courier0000.lzma
2025-02-05T23:41:25.937Z,1738798885.937 [NAL9602](INFO): Packets left to send: 0
2025-02-05T23:41:38.532Z,1738798898.532 [NAL9602](INFO): SBD MO Status=1, MOMSN=12500, MT Status=0, MTMSN=0
2025-02-05T23:41:38.584Z,1738798898.584 [NAL9602](INFO): Sent 106 bytes from file Logs/20250205T184825/Express0119.lzma
2025-02-05T23:41:38.584Z,1738798898.584 [NAL9602](INFO): Packets left to send: 0
2025-02-05T23:41:47.504Z,1738798907.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:41:50.659Z,1738798910.659 [NAL9602](INFO): SBD MO Status=1, MOMSN=12501, MT Status=0, MTMSN=0
2025-02-05T23:41:50.713Z,1738798910.713 [NAL9602](INFO): Sent 332 bytes from file Logs/20250205T233142/Express0001.lzma
2025-02-05T23:41:50.713Z,1738798910.713 [NAL9602](INFO): Packets left to send: 2
2025-02-05T23:42:00.456Z,1738798920.456 [NAL9602](INFO): SBD MO Status=1, MOMSN=12502, MT Status=0, MTMSN=0
2025-02-05T23:42:00.509Z,1738798920.509 [NAL9602](INFO): Sent 332 bytes from file Logs/20250205T233142/Express0001.lzma
2025-02-05T23:42:00.509Z,1738798920.509 [NAL9602](INFO): Packets left to send: 1
2025-02-05T23:42:08.601Z,1738798928.601 [NAL9602](INFO): SBD MO Status=1, MOMSN=12503, MT Status=0, MTMSN=0
2025-02-05T23:42:08.649Z,1738798928.649 [NAL9602](INFO): Sent 220 bytes from file Logs/20250205T233142/Express0001.lzma
2025-02-05T23:42:08.649Z,1738798928.649 [NAL9602](INFO): Packets left to send: 0
2025-02-05T23:42:17.083Z,1738798937.083 [NAL9602](INFO): SBD MO Status=0, MOMSN=12504, MT Status=0, MTMSN=0
2025-02-05T23:42:17.164Z,1738798937.164 [transit:NeedComms:D] Stopped
2025-02-05T23:42:17.165Z,1738798937.165 [transit:NeedComms:E] Running Loop=1
2025-02-05T23:42:17.518Z,1738798937.518 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-05T23:42:18.628Z,1738798938.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:42:19.508Z,1738798939.508 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234218.00,A,3647.67997,N,12148.40883,W,0.680,185.47,050225,,,A*7A
2025-02-05T23:42:19.510Z,1738798939.510 [NAL9602](INFO): GPS fix at 20250205T234218: (36.794666, -121.806814)
2025-02-05T23:42:19.529Z,1738798939.529 [transit:NeedComms:E] Stopped
2025-02-05T23:42:19.530Z,1738798939.530 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-02-05T23:42:19.530Z,1738798939.530 [transit:NeedComms] Stopped
2025-02-05T23:42:19.530Z,1738798939.530 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-02-05T23:42:19.530Z,1738798939.530 [transit:NeedComms:B.GoToSurface] Stopped
2025-02-05T23:42:19.530Z,1738798939.530 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-05T23:42:49.780Z,1738798969.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:42:51.181Z,1738798971.181 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-05T23:43:01.259Z,1738798981.259 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 6.71 mm (1 active estimators).
2025-02-05T23:43:52.409Z,1738799032.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:44:01.780Z,1738799041.780 [Radio_Surface](INFO): Powering down
2025-02-05T23:44:23.544Z,1738799063.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:44:24.548Z,1738799064.548 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-05T23:52:53.108Z,1738799573.108 [BPC1](ERROR): Battery stick #57 (s/n: 01A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0BD0.
2025-02-05T23:52:53.108Z,1738799573.108 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-05T23:52:53.109Z,1738799573.109 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 3.
2025-02-05T23:52:53.112Z,1738799573.112 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 62.
2025-02-05T23:54:20.830Z,1738799660.830 [transit:NeedComms] Running Loop=1
2025-02-05T23:54:20.830Z,1738799660.830 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-02-05T23:54:20.830Z,1738799660.830 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-02-05T23:54:20.830Z,1738799660.830 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-05T23:54:20.831Z,1738799660.831 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-05T23:54:20.831Z,1738799660.831 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-05T23:54:20.831Z,1738799660.831 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-05T23:54:20.832Z,1738799660.832 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-05T23:54:20.833Z,1738799660.833 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-05T23:54:20.833Z,1738799660.833 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-05T23:54:20.833Z,1738799660.833 [transit:NeedComms:A] Running Loop=1
2025-02-05T23:54:20.835Z,1738799660.835 [transit:NeedComms:A](INFO): last time_fix was:  1738798938.000000 second since 1970/01/01T00:00:00Z 
2025-02-05T23:54:20.835Z,1738799660.835 [transit:NeedComms:A] Stopped
2025-02-05T23:54:35.117Z,1738799675.117 [transit:NeedComms:C] Running Loop=1
2025-02-05T23:54:35.836Z,1738799675.836 [Radio_Surface](INFO): Powering up
2025-02-05T23:54:42.060Z,1738799682.060 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-05T23:54:50.858Z,1738799690.858 [NAL9602](INFO): SBD MO Status=2, MOMSN=12505, MT Status=2, MTMSN=0
2025-02-05T23:54:50.858Z,1738799690.858 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-05T23:55:12.180Z,1738799712.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:55:38.183Z,1738799738.183 [NAL9602](INFO): SBD MO Status=2, MOMSN=12505, MT Status=2, MTMSN=0
2025-02-05T23:55:38.183Z,1738799738.183 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-05T23:55:43.348Z,1738799743.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:56:08.079Z,1738799768.079 [NAL9602](INFO): SBD MO Status=2, MOMSN=12505, MT Status=2, MTMSN=0
2025-02-05T23:56:08.079Z,1738799768.079 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-05T23:56:14.476Z,1738799774.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:56:27.871Z,1738799787.871 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=12505, MT Status=1, MTMSN=224
2025-02-05T23:56:27.871Z,1738799787.871 [NAL9602](INFO): Data available in MT queue
2025-02-05T23:56:28.617Z,1738799788.617 [NAL9602](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;run
2025-02-05T23:56:28.726Z,1738799788.726 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-05T23:56:28.726Z,1738799788.726 [MissionManager](INFO): Uninitializing Mission transit
2025-02-05T23:56:28.741Z,1738799788.741 [transit] Stopped
2025-02-05T23:56:28.741Z,1738799788.741 [transit](DEBUG): Aggregate::uninitialize transit
2025-02-05T23:56:28.741Z,1738799788.741 [transit:NeedComms] Stopped
2025-02-05T23:56:28.741Z,1738799788.741 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-02-05T23:56:28.741Z,1738799788.741 [transit:NeedComms:B.GoToSurface] Stopped
2025-02-05T23:56:28.741Z,1738799788.741 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-05T23:56:28.741Z,1738799788.741 [transit:NeedComms:C] Stopped
2025-02-05T23:56:28.741Z,1738799788.741 [transit:StandardEnvelopes] Stopped
2025-02-05T23:56:28.742Z,1738799788.742 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-02-05T23:56:28.742Z,1738799788.742 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-05T23:56:28.742Z,1738799788.742 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-05T23:56:28.742Z,1738799788.742 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-05T23:56:28.742Z,1738799788.742 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-05T23:56:28.742Z,1738799788.742 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-05T23:56:28.742Z,1738799788.742 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-05T23:56:28.742Z,1738799788.742 [transit:BackseatDriver] Stopped
2025-02-05T23:56:28.742Z,1738799788.742 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-02-05T23:56:28.742Z,1738799788.742 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-02-05T23:56:28.742Z,1738799788.742 [transit:PowerOnly] Stopped
2025-02-05T23:56:28.742Z,1738799788.742 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-02-05T23:56:28.742Z,1738799788.742 [transit:PowerOnly:E.Wait] Stopped
2025-02-05T23:56:28.743Z,1738799788.743 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-05T23:56:28.743Z,1738799788.743 [transit:BuoyancyHold.Buoyancy] Stopped
2025-02-05T23:56:28.743Z,1738799788.743 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-05T23:56:28.743Z,1738799788.743 [transit:MassHold.Pitch] Stopped
2025-02-05T23:56:28.743Z,1738799788.743 [transit:Transit] Stopped
2025-02-05T23:56:28.743Z,1738799788.743 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-02-05T23:56:28.743Z,1738799788.743 [transit:Transit:A.Pitch] Stopped
2025-02-05T23:56:28.743Z,1738799788.743 [transit:Transit:B.SetSpeed] Stopped
2025-02-05T23:56:28.743Z,1738799788.743 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-02-05T23:56:28.743Z,1738799788.743 [transit:Transit:Wpt1.Waypoint] Stopped
2025-02-05T23:56:28.743Z,1738799788.743 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-05T23:56:28.764Z,1738799788.764 [MissionManager](INFO): transit is completed.
2025-02-05T23:56:28.764Z,1738799788.764 [MissionManager](INFO): Uninitializing Mission transit
2025-02-05T23:56:29.737Z,1738799789.737 [MissionManager](CRITICAL): SIGSEGV: address not mapped to object
2025-02-05T23:56:29.737Z,1738799789.737 [MissionManager] Software Fault, FailCount= 1
2025-02-05T23:56:29.737Z,1738799789.737 [MissionManager](ERROR): Software Fault
2025-02-05T23:56:29.744Z,1738799789.744 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-02-05T23:56:29.744Z,1738799789.744 [SyncHandler](INFO): Protected caller Thread ID is 2839
2025-02-05T23:56:29.748Z,1738799789.748 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-05T23:56:29.748Z,1738799789.748 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-05T23:56:29.750Z,1738799789.750 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-05T23:56:29.755Z,1738799789.755 [CommandExec](FAULT): Scheduling is paused
2025-02-05T23:56:29.755Z,1738799789.755 [CBIT](INFO): Critical error at 20250205T235629
2025-02-05T23:56:29.755Z,1738799789.755 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-05T23:56:29.758Z,1738799789.758 [CBIT](ERROR): Software Fault in component: MissionManager
2025-02-05T23:56:29.758Z,1738799789.758 [CBIT](CRITICAL): Software Fault in component: MissionManager
2025-02-05T23:56:29.937Z,1738799789.937 [MissionManager](INFO): Uninitializing Mission Default
2025-02-05T23:56:30.742Z,1738799790.742 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-02-05T23:56:30.751Z,1738799790.751 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-05T23:56:30.754Z,1738799790.754 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-05T23:56:30.756Z,1738799790.756 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-05T23:56:30.762Z,1738799790.762 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-05T23:56:30.765Z,1738799790.765 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-05T23:56:30.767Z,1738799790.767 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-05T23:56:30.773Z,1738799790.773 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-05T23:56:30.775Z,1738799790.775 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-05T23:56:30.778Z,1738799790.778 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-05T23:56:30.780Z,1738799790.780 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-05T23:56:30.786Z,1738799790.786 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-05T23:56:30.788Z,1738799790.788 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-05T23:56:30.790Z,1738799790.790 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-05T23:56:30.790Z,1738799790.790 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-05T23:56:30.790Z,1738799790.790 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-05T23:56:30.791Z,1738799790.791 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-05T23:56:31.152Z,1738799791.152 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-02-05T23:56:31.161Z,1738799791.161 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-05T23:56:31.163Z,1738799791.163 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-05T23:56:31.165Z,1738799791.165 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-05T23:56:31.167Z,1738799791.167 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-05T23:56:31.169Z,1738799791.169 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-05T23:56:31.171Z,1738799791.171 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-05T23:56:31.225Z,1738799791.225 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-05T23:56:31.227Z,1738799791.227 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-05T23:56:31.253Z,1738799791.253 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-05T23:56:31.276Z,1738799791.276 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-05T23:56:31.277Z,1738799791.277 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-05T23:56:31.278Z,1738799791.278 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-05T23:56:31.363Z,1738799791.363 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-02-05T23:56:31.375Z,1738799791.375 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-05T23:56:31.377Z,1738799791.377 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-05T23:56:31.379Z,1738799791.379 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-05T23:56:31.381Z,1738799791.381 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-05T23:56:31.382Z,1738799791.382 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-05T23:56:31.388Z,1738799791.388 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-05T23:56:31.459Z,1738799791.459 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-05T23:56:31.467Z,1738799791.467 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-05T23:56:31.467Z,1738799791.467 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-05T23:56:31.469Z,1738799791.469 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-05T23:56:31.494Z,1738799791.494 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-02-05T23:56:31.517Z,1738799791.517 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-05T23:56:31.519Z,1738799791.519 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-05T23:56:31.521Z,1738799791.521 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-05T23:56:31.521Z,1738799791.521 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-05T23:56:31.523Z,1738799791.523 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-05T23:56:31.673Z,1738799791.673 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-02-05T23:56:31.677Z,1738799791.677 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-05T23:56:31.678Z,1738799791.678 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-05T23:56:31.680Z,1738799791.680 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-05T23:56:31.682Z,1738799791.682 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-05T23:56:31.684Z,1738799791.684 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-05T23:56:31.698Z,1738799791.698 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-05T23:56:31.700Z,1738799791.700 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-05T23:56:31.703Z,1738799791.703 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-05T23:56:31.708Z,1738799791.708 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-05T23:56:31.720Z,1738799791.720 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-05T23:56:31.723Z,1738799791.723 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-05T23:56:31.790Z,1738799791.790 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for commumications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
      set northingsDelta = Northings
      set eastingsDelta = Eastings
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-02-05T23:56:31.805Z,1738799791.805 [CBIT](INFO): Critical error at 20250205T235629
2025-02-05T23:56:31.805Z,1738799791.805 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-05T23:56:31.864Z,1738799791.864 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-05T23:56:45.628Z,1738799805.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:56:52.869Z,1738799812.869 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2025-02-05T23:56:52.869Z,1738799812.869 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-02-05T23:56:52.870Z,1738799812.870 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-02-05T23:56:52.871Z,1738799812.871 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-02-05T23:56:52.871Z,1738799812.871 [CommandExec](IMPORTANT): got command set transit.MaxDepth 20 meter
2025-02-05T23:56:52.889Z,1738799812.889 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.5 kilometer
2025-02-05T23:56:52.889Z,1738799812.889 [CommandExec](IMPORTANT): got command run
2025-02-05T23:56:52.891Z,1738799812.891 [CommandExec](IMPORTANT): Running 
2025-02-05T23:56:59.609Z,1738799819.609 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003542
2025-02-05T23:57:00.210Z,1738799820.210 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-05T23:57:30.129Z,1738799850.129 [CBIT](INFO): Clearing failed state for component MissionManager
2025-02-05T23:57:30.129Z,1738799850.129 [MissionManager] No Fault, FailCount= 1
2025-02-05T23:57:30.536Z,1738799850.536 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-02-05T23:57:30.536Z,1738799850.536 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-02-05T23:57:30.537Z,1738799850.537 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-02-05T23:57:30.541Z,1738799850.541 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-02-05T23:57:30.602Z,1738799850.602 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-02-05T23:57:30.604Z,1738799850.604 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-05T23:57:30.613Z,1738799850.613 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Startup {
  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-02-05T23:57:30.614Z,1738799850.614 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-02-05T23:57:30.614Z,1738799850.614 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-02-05T23:57:30.616Z,1738799850.616 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-02-05T23:57:30.724Z,1738799850.724 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-02-05T23:57:30.728Z,1738799850.728 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-02-05T23:57:30.729Z,1738799850.729 [Default:A.Wait](DEBUG): Construct Wait.
2025-02-05T23:57:30.731Z,1738799850.731 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-05T23:57:30.740Z,1738799850.740 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-02-05T23:57:30.742Z,1738799850.742 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-02-05T23:57:30.748Z,1738799850.748 [Default:E.Execute](DEBUG): Construct Execute.
2025-02-05T23:57:30.751Z,1738799850.751 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P4H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

    syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-02-05T23:57:30.928Z,1738799850.928 [MissionManager](IMPORTANT): Started mission Startup
2025-02-05T23:57:30.929Z,1738799850.929 [Startup] Running Loop=1
2025-02-05T23:57:30.929Z,1738799850.929 [Startup](DEBUG): Aggregate::initialize Startup
2025-02-05T23:57:30.929Z,1738799850.929 [Startup:A.GoToSurface] Running Loop=1
2025-02-05T23:57:30.929Z,1738799850.929 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-05T23:57:30.929Z,1738799850.929 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-05T23:57:30.929Z,1738799850.929 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-05T23:57:30.930Z,1738799850.930 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-05T23:57:30.930Z,1738799850.930 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-05T23:57:30.930Z,1738799850.930 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-05T23:57:30.931Z,1738799850.931 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-05T23:57:30.932Z,1738799850.932 [Startup:StartupSatComms] Running Loop=1
2025-02-05T23:57:30.932Z,1738799850.932 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-02-05T23:57:30.932Z,1738799850.932 [Startup:StartupSatComms:A] Running Loop=1
2025-02-05T23:57:31.346Z,1738799851.346 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-02-05T23:57:32.950Z,1738799852.950 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235732.00,A,3647.43503,N,12148.82456,W,0.311,190.31,050225,,,A*73
2025-02-05T23:57:32.952Z,1738799852.952 [NAL9602](INFO): GPS fix at 20250205T235732: (36.790584, -121.813743)
2025-02-05T23:57:32.966Z,1738799852.966 [UniversalFixResidualReporter](INFO): Fix residual: 33.2 %DT, over the last 729.4 m. Residual distance 242.1 m at bearing -6.2 degrees. Fix at (36.7906, -121.8137) with 766.0 m made good.
2025-02-05T23:57:32.966Z,1738799852.966 [Startup:StartupSatComms:A] Stopped
2025-02-05T23:57:32.967Z,1738799852.967 [Startup:StartupSatComms:B] Running Loop=1
2025-02-05T23:57:33.391Z,1738799853.391 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-05T23:57:39.920Z,1738799859.920 [DataOverHttps](INFO): Sending 368 bytes from file Logs/20250205T233142/Courier0003.lzma
2025-02-05T23:57:41.080Z,1738799861.080 [DataOverHttps](INFO): Moved sent file to Logs/20250205T233142/Courier0003.lzma.bak
2025-02-05T23:57:41.080Z,1738799861.080 [DataOverHttps](INFO): SBD MOMSN=23957773
2025-02-05T23:57:47.939Z,1738799867.939 [NAL9602](INFO): SBD MO Status=0, MOMSN=12506, MT Status=0, MTMSN=0
2025-02-05T23:57:47.939Z,1738799867.939 [NAL9602](INFO): No messages in MT queue
2025-02-05T23:57:56.957Z,1738799876.957 [DataOverHttps](INFO): Sending 572 bytes from file Logs/20250205T233142/Express0004.lzma
2025-02-05T23:57:58.108Z,1738799878.108 [DataOverHttps](INFO): Moved sent file to Logs/20250205T233142/Express0004.lzma.bak
2025-02-05T23:57:58.109Z,1738799878.109 [DataOverHttps](INFO): SBD MOMSN=23957778
2025-02-05T23:57:59.301Z,1738799879.301 [Startup:StartupSatComms:B] Stopped
2025-02-05T23:57:59.301Z,1738799879.301 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-02-05T23:57:59.301Z,1738799879.301 [Startup:StartupSatComms] Stopped
2025-02-05T23:57:59.302Z,1738799879.302 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-02-05T23:57:59.302Z,1738799879.302 [Startup](INFO): Completed Startup
2025-02-05T23:57:59.303Z,1738799879.303 [MissionManager](INFO): Startup is completed.
2025-02-05T23:57:59.303Z,1738799879.303 [MissionManager](INFO): Uninitializing Mission Startup
2025-02-05T23:57:59.303Z,1738799879.303 [Startup] Stopped
2025-02-05T23:57:59.303Z,1738799879.303 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-02-05T23:57:59.303Z,1738799879.303 [Startup:A.GoToSurface] Stopped
2025-02-05T23:57:59.303Z,1738799879.303 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-05T23:57:59.663Z,1738799879.663 [MissionManager](IMPORTANT): Started mission transit
2025-02-05T23:57:59.664Z,1738799879.664 [transit] Running Loop=1
2025-02-05T23:57:59.664Z,1738799879.664 [transit](DEBUG): Aggregate::initialize transit
2025-02-05T23:57:59.664Z,1738799879.664 [transit:StandardEnvelopes] Running Loop=1
2025-02-05T23:57:59.664Z,1738799879.664 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-02-05T23:57:59.664Z,1738799879.664 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-05T23:57:59.664Z,1738799879.664 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-05T23:57:59.664Z,1738799879.664 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-05T23:57:59.664Z,1738799879.664 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-05T23:57:59.665Z,1738799879.665 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-05T23:57:59.665Z,1738799879.665 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-05T23:57:59.665Z,1738799879.665 [transit:BackseatDriver] Running Loop=1
2025-02-05T23:57:59.665Z,1738799879.665 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-02-05T23:57:59.665Z,1738799879.665 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-05T23:57:59.665Z,1738799879.665 [transit:PowerOnly] Running Loop=1
2025-02-05T23:57:59.665Z,1738799879.665 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-02-05T23:57:59.665Z,1738799879.665 [transit:PowerOnly:A] Running Loop=1
2025-02-05T23:57:59.665Z,1738799879.665 [transit:PowerOnly:B] Running Loop=1
2025-02-05T23:57:59.665Z,1738799879.665 [transit:PowerOnly:C] Running Loop=1
2025-02-05T23:57:59.665Z,1738799879.665 [transit:PowerOnly:D] Running Loop=1
2025-02-05T23:57:59.666Z,1738799879.666 [transit:PowerOnly:E.Wait] Running Loop=1
2025-02-05T23:57:59.666Z,1738799879.666 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-05T23:57:59.666Z,1738799879.666 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-05T23:57:59.666Z,1738799879.666 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-05T23:57:59.666Z,1738799879.666 [transit:MassHold.Pitch] Running Loop=1
2025-02-05T23:57:59.666Z,1738799879.666 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-02-05T23:57:59.666Z,1738799879.666 [transit:B] Running Loop=1
2025-02-05T23:57:59.667Z,1738799879.667 [transit:MassHold.Pitch] Running Loop=1
2025-02-05T23:57:59.667Z,1738799879.667 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-05T23:57:59.667Z,1738799879.667 [transit:PowerOnly] Running Loop=1
2025-02-05T23:57:59.668Z,1738799879.668 [transit:PowerOnly:D] Stopped
2025-02-05T23:57:59.668Z,1738799879.668 [transit:PowerOnly:C] Stopped
2025-02-05T23:57:59.668Z,1738799879.668 [transit:PowerOnly:B] Stopped
2025-02-05T23:57:59.668Z,1738799879.668 [transit:PowerOnly:A] Stopped
2025-02-05T23:57:59.668Z,1738799879.668 [transit:BackseatDriver] Running Loop=1
2025-02-05T23:57:59.668Z,1738799879.668 [transit:StandardEnvelopes] Running Loop=1
2025-02-05T23:57:59.668Z,1738799879.668 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-05T23:57:59.668Z,1738799879.668 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-02-05T23:57:59.676Z,1738799879.676 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-05T23:57:59.676Z,1738799879.676 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-05T23:57:59.676Z,1738799879.676 [transit:B] Stopped
2025-02-05T23:57:59.677Z,1738799879.677 [transit:C] Running Loop=1
2025-02-05T23:58:00.090Z,1738799880.090 [transit:C] Stopped
2025-02-05T23:58:00.090Z,1738799880.090 [transit:E] Running Loop=1
2025-02-05T23:58:00.473Z,1738799880.473 [transit:E] Stopped
2025-02-05T23:58:00.473Z,1738799880.473 [transit:F] Running Loop=1
2025-02-05T23:58:00.873Z,1738799880.873 [transit:F] Stopped
2025-02-05T23:58:00.873Z,1738799880.873 [transit:G] Running Loop=1
2025-02-05T23:58:01.297Z,1738799881.297 [transit:G] Stopped
2025-02-05T23:58:01.297Z,1738799881.297 [transit:Transit] Running Loop=1
2025-02-05T23:58:01.298Z,1738799881.298 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-02-05T23:58:01.298Z,1738799881.298 [transit:Transit:A.Pitch] Running Loop=1
2025-02-05T23:58:01.298Z,1738799881.298 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-02-05T23:58:01.298Z,1738799881.298 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-05T23:58:01.298Z,1738799881.298 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-02-05T23:58:01.298Z,1738799881.298 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-05T23:58:01.298Z,1738799881.298 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-05T23:58:01.299Z,1738799881.299 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-05T23:58:01.304Z,1738799881.304 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-05T23:58:01.717Z,1738799881.717 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-05T23:58:01.717Z,1738799881.717 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-05T23:58:01.718Z,1738799881.718 [transit:Transit:A.Pitch] Running Loop=1
2025-02-05T23:58:18.657Z,1738799898.657 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-05T23:59:29.806Z,1738799969.806 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-05T23:59:42.004Z,1738799982.004 [Radio_Surface](INFO): Powering down
2025-02-06T00:00:00.928Z,1738800000.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T00:00:01.933Z,1738800001.933 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-06T00:01:38.328Z,1738800098.328 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743164
2025-02-06T00:03:21.749Z,1738800201.749 [DATMMP](INFO): GSXN notify for xid: 0
2025-02-06T00:03:21.751Z,1738800201.751 [DATMMP](INFO): timesync rx: 	 x2	 x0	 x0	 x0
2025-02-06T00:03:21.751Z,1738800201.751 [DATMMP](INFO): Received message type: timesync
2025-02-06T00:03:21.751Z,1738800201.751 [DATMMP](INFO): Handled
2025-02-06T00:03:31.829Z,1738800211.829 [DATMMP](INFO): GSXN notify for xid: 0
2025-02-06T00:03:31.830Z,1738800211.830 [DATMMP](INFO): timesync rx: 	 x2	 x1	 x1	 x0
2025-02-06T00:03:31.830Z,1738800211.830 [DATMMP](INFO): Received message type: timesync
2025-02-06T00:03:31.830Z,1738800211.830 [DATMMP](INFO): Handled
2025-02-06T00:03:41.917Z,1738800221.917 [DATMMP](INFO): GSXN notify for xid: 0
2025-02-06T00:03:41.918Z,1738800221.918 [DATMMP](INFO): timesync rx: 	 x1	 x0	 x1	 x0
2025-02-06T00:03:41.918Z,1738800221.918 [DATMMP](INFO): Received message type: timesync
2025-02-06T00:03:41.918Z,1738800221.918 [DATMMP](INFO): Handled
2025-02-06T00:27:34.271Z,1738801654.271 [transit:NeedComms] Running Loop=1
2025-02-06T00:27:34.271Z,1738801654.271 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-02-06T00:27:34.271Z,1738801654.271 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-02-06T00:27:34.271Z,1738801654.271 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-06T00:27:34.272Z,1738801654.272 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-06T00:27:34.272Z,1738801654.272 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-06T00:27:34.273Z,1738801654.273 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-06T00:27:34.273Z,1738801654.273 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-06T00:27:34.273Z,1738801654.273 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-06T00:27:34.274Z,1738801654.274 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-06T00:27:34.274Z,1738801654.274 [transit:NeedComms:A] Running Loop=1
2025-02-06T00:27:34.276Z,1738801654.276 [transit:NeedComms:A](INFO): last time_fix was:  1738799852.000000 second since 1970/01/01T00:00:00Z 
2025-02-06T00:27:34.276Z,1738801654.276 [transit:NeedComms:A] Stopped
2025-02-06T00:28:09.141Z,1738801689.141 [transit:NeedComms:C] Running Loop=1
2025-02-06T00:28:09.523Z,1738801689.523 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-06T00:28:09.590Z,1738801689.590 [Radio_Surface](INFO): Powering up
2025-02-06T00:28:14.980Z,1738801694.980 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-06T00:28:15.652Z,1738801695.652 [Radio_Surface](INFO): Powering down
2025-02-06T00:28:38.681Z,1738801718.681 [Radio_Surface](INFO): Powering up
2025-02-06T00:28:45.100Z,1738801725.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T00:28:55.243Z,1738801735.243 [NAL9602](INFO): SBD MO Status=2, MOMSN=12507, MT Status=2, MTMSN=0
2025-02-06T00:28:55.243Z,1738801735.243 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-06T00:29:05.738Z,1738801745.738 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=12507, MT Status=1, MTMSN=225
2025-02-06T00:29:05.738Z,1738801745.738 [NAL9602](INFO): Data available in MT queue
2025-02-06T00:29:06.244Z,1738801746.244 [NAL9602](INFO): Received command: stop
2025-02-06T00:29:06.293Z,1738801746.293 [CommandExec](IMPORTANT): got command stop
2025-02-06T00:29:06.293Z,1738801746.293 [CommandExec](IMPORTANT): Scheduling is paused
2025-02-06T00:29:06.293Z,1738801746.293 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-06T00:29:06.569Z,1738801746.569 [MissionManager](INFO): MissionManager is completed.
2025-02-06T00:29:06.569Z,1738801746.569 [MissionManager](INFO): Uninitializing Mission transit
2025-02-06T00:29:06.569Z,1738801746.569 [transit] Stopped
2025-02-06T00:29:06.569Z,1738801746.569 [transit](DEBUG): Aggregate::uninitialize transit
2025-02-06T00:29:06.570Z,1738801746.570 [transit:NeedComms] Stopped
2025-02-06T00:29:06.570Z,1738801746.570 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-02-06T00:29:06.570Z,1738801746.570 [transit:NeedComms:B.GoToSurface] Stopped
2025-02-06T00:29:06.570Z,1738801746.570 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-06T00:29:06.570Z,1738801746.570 [transit:NeedComms:C] Stopped
2025-02-06T00:29:06.570Z,1738801746.570 [transit:StandardEnvelopes] Stopped
2025-02-06T00:29:06.570Z,1738801746.570 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-02-06T00:29:06.570Z,1738801746.570 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-06T00:29:06.570Z,1738801746.570 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-06T00:29:06.570Z,1738801746.570 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-06T00:29:06.570Z,1738801746.570 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-06T00:29:06.570Z,1738801746.570 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-06T00:29:06.570Z,1738801746.570 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-06T00:29:06.571Z,1738801746.571 [transit:BackseatDriver] Stopped
2025-02-06T00:29:06.571Z,1738801746.571 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-02-06T00:29:06.571Z,1738801746.571 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-02-06T00:29:06.571Z,1738801746.571 [transit:PowerOnly] Stopped
2025-02-06T00:29:06.571Z,1738801746.571 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-02-06T00:29:06.571Z,1738801746.571 [transit:PowerOnly:E.Wait] Stopped
2025-02-06T00:29:06.571Z,1738801746.571 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-06T00:29:06.571Z,1738801746.571 [transit:BuoyancyHold.Buoyancy] Stopped
2025-02-06T00:29:06.571Z,1738801746.571 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-06T00:29:06.571Z,1738801746.571 [transit:MassHold.Pitch] Stopped
2025-02-06T00:29:06.571Z,1738801746.571 [transit:Transit] Stopped
2025-02-06T00:29:06.571Z,1738801746.571 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-02-06T00:29:06.571Z,1738801746.571 [transit:Transit:A.Pitch] Stopped
2025-02-06T00:29:06.571Z,1738801746.571 [transit:Transit:B.SetSpeed] Stopped
2025-02-06T00:29:06.572Z,1738801746.572 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-02-06T00:29:06.572Z,1738801746.572 [transit:Transit:Wpt1.Waypoint] Stopped
2025-02-06T00:29:06.572Z,1738801746.572 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-06T00:29:06.984Z,1738801746.984 [MissionManager](IMPORTANT): Started mission Default
2025-02-06T00:29:06.984Z,1738801746.984 [Default] Running Loop=1
2025-02-06T00:29:06.984Z,1738801746.984 [Default](DEBUG): Aggregate::initialize Default
2025-02-06T00:29:06.984Z,1738801746.984 [Default:B.GoToSurface] Running Loop=1
2025-02-06T00:29:06.984Z,1738801746.984 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-06T00:29:06.985Z,1738801746.985 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-06T00:29:06.985Z,1738801746.985 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-06T00:29:06.985Z,1738801746.985 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-06T00:29:06.986Z,1738801746.986 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-06T00:29:06.986Z,1738801746.986 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-06T00:29:06.986Z,1738801746.986 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-06T00:29:06.987Z,1738801746.987 [Default:A.Wait] Running Loop=1
2025-02-06T00:29:06.987Z,1738801746.987 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-06T00:29:07.359Z,1738801747.359 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002906.00,A,3647.40469,N,12149.97578,W,1.225,213.35,060225,,,A*72
2025-02-06T00:29:07.361Z,1738801747.361 [NAL9602](INFO): GPS fix at 20250206T002906: (36.790078, -121.832930)
2025-02-06T00:29:07.374Z,1738801747.374 [UniversalFixResidualReporter](INFO): Fix residual: 27.3 %DT, over the last 1791.2 m. Residual distance 489.2 m at bearing -2.8 degrees. Fix at (36.7901, -121.8329) with 1709.5 m made good.
2025-02-06T00:29:16.236Z,1738801756.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T00:29:20.297Z,1738801760.297 [Default:A.Wait](INFO): Done Waiting.
2025-02-06T00:29:20.297Z,1738801760.297 [Default:A.Wait] Stopped
2025-02-06T00:29:20.298Z,1738801760.298 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-06T00:29:20.706Z,1738801760.706 [Default:CheckIn] Running Loop=1
2025-02-06T00:29:20.706Z,1738801760.706 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-06T00:29:20.706Z,1738801760.706 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-06T00:29:21.111Z,1738801761.111 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-06T00:29:22.707Z,1738801762.707 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002921.00,A,3647.40361,N,12149.97627,W,0.505,208.33,060225,,,A*79
2025-02-06T00:29:22.718Z,1738801762.718 [NAL9602](INFO): GPS fix at 20250206T002921: (36.790060, -121.832938)
2025-02-06T00:29:22.745Z,1738801762.745 [Default:CheckIn:Read_GPS] Stopped
2025-02-06T00:29:22.745Z,1738801762.745 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-06T00:29:23.145Z,1738801763.145 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-06T00:29:37.297Z,1738801777.297 [NAL9602](INFO): SBD MO Status=1, MOMSN=12508, MT Status=0, MTMSN=0
2025-02-06T00:29:37.356Z,1738801777.356 [NAL9602](INFO): Sent 85 bytes from file Logs/20250205T233142/Courier0006.lzma
2025-02-06T00:29:37.356Z,1738801777.356 [NAL9602](INFO): Packets left to send: 0
2025-02-06T00:29:47.360Z,1738801787.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T00:29:53.591Z,1738801793.591 [NAL9602](INFO): SBD MO Status=1, MOMSN=12509, MT Status=0, MTMSN=0
2025-02-06T00:29:53.640Z,1738801793.640 [NAL9602](INFO): Sent 314 bytes from file Logs/20250205T233142/Express0008.lzma
2025-02-06T00:29:53.640Z,1738801793.640 [NAL9602](INFO): Packets left to send: 0
2025-02-06T00:29:56.403Z,1738801796.403 [NAL9602](INFO): SBD MO Status=0, MOMSN=12510, MT Status=0, MTMSN=0
2025-02-06T00:30:06.549Z,1738801806.549 [NAL9602](INFO): SBD MO Status=1, MOMSN=12511, MT Status=0, MTMSN=0
2025-02-06T00:30:06.596Z,1738801806.596 [NAL9602](INFO): Sent 39 bytes from file Logs/20250205T233142/Courier0012.lzma
2025-02-06T00:30:06.596Z,1738801806.596 [NAL9602](INFO): Packets left to send: 0
2025-02-06T00:30:13.883Z,1738801813.883 [NAL9602](INFO): SBD MO Status=1, MOMSN=12512, MT Status=0, MTMSN=0
2025-02-06T00:30:13.936Z,1738801813.936 [NAL9602](INFO): Sent 62 bytes from file Logs/20250205T233142/Express0013.lzma
2025-02-06T00:30:13.936Z,1738801813.936 [NAL9602](INFO): Packets left to send: 0
2025-02-06T00:30:18.484Z,1738801818.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T00:30:21.170Z,1738801821.170 [NAL9602](INFO): SBD MO Status=0, MOMSN=12513, MT Status=0, MTMSN=0
2025-02-06T00:30:21.255Z,1738801821.255 [Default:CheckIn:Read_Iridium] Stopped
2025-02-06T00:30:21.256Z,1738801821.256 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-06T00:30:21.256Z,1738801821.256 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-06T00:30:49.617Z,1738801849.617 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-06T00:30:51.861Z,1738801851.861 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-06T00:31:06.773Z,1738801866.773 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003539
2025-02-06T00:33:54.669Z,1738802034.669 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-06T00:33:54.670Z,1738802034.670 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-02-06T00:33:54.673Z,1738802034.673 [BPC1](CRITICAL): Battery Voltage Below Threshold. 13.696223 V.
2025-02-06T00:33:54.673Z,1738802034.673 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 62.
2025-02-06T00:33:54.693Z,1738802034.693 [CommandExec](FAULT): Scheduling is paused
2025-02-06T00:33:54.693Z,1738802034.693 [CBIT](INFO): Critical error at 20250206T003354
2025-02-06T00:34:05.329Z,1738802045.329 [DataOverHttps](IMPORTANT): SBD MTMSN=20250206T003402
2025-02-06T00:34:12.796Z,1738802052.796 [DataOverHttps](INFO): Received command: restart sys
2025-02-06T00:34:12.858Z,1738802052.858 [CommandExec](IMPORTANT): got command restart system
2025-02-06T00:34:14.938Z,1738802054.938 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-06T00:34:14.939Z,1738802054.939 [CommandExec](INFO): Uninitializing the command executive.
2025-02-06T00:34:14.939Z,1738802054.939 [CommandExec](INFO): Uninitializing the command scheduler.
2025-02-06T00:34:14.939Z,1738802054.939 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-06T00:34:15.102Z,1738802055.102 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-02-06T00:34:15.102Z,1738802055.102 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-02-06T00:34:15.102Z,1738802055.102 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-06T00:34:15.103Z,1738802055.103 [NavChartDb](INFO): Join timeout helper Thread ID is 3446
2025-02-06T00:34:15.160Z,1738802055.160 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-06T00:34:15.160Z,1738802055.160 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-06T00:34:15.185Z,1738802055.185 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-02-06T00:34:15.185Z,1738802055.185 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-06T00:34:15.185Z,1738802055.185 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3447
2025-02-06T00:34:15.496Z,1738802055.496 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-06T00:34:15.497Z,1738802055.497 [WetLabsBB2FL](INFO): Powering down
2025-02-06T00:34:15.497Z,1738802055.497 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-06T00:34:15.504Z,1738802055.504 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-02-06T00:34:15.504Z,1738802055.504 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-06T00:34:15.504Z,1738802055.504 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3448
2025-02-06T00:34:15.997Z,1738802055.997 [CTD_Seabird](INFO): Powering down
2025-02-06T00:34:16.008Z,1738802056.008 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-06T00:34:16.008Z,1738802056.008 [CTD_Seabird](INFO): Powering down
2025-02-06T00:34:16.020Z,1738802056.020 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-06T00:34:16.032Z,1738802056.032 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-02-06T00:34:16.032Z,1738802056.032 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-06T00:34:16.033Z,1738802056.033 [Radio_Surface](INFO): Join timeout helper Thread ID is 3449
2025-02-06T00:34:16.400Z,1738802056.400 [Radio_Surface](INFO): Powering down
2025-02-06T00:34:16.401Z,1738802056.401 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-06T00:34:16.402Z,1738802056.402 [Radio_Surface Thread