2025-02-18T21:31:49.962Z,1739914309.962 [Supervisor](DEBUG): Initializing supervisor.
2025-02-18T21:31:49.966Z,1739914309.966 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-02-18T21:31:49.967Z,1739914309.967 [SyncHandler](INFO): Protected caller Thread ID is 837
2025-02-18T21:31:49.967Z,1739914309.967 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-02-18T21:31:49.968Z,1739914309.968 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-02-18T21:31:49.969Z,1739914309.969 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 838
2025-02-18T21:31:49.972Z,1739914309.972 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-02-18T21:31:49.990Z,1739914309.990 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-02-18T21:31:49.991Z,1739914309.991 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-02-18T21:31:49.991Z,1739914309.991 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 839
2025-02-18T21:31:49.995Z,1739914309.995 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-02-18T21:31:49.996Z,1739914309.996 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-02-18T21:31:49.997Z,1739914309.997 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 840
2025-02-18T21:31:49.999Z,1739914309.999 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-02-18T21:31:49.000Z,1739914310.000 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-02-18T21:31:50.000Z,1739914310.000 [logger ThreadHandler](INFO): Protected caller Thread ID is 841
2025-02-18T21:31:50.004Z,1739914310.004 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-02-18T21:31:50.004Z,1739914310.004 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-02-18T21:31:50.009Z,1739914310.009 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-02-18T21:31:50.246Z,1739914310.246 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-02-18T21:31:50.248Z,1739914310.248 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-02-18T21:31:50.468Z,1739914310.468 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-02-18T21:31:50.470Z,1739914310.470 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-02-18T21:31:50.575Z,1739914310.575 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-02-18T21:31:50.576Z,1739914310.576 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-02-18T21:31:50.781Z,1739914310.781 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-02-18T21:31:50.783Z,1739914310.783 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-02-18T21:31:51.277Z,1739914311.277 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-02-18T21:31:51.279Z,1739914311.279 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-02-18T21:31:51.397Z,1739914311.397 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-02-18T21:31:51.399Z,1739914311.399 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-02-18T21:31:51.679Z,1739914311.679 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-02-18T21:31:51.681Z,1739914311.681 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-02-18T21:31:51.900Z,1739914311.900 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-02-18T21:31:51.901Z,1739914311.901 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-02-18T21:31:52.453Z,1739914312.453 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-02-18T21:31:52.454Z,1739914312.454 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-02-18T21:31:52.877Z,1739914312.877 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-02-18T21:31:52.878Z,1739914312.878 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-02-18T21:31:52.967Z,1739914312.967 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-02-18T21:31:53.346Z,1739914313.346 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-02-18T21:31:53.347Z,1739914313.347 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-02-18T21:31:54.526Z,1739914314.526 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-02-18T21:31:54.527Z,1739914314.527 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-02-18T21:32:02.804Z,1739914322.804 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-02-18T21:32:02.804Z,1739914322.804 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-02-18T21:32:03.166Z,1739914323.166 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-02-18T21:32:03.168Z,1739914323.168 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-02-18T21:32:03.261Z,1739914323.261 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-02-18T21:32:03.263Z,1739914323.263 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-02-18T21:32:03.356Z,1739914323.356 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-02-18T21:32:03.472Z,1739914323.472 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-02-18T21:32:03.585Z,1739914323.585 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-02-18T21:32:03.683Z,1739914323.683 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-02-18T21:32:03.778Z,1739914323.778 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-02-18T21:32:03.891Z,1739914323.891 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-02-18T21:32:04.043Z,1739914324.043 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-02-18T21:32:04.218Z,1739914324.218 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-02-18T21:32:04.324Z,1739914324.324 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-02-18T21:32:04.607Z,1739914324.607 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-02-18T21:32:04.607Z,1739914324.607 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2025-02-18T21:32:04.611Z,1739914324.611 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-02-18T21:32:05.038Z,1739914325.038 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-02-18T21:32:05.040Z,1739914325.040 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-02-18T21:32:05.894Z,1739914325.894 [AHRS_M2] Loaded
2025-02-18T21:32:05.894Z,1739914325.894 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-02-18T21:32:06.148Z,1739914326.148 [BackseatComponent] Loaded
2025-02-18T21:32:06.148Z,1739914326.148 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-02-18T21:32:06.150Z,1739914326.150 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408AB4E0
2025-02-18T21:32:06.150Z,1739914326.150 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 920
2025-02-18T21:32:06.153Z,1739914326.153 [LcmUniversalReporter] Loaded
2025-02-18T21:32:06.153Z,1739914326.153 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-02-18T21:32:06.159Z,1739914326.159 [BioacousticsDataBridge] Loaded
2025-02-18T21:32:06.160Z,1739914326.160 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread.
2025-02-18T21:32:06.980Z,1739914326.980 [BPC1] Loaded
2025-02-18T21:32:06.981Z,1739914326.981 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-02-18T21:32:07.076Z,1739914327.076 [DAT] Loaded
2025-02-18T21:32:07.077Z,1739914327.077 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-02-18T21:32:07.078Z,1739914327.078 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408DB4E0
2025-02-18T21:32:07.078Z,1739914327.078 [DAT ThreadHandler](INFO): Protected caller Thread ID is 921
2025-02-18T21:32:07.218Z,1739914327.218 [DataOverHttps] Loaded
2025-02-18T21:32:07.219Z,1739914327.219 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-02-18T21:32:07.220Z,1739914327.220 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4090B4E0
2025-02-18T21:32:07.220Z,1739914327.220 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 922
2025-02-18T21:32:07.243Z,1739914327.243 [Depth_Keller] Loaded
2025-02-18T21:32:07.243Z,1739914327.243 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-02-18T21:32:07.248Z,1739914327.248 [DropWeight] Loaded
2025-02-18T21:32:07.248Z,1739914327.248 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-02-18T21:32:07.312Z,1739914327.312 [NAL9602] Loaded
2025-02-18T21:32:07.313Z,1739914327.313 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-02-18T21:32:07.343Z,1739914327.343 [Onboard] Loaded
2025-02-18T21:32:07.343Z,1739914327.343 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-02-18T21:32:07.344Z,1739914327.344 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4093B4E0
2025-02-18T21:32:07.344Z,1739914327.344 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 923
2025-02-18T21:32:07.358Z,1739914327.358 [Power24vConverter] Loaded
2025-02-18T21:32:07.358Z,1739914327.358 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-02-18T21:32:07.376Z,1739914327.376 [Radio_Surface] Loaded
2025-02-18T21:32:07.376Z,1739914327.376 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-02-18T21:32:07.377Z,1739914327.377 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4096B4E0
2025-02-18T21:32:07.378Z,1739914327.378 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 924
2025-02-18T21:32:07.393Z,1739914327.393 [Sonardyne_Nano] Loaded
2025-02-18T21:32:07.393Z,1739914327.393 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-02-18T21:32:07.394Z,1739914327.394 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-02-18T21:32:07.394Z,1739914327.394 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-02-18T21:32:10.256Z,1739914330.256 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-02-18T21:32:10.257Z,1739914330.257 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-02-18T21:32:11.411Z,1739914331.411 [VerticalControl](DEBUG): Construct VerticalControl.
2025-02-18T21:32:11.473Z,1739914331.473 [VerticalControl] Loaded
2025-02-18T21:32:11.473Z,1739914331.473 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-02-18T21:32:11.476Z,1739914331.476 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-02-18T21:32:11.524Z,1739914331.524 [HorizontalControl] Loaded
2025-02-18T21:32:11.525Z,1739914331.525 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-02-18T21:32:11.527Z,1739914331.527 [SpeedControl](DEBUG): Construct SpeedControl.
2025-02-18T21:32:11.530Z,1739914331.530 [SpeedControl] Loaded
2025-02-18T21:32:11.531Z,1739914331.531 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-02-18T21:32:11.533Z,1739914331.533 [LoopControl](DEBUG): Construct LoopControl.
2025-02-18T21:32:11.534Z,1739914331.534 [LoopControl] Loaded
2025-02-18T21:32:11.534Z,1739914331.534 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-02-18T21:32:11.535Z,1739914331.535 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-02-18T21:32:11.535Z,1739914331.535 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-02-18T21:32:11.552Z,1739914331.552 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-02-18T21:32:11.554Z,1739914331.554 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-02-18T21:32:11.603Z,1739914331.603 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-02-18T21:32:11.603Z,1739914331.603 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-02-18T21:32:11.746Z,1739914331.746 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-02-18T21:32:11.746Z,1739914331.746 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-02-18T21:32:11.760Z,1739914331.760 [NavChart] Loaded
2025-02-18T21:32:11.760Z,1739914331.760 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-02-18T21:32:11.766Z,1739914331.766 [UniversalFixResidualReporter] Loaded
2025-02-18T21:32:11.767Z,1739914331.767 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-02-18T21:32:11.767Z,1739914331.767 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-02-18T21:32:11.768Z,1739914331.768 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-02-18T21:32:11.944Z,1739914331.944 [SBIT](DEBUG): Construct Startup Built In Test.
2025-02-18T21:32:11.953Z,1739914331.953 [SBIT] Loaded
2025-02-18T21:32:11.954Z,1739914331.954 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-02-18T21:32:11.956Z,1739914331.956 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-02-18T21:32:11.969Z,1739914331.969 [IBIT] Loaded
2025-02-18T21:32:11.970Z,1739914331.970 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-02-18T21:32:11.976Z,1739914331.976 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-02-18T21:32:12.084Z,1739914332.084 [CBIT] Loaded
2025-02-18T21:32:12.085Z,1739914332.085 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-02-18T21:32:12.085Z,1739914332.085 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-02-18T21:32:12.086Z,1739914332.086 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-02-18T21:32:12.304Z,1739914332.304 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-02-18T21:32:12.304Z,1739914332.304 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-02-18T21:32:12.473Z,1739914332.473 [BuoyancyServo] Loaded
2025-02-18T21:32:12.473Z,1739914332.473 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-02-18T21:32:12.496Z,1739914332.496 [ElevatorServo] Loaded
2025-02-18T21:32:12.497Z,1739914332.497 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-02-18T21:32:12.518Z,1739914332.518 [MassServo] Loaded
2025-02-18T21:32:12.519Z,1739914332.519 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-02-18T21:32:12.540Z,1739914332.540 [RudderServo] Loaded
2025-02-18T21:32:12.540Z,1739914332.540 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-02-18T21:32:12.558Z,1739914332.558 [ThrusterHE] Loaded
2025-02-18T21:32:12.558Z,1739914332.558 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-02-18T21:32:12.558Z,1739914332.558 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-02-18T21:32:12.559Z,1739914332.559 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-02-18T21:32:12.791Z,1739914332.791 [CTD_Seabird] Loaded
2025-02-18T21:32:12.792Z,1739914332.792 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-02-18T21:32:12.793Z,1739914332.793 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BA14E0
2025-02-18T21:32:12.793Z,1739914332.793 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 926
2025-02-18T21:32:12.816Z,1739914332.816 [PAR_Licor] Loaded
2025-02-18T21:32:12.816Z,1739914332.816 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-02-18T21:32:12.862Z,1739914332.862 [WetLabsBB2FL] Loaded
2025-02-18T21:32:12.863Z,1739914332.863 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-02-18T21:32:12.864Z,1739914332.864 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BD14E0
2025-02-18T21:32:12.864Z,1739914332.864 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 927
2025-02-18T21:32:12.865Z,1739914332.865 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-02-18T21:32:12.866Z,1739914332.866 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-02-18T21:32:12.939Z,1739914332.939 [DepthRateCalculator] Loaded
2025-02-18T21:32:12.939Z,1739914332.939 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-02-18T21:32:12.944Z,1739914332.944 [PitchRateCalculator] Loaded
2025-02-18T21:32:12.945Z,1739914332.945 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-02-18T21:32:12.954Z,1739914332.954 [SpeedCalculator] Loaded
2025-02-18T21:32:12.954Z,1739914332.954 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-02-18T21:32:12.958Z,1739914332.958 [YawRateCalculator] Loaded
2025-02-18T21:32:12.959Z,1739914332.959 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-02-18T21:32:12.979Z,1739914332.979 [ElevatorOffsetCalculator] Loaded
2025-02-18T21:32:12.979Z,1739914332.979 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-02-18T21:32:12.979Z,1739914332.979 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-02-18T21:32:12.980Z,1739914332.980 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-02-18T21:32:13.067Z,1739914333.067 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-02-18T21:32:13.073Z,1739914333.073 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-02-18T21:32:13.076Z,1739914333.076 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-02-18T21:32:13.088Z,1739914333.088 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-02-18T21:32:13.089Z,1739914333.089 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C5E4E0
2025-02-18T21:32:13.089Z,1739914333.089 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 928
2025-02-18T21:32:13.094Z,1739914333.094 [Supervisor](INFO): Main Thread ID is 828
2025-02-18T21:32:13.094Z,1739914333.094 [Supervisor](DEBUG): Running supervisor.
2025-02-18T21:32:13.094Z,1739914333.094 [CommandExec ThreadHandler](INFO): Handler Thread ID is 929
2025-02-18T21:32:13.095Z,1739914333.095 [CommandExec](INFO): Initializing the command executive.
2025-02-18T21:32:13.096Z,1739914333.096 [CommandLine ThreadHandler](INFO): Handler Thread ID is 930
2025-02-18T21:32:13.098Z,1739914333.098 [controlThread ThreadHandler](INFO): Handler Thread ID is 931
2025-02-18T21:32:13.099Z,1739914333.099 [controlThread](DEBUG): Initializing ControlThread
2025-02-18T21:32:13.103Z,1739914333.103 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-02-18T21:32:13.104Z,1739914333.104 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-02-18T21:32:13.105Z,1739914333.105 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-02-18T21:32:13.106Z,1739914333.106 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-02-18T21:32:13.106Z,1739914333.106 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-02-18T21:32:13.107Z,1739914333.107 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-02-18T21:32:13.107Z,1739914333.107 [SBIT](INFO): Initialize SBIT Component.
2025-02-18T21:32:13.107Z,1739914333.107 [SBIT](IMPORTANT): git: 2025-02-18
2025-02-18T21:32:13.108Z,1739914333.108 [SBIT](INFO): git hash: 618ec5a8c5f60c900e5bed23ee92085c43718f8d
2025-02-18T21:32:13.108Z,1739914333.108 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-02-18T21:32:13.109Z,1739914333.109 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Dec 4 01:17:04 UTC 2024
2025-02-18T21:32:13.111Z,1739914333.111 [SBIT](INFO): Beginning SBIT in 20.000000 seconds.
2025-02-18T21:32:13.111Z,1739914333.111 [IBIT](INFO): Initialize IBIT Component.
2025-02-18T21:32:13.112Z,1739914333.112 [CBIT](DEBUG): Initialize CBIT Component.
2025-02-18T21:32:13.113Z,1739914333.113 [logger ThreadHandler](INFO): Handler Thread ID is 932
2025-02-18T21:32:13.125Z,1739914333.125 [CBIT](DEBUG): Initialized mux pins.
2025-02-18T21:32:13.125Z,1739914333.125 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2025-02-18T21:32:13.125Z,1739914333.125 [CBIT](DEBUG): Initializing the watchdog timer.
2025-02-18T21:32:13.133Z,1739914333.133 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 933
2025-02-18T21:32:13.145Z,1739914333.145 [DAT ThreadHandler](INFO): Handler Thread ID is 934
2025-02-18T21:32:13.146Z,1739914333.146 [DAT](INFO): Powering up
2025-02-18T21:32:13.146Z,1739914333.146 [DAT](DEBUG): Initializing DAT.
2025-02-18T21:32:13.149Z,1739914333.149 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2025-02-18T21:32:13.150Z,1739914333.150 [CBIT](DEBUG): Initializing heartbeat.
2025-02-18T21:32:13.151Z,1739914333.151 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 936
2025-02-18T21:32:13.153Z,1739914333.153 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-02-18T21:32:13.162Z,1739914333.162 [Onboard ThreadHandler](INFO): Handler Thread ID is 937
2025-02-18T21:32:13.179Z,1739914333.179 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 938
2025-02-18T21:32:13.198Z,1739914333.198 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 939
2025-02-18T21:32:13.198Z,1739914333.198 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-02-18T21:32:13.202Z,1739914333.202 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 941
2025-02-18T21:32:13.205Z,1739914333.205 [WetLabsBB2FL](INFO): Powering up
2025-02-18T21:32:13.207Z,1739914333.207 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 943
2025-02-18T21:32:13.218Z,1739914333.218 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-02-18T21:32:13.218Z,1739914333.218 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-02-18T21:32:13.218Z,1739914333.218 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-02-18T21:32:13.218Z,1739914333.218 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-02-18T21:32:13.218Z,1739914333.218 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-02-18T21:32:13.218Z,1739914333.218 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-02-18T21:32:13.219Z,1739914333.219 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-02-18T21:32:13.219Z,1739914333.219 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-02-18T21:32:13.221Z,1739914333.221 [CBIT](DEBUG): Deactivating GF circuits.
2025-02-18T21:32:13.221Z,1739914333.221 [CBIT](DEBUG): Deactivating emergency mode.
2025-02-18T21:32:13.261Z,1739914333.261 [CBIT](DEBUG): Backplane powered.
2025-02-18T21:32:13.265Z,1739914333.265 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-02-18T21:32:13.266Z,1739914333.266 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-02-18T21:32:13.266Z,1739914333.266 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-02-18T21:32:13.267Z,1739914333.267 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-02-18T21:32:13.267Z,1739914333.267 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-02-18T21:32:13.268Z,1739914333.268 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-02-18T21:32:13.269Z,1739914333.269 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-02-18T21:32:13.270Z,1739914333.270 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-02-18T21:32:13.278Z,1739914333.278 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-02-18T21:32:13.324Z,1739914333.324 [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>

2025-02-18T21:32:13.341Z,1739914333.341 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T21:32:13.372Z,1739914333.372 [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
    }
  }
}


2025-02-18T21:32:13.385Z,1739914333.385 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-02-18T21:32:13.385Z,1739914333.385 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-02-18T21:32:13.401Z,1739914333.401 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-02-18T21:32:13.585Z,1739914333.585 [Radio_Surface](INFO): Powering up
2025-02-18T21:32:13.692Z,1739914333.692 [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>

2025-02-18T21:32:13.714Z,1739914333.714 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-02-18T21:32:13.715Z,1739914333.715 [Default:A.Wait](DEBUG): Construct Wait.
2025-02-18T21:32:13.718Z,1739914333.718 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T21:32:13.759Z,1739914333.759 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-02-18T21:32:13.762Z,1739914333.762 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-02-18T21:32:13.777Z,1739914333.777 [Default:E.Execute](DEBUG): Construct Execute.
2025-02-18T21:32:13.800Z,1739914333.800 [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"
  }
}


2025-02-18T21:32:13.804Z,1739914333.804 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BioacousticsDataBridge,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2025-02-18T21:32:13.823Z,1739914333.823 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-02-18T21:32:13.975Z,1739914333.975 [Power24vConverter](INFO): Powering up.
2025-02-18T21:32:13.976Z,1739914333.976 [Sonardyne_Nano](INFO): Initializing.
2025-02-18T21:32:14.043Z,1739914334.043 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-02-18T21:32:14.049Z,1739914334.049 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-02-18T21:32:14.050Z,1739914334.050 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-02-18T21:32:14.057Z,1739914334.057 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-02-18T21:32:14.058Z,1739914334.058 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-18T21:32:14.065Z,1739914334.065 [MassServo](DEBUG): Initializing MassServo.
2025-02-18T21:32:14.066Z,1739914334.066 [RudderServo](DEBUG): Initializing EZServoServo.
2025-02-18T21:32:14.073Z,1739914334.073 [RudderServo](DEBUG): Initializing RudderServo.
2025-02-18T21:32:14.074Z,1739914334.074 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-18T21:32:14.081Z,1739914334.081 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-18T21:32:14.083Z,1739914334.083 [CommandExec](FAULT): Scheduling is paused
2025-02-18T21:32:14.084Z,1739914334.084 [CBIT](INFO): Critical error at 20250218T213213
2025-02-18T21:32:14.084Z,1739914334.084 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-18T21:32:15.317Z,1739914335.317 [WetLabsBB2FL](INFO): Powering down
2025-02-18T21:32:16.236Z,1739914336.236 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-02-18T21:32:17.486Z,1739914337.486 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2409
2025-02-18T21:32:19.710Z,1739914339.710 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-18T21:32:20.229Z,1739914340.229 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-02-18T21:32:25.748Z,1739914345.748 [DAT](INFO): DAT read: 

2025-02-18T21:32:25.751Z,1739914345.751 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-02-18T21:32:27.510Z,1739914347.510 [DAT](INFO): DAT read: MF Frequency Band

2025-02-18T21:32:27.511Z,1739914347.511 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-02-18T21:32:27.512Z,1739914347.512 [DAT](INFO): DAT read: Feb  6 2025 15:35:46 

2025-02-18T21:32:28.518Z,1739914348.518 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-02-18T21:32:28.519Z,1739914348.519 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-02-18T21:32:28.520Z,1739914348.520 [DAT](INFO): commRate: 800
2025-02-18T21:32:30.585Z,1739914350.585 [DAT](INFO): entering command mode
2025-02-18T21:32:30.786Z,1739914350.786 [DAT](INFO): DAT read: 

2025-02-18T21:32:30.786Z,1739914350.786 [DAT](INFO): DAT read: user:1>

2025-02-18T21:32:30.787Z,1739914350.787 [DAT](INFO): setting verbose to 3
2025-02-18T21:32:31.038Z,1739914351.038 [DAT](INFO): DAT read: user:1>

2025-02-18T21:32:31.039Z,1739914351.039 [DAT](INFO): DAT read: Verbose         | 3           

2025-02-18T21:32:31.039Z,1739914351.039 [DAT](INFO): set verbose to 3
2025-02-18T21:32:31.039Z,1739914351.039 [DAT](INFO): setting DatVerbose to 27440
2025-02-18T21:32:31.290Z,1739914351.290 [DAT](INFO): DAT read: user:2>

2025-02-18T21:32:31.291Z,1739914351.291 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-02-18T21:32:31.291Z,1739914351.291 [DAT](INFO): set DatVerbose to 27440
2025-02-18T21:32:31.291Z,1739914351.291 [DAT](INFO): setting transmit power to 8
2025-02-18T21:32:31.542Z,1739914351.542 [DAT](INFO): DAT read: user:3>

2025-02-18T21:32:31.543Z,1739914351.543 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-02-18T21:32:31.543Z,1739914351.543 [DAT](INFO): set transmit power to 8
2025-02-18T21:32:31.543Z,1739914351.543 [DAT](INFO): setting local address to 2
2025-02-18T21:32:31.794Z,1739914351.794 [DAT](INFO): DAT read: user:4>

2025-02-18T21:32:31.794Z,1739914351.794 [DAT](INFO): DAT read: LocalAddr       | 2           

2025-02-18T21:32:31.795Z,1739914351.795 [DAT](INFO): set local address to 2
2025-02-18T21:32:31.796Z,1739914351.796 [DAT](INFO): Setting time to: 21:32:31 And date to:2/18/2025
2025-02-18T21:32:32.046Z,1739914352.046 [DAT](INFO): DAT read: user:5>

2025-02-18T21:32:32.047Z,1739914352.047 [DAT](INFO): DAT read: Tue Feb 18, 2025  21:32:31  

2025-02-18T21:32:32.047Z,1739914352.047 [DAT](INFO): Local DAT time set to Tue Feb 18, 2025  21:32:31  

2025-02-18T21:32:33.647Z,1739914353.647 [SBIT](IMPORTANT): Beginning Startup BIT
2025-02-18T21:32:33.656Z,1739914353.656 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-18T21:32:37.659Z,1739914357.659 [NAL9602](INFO): Powering up NAL9602
2025-02-18T21:32:45.022Z,1739914365.022 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.001369
CHAN A1 (24V): -0.000412
CHAN A2 (12V): 0.000322
CHAN A3 (5V): -0.001989
CHAN B0 (3.3V): -0.001173
CHAN B1 (3.15aV): -0.002079
CHAN B2 (3.15bV): -0.000820
CHAN B3 (GND): -0.001796
OPEN: 0.004918
Full Scale: +/- 1 mA
2025-02-18T21:32:48.571Z,1739914368.571 [NAL9602](INFO): NAL9602 initialized
2025-02-18T21:33:27.805Z,1739914407.805 [SBIT](IMPORTANT): SBIT PASSED
2025-02-18T21:33:27.805Z,1739914407.805 [SBIT](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2025-02-18T21:33:28.207Z,1739914408.207 [MissionManager](IMPORTANT): Started mission Startup
2025-02-18T21:33:28.207Z,1739914408.207 [Startup] Running Loop=1
2025-02-18T21:33:28.208Z,1739914408.208 [Startup](DEBUG): Aggregate::initialize Startup
2025-02-18T21:33:28.208Z,1739914408.208 [Startup:A.GoToSurface] Running Loop=1
2025-02-18T21:33:28.208Z,1739914408.208 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T21:33:28.208Z,1739914408.208 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-18T21:33:28.209Z,1739914408.209 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-18T21:33:28.209Z,1739914408.209 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-18T21:33:28.210Z,1739914408.210 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-18T21:33:28.210Z,1739914408.210 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T21:33:28.210Z,1739914408.210 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T21:33:28.212Z,1739914408.212 [Startup:StartupSatComms] Running Loop=1
2025-02-18T21:33:28.212Z,1739914408.212 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-02-18T21:33:28.212Z,1739914408.212 [Startup:StartupSatComms:A] Running Loop=1
2025-02-18T21:33:28.608Z,1739914408.608 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-02-18T21:33:34.317Z,1739914414.317 [NAL9602](INFO): SBD MO Status=2, MOMSN=12675, MT Status=2, MTMSN=0
2025-02-18T21:33:34.317Z,1739914414.317 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T21:33:44.756Z,1739914424.756 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=12675, MT Status=1, MTMSN=229
2025-02-18T21:33:44.756Z,1739914424.756 [NAL9602](INFO): Data available in MT queue
2025-02-18T21:33:45.570Z,1739914425.570 [NAL9602](INFO): Received command: sched asap "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.Depth 10 m;set transit.Speed 1.3 m/s" 1y6e2 1 2
2025-02-18T21:33:45.606Z,1739914425.606 [CommandExec](IMPORTANT): got command schedule asap "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.Depth 10 m;set transit.Speed 1.3 m/s" 1y6e2 1 2.000000
2025-02-18T21:33:45.606Z,1739914425.606 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1y6e2
2025-02-18T21:33:45.607Z,1739914425.607 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='1y6e2'): "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.Depth 10 m;set transit.Speed 1.3 m/s", ASAP
2025-02-18T21:33:55.330Z,1739914435.330 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213352.00,A,3648.11768,N,12148.31443,W,0.680,83.93,180225,,,A*44
2025-02-18T21:33:55.333Z,1739914435.333 [NAL9602](INFO): GPS fix at 20250218T213352: (36.801961, -121.805240)
2025-02-18T21:33:55.350Z,1739914435.350 [Startup:StartupSatComms:A] Stopped
2025-02-18T21:33:55.350Z,1739914435.350 [Startup:StartupSatComms:B] Running Loop=1
2025-02-18T21:33:55.805Z,1739914435.805 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-18T21:34:14.851Z,1739914454.851 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004156
2025-02-18T21:34:16.176Z,1739914456.176 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=12676, MT Status=1, MTMSN=230
2025-02-18T21:34:16.229Z,1739914456.229 [NAL9602](INFO): Sent 83 bytes from file Logs/20250218T183632/Courier0073.lzma
2025-02-18T21:34:16.229Z,1739914456.229 [NAL9602](INFO): Packets left to send: 0
2025-02-18T21:34:16.957Z,1739914456.957 [NAL9602](INFO): Received command: sched asap "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run" 1y6e2 2 2
2025-02-18T21:34:16.977Z,1739914456.977 [CommandExec](IMPORTANT): got command schedule asap "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run" 1y6e2 2 2.000000
2025-02-18T21:34:16.977Z,1739914456.977 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1y6e2
2025-02-18T21:34:16.978Z,1739914456.978 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='1y6e2'): "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run", ASAP
2025-02-18T21:34:17.096Z,1739914457.096 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-18T21:34:17.096Z,1739914457.096 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-18T21:34:17.096Z,1739914457.096 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-18T21:34:17.102Z,1739914457.102 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-18T21:34:17.758Z,1739914457.758 [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>

2025-02-18T21:34:17.764Z,1739914457.764 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-18T21:34:17.767Z,1739914457.767 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-18T21:34:17.790Z,1739914457.790 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-18T21:34:17.792Z,1739914457.792 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-18T21:34:17.803Z,1739914457.803 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-18T21:34:17.806Z,1739914457.806 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-18T21:34:17.817Z,1739914457.817 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-18T21:34:17.820Z,1739914457.820 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-18T21:34:17.874Z,1739914457.874 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-18T21:34:17.893Z,1739914457.893 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-18T21:34:17.896Z,1739914457.896 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-18T21:34:17.915Z,1739914457.915 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-18T21:34:17.923Z,1739914457.923 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-18T21:34:17.924Z,1739914457.924 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-18T21:34:17.924Z,1739914457.924 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-18T21:34:17.939Z,1739914457.939 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-18T21:34:18.473Z,1739914458.473 [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>

2025-02-18T21:34:18.490Z,1739914458.490 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-18T21:34:18.497Z,1739914458.497 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-18T21:34:18.500Z,1739914458.500 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-18T21:34:18.514Z,1739914458.514 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-18T21:34:18.521Z,1739914458.521 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-18T21:34:18.524Z,1739914458.524 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-18T21:34:18.551Z,1739914458.551 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-18T21:34:18.558Z,1739914458.558 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-18T21:34:18.569Z,1739914458.569 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T21:34:18.668Z,1739914458.668 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-18T21:34:18.668Z,1739914458.668 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-18T21:34:18.686Z,1739914458.686 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-18T21:34:18.914Z,1739914458.914 [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>

2025-02-18T21:34:18.922Z,1739914458.922 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-18T21:34:18.937Z,1739914458.937 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-18T21:34:18.940Z,1739914458.940 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-18T21:34:18.951Z,1739914458.951 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-18T21:34:18.952Z,1739914458.952 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-18T21:34:18.986Z,1739914458.986 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-18T21:34:19.016Z,1739914459.016 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-18T21:34:19.072Z,1739914459.072 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-18T21:34:19.073Z,1739914459.073 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-18T21:34:19.086Z,1739914459.086 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-18T21:34:19.157Z,1739914459.157 [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>

2025-02-18T21:34:19.169Z,1739914459.169 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-18T21:34:19.172Z,1739914459.172 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-18T21:34:19.183Z,1739914459.183 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-18T21:34:19.184Z,1739914459.184 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-18T21:34:19.193Z,1739914459.193 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-18T21:34:19.524Z,1739914459.524 [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>

2025-02-18T21:34:19.541Z,1739914459.541 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-18T21:34:19.553Z,1739914459.553 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-18T21:34:19.577Z,1739914459.577 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-18T21:34:19.580Z,1739914459.580 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-18T21:34:19.588Z,1739914459.588 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-18T21:34:19.615Z,1739914459.615 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-18T21:34:19.625Z,1739914459.625 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-18T21:34:19.637Z,1739914459.637 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-18T21:34:19.651Z,1739914459.651 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-18T21:34:19.674Z,1739914459.674 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-18T21:34:19.685Z,1739914459.685 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-18T21:34:19.752Z,1739914459.752 [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"
  }
}


2025-02-18T21:34:19.752Z,1739914459.752 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-18T21:34:28.744Z,1739914468.744 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250218T183632/Courier0076.lzma
2025-02-18T21:34:29.747Z,1739914469.747 [DataOverHttps](INFO): Moved sent file to Logs/20250218T183632/Courier0076.lzma.bak
2025-02-18T21:34:29.747Z,1739914469.747 [DataOverHttps](INFO): SBD MOMSN=23966364
2025-02-18T21:34:47.210Z,1739914487.210 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T21:34:51.009Z,1739914491.009 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2025-02-18T21:34:51.010Z,1739914491.010 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-02-18T21:34:51.011Z,1739914491.011 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-02-18T21:34:51.011Z,1739914491.011 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-02-18T21:34:51.012Z,1739914491.012 [CommandExec](IMPORTANT): got command set transit.Depth 10 meter
2025-02-18T21:34:51.013Z,1739914491.013 [CommandExec](IMPORTANT): got command set transit.Speed 1.3 meter_per_second
2025-02-18T21:34:55.353Z,1739914495.353 [Startup:StartupSatComms:B](INFO): Timed out from 2025-02-18T21:33:55.4Z
2025-02-18T21:34:55.353Z,1739914495.353 [Startup:StartupSatComms:B] Stopped
2025-02-18T21:34:55.361Z,1739914495.361 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-02-18T21:34:55.361Z,1739914495.361 [Startup:StartupSatComms] Stopped
2025-02-18T21:34:55.361Z,1739914495.361 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-02-18T21:34:55.362Z,1739914495.362 [Startup](INFO): Completed Startup
2025-02-18T21:34:55.362Z,1739914495.362 [MissionManager](INFO): Startup is completed.
2025-02-18T21:34:55.362Z,1739914495.362 [MissionManager](INFO): Uninitializing Mission Startup
2025-02-18T21:34:55.363Z,1739914495.363 [Startup] Stopped
2025-02-18T21:34:55.363Z,1739914495.363 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-02-18T21:34:55.363Z,1739914495.363 [Startup:A.GoToSurface] Stopped
2025-02-18T21:34:55.363Z,1739914495.363 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T21:34:55.737Z,1739914495.737 [MissionManager](IMPORTANT): Started mission Default
2025-02-18T21:34:55.737Z,1739914495.737 [Default] Running Loop=1
2025-02-18T21:34:55.737Z,1739914495.737 [Default](DEBUG): Aggregate::initialize Default
2025-02-18T21:34:55.737Z,1739914495.737 [Default:B.GoToSurface] Running Loop=1
2025-02-18T21:34:55.738Z,1739914495.738 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T21:34:55.738Z,1739914495.738 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-18T21:34:55.738Z,1739914495.738 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-18T21:34:55.738Z,1739914495.738 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-18T21:34:55.739Z,1739914495.739 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-18T21:34:55.739Z,1739914495.739 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T21:34:55.739Z,1739914495.739 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T21:34:55.739Z,1739914495.739 [Default:A.Wait] Running Loop=1
2025-02-18T21:34:55.740Z,1739914495.740 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-18T21:35:00.589Z,1739914500.589 [DataOverHttps](INFO): Sending 331 bytes from file Logs/20250218T213149/Courier0000.lzma
2025-02-18T21:35:01.591Z,1739914501.591 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Courier0000.lzma.bak
2025-02-18T21:35:01.591Z,1739914501.591 [DataOverHttps](INFO): SBD MOMSN=23966369
2025-02-18T21:35:02.095Z,1739914502.095 [CommandExec](IMPORTANT): got command set transit.MaxDepth 20 meter
2025-02-18T21:35:02.096Z,1739914502.096 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.5 kilometer
2025-02-18T21:35:02.126Z,1739914502.126 [CommandExec](IMPORTANT): got command set transit.MinAltitude 7 meter
2025-02-18T21:35:02.127Z,1739914502.127 [CommandExec](IMPORTANT): got command run
2025-02-18T21:35:02.134Z,1739914502.134 [CommandExec](IMPORTANT): Running 
2025-02-18T21:35:02.257Z,1739914502.257 [Default] Stopped
2025-02-18T21:35:02.261Z,1739914502.261 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-18T21:35:02.261Z,1739914502.261 [Default:A.Wait] Stopped
2025-02-18T21:35:02.261Z,1739914502.261 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T21:35:02.261Z,1739914502.261 [Default:B.GoToSurface] Stopped
2025-02-18T21:35:02.261Z,1739914502.261 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T21:35:02.261Z,1739914502.261 [MissionManager](IMPORTANT): Started mission transit
2025-02-18T21:35:02.262Z,1739914502.262 [transit] Running Loop=1
2025-02-18T21:35:02.262Z,1739914502.262 [transit](DEBUG): Aggregate::initialize transit
2025-02-18T21:35:02.262Z,1739914502.262 [transit:StandardEnvelopes] Running Loop=1
2025-02-18T21:35:02.262Z,1739914502.262 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-02-18T21:35:02.262Z,1739914502.262 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T21:35:02.262Z,1739914502.262 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-18T21:35:02.263Z,1739914502.263 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T21:35:02.263Z,1739914502.263 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-18T21:35:02.263Z,1739914502.263 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T21:35:02.263Z,1739914502.263 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-18T21:35:02.263Z,1739914502.263 [transit:BackseatDriver] Running Loop=1
2025-02-18T21:35:02.263Z,1739914502.263 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-02-18T21:35:02.263Z,1739914502.263 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-18T21:35:02.263Z,1739914502.263 [transit:PowerOnly] Running Loop=1
2025-02-18T21:35:02.263Z,1739914502.263 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-02-18T21:35:02.263Z,1739914502.263 [transit:PowerOnly:A] Running Loop=1
2025-02-18T21:35:02.264Z,1739914502.264 [transit:PowerOnly:B] Running Loop=1
2025-02-18T21:35:02.264Z,1739914502.264 [transit:PowerOnly:C] Running Loop=1
2025-02-18T21:35:02.264Z,1739914502.264 [transit:PowerOnly:D] Running Loop=1
2025-02-18T21:35:02.264Z,1739914502.264 [transit:PowerOnly:E.Wait] Running Loop=1
2025-02-18T21:35:02.264Z,1739914502.264 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-18T21:35:02.264Z,1739914502.264 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-18T21:35:02.264Z,1739914502.264 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-18T21:35:02.265Z,1739914502.265 [transit:MassHold.Pitch] Running Loop=1
2025-02-18T21:35:02.281Z,1739914502.281 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-02-18T21:35:02.281Z,1739914502.281 [transit:B] Running Loop=1
2025-02-18T21:35:02.282Z,1739914502.282 [transit:MassHold.Pitch] Running Loop=1
2025-02-18T21:35:02.282Z,1739914502.282 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-18T21:35:02.283Z,1739914502.283 [transit:PowerOnly] Running Loop=1
2025-02-18T21:35:02.283Z,1739914502.283 [transit:PowerOnly:D] Stopped
2025-02-18T21:35:02.283Z,1739914502.283 [transit:PowerOnly:C] Stopped
2025-02-18T21:35:02.283Z,1739914502.283 [transit:PowerOnly:B] Stopped
2025-02-18T21:35:02.283Z,1739914502.283 [transit:PowerOnly:A] Stopped
2025-02-18T21:35:02.283Z,1739914502.283 [transit:BackseatDriver] Running Loop=1
2025-02-18T21:35:02.283Z,1739914502.283 [transit:StandardEnvelopes] Running Loop=1
2025-02-18T21:35:02.284Z,1739914502.284 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T21:35:02.284Z,1739914502.284 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-02-18T21:35:02.325Z,1739914502.325 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T21:35:02.326Z,1739914502.326 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T21:35:02.326Z,1739914502.326 [transit:B] Stopped
2025-02-18T21:35:02.327Z,1739914502.327 [transit:C] Running Loop=1
2025-02-18T21:35:02.339Z,1739914502.339 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-02-18T21:35:02.339Z,1739914502.339 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-02-18T21:35:02.340Z,1739914502.340 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-02-18T21:35:02.694Z,1739914502.694 [transit:C] Stopped
2025-02-18T21:35:02.694Z,1739914502.694 [transit:E] Running Loop=1
2025-02-18T21:35:03.052Z,1739914503.052 [transit:E] Stopped
2025-02-18T21:35:03.052Z,1739914503.052 [transit:F] Running Loop=1
2025-02-18T21:35:03.430Z,1739914503.430 [transit:F] Stopped
2025-02-18T21:35:03.430Z,1739914503.430 [transit:G] Running Loop=1
2025-02-18T21:35:03.837Z,1739914503.837 [transit:G] Stopped
2025-02-18T21:35:03.837Z,1739914503.837 [transit:Transit] Running Loop=1
2025-02-18T21:35:03.837Z,1739914503.837 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-02-18T21:35:03.837Z,1739914503.837 [transit:Transit:A.Pitch] Running Loop=1
2025-02-18T21:35:03.837Z,1739914503.837 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-02-18T21:35:03.837Z,1739914503.837 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-18T21:35:03.838Z,1739914503.838 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-02-18T21:35:03.838Z,1739914503.838 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-18T21:35:03.838Z,1739914503.838 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-18T21:35:03.839Z,1739914503.839 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-18T21:35:03.840Z,1739914503.840 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-18T21:35:04.249Z,1739914504.249 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-18T21:35:04.258Z,1739914504.258 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-18T21:35:04.258Z,1739914504.258 [transit:Transit:A.Pitch] Running Loop=1
2025-02-18T21:35:07.432Z,1739914507.432 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-02-18T21:35:10.136Z,1739914510.136 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-02-18T21:35:17.024Z,1739914517.024 [CommandExec](IMPORTANT): got command stop
2025-02-18T21:35:17.025Z,1739914517.025 [CommandExec](IMPORTANT): Scheduling is paused
2025-02-18T21:35:17.025Z,1739914517.025 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-18T21:35:17.109Z,1739914517.109 [MissionManager](INFO): MissionManager is completed.
2025-02-18T21:35:17.109Z,1739914517.109 [MissionManager](INFO): Uninitializing Mission transit
2025-02-18T21:35:17.110Z,1739914517.110 [transit] Stopped
2025-02-18T21:35:17.110Z,1739914517.110 [transit](DEBUG): Aggregate::uninitialize transit
2025-02-18T21:35:17.110Z,1739914517.110 [transit:StandardEnvelopes] Stopped
2025-02-18T21:35:17.110Z,1739914517.110 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-02-18T21:35:17.110Z,1739914517.110 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-18T21:35:17.110Z,1739914517.110 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-18T21:35:17.110Z,1739914517.110 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-18T21:35:17.110Z,1739914517.110 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-18T21:35:17.110Z,1739914517.110 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-18T21:35:17.110Z,1739914517.110 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-18T21:35:17.110Z,1739914517.110 [transit:BackseatDriver] Stopped
2025-02-18T21:35:17.110Z,1739914517.110 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-02-18T21:35:17.111Z,1739914517.111 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-02-18T21:35:17.111Z,1739914517.111 [transit:PowerOnly] Stopped
2025-02-18T21:35:17.111Z,1739914517.111 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-02-18T21:35:17.111Z,1739914517.111 [transit:PowerOnly:E.Wait] Stopped
2025-02-18T21:35:17.111Z,1739914517.111 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T21:35:17.111Z,1739914517.111 [transit:BuoyancyHold.Buoyancy] Stopped
2025-02-18T21:35:17.111Z,1739914517.111 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-18T21:35:17.111Z,1739914517.111 [transit:MassHold.Pitch] Stopped
2025-02-18T21:35:17.111Z,1739914517.111 [transit:Transit] Stopped
2025-02-18T21:35:17.111Z,1739914517.111 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-02-18T21:35:17.111Z,1739914517.111 [transit:Transit:A.Pitch] Stopped
2025-02-18T21:35:17.111Z,1739914517.111 [transit:Transit:B.SetSpeed] Stopped
2025-02-18T21:35:17.124Z,1739914517.124 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-02-18T21:35:17.124Z,1739914517.124 [transit:Transit:Wpt1.Waypoint] Stopped
2025-02-18T21:35:17.124Z,1739914517.124 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-18T21:35:17.530Z,1739914517.530 [MissionManager](IMPORTANT): Started mission Default
2025-02-18T21:35:17.530Z,1739914517.530 [Default] Running Loop=1
2025-02-18T21:35:17.530Z,1739914517.530 [Default](DEBUG): Aggregate::initialize Default
2025-02-18T21:35:17.531Z,1739914517.531 [Default:B.GoToSurface] Running Loop=1
2025-02-18T21:35:17.531Z,1739914517.531 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T21:35:17.531Z,1739914517.531 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-18T21:35:17.531Z,1739914517.531 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-18T21:35:17.532Z,1739914517.532 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-18T21:35:17.532Z,1739914517.532 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-18T21:35:17.532Z,1739914517.532 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T21:35:17.533Z,1739914517.533 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T21:35:17.533Z,1739914517.533 [Default:A.Wait] Running Loop=1
2025-02-18T21:35:17.533Z,1739914517.533 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-18T21:35:30.855Z,1739914530.855 [Default:A.Wait](INFO): Done Waiting.
2025-02-18T21:35:30.855Z,1739914530.855 [Default:A.Wait] Stopped
2025-02-18T21:35:30.855Z,1739914530.855 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T21:35:31.270Z,1739914531.270 [Default:CheckIn] Running Loop=1
2025-02-18T21:35:31.270Z,1739914531.270 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-18T21:35:31.270Z,1739914531.270 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-18T21:35:31.656Z,1739914531.656 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T21:35:33.263Z,1739914533.263 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213529.00,A,3648.10769,N,12148.31435,W,0.641,214.69,180225,,,A*7B
2025-02-18T21:35:33.265Z,1739914533.265 [NAL9602](INFO): GPS fix at 20250218T213529: (36.801795, -121.805239)
2025-02-18T21:35:33.278Z,1739914533.278 [UniversalFixResidualReporter](INFO): Fix residual: 100.7 %DT, over the last 1315.5 m. Residual distance 1324.4 m at bearing -59.5 degrees. Fix at (36.8018, -121.8052) with 18.5 m made good.
2025-02-18T21:35:33.279Z,1739914533.279 [Default:CheckIn:Read_GPS] Stopped
2025-02-18T21:35:33.279Z,1739914533.279 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-18T21:35:33.313Z,1739914533.313 [CBIT](CRITICAL): Navigation error has exceeded threshold. navErrorCriticalReporting is enabled.
2025-02-18T21:35:33.697Z,1739914533.697 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-18T21:35:33.705Z,1739914533.705 [CommandExec](FAULT): Scheduling is paused
2025-02-18T21:35:33.705Z,1739914533.705 [CBIT](INFO): Critical error at 20250218T213533
2025-02-18T21:35:39.656Z,1739914539.656 [DataOverHttps](INFO): Sending 275 bytes from file Logs/20250218T213149/Courier0004.lzma
2025-02-18T21:35:40.657Z,1739914540.657 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Courier0004.lzma.bak
2025-02-18T21:35:40.658Z,1739914540.658 [DataOverHttps](INFO): SBD MOMSN=23966374
2025-02-18T21:35:47.819Z,1739914547.819 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=12677, MT Status=1, MTMSN=231
2025-02-18T21:35:47.819Z,1739914547.819 [NAL9602](INFO): Data available in MT queue
2025-02-18T21:35:48.544Z,1739914548.544 [NAL9602](INFO): Received command: sched asap "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.Depth 10 m;set transit.Speed 1.3 m/s" 1y6bo 1 2
2025-02-18T21:35:48.644Z,1739914548.644 [CommandExec](IMPORTANT): got command schedule asap "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.Depth 10 m;set transit.Speed 1.3 m/s" 1y6bo 1 2.000000
2025-02-18T21:35:48.645Z,1739914548.645 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1y6bo
2025-02-18T21:35:48.646Z,1739914548.646 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='1y6bo'): "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.Depth 10 m;set transit.Speed 1.3 m/s", ASAP
2025-02-18T21:36:07.926Z,1739914567.926 [CommandExec](IMPORTANT): got command get VerticalControl.buoyancyNeutral
2025-02-18T21:36:07.927Z,1739914567.927 [CommandExec](IMPORTANT): VerticalControl.buoyancyNeutral 200.000000 cc
2025-02-18T21:36:09.937Z,1739914569.937 [DataOverHttps](INFO): Sending 224 bytes from file Logs/20250218T183632/Express0074.lzma
2025-02-18T21:36:10.934Z,1739914570.934 [DataOverHttps](INFO): Moved sent file to Logs/20250218T183632/Express0074.lzma.bak
2025-02-18T21:36:10.934Z,1739914570.934 [DataOverHttps](INFO): SBD MOMSN=23966379
2025-02-18T21:36:18.915Z,1739914578.915 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T21:36:26.321Z,1739914586.321 [CommandExec](IMPORTANT): got command show stack
2025-02-18T21:36:26.321Z,1739914586.321 [CommandExec](IMPORTANT): Behavior Stack:

2025-02-18T21:36:26.321Z,1739914586.321 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2025-02-18T21:36:26.322Z,1739914586.322 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_Iridium
2025-02-18T21:36:29.691Z,1739914589.691 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250218T183632/Express0077.lzma
2025-02-18T21:36:30.694Z,1739914590.694 [DataOverHttps](INFO): Moved sent file to Logs/20250218T183632/Express0077.lzma.bak
2025-02-18T21:36:30.694Z,1739914590.694 [DataOverHttps](INFO): SBD MOMSN=23966387
2025-02-18T21:36:46.981Z,1739914606.981 [DataOverHttps](INFO): Sending 965 bytes from file Logs/20250218T213149/Express0001.lzma
2025-02-18T21:36:47.982Z,1739914607.982 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Express0001.lzma.bak
2025-02-18T21:36:47.982Z,1739914607.982 [DataOverHttps](INFO): SBD MOMSN=23966389
2025-02-18T21:37:09.349Z,1739914629.349 [DataOverHttps](INFO): Sending 879 bytes from file Logs/20250218T213149/Express0005.lzma
2025-02-18T21:37:11.216Z,1739914631.216 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Express0005.lzma.bak
2025-02-18T21:37:11.216Z,1739914631.216 [DataOverHttps](INFO): SBD MOMSN=23966408
2025-02-18T21:37:12.196Z,1739914632.196 [Default:CheckIn:Read_Iridium] Stopped
2025-02-18T21:37:12.196Z,1739914632.196 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-18T21:37:12.196Z,1739914632.196 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-18T21:37:22.106Z,1739914642.106 [DataOverHttps](IMPORTANT): SBD MTMSN=20250218T213721
2025-02-18T21:37:29.964Z,1739914649.964 [DataOverHttps](INFO): Received command: sched asap "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.Depth 10 m;set transit.Speed 1.3 m/s" 1y6q2 1 2
2025-02-18T21:37:29.983Z,1739914649.983 [CommandExec](IMPORTANT): got command schedule asap "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.Depth 10 m;set transit.Speed 1.3 m/s" 1y6q2 1 2.000000
2025-02-18T21:37:29.983Z,1739914649.983 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1y6q2
2025-02-18T21:37:29.984Z,1739914649.984 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 2 with id='1y6q2'): "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.Depth 10 m;set transit.Speed 1.3 m/s", ASAP
2025-02-18T21:37:30.965Z,1739914650.965 [DataOverHttps](IMPORTANT): SBD MTMSN=20250218T213730
2025-02-18T21:37:38.436Z,1739914658.436 [DataOverHttps](INFO): Received command: sched asap "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run" 1y6q2 2 2
2025-02-18T21:37:38.511Z,1739914658.511 [CommandExec](IMPORTANT): got command schedule asap "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run" 1y6q2 2 2.000000
2025-02-18T21:37:38.512Z,1739914658.512 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1y6q2
2025-02-18T21:37:38.513Z,1739914658.513 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 2 with id='1y6q2'): "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run", ASAP
2025-02-18T21:37:38.630Z,1739914658.630 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-18T21:37:38.631Z,1739914658.631 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-18T21:37:38.631Z,1739914658.631 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-18T21:37:38.633Z,1739914658.633 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-18T21:37:39.443Z,1739914659.443 [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>

2025-02-18T21:37:39.448Z,1739914659.448 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-18T21:37:39.450Z,1739914659.450 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-18T21:37:39.453Z,1739914659.453 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-18T21:37:39.455Z,1739914659.455 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-18T21:37:39.457Z,1739914659.457 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-18T21:37:39.459Z,1739914659.459 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-18T21:37:39.461Z,1739914659.461 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-18T21:37:39.463Z,1739914659.463 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-18T21:37:39.465Z,1739914659.465 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-18T21:37:39.468Z,1739914659.468 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-18T21:37:39.471Z,1739914659.471 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-18T21:37:39.473Z,1739914659.473 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-18T21:37:39.475Z,1739914659.475 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-18T21:37:39.524Z,1739914659.524 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-18T21:37:39.524Z,1739914659.524 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-18T21:37:39.525Z,1739914659.525 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-18T21:37:39.877Z,1739914659.877 [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>

2025-02-18T21:37:39.886Z,1739914659.886 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-18T21:37:39.888Z,1739914659.888 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-18T21:37:39.890Z,1739914659.890 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-18T21:37:39.893Z,1739914659.893 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-18T21:37:39.895Z,1739914659.895 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-18T21:37:39.897Z,1739914659.897 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-18T21:37:39.899Z,1739914659.899 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-18T21:37:39.901Z,1739914659.901 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-18T21:37:39.907Z,1739914659.907 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T21:37:39.924Z,1739914659.924 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-18T21:37:39.924Z,1739914659.924 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-18T21:37:39.925Z,1739914659.925 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-18T21:37:40.163Z,1739914660.163 [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>

2025-02-18T21:37:40.166Z,1739914660.166 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-18T21:37:40.169Z,1739914660.169 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-18T21:37:40.171Z,1739914660.171 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-18T21:37:40.173Z,1739914660.173 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-18T21:37:40.174Z,1739914660.174 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-18T21:37:40.180Z,1739914660.180 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-18T21:37:40.186Z,1739914660.186 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-18T21:37:40.195Z,1739914660.195 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-18T21:37:40.195Z,1739914660.195 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-18T21:37:40.196Z,1739914660.196 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-18T21:37:40.291Z,1739914660.291 [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>

2025-02-18T21:37:40.295Z,1739914660.295 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-18T21:37:40.297Z,1739914660.297 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-18T21:37:40.299Z,1739914660.299 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-18T21:37:40.299Z,1739914660.299 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-18T21:37:40.301Z,1739914660.301 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-18T21:37:40.419Z,1739914660.419 [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>

2025-02-18T21:37:40.425Z,1739914660.425 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-18T21:37:40.427Z,1739914660.427 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-18T21:37:40.429Z,1739914660.429 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-18T21:37:40.431Z,1739914660.431 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-18T21:37:40.433Z,1739914660.433 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-18T21:37:40.456Z,1739914660.456 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-18T21:37:40.457Z,1739914660.457 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-18T21:37:40.461Z,1739914660.461 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-18T21:37:40.554Z,1739914660.554 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-18T21:37:40.585Z,1739914660.585 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-18T21:37:40.587Z,1739914660.587 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-18T21:37:40.647Z,1739914660.647 [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"
  }
}


2025-02-18T21:37:40.658Z,1739914660.658 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-18T21:37:54.069Z,1739914674.069 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2025-02-18T21:37:54.070Z,1739914674.070 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-02-18T21:37:54.071Z,1739914674.071 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-02-18T21:37:54.072Z,1739914674.072 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-02-18T21:37:54.073Z,1739914674.073 [CommandExec](IMPORTANT): got command set transit.Depth 10 meter
2025-02-18T21:37:54.073Z,1739914674.073 [CommandExec](IMPORTANT): got command set transit.Speed 1.3 meter_per_second
2025-02-18T21:37:54.695Z,1739914674.695 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-02-18T21:38:00.651Z,1739914680.651 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:38:01.216Z,1739914681.216 [CommandExec](IMPORTANT): got command set transit.MaxDepth 20 meter
2025-02-18T21:38:01.217Z,1739914681.217 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.5 kilometer
2025-02-18T21:38:01.218Z,1739914681.218 [CommandExec](IMPORTANT): got command set transit.MinAltitude 7 meter
2025-02-18T21:38:01.218Z,1739914681.218 [CommandExec](IMPORTANT): got command run
2025-02-18T21:38:01.220Z,1739914681.220 [CommandExec](IMPORTANT): Running 
2025-02-18T21:38:01.477Z,1739914681.477 [Default] Stopped
2025-02-18T21:38:01.477Z,1739914681.477 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-18T21:38:01.477Z,1739914681.477 [Default:B.GoToSurface] Stopped
2025-02-18T21:38:01.477Z,1739914681.477 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T21:38:01.477Z,1739914681.477 [Default:CheckIn] Stopped
2025-02-18T21:38:01.478Z,1739914681.478 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-18T21:38:01.478Z,1739914681.478 [Default:CheckIn:C.Wait] Stopped
2025-02-18T21:38:01.478Z,1739914681.478 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T21:38:01.478Z,1739914681.478 [MissionManager](IMPORTANT): Started mission transit
2025-02-18T21:38:01.478Z,1739914681.478 [transit] Running Loop=1
2025-02-18T21:38:01.478Z,1739914681.478 [transit](DEBUG): Aggregate::initialize transit
2025-02-18T21:38:01.478Z,1739914681.478 [transit:StandardEnvelopes] Running Loop=1
2025-02-18T21:38:01.478Z,1739914681.478 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-02-18T21:38:01.479Z,1739914681.479 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T21:38:01.479Z,1739914681.479 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-18T21:38:01.479Z,1739914681.479 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T21:38:01.479Z,1739914681.479 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-18T21:38:01.479Z,1739914681.479 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T21:38:01.479Z,1739914681.479 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-18T21:38:01.479Z,1739914681.479 [transit:BackseatDriver] Running Loop=1
2025-02-18T21:38:01.479Z,1739914681.479 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-02-18T21:38:01.480Z,1739914681.480 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-18T21:38:01.480Z,1739914681.480 [transit:PowerOnly] Running Loop=1
2025-02-18T21:38:01.480Z,1739914681.480 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-02-18T21:38:01.480Z,1739914681.480 [transit:PowerOnly:A] Running Loop=1
2025-02-18T21:38:01.480Z,1739914681.480 [transit:PowerOnly:B] Running Loop=1
2025-02-18T21:38:01.480Z,1739914681.480 [transit:PowerOnly:C] Running Loop=1
2025-02-18T21:38:01.480Z,1739914681.480 [transit:PowerOnly:D] Running Loop=1
2025-02-18T21:38:01.480Z,1739914681.480 [transit:PowerOnly:E.Wait] Running Loop=1
2025-02-18T21:38:01.480Z,1739914681.480 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-18T21:38:01.481Z,1739914681.481 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-18T21:38:01.481Z,1739914681.481 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-18T21:38:01.481Z,1739914681.481 [transit:MassHold.Pitch] Running Loop=1
2025-02-18T21:38:01.481Z,1739914681.481 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-02-18T21:38:01.481Z,1739914681.481 [transit:B] Running Loop=1
2025-02-18T21:38:01.482Z,1739914681.482 [transit:MassHold.Pitch] Running Loop=1
2025-02-18T21:38:01.482Z,1739914681.482 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-18T21:38:01.482Z,1739914681.482 [transit:PowerOnly] Running Loop=1
2025-02-18T21:38:01.482Z,1739914681.482 [transit:PowerOnly:D] Stopped
2025-02-18T21:38:01.483Z,1739914681.483 [transit:PowerOnly:C] Stopped
2025-02-18T21:38:01.483Z,1739914681.483 [transit:PowerOnly:B] Stopped
2025-02-18T21:38:01.483Z,1739914681.483 [transit:PowerOnly:A] Stopped
2025-02-18T21:38:01.483Z,1739914681.483 [transit:BackseatDriver] Running Loop=1
2025-02-18T21:38:01.483Z,1739914681.483 [transit:StandardEnvelopes] Running Loop=1
2025-02-18T21:38:01.483Z,1739914681.483 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T21:38:01.483Z,1739914681.483 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-02-18T21:38:01.507Z,1739914681.507 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T21:38:01.507Z,1739914681.507 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T21:38:01.512Z,1739914681.512 [transit:B] Stopped
2025-02-18T21:38:01.512Z,1739914681.512 [transit:C] Running Loop=1
2025-02-18T21:38:01.909Z,1739914681.909 [transit:C] Stopped
2025-02-18T21:38:01.909Z,1739914681.909 [transit:E] Running Loop=1
2025-02-18T21:38:02.301Z,1739914682.301 [transit:E] Stopped
2025-02-18T21:38:02.301Z,1739914682.301 [transit:F] Running Loop=1
2025-02-18T21:38:02.689Z,1739914682.689 [transit:F] Stopped
2025-02-18T21:38:02.689Z,1739914682.689 [transit:G] Running Loop=1
2025-02-18T21:38:03.101Z,1739914683.101 [transit:G] Stopped
2025-02-18T21:38:03.101Z,1739914683.101 [transit:Transit] Running Loop=1
2025-02-18T21:38:03.101Z,1739914683.101 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-02-18T21:38:03.101Z,1739914683.101 [transit:Transit:A.Pitch] Running Loop=1
2025-02-18T21:38:03.101Z,1739914683.101 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-02-18T21:38:03.102Z,1739914683.102 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-18T21:38:03.102Z,1739914683.102 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-02-18T21:38:03.102Z,1739914683.102 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-18T21:38:03.102Z,1739914683.102 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-18T21:38:03.103Z,1739914683.103 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-18T21:38:03.104Z,1739914683.104 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-18T21:38:03.502Z,1739914683.502 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-18T21:38:03.502Z,1739914683.502 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-18T21:38:03.503Z,1739914683.503 [transit:Transit:A.Pitch] Running Loop=1
2025-02-18T21:38:13.610Z,1739914693.610 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:38:26.131Z,1739914706.131 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:38:39.328Z,1739914719.328 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:38:51.510Z,1739914731.510 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:39:04.438Z,1739914744.438 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:39:16.962Z,1739914756.962 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:39:29.927Z,1739914769.927 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:39:33.336Z,1739914773.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T21:39:42.855Z,1739914782.855 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:39:48.984Z,1739914788.984 [Radio_Surface](INFO): Powering down
2025-02-18T21:39:55.782Z,1739914795.782 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:40:04.480Z,1739914804.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T21:40:05.484Z,1739914805.484 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-18T21:40:08.739Z,1739914808.739 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T21:40:28.163Z,1739914828.163 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T21:40:28.170Z,1739914828.170 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-18T21:40:28.171Z,1739914828.171 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-18T21:40:28.174Z,1739914828.174 [BPC1](INFO): Received data from all battery sticks.
2025-02-18T21:41:41.888Z,1739914901.888 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.758926
2025-02-18T21:50:01.272Z,1739915401.272 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-02-18T21:50:01.272Z,1739915401.272 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-02-18T21:50:01.272Z,1739915401.272 [ElevatorServo] Communications Fault, FailCount= 1
2025-02-18T21:50:01.272Z,1739915401.272 [ElevatorServo](ERROR): Communications Fault
2025-02-18T21:50:01.351Z,1739915401.351 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-02-18T21:50:01.617Z,1739915401.617 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-02-18T21:50:01.618Z,1739915401.618 [ElevatorServo](INFO): Powering down
2025-02-18T21:50:02.410Z,1739915402.410 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-02-18T21:50:02.525Z,1739915402.525 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-02-18T21:50:02.603Z,1739915402.603 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-02-18T21:50:02.603Z,1739915402.603 [ElevatorServo] No Fault, FailCount= 1
2025-02-18T22:05:33.270Z,1739916333.270 [transit:NeedComms] Running Loop=1
2025-02-18T22:05:33.270Z,1739916333.270 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-02-18T22:05:33.270Z,1739916333.270 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-02-18T22:05:33.270Z,1739916333.270 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T22:05:33.270Z,1739916333.270 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-18T22:05:33.271Z,1739916333.271 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-18T22:05:33.271Z,1739916333.271 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-18T22:05:33.271Z,1739916333.271 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-18T22:05:33.272Z,1739916333.272 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T22:05:33.272Z,1739916333.272 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T22:05:33.273Z,1739916333.273 [transit:NeedComms:A] Running Loop=1
2025-02-18T22:05:33.274Z,1739916333.274 [transit:NeedComms:A](INFO): last time_fix was:  1739914529.000000 second since 1970/01/01T00:00:00Z 
2025-02-18T22:05:33.275Z,1739916333.275 [transit:NeedComms:A] Stopped
2025-02-18T22:05:36.768Z,1739916336.768 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-02-18T22:05:36.868Z,1739916336.868 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-02-18T22:05:36.868Z,1739916336.868 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-02-18T22:05:36.868Z,1739916336.868 [ThrusterHE] Communications Fault, FailCount= 1
2025-02-18T22:05:36.868Z,1739916336.868 [ThrusterHE](ERROR): Communications Fault
2025-02-18T22:05:36.872Z,1739916336.872 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-02-18T22:05:37.225Z,1739916337.225 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-18T22:05:37.225Z,1739916337.225 [ThrusterHE](INFO): Powering down
2025-02-18T22:05:37.865Z,1739916337.865 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-18T22:05:37.985Z,1739916337.985 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-18T22:05:37.988Z,1739916337.988 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-18T22:05:37.988Z,1739916337.988 [ThrusterHE] No Fault, FailCount= 1
2025-02-18T22:05:59.231Z,1739916359.231 [transit:NeedComms:C] Running Loop=1
2025-02-18T22:05:59.653Z,1739916359.653 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T22:06:00.012Z,1739916360.012 [Radio_Surface](INFO): Powering up
2025-02-18T22:06:06.028Z,1739916366.028 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-18T22:06:36.148Z,1739916396.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:06:55.790Z,1739916415.790 [NAL9602](INFO): SBD MO Status=2, MOMSN=12678, MT Status=2, MTMSN=0
2025-02-18T22:06:55.790Z,1739916415.790 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:07:07.278Z,1739916427.278 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:07:19.619Z,1739916439.619 [NAL9602](INFO): SBD MO Status=2, MOMSN=12678, MT Status=2, MTMSN=0
2025-02-18T22:07:19.619Z,1739916439.619 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:07:38.400Z,1739916458.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:07:52.753Z,1739916472.753 [NAL9602](INFO): SBD MO Status=2, MOMSN=12678, MT Status=2, MTMSN=0
2025-02-18T22:07:52.753Z,1739916472.753 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:08:09.548Z,1739916489.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:08:15.841Z,1739916495.841 [NAL9602](INFO): SBD MO Status=2, MOMSN=12678, MT Status=2, MTMSN=0
2025-02-18T22:08:15.841Z,1739916495.841 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:08:23.937Z,1739916503.937 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003433
2025-02-18T22:08:39.695Z,1739916519.695 [NAL9602](INFO): SBD MO Status=2, MOMSN=12678, MT Status=2, MTMSN=0
2025-02-18T22:08:39.695Z,1739916519.695 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:09:12.027Z,1739916552.027 [NAL9602](INFO): SBD MO Status=2, MOMSN=12678, MT Status=2, MTMSN=0
2025-02-18T22:09:12.027Z,1739916552.027 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:09:39.943Z,1739916579.943 [NAL9602](INFO): SBD MO Status=2, MOMSN=12678, MT Status=2, MTMSN=0
2025-02-18T22:09:39.943Z,1739916579.943 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:09:48.548Z,1739916588.548 [CommandExec](IMPORTANT): got command stop
2025-02-18T22:09:48.549Z,1739916588.549 [CommandExec](IMPORTANT): Scheduling is paused for 1 commands
2025-02-18T22:09:48.549Z,1739916588.549 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-18T22:09:48.606Z,1739916588.606 [MissionManager](INFO): MissionManager is completed.
2025-02-18T22:09:48.607Z,1739916588.607 [MissionManager](INFO): Uninitializing Mission transit
2025-02-18T22:09:48.632Z,1739916588.632 [transit] Stopped
2025-02-18T22:09:48.632Z,1739916588.632 [transit](DEBUG): Aggregate::uninitialize transit
2025-02-18T22:09:48.632Z,1739916588.632 [transit:NeedComms] Stopped
2025-02-18T22:09:48.632Z,1739916588.632 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-02-18T22:09:48.632Z,1739916588.632 [transit:NeedComms:B.GoToSurface] Stopped
2025-02-18T22:09:48.632Z,1739916588.632 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T22:09:48.632Z,1739916588.632 [transit:NeedComms:C] Stopped
2025-02-18T22:09:48.632Z,1739916588.632 [transit:StandardEnvelopes] Stopped
2025-02-18T22:09:48.632Z,1739916588.632 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-02-18T22:09:48.633Z,1739916588.633 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-18T22:09:48.633Z,1739916588.633 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-18T22:09:48.633Z,1739916588.633 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-18T22:09:48.633Z,1739916588.633 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-18T22:09:48.633Z,1739916588.633 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-18T22:09:48.633Z,1739916588.633 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-18T22:09:48.633Z,1739916588.633 [transit:BackseatDriver] Stopped
2025-02-18T22:09:48.633Z,1739916588.633 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-02-18T22:09:48.633Z,1739916588.633 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-02-18T22:09:48.633Z,1739916588.633 [transit:PowerOnly] Stopped
2025-02-18T22:09:48.633Z,1739916588.633 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-02-18T22:09:48.633Z,1739916588.633 [transit:PowerOnly:E.Wait] Stopped
2025-02-18T22:09:48.633Z,1739916588.633 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T22:09:48.634Z,1739916588.634 [transit:BuoyancyHold.Buoyancy] Stopped
2025-02-18T22:09:48.634Z,1739916588.634 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-18T22:09:48.634Z,1739916588.634 [transit:MassHold.Pitch] Stopped
2025-02-18T22:09:48.634Z,1739916588.634 [transit:Transit] Stopped
2025-02-18T22:09:48.634Z,1739916588.634 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-02-18T22:09:48.634Z,1739916588.634 [transit:Transit:A.Pitch] Stopped
2025-02-18T22:09:48.634Z,1739916588.634 [transit:Transit:B.SetSpeed] Stopped
2025-02-18T22:09:48.634Z,1739916588.634 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-02-18T22:09:48.634Z,1739916588.634 [transit:Transit:Wpt1.Waypoint] Stopped
2025-02-18T22:09:48.634Z,1739916588.634 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-18T22:09:48.982Z,1739916588.982 [MissionManager](IMPORTANT): Started mission Default
2025-02-18T22:09:48.982Z,1739916588.982 [Default] Running Loop=1
2025-02-18T22:09:48.982Z,1739916588.982 [Default](DEBUG): Aggregate::initialize Default
2025-02-18T22:09:48.982Z,1739916588.982 [Default:B.GoToSurface] Running Loop=1
2025-02-18T22:09:48.983Z,1739916588.983 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T22:09:48.983Z,1739916588.983 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-18T22:09:48.983Z,1739916588.983 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-18T22:09:48.983Z,1739916588.983 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-18T22:09:49.004Z,1739916589.004 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-18T22:09:49.004Z,1739916589.004 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T22:09:49.005Z,1739916589.005 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T22:09:49.007Z,1739916589.007 [Default:A.Wait] Running Loop=1
2025-02-18T22:09:49.007Z,1739916589.007 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-18T22:10:02.202Z,1739916602.202 [Default:A.Wait](INFO): Done Waiting.
2025-02-18T22:10:02.202Z,1739916602.202 [Default:A.Wait] Stopped
2025-02-18T22:10:02.202Z,1739916602.202 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T22:10:02.606Z,1739916602.606 [Default:CheckIn] Running Loop=1
2025-02-18T22:10:02.606Z,1739916602.606 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-18T22:10:02.606Z,1739916602.606 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-18T22:10:07.031Z,1739916607.031 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=12678, MT Status=1, MTMSN=232
2025-02-18T22:10:07.031Z,1739916607.031 [NAL9602](INFO): Data available in MT queue
2025-02-18T22:10:07.696Z,1739916607.696 [NAL9602](INFO): Received command: sched asap "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run" 1y6bo 2 2
2025-02-18T22:10:07.780Z,1739916607.780 [CommandExec](IMPORTANT): got command schedule asap "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run" 1y6bo 2 2.000000
2025-02-18T22:10:07.780Z,1739916607.780 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1y6bo
2025-02-18T22:10:07.781Z,1739916607.781 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='1y6bo'): "set transit.MaxDepth 20 m;set transit.MinOffshore 0.5 km;set transit.MinAltitude 7 m;run", ASAP
2025-02-18T22:10:07.888Z,1739916607.888 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-18T22:10:07.889Z,1739916607.889 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-18T22:10:07.889Z,1739916607.889 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-18T22:10:07.890Z,1739916607.890 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-18T22:10:08.626Z,1739916608.626 [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>

2025-02-18T22:10:08.647Z,1739916608.647 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221007.00,A,3647.80894,N,12149.60937,W,0.914,124.07,180225,,,A*75
2025-02-18T22:10:08.649Z,1739916608.649 [NAL9602](INFO): GPS fix at 20250218T221007: (36.796816, -121.826823)
2025-02-18T22:10:08.660Z,1739916608.660 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-18T22:10:08.662Z,1739916608.662 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-18T22:10:08.688Z,1739916608.688 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-18T22:10:08.690Z,1739916608.690 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-18T22:10:08.697Z,1739916608.697 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-18T22:10:08.699Z,1739916608.699 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-18T22:10:08.725Z,1739916608.725 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-18T22:10:08.727Z,1739916608.727 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-18T22:10:08.729Z,1739916608.729 [UniversalFixResidualReporter](INFO): Fix residual: 15.0 %DT, over the last 2143.9 m. Residual distance 321.9 m at bearing -36.6 degrees. Fix at (36.7968, -121.8268) with 1999.9 m made good.
2025-02-18T22:10:08.738Z,1739916608.738 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-18T22:10:08.755Z,1739916608.755 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-18T22:10:08.759Z,1739916608.759 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-18T22:10:08.785Z,1739916608.785 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-18T22:10:08.787Z,1739916608.787 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-18T22:10:08.792Z,1739916608.792 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-18T22:10:08.792Z,1739916608.792 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-18T22:10:08.793Z,1739916608.793 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-18T22:10:09.193Z,1739916609.193 [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>

2025-02-18T22:10:09.198Z,1739916609.198 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-18T22:10:09.200Z,1739916609.200 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-18T22:10:09.202Z,1739916609.202 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-18T22:10:09.204Z,1739916609.204 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-18T22:10:09.206Z,1739916609.206 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-18T22:10:09.209Z,1739916609.209 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-18T22:10:09.211Z,1739916609.211 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-18T22:10:09.215Z,1739916609.215 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-18T22:10:09.273Z,1739916609.273 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T22:10:09.319Z,1739916609.319 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-18T22:10:09.319Z,1739916609.319 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-18T22:10:09.320Z,1739916609.320 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-18T22:10:09.396Z,1739916609.396 [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>

2025-02-18T22:10:09.400Z,1739916609.400 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-18T22:10:09.402Z,1739916609.402 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-18T22:10:09.405Z,1739916609.405 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-18T22:10:09.407Z,1739916609.407 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-18T22:10:09.408Z,1739916609.408 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-18T22:10:09.413Z,1739916609.413 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-18T22:10:09.420Z,1739916609.420 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-18T22:10:09.428Z,1739916609.428 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-18T22:10:09.429Z,1739916609.429 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-18T22:10:09.430Z,1739916609.430 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-18T22:10:09.577Z,1739916609.577 [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>

2025-02-18T22:10:09.588Z,1739916609.588 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-18T22:10:09.590Z,1739916609.590 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-18T22:10:09.605Z,1739916609.605 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-18T22:10:09.605Z,1739916609.605 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-18T22:10:09.606Z,1739916609.606 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-18T22:10:09.752Z,1739916609.752 [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>

2025-02-18T22:10:09.762Z,1739916609.762 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-18T22:10:09.763Z,1739916609.763 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-18T22:10:09.765Z,1739916609.765 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-18T22:10:09.767Z,1739916609.767 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-18T22:10:09.770Z,1739916609.770 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-18T22:10:09.781Z,1739916609.781 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-18T22:10:09.783Z,1739916609.783 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-18T22:10:09.786Z,1739916609.786 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-18T22:10:09.791Z,1739916609.791 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-18T22:10:09.796Z,1739916609.796 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-18T22:10:09.798Z,1739916609.798 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-18T22:10:09.876Z,1739916609.876 [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"
  }
}


2025-02-18T22:10:09.877Z,1739916609.877 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-18T22:10:09.955Z,1739916609.955 [Default:CheckIn:Read_GPS] Stopped
2025-02-18T22:10:09.955Z,1739916609.955 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-18T22:10:21.640Z,1739916621.640 [DataOverHttps](INFO): Sending 213 bytes from file Logs/20250218T213149/Courier0007.lzma
2025-02-18T22:10:22.642Z,1739916622.642 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Courier0007.lzma.bak
2025-02-18T22:10:22.642Z,1739916622.642 [DataOverHttps](INFO): SBD MOMSN=23966442
2025-02-18T22:10:29.955Z,1739916629.955 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2025-02-18T22:10:29.960Z,1739916629.960 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-02-18T22:10:29.961Z,1739916629.961 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-02-18T22:10:29.962Z,1739916629.962 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-02-18T22:10:29.962Z,1739916629.962 [CommandExec](IMPORTANT): got command set transit.Depth 10 meter
2025-02-18T22:10:29.963Z,1739916629.963 [CommandExec](IMPORTANT): got command set transit.Speed 1.3 meter_per_second
2025-02-18T22:10:38.575Z,1739916638.575 [CommandExec](IMPORTANT): got command set transit.MaxDepth 20 meter
2025-02-18T22:10:38.580Z,1739916638.580 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.5 kilometer
2025-02-18T22:10:38.581Z,1739916638.581 [CommandExec](IMPORTANT): got command set transit.MinAltitude 7 meter
2025-02-18T22:10:38.581Z,1739916638.581 [CommandExec](IMPORTANT): got command run
2025-02-18T22:10:38.583Z,1739916638.583 [CommandExec](IMPORTANT): Running 
2025-02-18T22:10:38.764Z,1739916638.764 [Default] Stopped
2025-02-18T22:10:38.764Z,1739916638.764 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-18T22:10:38.764Z,1739916638.764 [Default:B.GoToSurface] Stopped
2025-02-18T22:10:38.764Z,1739916638.764 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T22:10:38.764Z,1739916638.764 [Default:CheckIn] Stopped
2025-02-18T22:10:38.764Z,1739916638.764 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-18T22:10:38.764Z,1739916638.764 [Default:CheckIn:Read_Iridium] Stopped
2025-02-18T22:10:38.764Z,1739916638.764 [MissionManager](IMPORTANT): Started mission transit
2025-02-18T22:10:38.765Z,1739916638.765 [transit] Running Loop=1
2025-02-18T22:10:38.765Z,1739916638.765 [transit](DEBUG): Aggregate::initialize transit
2025-02-18T22:10:38.765Z,1739916638.765 [transit:StandardEnvelopes] Running Loop=1
2025-02-18T22:10:38.765Z,1739916638.765 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-02-18T22:10:38.765Z,1739916638.765 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T22:10:38.765Z,1739916638.765 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-18T22:10:38.765Z,1739916638.765 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T22:10:38.765Z,1739916638.765 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-18T22:10:38.766Z,1739916638.766 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T22:10:38.766Z,1739916638.766 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-18T22:10:38.766Z,1739916638.766 [transit:BackseatDriver] Running Loop=1
2025-02-18T22:10:38.766Z,1739916638.766 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-02-18T22:10:38.766Z,1739916638.766 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-18T22:10:38.766Z,1739916638.766 [transit:PowerOnly] Running Loop=1
2025-02-18T22:10:38.766Z,1739916638.766 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-02-18T22:10:38.766Z,1739916638.766 [transit:PowerOnly:A] Running Loop=1
2025-02-18T22:10:38.766Z,1739916638.766 [transit:PowerOnly:B] Running Loop=1
2025-02-18T22:10:38.766Z,1739916638.766 [transit:PowerOnly:C] Running Loop=1
2025-02-18T22:10:38.766Z,1739916638.766 [transit:PowerOnly:D] Running Loop=1
2025-02-18T22:10:38.767Z,1739916638.767 [transit:PowerOnly:E.Wait] Running Loop=1
2025-02-18T22:10:38.767Z,1739916638.767 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-18T22:10:38.767Z,1739916638.767 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-18T22:10:38.767Z,1739916638.767 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-18T22:10:38.767Z,1739916638.767 [transit:MassHold.Pitch] Running Loop=1
2025-02-18T22:10:38.767Z,1739916638.767 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-02-18T22:10:38.767Z,1739916638.767 [transit:B] Running Loop=1
2025-02-18T22:10:38.772Z,1739916638.772 [transit:MassHold.Pitch] Running Loop=1
2025-02-18T22:10:38.772Z,1739916638.772 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-18T22:10:38.773Z,1739916638.773 [transit:PowerOnly] Running Loop=1
2025-02-18T22:10:38.773Z,1739916638.773 [transit:PowerOnly:D] Stopped
2025-02-18T22:10:38.773Z,1739916638.773 [transit:PowerOnly:C] Stopped
2025-02-18T22:10:38.773Z,1739916638.773 [transit:PowerOnly:B] Stopped
2025-02-18T22:10:38.773Z,1739916638.773 [transit:PowerOnly:A] Stopped
2025-02-18T22:10:38.773Z,1739916638.773 [transit:BackseatDriver] Running Loop=1
2025-02-18T22:10:38.773Z,1739916638.773 [transit:StandardEnvelopes] Running Loop=1
2025-02-18T22:10:38.773Z,1739916638.773 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T22:10:38.774Z,1739916638.774 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T22:10:38.774Z,1739916638.774 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T22:10:38.774Z,1739916638.774 [transit:B] Stopped
2025-02-18T22:10:38.775Z,1739916638.775 [transit:C] Running Loop=1
2025-02-18T22:10:39.159Z,1739916639.159 [transit:C] Stopped
2025-02-18T22:10:39.159Z,1739916639.159 [transit:E] Running Loop=1
2025-02-18T22:10:39.566Z,1739916639.566 [transit:E] Stopped
2025-02-18T22:10:39.566Z,1739916639.566 [transit:F] Running Loop=1
2025-02-18T22:10:40.011Z,1739916640.011 [transit:F] Stopped
2025-02-18T22:10:40.011Z,1739916640.011 [transit:G] Running Loop=1
2025-02-18T22:10:40.386Z,1739916640.386 [transit:G] Stopped
2025-02-18T22:10:40.386Z,1739916640.386 [transit:Transit] Running Loop=1
2025-02-18T22:10:40.387Z,1739916640.387 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-02-18T22:10:40.387Z,1739916640.387 [transit:Transit:A.Pitch] Running Loop=1
2025-02-18T22:10:40.387Z,1739916640.387 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-02-18T22:10:40.387Z,1739916640.387 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-18T22:10:40.387Z,1739916640.387 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-02-18T22:10:40.387Z,1739916640.387 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-18T22:10:40.387Z,1739916640.387 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-18T22:10:40.392Z,1739916640.392 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-18T22:10:40.393Z,1739916640.393 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-18T22:10:40.774Z,1739916640.774 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-18T22:10:40.774Z,1739916640.774 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-18T22:10:40.775Z,1739916640.775 [transit:Transit:A.Pitch] Running Loop=1
2025-02-18T22:10:41.561Z,1739916641.561 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T22:10:43.247Z,1739916643.247 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250218T213149/Courier0010.lzma
2025-02-18T22:10:44.250Z,1739916644.250 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Courier0010.lzma.bak
2025-02-18T22:10:44.250Z,1739916644.250 [DataOverHttps](INFO): SBD MOMSN=23966446
2025-02-18T22:10:59.188Z,1739916659.188 [CommandExec](IMPORTANT): got command stop
2025-02-18T22:10:59.189Z,1739916659.189 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-18T22:10:59.374Z,1739916659.374 [MissionManager](INFO): MissionManager is completed.
2025-02-18T22:10:59.374Z,1739916659.374 [MissionManager](INFO): Uninitializing Mission transit
2025-02-18T22:10:59.374Z,1739916659.374 [transit] Stopped
2025-02-18T22:10:59.375Z,1739916659.375 [transit](DEBUG): Aggregate::uninitialize transit
2025-02-18T22:10:59.375Z,1739916659.375 [transit:StandardEnvelopes] Stopped
2025-02-18T22:10:59.375Z,1739916659.375 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-02-18T22:10:59.375Z,1739916659.375 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-18T22:10:59.375Z,1739916659.375 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-18T22:10:59.375Z,1739916659.375 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-18T22:10:59.375Z,1739916659.375 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-18T22:10:59.375Z,1739916659.375 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-18T22:10:59.375Z,1739916659.375 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-18T22:10:59.375Z,1739916659.375 [transit:BackseatDriver] Stopped
2025-02-18T22:10:59.375Z,1739916659.375 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-02-18T22:10:59.380Z,1739916659.380 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-02-18T22:10:59.380Z,1739916659.380 [transit:PowerOnly] Stopped
2025-02-18T22:10:59.380Z,1739916659.380 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-02-18T22:10:59.380Z,1739916659.380 [transit:PowerOnly:E.Wait] Stopped
2025-02-18T22:10:59.380Z,1739916659.380 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T22:10:59.380Z,1739916659.380 [transit:BuoyancyHold.Buoyancy] Stopped
2025-02-18T22:10:59.380Z,1739916659.380 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-18T22:10:59.380Z,1739916659.380 [transit:MassHold.Pitch] Stopped
2025-02-18T22:10:59.380Z,1739916659.380 [transit:Transit] Stopped
2025-02-18T22:10:59.380Z,1739916659.380 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-02-18T22:10:59.380Z,1739916659.380 [transit:Transit:A.Pitch] Stopped
2025-02-18T22:10:59.380Z,1739916659.381 [transit:Transit:B.SetSpeed] Stopped
2025-02-18T22:10:59.381Z,1739916659.381 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-02-18T22:10:59.381Z,1739916659.381 [transit:Transit:Wpt1.Waypoint] Stopped
2025-02-18T22:10:59.381Z,1739916659.381 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-18T22:10:59.796Z,1739916659.796 [MissionManager](IMPORTANT): Started mission Default
2025-02-18T22:10:59.796Z,1739916659.796 [Default] Running Loop=1
2025-02-18T22:10:59.796Z,1739916659.796 [Default](DEBUG): Aggregate::initialize Default
2025-02-18T22:10:59.796Z,1739916659.796 [Default:B.GoToSurface] Running Loop=1
2025-02-18T22:10:59.796Z,1739916659.796 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T22:10:59.797Z,1739916659.797 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-18T22:10:59.797Z,1739916659.797 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-18T22:10:59.797Z,1739916659.797 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-18T22:10:59.797Z,1739916659.797 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-18T22:10:59.798Z,1739916659.798 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T22:10:59.798Z,1739916659.798 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T22:10:59.798Z,1739916659.798 [Default:A.Wait] Running Loop=1
2025-02-18T22:10:59.798Z,1739916659.798 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-18T22:11:13.129Z,1739916673.129 [Default:A.Wait](INFO): Done Waiting.
2025-02-18T22:11:13.129Z,1739916673.129 [Default:A.Wait] Stopped
2025-02-18T22:11:13.129Z,1739916673.129 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T22:11:13.519Z,1739916673.519 [Default:CheckIn] Running Loop=1
2025-02-18T22:11:13.519Z,1739916673.519 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-18T22:11:13.519Z,1739916673.519 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-18T22:11:15.531Z,1739916675.531 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221114.00,A,3647.80325,N,12149.60908,W,0.622,238.16,180225,,,A*7F
2025-02-18T22:11:15.533Z,1739916675.533 [NAL9602](INFO): GPS fix at 20250218T221114: (36.796721, -121.826818)
2025-02-18T22:11:15.544Z,1739916675.544 [Default:CheckIn:Read_GPS] Stopped
2025-02-18T22:11:15.544Z,1739916675.544 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-18T22:11:22.295Z,1739916682.295 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250218T213149/Courier0013.lzma
2025-02-18T22:11:23.298Z,1739916683.298 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Courier0013.lzma.bak
2025-02-18T22:11:23.298Z,1739916683.298 [DataOverHttps](IMPORTANT): SBD MOMSN=23966449, MTMSN=20250218T221122
2025-02-18T22:11:31.096Z,1739916691.096 [DataOverHttps](INFO): Received command: restart sys
2025-02-18T22:11:31.105Z,1739916691.105 [CommandExec](IMPORTANT): got command restart system
2025-02-18T22:11:33.268Z,1739916693.268 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:33.268Z,1739916693.268 [CommandExec](INFO): Uninitializing the command executive.
2025-02-18T22:11:33.268Z,1739916693.268 [CommandExec](INFO): Uninitializing the command scheduler.
2025-02-18T22:11:33.269Z,1739916693.269 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.388Z,1739916693.388 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-02-18T22:11:33.388Z,1739916693.388 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-02-18T22:11:33.388Z,1739916693.388 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.389Z,1739916693.389 [NavChartDb](INFO): Join timeout helper Thread ID is 1812
2025-02-18T22:11:33.564Z,1739916693.564 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:33.564Z,1739916693.564 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.568Z,1739916693.568 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-02-18T22:11:33.568Z,1739916693.568 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.568Z,1739916693.568 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1813
2025-02-18T22:11:33.596Z,1739916693.596 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:33.596Z,1739916693.596 [WetLabsBB2FL](INFO): Powering down
2025-02-18T22:11:33.597Z,1739916693.597 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.610Z,1739916693.610 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-02-18T22:11:33.610Z,1739916693.610 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.611Z,1739916693.611 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1814
2025-02-18T22:11:33.704Z,1739916693.704 [CTD_Seabird](INFO): Powering down
2025-02-18T22:11:33.716Z,1739916693.716 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:33.716Z,1739916693.716 [CTD_Seabird](INFO): Powering down
2025-02-18T22:11:33.728Z,1739916693.728 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.748Z,1739916693.748 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-02-18T22:11:33.748Z,1739916693.748 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.748Z,1739916693.748 [Radio_Surface](INFO): Join timeout helper Thread ID is 1815
2025-02-18T22:11:33.976Z,1739916693.976 [Radio_Surface](INFO): Powering down
2025-02-18T22:11:33.977Z,1739916693.977 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:33.977Z,1739916693.977 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.988Z,1739916693.988 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-02-18T22:11:33.988Z,1739916693.988 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:33.988Z,1739916693.988 [Onboard](INFO): Join timeout helper Thread ID is 1816
2025-02-18T22:11:35.228Z,1739916695.228 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-18T22:11:35.620Z,1739916695.620 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:35.620Z,1739916695.620 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:35.643Z,1739916695.643 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-02-18T22:11:35.643Z,1739916695.643 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:35.657Z,1739916695.657 [DataOverHttps](INFO): Join timeout helper Thread ID is 1817
2025-02-18T22:11:36.228Z,1739916696.228 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:36.228Z,1739916696.228 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.237Z,1739916696.237 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-02-18T22:11:36.237Z,1739916696.237 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.237Z,1739916696.237 [DAT](INFO): Join timeout helper Thread ID is 1818
2025-02-18T22:11:36.476Z,1739916696.476 [DAT](INFO): Powering down
2025-02-18T22:11:36.564Z,1739916696.564 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:36.565Z,1739916696.565 [DAT](INFO): Powering down
2025-02-18T22:11:36.565Z,1739916696.565 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.580Z,1739916696.580 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-02-18T22:11:36.581Z,1739916696.581 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.581Z,1739916696.581 [BackseatComponent](INFO): Join timeout helper Thread ID is 1819
2025-02-18T22:11:36.688Z,1739916696.688 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:36.688Z,1739916696.688 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.704Z,1739916696.704 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-02-18T22:11:36.705Z,1739916696.705 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.705Z,1739916696.705 [logger](INFO): Join timeout helper Thread ID is 1820
2025-02-18T22:11:36.744Z,1739916696.744 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:36.744Z,1739916696.744 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.764Z,1739916696.764 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-02-18T22:11:36.764Z,1739916696.764 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.765Z,1739916696.765 [CommandLine](INFO): Join timeout helper Thread ID is 1821
2025-02-18T22:11:36.840Z,1739916696.840 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:36.840Z,1739916696.840 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.844Z,1739916696.844 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-02-18T22:11:36.845Z,1739916696.845 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.845Z,1739916696.845 [CommandExec](INFO): Join timeout helper Thread ID is 1822
2025-02-18T22:11:36.846Z,1739916696.846 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-02-18T22:11:36.846Z,1739916696.846 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:36.847Z,1739916696.847 [controlThread](INFO): Join timeout helper Thread ID is 1823
2025-02-18T22:11:36.924Z,1739916696.924 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-18T22:11:36.924Z,1739916696.924 [controlThread](DEBUG): Uninitializing ControlThread
2025-02-18T22:11:36.925Z,1739916696.925 [AHRS_M2](INFO): Powering down
2025-02-18T22:11:36.997Z,1739916696.997 [NAL9602](INFO): Powering down
2025-02-18T22:11:36.998Z,1739916696.998 [Sonardyne_Nano](INFO): Powering down
2025-02-18T22:11:37.117Z,1739916697.117 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-02-18T22:11:37.117Z,1739916697.117 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-02-18T22:11:37.118Z,1739916697.118 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-02-18T22:11:37.118Z,1739916697.118 [MissionManager](INFO): Uninitializing Mission Default
2025-02-18T22:11:37.118Z,1739916697.118 [Default] Stopped
2025-02-18T22:11:37.119Z,1739916697.119 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-18T22:11:37.119Z,1739916697.119 [Default:B.GoToSurface] Stopped
2025-02-18T22:11:37.119Z,1739916697.119 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T22:11:37.119Z,1739916697.119 [Default:CheckIn] Stopped
2025-02-18T22:11:37.119Z,1739916697.119 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-18T22:11:37.119Z,1739916697.119 [Default:CheckIn:Read_Iridium] Stopped
2025-02-18T22:11:37.122Z,1739916697.122 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-02-18T22:11:37.122Z,1739916697.122 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-02-18T22:11:37.123Z,1739916697.123 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-02-18T22:11:37.123Z,1739916697.123 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-02-18T22:11:37.123Z,1739916697.123 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-02-18T22:11:37.123Z,1739916697.123 [BuoyancyServo](INFO): Powering down
2025-02-18T22:11:37.136Z,1739916697.136 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-02-18T22:11:37.136Z,1739916697.136 [ElevatorServo](INFO): Powering down
2025-02-18T22:11:37.137Z,1739916697.137 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-18T22:11:37.137Z,1739916697.137 [MassServo](INFO): Powering down
2025-02-18T22:11:37.138Z,1739916697.138 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-02-18T22:11:37.138Z,1739916697.138 [RudderServo](INFO): Powering down
2025-02-18T22:11:37.139Z,1739916697.139 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-18T22:11:37.139Z,1739916697.139 [ThrusterHE](INFO): Powering down
2025-02-18T22:11:37.140Z,1739916697.140 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-02-18T22:11:37.140Z,1739916697.140 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-02-18T22:11:37.141Z,1739916697.141 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-02-18T22:11:37.141Z,1739916697.141 [CBIT](DEBUG): Powering off loads.
2025-02-18T22:11:37.152Z,1739916697.152 [CBIT](DEBUG): Disabling WDT.
2025-02-18T22:11:37.164Z,1739916697.164 [CBIT](DEBUG): Opening all GF detection circuits.
2025-02-18T22:11:37.165Z,1739916697.165 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.200Z,1739916697.200 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.203Z,1739916697.203 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.210Z,1739916697.210 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.217Z,1739916697.217 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.264Z,1739916697.264 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.356Z,1739916697.356 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.361Z,1739916697.361 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.381Z,1739916697.381 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-18T22:11:37.458Z,1739916697.458 [logger ThreadHandler](INFO): Thread cancelled.