2025-02-20T17:45:43.661Z,1740073543.661 [CommandExec](IMPORTANT): got command restart logs
2025-02-20T17:46:15.245Z,1740073575.245 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T174614
2025-02-20T17:46:22.635Z,1740073582.635 [DataOverHttps](INFO): Received command: load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.MaxSpeed 1.5 m/s;run
2025-02-20T17:46:22.689Z,1740073582.689 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-02-20T17:46:22.690Z,1740073582.690 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-02-20T17:46:22.690Z,1740073582.690 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-02-20T17:46:22.695Z,1740073582.695 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-02-20T17:46:23.530Z,1740073583.530 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="optimize_roll_speed">
    <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="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="StartSpeed">
        <Units:meter_per_second />
        <Value>0.9</Value>
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="WindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="InitStep">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="MinStep">
        <Units:meter_per_second />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="Verbose">
        <True />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>35</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" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <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:SetRollSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetRollSpeed.targetRoll />
                <Arg Name="TargetRollAngle" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.rollError />
                <Arg Name="RollError" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.maxSpeed />
                <Arg Name="MaxSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.startSpeed />
                <Arg Name="StartSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minSpeed />
                <Arg Name="MinSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.estimationWindow />
                <Arg Name="WindowLen" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.initStep />
                <Arg Name="InitStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minStep />
                <Arg Name="MinStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.verbose />
                <Arg Name="Verbose" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.persistResult />
                <True />
            </Setting>
        </Guidance:SetRollSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-02-20T17:46:23.541Z,1740073583.541 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-02-20T17:46:23.544Z,1740073583.544 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-02-20T17:46:23.547Z,1740073583.547 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-02-20T17:46:23.550Z,1740073583.550 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-02-20T17:46:23.553Z,1740073583.553 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-02-20T17:46:23.556Z,1740073583.556 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-02-20T17:46:23.559Z,1740073583.559 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-02-20T17:46:23.562Z,1740073583.562 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-02-20T17:46:23.565Z,1740073583.565 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-02-20T17:46:23.568Z,1740073583.568 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-02-20T17:46:23.571Z,1740073583.571 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-02-20T17:46:23.574Z,1740073583.574 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-02-20T17:46:23.577Z,1740073583.577 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-02-20T17:46:23.580Z,1740073583.580 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-02-20T17:46:23.637Z,1740073583.637 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T174622
2025-02-20T17:46:23.638Z,1740073583.638 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-02-20T17:46:23.670Z,1740073583.670 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-02-20T17:46:23.685Z,1740073583.685 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-02-20T17:46:23.695Z,1740073583.695 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-02-20T17:46:23.722Z,1740073583.722 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-02-20T17:46:23.722Z,1740073583.722 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T17:46:23.722Z,1740073583.722 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T17:46:23.740Z,1740073583.740 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T17:46:24.118Z,1740073584.118 [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>

2025-02-20T17:46:24.128Z,1740073584.128 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-02-20T17:46:24.131Z,1740073584.131 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T17:46:24.152Z,1740073584.152 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T17:46:24.160Z,1740073584.160 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T17:46:24.167Z,1740073584.167 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T17:46:24.170Z,1740073584.170 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T17:46:24.178Z,1740073584.178 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T17:46:24.181Z,1740073584.181 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T17:46:24.211Z,1740073584.211 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T17:46:24.281Z,1740073584.281 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T17:46:24.281Z,1740073584.281 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T17:46:24.282Z,1740073584.282 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T17:46:24.414Z,1740073584.414 [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>

2025-02-20T17:46:24.438Z,1740073584.438 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T17:46:24.441Z,1740073584.441 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T17:46:24.452Z,1740073584.452 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T17:46:24.488Z,1740073584.488 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T17:46:24.489Z,1740073584.489 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T17:46:24.526Z,1740073584.526 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T17:46:24.565Z,1740073584.565 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T17:46:24.587Z,1740073584.587 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T17:46:24.591Z,1740073584.591 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T17:46:24.592Z,1740073584.592 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T17:46:24.633Z,1740073584.633 [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>

2025-02-20T17:46:24.642Z,1740073584.642 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T17:46:24.650Z,1740073584.650 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T17:46:24.653Z,1740073584.653 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T17:46:24.653Z,1740073584.653 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T17:46:24.654Z,1740073584.654 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T17:46:24.900Z,1740073584.900 [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>

2025-02-20T17:46:24.913Z,1740073584.913 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-02-20T17:46:24.928Z,1740073584.928 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T17:46:24.937Z,1740073584.937 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T17:46:24.941Z,1740073584.941 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T17:46:24.945Z,1740073584.945 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T17:46:24.965Z,1740073584.965 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T17:46:24.972Z,1740073584.972 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T17:46:24.980Z,1740073584.980 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-02-20T17:46:25.018Z,1740073585.018 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-02-20T17:46:25.048Z,1740073585.048 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-02-20T17:46:25.070Z,1740073585.070 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T17:46:25.124Z,1740073585.124 [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 optimize_roll_speed {
  """
  Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
  """

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

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

    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.
      """

    Depth = 30 meter
      """
      Depth of flat and level flight during the mission.
      """

    StartSpeed = 0.9 meter_per_second
      """
      Initial speed for roll optimization.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    WindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    InitStep = 0.05 meter_per_second
      """
      Initial step size for roll speed optimization.
      """

    MinStep = 0.025 meter_per_second
      """
      Minimum step size for roll speed optimization.
      """

    Verbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    MaxDepth = 35 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

  call id="StartingMission" refId="NeedComms"

  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:SetRollSpeed {
      run in parallel

      set targetRoll = TargetRollAngle
      set rollError = RollError
      set maxSpeed = MaxSpeed
      set startSpeed = StartSpeed
      set minSpeed = MinSpeed
      set estimationWindow = WindowLen
      set initStep = InitStep
      set minStep = MinStep
      set verbose = Verbose
      set persistResult = true
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }

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


2025-02-20T17:46:25.124Z,1740073585.124 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-02-20T17:46:26.121Z,1740073586.121 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-20T17:46:26.121Z,1740073586.121 [Default:CheckIn:C.Wait] Stopped
2025-02-20T17:46:26.121Z,1740073586.121 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T17:46:26.121Z,1740073586.121 [Default:CheckIn:D] Running Loop=1
2025-02-20T17:46:26.528Z,1740073586.528 [Default:CheckIn:D] Stopped
2025-02-20T17:46:26.528Z,1740073586.528 [Default:CheckIn:E] Running Loop=1
2025-02-20T17:46:26.954Z,1740073586.954 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.478544 min 
2025-02-20T17:46:26.955Z,1740073586.955 [Default:CheckIn:E] Stopped
2025-02-20T17:46:26.955Z,1740073586.955 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-20T17:46:26.955Z,1740073586.955 [Default:CheckIn] Stopped
2025-02-20T17:46:26.963Z,1740073586.963 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T17:46:26.963Z,1740073586.963 [Default:CheckIn](INFO): Running loop #2
2025-02-20T17:46:26.963Z,1740073586.963 [Default:CheckIn] Running Loop=2
2025-02-20T17:46:26.963Z,1740073586.963 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T17:46:26.964Z,1740073586.964 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T17:46:28.922Z,1740073588.922 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174628.00,A,3647.73468,N,12150.62588,W,0.739,148.47,200225,,,A*78
2025-02-20T17:46:28.924Z,1740073588.924 [NAL9602](INFO): GPS fix at 20250220T174628: (36.795578, -121.843765)
2025-02-20T17:46:28.980Z,1740073588.980 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T17:46:28.980Z,1740073588.980 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T17:46:35.455Z,1740073595.455 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T165515/Courier0012.lzma
2025-02-20T17:46:35.465Z,1740073595.465 [DataOverHttps](INFO): Received command: sched asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.MaxSpeed 1.5 m/s" 21lcy 1 2
2025-02-20T17:46:36.161Z,1740073596.161 [DataOverHttps](INFO): Moved sent file to Logs/20250220T165515/Courier0012.lzma.bak
2025-02-20T17:46:36.161Z,1740073596.161 [DataOverHttps](IMPORTANT): SBD MOMSN=23968623, MTMSN=20250220T174635
2025-02-20T17:46:48.707Z,1740073608.707 [DataOverHttps](INFO): Received command: sched asap "set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run" 21lcy 2 2
2025-02-20T17:46:48.766Z,1740073608.766 [NAL9602](INFO): SBD MO Status=2, MOMSN=12910, MT Status=2, MTMSN=0
2025-02-20T17:46:48.766Z,1740073608.766 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T17:47:00.843Z,1740073620.843 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 60 minute
2025-02-20T17:47:00.844Z,1740073620.844 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.79631 degree
2025-02-20T17:47:00.845Z,1740073620.845 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -121.87204 degree
2025-02-20T17:47:00.846Z,1740073620.846 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MaxSpeed 1.5 meter_per_second
2025-02-20T17:47:00.846Z,1740073620.846 [CommandExec](IMPORTANT): got command run
2025-02-20T17:47:00.849Z,1740073620.849 [CommandExec](IMPORTANT): Running 
2025-02-20T17:47:00.854Z,1740073620.854 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.MaxSpeed 1.5 m/s" 21lcy 1 2.000000
2025-02-20T17:47:00.855Z,1740073620.855 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=21lcy
2025-02-20T17:47:00.856Z,1740073620.856 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='21lcy'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.MaxSpeed 1.5 m/s", ASAP
2025-02-20T17:47:00.860Z,1740073620.860 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run" 21lcy 2 2.000000
2025-02-20T17:47:00.860Z,1740073620.860 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=21lcy
2025-02-20T17:47:00.861Z,1740073620.861 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='21lcy'): "set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-02-20T17:47:00.967Z,1740073620.967 [Default] Stopped
2025-02-20T17:47:00.968Z,1740073620.968 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-20T17:47:00.968Z,1740073620.968 [Default:B.GoToSurface] Stopped
2025-02-20T17:47:00.968Z,1740073620.968 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T17:47:00.968Z,1740073620.968 [Default:CheckIn] Stopped
2025-02-20T17:47:00.968Z,1740073620.968 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T17:47:00.968Z,1740073620.968 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T17:47:00.968Z,1740073620.968 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-02-20T17:47:00.968Z,1740073620.968 [optimize_roll_speed] Running Loop=1
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T17:47:00.969Z,1740073620.969 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-02-20T17:47:00.970Z,1740073620.970 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-20T17:47:00.971Z,1740073620.971 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-20T17:47:00.971Z,1740073620.971 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-20T17:47:00.971Z,1740073620.971 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-02-20T17:47:00.971Z,1740073620.971 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-02-20T17:47:00.979Z,1740073620.979 [optimize_roll_speed:B] Running Loop=1
2025-02-20T17:47:00.980Z,1740073620.980 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-02-20T17:47:00.980Z,1740073620.980 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-20T17:47:00.980Z,1740073620.980 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-02-20T17:47:00.981Z,1740073620.981 [optimize_roll_speed:PowerOnly:D] Stopped
2025-02-20T17:47:00.981Z,1740073620.981 [optimize_roll_speed:PowerOnly:C] Stopped
2025-02-20T17:47:00.981Z,1740073620.981 [optimize_roll_speed:PowerOnly:B] Stopped
2025-02-20T17:47:00.981Z,1740073620.981 [optimize_roll_speed:PowerOnly:A] Stopped
2025-02-20T17:47:00.981Z,1740073620.981 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-02-20T17:47:00.981Z,1740073620.981 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-02-20T17:47:00.981Z,1740073620.981 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T17:47:00.982Z,1740073620.982 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T17:47:00.982Z,1740073620.982 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T17:47:00.982Z,1740073620.982 [optimize_roll_speed:B] Stopped
2025-02-20T17:47:00.983Z,1740073620.983 [optimize_roll_speed:C] Running Loop=1
2025-02-20T17:47:01.016Z,1740073621.016 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-02-20T17:47:01.016Z,1740073621.016 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-02-20T17:47:01.016Z,1740073621.016 [optimize_roll_speed] Stopped
2025-02-20T17:47:01.016Z,1740073621.016 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:C] Stopped
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:BackseatDriver] Stopped
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-02-20T17:47:01.017Z,1740073621.017 [optimize_roll_speed:PowerOnly] Stopped
2025-02-20T17:47:01.018Z,1740073621.018 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-02-20T17:47:01.018Z,1740073621.018 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-02-20T17:47:01.018Z,1740073621.018 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T17:47:01.018Z,1740073621.018 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-02-20T17:47:01.018Z,1740073621.018 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-20T17:47:01.018Z,1740073621.018 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-02-20T17:47:01.035Z,1740073621.035 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T165515/Courier0015.lzma
2025-02-20T17:47:01.062Z,1740073621.062 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-02-20T17:47:01.062Z,1740073621.062 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-02-20T17:47:01.075Z,1740073621.075 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-02-20T17:47:02.037Z,1740073622.037 [DataOverHttps](INFO): Moved sent file to Logs/20250220T165515/Courier0015.lzma.bak
2025-02-20T17:47:02.037Z,1740073622.037 [DataOverHttps](INFO): SBD MOMSN=23968627
2025-02-20T17:47:02.654Z,1740073622.654 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="optimize_roll_speed">
    <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="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="StartSpeed">
        <Units:meter_per_second />
        <Value>0.9</Value>
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="WindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="InitStep">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="MinStep">
        <Units:meter_per_second />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="Verbose">
        <True />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>35</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" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <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:SetRollSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetRollSpeed.targetRoll />
                <Arg Name="TargetRollAngle" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.rollError />
                <Arg Name="RollError" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.maxSpeed />
                <Arg Name="MaxSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.startSpeed />
                <Arg Name="StartSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minSpeed />
                <Arg Name="MinSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.estimationWindow />
                <Arg Name="WindowLen" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.initStep />
                <Arg Name="InitStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minStep />
                <Arg Name="MinStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.verbose />
                <Arg Name="Verbose" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.persistResult />
                <True />
            </Setting>
        </Guidance:SetRollSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-02-20T17:47:02.668Z,1740073622.668 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-02-20T17:47:02.670Z,1740073622.670 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-02-20T17:47:02.696Z,1740073622.696 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-02-20T17:47:02.699Z,1740073622.699 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-02-20T17:47:02.713Z,1740073622.713 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-02-20T17:47:02.715Z,1740073622.715 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-02-20T17:47:02.718Z,1740073622.718 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-02-20T17:47:02.721Z,1740073622.721 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-02-20T17:47:02.764Z,1740073622.764 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-02-20T17:47:02.766Z,1740073622.766 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-02-20T17:47:02.772Z,1740073622.772 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-02-20T17:47:02.774Z,1740073622.774 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-02-20T17:47:02.792Z,1740073622.792 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-02-20T17:47:02.794Z,1740073622.794 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-02-20T17:47:02.796Z,1740073622.796 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-02-20T17:47:02.798Z,1740073622.798 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-02-20T17:47:02.813Z,1740073622.813 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-02-20T17:47:02.831Z,1740073622.831 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-02-20T17:47:02.833Z,1740073622.833 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-02-20T17:47:02.834Z,1740073622.834 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T17:47:02.834Z,1740073622.834 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T17:47:02.840Z,1740073622.840 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T17:47:03.361Z,1740073623.361 [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>

2025-02-20T17:47:03.370Z,1740073623.370 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-02-20T17:47:03.399Z,1740073623.399 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T17:47:03.413Z,1740073623.413 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T17:47:03.420Z,1740073623.420 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T17:47:03.422Z,1740073623.422 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T17:47:03.440Z,1740073623.440 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T17:47:03.443Z,1740073623.443 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T17:47:03.457Z,1740073623.457 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T17:47:03.480Z,1740073623.480 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T17:47:03.533Z,1740073623.533 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T17:47:03.533Z,1740073623.533 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T17:47:03.534Z,1740073623.534 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T17:47:03.638Z,1740073623.638 [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>

2025-02-20T17:47:03.654Z,1740073623.654 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T17:47:03.656Z,1740073623.656 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T17:47:03.658Z,1740073623.658 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T17:47:03.661Z,1740073623.661 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T17:47:03.662Z,1740073623.662 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T17:47:03.677Z,1740073623.677 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T17:47:03.685Z,1740073623.685 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T17:47:03.782Z,1740073623.782 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T17:47:03.783Z,1740073623.783 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T17:47:03.800Z,1740073623.800 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T17:47:03.875Z,1740073623.875 [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>

2025-02-20T17:47:03.878Z,1740073623.878 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T17:47:03.889Z,1740073623.889 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T17:47:03.899Z,1740073623.899 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T17:47:03.899Z,1740073623.899 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T17:47:03.900Z,1740073623.900 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T17:47:04.082Z,1740073624.082 [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>

2025-02-20T17:47:04.086Z,1740073624.086 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-02-20T17:47:04.088Z,1740073624.088 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T17:47:04.090Z,1740073624.090 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T17:47:04.092Z,1740073624.092 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T17:47:04.179Z,1740073624.179 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T17:47:04.202Z,1740073624.202 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T17:47:04.213Z,1740073624.213 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T17:47:04.236Z,1740073624.236 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-02-20T17:47:04.262Z,1740073624.262 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-02-20T17:47:04.279Z,1740073624.279 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-02-20T17:47:04.302Z,1740073624.302 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T17:47:04.346Z,1740073624.346 [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 optimize_roll_speed {
  """
  Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
  """

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

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

    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.
      """

    Depth = 30 meter
      """
      Depth of flat and level flight during the mission.
      """

    StartSpeed = 0.9 meter_per_second
      """
      Initial speed for roll optimization.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    WindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    InitStep = 0.05 meter_per_second
      """
      Initial step size for roll speed optimization.
      """

    MinStep = 0.025 meter_per_second
      """
      Minimum step size for roll speed optimization.
      """

    Verbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    MaxDepth = 35 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

  call id="StartingMission" refId="NeedComms"

  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:SetRollSpeed {
      run in parallel

      set targetRoll = TargetRollAngle
      set rollError = RollError
      set maxSpeed = MaxSpeed
      set startSpeed = StartSpeed
      set minSpeed = MinSpeed
      set estimationWindow = WindowLen
      set initStep = InitStep
      set minStep = MinStep
      set verbose = Verbose
      set persistResult = true
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }

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


2025-02-20T17:47:04.347Z,1740073624.347 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-02-20T17:47:04.595Z,1740073624.595 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T17:47:04.595Z,1740073624.595 [Default] Running Loop=1
2025-02-20T17:47:04.596Z,1740073624.596 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T17:47:04.596Z,1740073624.596 [Default:B.GoToSurface] Running Loop=1
2025-02-20T17:47:04.596Z,1740073624.596 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T17:47:04.596Z,1740073624.596 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T17:47:04.596Z,1740073624.596 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T17:47:04.597Z,1740073624.597 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T17:47:04.597Z,1740073624.597 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T17:47:04.597Z,1740073624.597 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T17:47:04.597Z,1740073624.597 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T17:47:04.598Z,1740073624.598 [Default:A.Wait] Running Loop=1
2025-02-20T17:47:04.598Z,1740073624.598 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T17:47:17.618Z,1740073637.618 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T17:47:17.618Z,1740073637.618 [Default:A.Wait] Stopped
2025-02-20T17:47:17.618Z,1740073637.618 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T17:47:18.017Z,1740073638.017 [Default:CheckIn] Running Loop=1
2025-02-20T17:47:18.018Z,1740073638.017 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T17:47:18.018Z,1740073638.018 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T17:47:24.454Z,1740073644.454 [NAL9602](INFO): SBD MO Status=2, MOMSN=12910, MT Status=0, MTMSN=0
2025-02-20T17:47:24.454Z,1740073644.454 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T17:47:36.355Z,1740073656.355 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 60 minute
2025-02-20T17:47:36.356Z,1740073656.356 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.79631 degree
2025-02-20T17:47:36.357Z,1740073656.357 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -121.87204 degree
2025-02-20T17:47:36.358Z,1740073656.358 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MaxSpeed 1.5 meter_per_second
2025-02-20T17:47:39.398Z,1740073659.398 [NAL9602](INFO): SBD MO Status=0, MOMSN=12910, MT Status=0, MTMSN=0
2025-02-20T17:47:39.398Z,1740073659.398 [NAL9602](INFO): No messages in MT queue
2025-02-20T17:47:40.618Z,1740073660.618 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174739.00,A,3647.73205,N,12150.61947,W,1.147,133.61,200225,,,A*7E
2025-02-20T17:47:40.621Z,1740073660.621 [NAL9602](INFO): GPS fix at 20250220T174739: (36.795534, -121.843658)
2025-02-20T17:47:40.657Z,1740073660.657 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T17:47:40.657Z,1740073660.657 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T17:47:43.984Z,1740073663.984 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20250220T174543/Courier0000.lzma
2025-02-20T17:47:44.720Z,1740073664.720 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0000.lzma.bak
2025-02-20T17:47:44.720Z,1740073664.720 [DataOverHttps](INFO): SBD MOMSN=23968629
2025-02-20T17:47:50.677Z,1740073670.677 [CommandExec](IMPORTANT): got command set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool
2025-02-20T17:47:50.677Z,1740073670.677 [CommandExec](IMPORTANT): got command run
2025-02-20T17:47:50.806Z,1740073670.806 [Default] Stopped
2025-02-20T17:47:50.806Z,1740073670.806 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-20T17:47:50.806Z,1740073670.806 [Default:B.GoToSurface] Stopped
2025-02-20T17:47:50.806Z,1740073670.806 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T17:47:50.806Z,1740073670.806 [Default:CheckIn] Stopped
2025-02-20T17:47:50.806Z,1740073670.806 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T17:47:50.806Z,1740073670.806 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T17:47:50.806Z,1740073670.806 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-02-20T17:47:50.807Z,1740073670.807 [optimize_roll_speed] Running Loop=1
2025-02-20T17:47:50.807Z,1740073670.807 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-02-20T17:47:50.831Z,1740073670.831 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-02-20T17:47:50.831Z,1740073670.831 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-02-20T17:47:50.831Z,1740073670.831 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T17:47:50.831Z,1740073670.831 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-02-20T17:47:50.832Z,1740073670.832 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-02-20T17:47:50.833Z,1740073670.833 [optimize_roll_speed:B] Running Loop=1
2025-02-20T17:47:50.834Z,1740073670.834 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-02-20T17:47:50.834Z,1740073670.834 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-20T17:47:50.834Z,1740073670.834 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-02-20T17:47:50.843Z,1740073670.843 [optimize_roll_speed:PowerOnly:D] Stopped
2025-02-20T17:47:50.843Z,1740073670.843 [optimize_roll_speed:PowerOnly:C] Stopped
2025-02-20T17:47:50.843Z,1740073670.843 [optimize_roll_speed:PowerOnly:B] Stopped
2025-02-20T17:47:50.843Z,1740073670.843 [optimize_roll_speed:PowerOnly:A] Stopped
2025-02-20T17:47:50.843Z,1740073670.843 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-02-20T17:47:50.844Z,1740073670.844 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-20T17:47:50.898Z,1740073670.898 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-02-20T17:47:50.898Z,1740073670.898 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T17:47:50.898Z,1740073670.898 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T17:47:50.899Z,1740073670.899 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T17:47:50.907Z,1740073670.907 [optimize_roll_speed:B] Stopped
2025-02-20T17:47:50.907Z,1740073670.907 [optimize_roll_speed:C] Running Loop=1
2025-02-20T17:47:50.955Z,1740073670.955 [BackseatComponent](INFO): Powering up
2025-02-20T17:47:50.956Z,1740073670.956 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-20T17:47:51.077Z,1740073671.077 [CommandExec](IMPORTANT): Running 
2025-02-20T17:47:51.208Z,1740073671.208 [optimize_roll_speed:C] Stopped
2025-02-20T17:47:51.208Z,1740073671.208 [optimize_roll_speed:E] Running Loop=1
2025-02-20T17:47:51.623Z,1740073671.623 [optimize_roll_speed:E] Stopped
2025-02-20T17:47:51.624Z,1740073671.624 [optimize_roll_speed:F] Running Loop=1
2025-02-20T17:47:52.043Z,1740073672.043 [optimize_roll_speed:F] Stopped
2025-02-20T17:47:52.044Z,1740073672.044 [optimize_roll_speed:G] Running Loop=1
2025-02-20T17:47:52.437Z,1740073672.437 [optimize_roll_speed:G] Stopped
2025-02-20T17:47:52.437Z,1740073672.437 [optimize_roll_speed:StartingMission] Running Loop=1
2025-02-20T17:47:52.437Z,1740073672.437 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::initialize optimize_roll_speed:StartingMission
2025-02-20T17:47:52.828Z,1740073672.828 [optimize_roll_speed:NeedComms] Running Loop=1
2025-02-20T17:47:52.829Z,1740073672.829 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-02-20T17:47:52.829Z,1740073672.829 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T17:47:52.829Z,1740073672.829 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T17:47:52.829Z,1740073672.829 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T17:47:52.829Z,1740073672.829 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T17:47:52.830Z,1740073672.830 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T17:47:52.830Z,1740073672.830 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T17:47:52.830Z,1740073672.830 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T17:47:52.831Z,1740073672.831 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T17:47:52.859Z,1740073672.859 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-02-20T17:47:52.861Z,1740073672.861 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1740073659.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T17:47:52.861Z,1740073672.861 [optimize_roll_speed:NeedComms:A] Stopped
2025-02-20T17:47:53.233Z,1740073673.233 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-02-20T17:47:53.625Z,1740073673.625 [optimize_roll_speed:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T17:47:55.227Z,1740073675.227 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174754.00,A,3647.73135,N,12150.61807,W,1.050,128.01,200225,,,A*7B
2025-02-20T17:47:55.229Z,1740073675.229 [NAL9602](INFO): GPS fix at 20250220T174754: (36.795522, -121.843634)
2025-02-20T17:47:55.244Z,1740073675.244 [optimize_roll_speed:NeedComms:C] Stopped
2025-02-20T17:47:55.244Z,1740073675.244 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-02-20T17:47:55.665Z,1740073675.665 [optimize_roll_speed:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T17:48:02.916Z,1740073682.916 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T174543/Courier0003.lzma
2025-02-20T17:48:03.793Z,1740073683.793 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0003.lzma.bak
2025-02-20T17:48:03.793Z,1740073683.793 [DataOverHttps](INFO): SBD MOMSN=23968635
2025-02-20T17:48:20.223Z,1740073700.223 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T174543/Courier0006.lzma
2025-02-20T17:48:21.228Z,1740073701.228 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0006.lzma.bak
2025-02-20T17:48:21.228Z,1740073701.228 [DataOverHttps](INFO): SBD MOMSN=23968637
2025-02-20T17:48:27.552Z,1740073707.552 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T17:48:37.211Z,1740073717.211 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T174543/Courier0009.lzma
2025-02-20T17:48:38.213Z,1740073718.213 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0009.lzma.bak
2025-02-20T17:48:38.213Z,1740073718.213 [DataOverHttps](INFO): SBD MOMSN=23968639
2025-02-20T17:48:54.263Z,1740073734.263 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250220T174543/Courier0012.lzma
2025-02-20T17:48:55.265Z,1740073735.265 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0012.lzma.bak
2025-02-20T17:48:55.265Z,1740073735.265 [DataOverHttps](INFO): SBD MOMSN=23968641
2025-02-20T17:48:59.715Z,1740073739.715 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250220T174903
2025-02-20T17:49:14.596Z,1740073754.596 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T174543/Courier0015.lzma
2025-02-20T17:49:15.597Z,1740073755.597 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0015.lzma.bak
2025-02-20T17:49:15.597Z,1740073755.597 [DataOverHttps](INFO): SBD MOMSN=23968644
2025-02-20T17:49:33.783Z,1740073773.783 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20250220T165515/Express0013.lzma
2025-02-20T17:49:34.785Z,1740073774.785 [DataOverHttps](INFO): Moved sent file to Logs/20250220T165515/Express0013.lzma.bak
2025-02-20T17:49:34.785Z,1740073774.785 [DataOverHttps](INFO): SBD MOMSN=23968647
2025-02-20T17:49:52.115Z,1740073792.115 [DataOverHttps](INFO): Sending 138 bytes from file Logs/20250220T165515/Express0016.lzma
2025-02-20T17:49:53.117Z,1740073793.117 [DataOverHttps](INFO): Moved sent file to Logs/20250220T165515/Express0016.lzma.bak
2025-02-20T17:49:53.117Z,1740073793.117 [DataOverHttps](INFO): SBD MOMSN=23968649
2025-02-20T17:49:58.950Z,1740073798.950 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2165
2025-02-20T17:49:59.322Z,1740073799.322 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-02-20T17:50:10.144Z,1740073810.144 [DataOverHttps](INFO): Sending 495 bytes from file Logs/20250220T174543/Express0001.lzma
2025-02-20T17:50:12.149Z,1740073812.149 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0001.lzma.bak
2025-02-20T17:50:12.149Z,1740073812.149 [DataOverHttps](INFO): SBD MOMSN=23968652
2025-02-20T17:50:38.231Z,1740073838.231 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250220T174543/Express0004.lzma
2025-02-20T17:50:40.241Z,1740073840.241 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0004.lzma.bak
2025-02-20T17:50:40.241Z,1740073840.241 [DataOverHttps](INFO): SBD MOMSN=23968660
2025-02-20T17:51:00.575Z,1740073860.575 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250220T174543/Express0007.lzma
2025-02-20T17:51:01.577Z,1740073861.577 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0007.lzma.bak
2025-02-20T17:51:01.577Z,1740073861.577 [DataOverHttps](INFO): SBD MOMSN=23968662
2025-02-20T17:51:25.787Z,1740073885.787 [DataOverHttps](INFO): Sending 105 bytes from file Logs/20250220T174543/Express0010.lzma
2025-02-20T17:51:26.789Z,1740073886.789 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0010.lzma.bak
2025-02-20T17:51:26.789Z,1740073886.789 [DataOverHttps](INFO): SBD MOMSN=23968664
2025-02-20T17:51:46.931Z,1740073906.931 [DataOverHttps](INFO): Sending 545 bytes from file Logs/20250220T174543/Express0013.lzma
2025-02-20T17:51:47.933Z,1740073907.933 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0013.lzma.bak
2025-02-20T17:51:47.933Z,1740073907.933 [DataOverHttps](INFO): SBD MOMSN=23968667
2025-02-20T17:52:04.011Z,1740073924.011 [DataOverHttps](INFO): Sending 177 bytes from file Logs/20250220T174543/Express0016.lzma
2025-02-20T17:52:05.013Z,1740073925.013 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0016.lzma.bak
2025-02-20T17:52:05.013Z,1740073925.013 [DataOverHttps](INFO): SBD MOMSN=23968689
2025-02-20T17:52:06.280Z,1740073926.280 [optimize_roll_speed:NeedComms:D] Stopped
2025-02-20T17:52:06.281Z,1740073926.281 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-02-20T17:52:06.692Z,1740073926.692 [optimize_roll_speed:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T17:52:08.282Z,1740073928.282 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175207.00,A,3647.72216,N,12150.59365,W,0.622,169.54,200225,,,A*79
2025-02-20T17:52:08.292Z,1740073928.292 [NAL9602](INFO): GPS fix at 20250220T175207: (36.795369, -121.843227)
2025-02-20T17:52:08.308Z,1740073928.308 [optimize_roll_speed:NeedComms:E] Stopped
2025-02-20T17:52:08.309Z,1740073928.309 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-02-20T17:52:08.309Z,1740073928.309 [optimize_roll_speed:NeedComms] Stopped
2025-02-20T17:52:08.309Z,1740073928.309 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-02-20T17:52:08.309Z,1740073928.309 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-02-20T17:52:08.309Z,1740073928.309 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T17:52:08.740Z,1740073928.740 [optimize_roll_speed:StartingMission](INFO): Completed optimize_roll_speed:StartingMission
2025-02-20T17:52:08.740Z,1740073928.740 [optimize_roll_speed:StartingMission] Stopped
2025-02-20T17:52:08.740Z,1740073928.740 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::uninitialize optimize_roll_speed:StartingMission
2025-02-20T17:52:08.740Z,1740073928.740 [optimize_roll_speed:Transit] Running Loop=1
2025-02-20T17:52:08.740Z,1740073928.740 [optimize_roll_speed:Transit](DEBUG): Aggregate::initialize optimize_roll_speed:Transit
2025-02-20T17:52:08.740Z,1740073928.740 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-02-20T17:52:08.740Z,1740073928.740 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Initialize.
2025-02-20T17:52:08.741Z,1740073928.741 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-02-20T17:52:08.741Z,1740073928.741 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Initialize.
2025-02-20T17:52:08.742Z,1740073928.742 [optimize_roll_speed:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-20T17:52:08.742Z,1740073928.742 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-20T17:52:08.747Z,1740073928.747 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-02-20T17:52:09.117Z,1740073929.117 [optimize_roll_speed:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.796310,-121.872040
2025-02-20T17:52:09.118Z,1740073929.118 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-02-20T17:52:09.118Z,1740073929.118 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-02-20T17:52:15.176Z,1740073935.176 [NAL9602](INFO): SBD MO Status=0, MOMSN=12911, MT Status=0, MTMSN=0
2025-02-20T17:52:15.176Z,1740073935.176 [NAL9602](INFO): No messages in MT queue
2025-02-20T17:52:45.640Z,1740073965.640 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T17:53:37.228Z,1740074017.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T17:53:58.863Z,1740074038.863 [Radio_Surface](INFO): Powering down
2025-02-20T17:54:00.257Z,1740074040.257 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2166
2025-02-20T17:54:08.360Z,1740074048.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T17:54:09.365Z,1740074049.365 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-20T17:55:45.768Z,1740074145.768 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.751160
2025-02-20T17:57:08.964Z,1740074228.964 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 3.922286 degrees over 735 samples
2025-02-20T17:57:08.965Z,1740074228.965 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.950000 m/s (avg roll: 3.922286 degrees, target: 0.000000 degrees)
2025-02-20T18:02:09.576Z,1740074529.576 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.293432 degrees over 742 samples
2025-02-20T18:02:09.576Z,1740074529.576 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Crossed target. New step: 0.025000 m/s
2025-02-20T18:02:09.577Z,1740074529.577 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Optimum speed found: 0.950000 m/s for target roll 0.000000 degrees
2025-02-20T18:02:09.577Z,1740074529.577 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Persisting optimum speed 0.950000 m/s for 0.000000 degrees roll to config
2025-02-20T18:02:09.581Z,1740074529.581 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-02-20T18:02:09.582Z,1740074529.582 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2025-02-20T18:02:09.583Z,1740074529.583 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DAT.loadAtStartup=1 bool;

2025-02-20T18:02:09.612Z,1740074529.612 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DATMMP.loadAtStartup=0 bool;

2025-02-20T18:02:09.613Z,1740074529.612 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DATMMP.simulateHardware=0 bool;

2025-02-20T18:02:09.613Z,1740074529.613 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2025-02-20T18:02:09.614Z,1740074529.614 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-02-20T18:02:09.614Z,1740074529.614 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): ESPComponent.simulateHardware=1 bool;

2025-02-20T18:02:09.619Z,1740074529.619 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Express none PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water;

2025-02-20T18:02:09.624Z,1740074529.624 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): SpeedControl.rollOptimum=0.950000 m/s;

2025-02-20T18:02:09.624Z,1740074529.624 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.buoyancyNeutral=305.318315 cubic_centimeter;

2025-02-20T18:02:09.625Z,1740074529.625 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.elevDeadband=0.1 degree;

2025-02-20T18:02:09.626Z,1740074529.626 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massDefault=11.647778 millimeter;

2025-02-20T18:07:10.172Z,1740074830.172 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 0.045675 degrees over 743 samples
2025-02-20T18:10:53.064Z,1740075053.064 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-02-20T18:10:55.882Z,1740075055.882 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.95 m/s, pitch 30.00 deg, mass-position 11.65 mm (3 active estimators).
2025-02-20T18:11:31.990Z,1740075091.990 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T18:11:45.135Z,1740075105.135 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T18:11:58.298Z,1740075118.298 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T18:12:10.591Z,1740075130.591 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -1.015679 degrees over 738 samples
2025-02-20T18:12:10.916Z,1740075130.916 [Radio_Surface](INFO): Powering up
2025-02-20T18:12:11.378Z,1740075131.378 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T18:12:16.876Z,1740075136.876 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-20T18:12:24.845Z,1740075144.845 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T18:12:38.122Z,1740075158.122 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T18:12:46.995Z,1740075166.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:12:51.059Z,1740075171.059 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T18:13:18.119Z,1740075198.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:13:49.255Z,1740075229.255 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:14:20.379Z,1740075260.379 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:14:51.523Z,1740075291.523 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:15:22.647Z,1740075322.647 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:15:53.787Z,1740075353.787 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:16:24.923Z,1740075384.923 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:16:56.051Z,1740075416.051 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:17:11.049Z,1740075431.049 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.754326 degrees over 733 samples
2025-02-20T18:17:27.183Z,1740075447.183 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:17:55.112Z,1740075475.112 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-20T18:17:57.946Z,1740075477.946 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-20T18:17:57.946Z,1740075477.946 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-20T18:17:57.949Z,1740075477.949 [BPC1](INFO): Received data from all battery sticks.
2025-02-20T18:17:58.311Z,1740075478.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:18:29.435Z,1740075509.435 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:19:00.559Z,1740075540.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:19:31.684Z,1740075571.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:20:02.824Z,1740075602.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:20:33.948Z,1740075633.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:21:05.071Z,1740075665.071 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:21:36.200Z,1740075696.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:22:07.323Z,1740075727.323 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:22:11.647Z,1740075731.647 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.801613 degrees over 735 samples
2025-02-20T18:22:38.447Z,1740075758.447 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:23:09.584Z,1740075789.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:23:40.707Z,1740075820.707 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:24:11.845Z,1740075851.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:24:42.976Z,1740075882.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:25:14.103Z,1740075914.103 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:25:45.227Z,1740075945.227 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:26:16.352Z,1740075976.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:26:47.475Z,1740076007.475 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:27:12.405Z,1740076032.405 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.509748 degrees over 741 samples
2025-02-20T18:27:18.608Z,1740076038.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:27:49.739Z,1740076069.739 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:28:20.864Z,1740076100.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:28:51.987Z,1740076131.987 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:29:23.119Z,1740076163.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:29:54.244Z,1740076194.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:30:25.369Z,1740076225.369 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:30:56.491Z,1740076256.491 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:31:27.616Z,1740076287.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:31:58.739Z,1740076318.739 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:32:13.038Z,1740076333.038 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 5.017122 degrees over 738 samples
2025-02-20T18:32:29.863Z,1740076349.863 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:33:00.987Z,1740076380.987 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:33:32.112Z,1740076412.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:34:03.247Z,1740076443.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:34:34.373Z,1740076474.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:35:05.508Z,1740076505.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:35:36.648Z,1740076536.648 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:36:07.771Z,1740076567.771 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:36:38.896Z,1740076598.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:37:10.020Z,1740076630.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:37:13.649Z,1740076633.649 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.743871 degrees over 740 samples
2025-02-20T18:37:41.156Z,1740076661.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:38:12.291Z,1740076692.291 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:38:43.416Z,1740076723.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:39:14.540Z,1740076754.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:39:45.663Z,1740076785.663 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:40:16.787Z,1740076816.787 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:40:47.915Z,1740076847.915 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:40:53.072Z,1740076853.072 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-02-20T18:41:19.069Z,1740076879.069 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:41:50.192Z,1740076910.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:42:14.408Z,1740076934.408 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.826963 degrees over 737 samples
2025-02-20T18:42:21.315Z,1740076941.315 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:42:50.594Z,1740076970.594 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.796310,-121.872040
2025-02-20T18:42:50.594Z,1740076970.594 [optimize_roll_speed:Transit:Wpt1.Waypoint] Stopped
2025-02-20T18:42:50.594Z,1740076970.594 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-20T18:42:50.594Z,1740076970.594 [optimize_roll_speed:Transit:PhoneHome] Running Loop=1
2025-02-20T18:42:50.595Z,1740076970.595 [optimize_roll_speed:Transit:PhoneHome](DEBUG): Aggregate::initialize optimize_roll_speed:Transit:PhoneHome
2025-02-20T18:42:51.013Z,1740076971.013 [optimize_roll_speed:NeedComms] Running Loop=1
2025-02-20T18:42:51.013Z,1740076971.013 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-02-20T18:42:51.013Z,1740076971.013 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T18:42:51.013Z,1740076971.013 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T18:42:51.013Z,1740076971.013 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T18:42:51.014Z,1740076971.014 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T18:42:51.014Z,1740076971.014 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T18:42:51.014Z,1740076971.014 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T18:42:51.015Z,1740076971.015 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T18:42:51.016Z,1740076971.016 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T18:42:51.016Z,1740076971.016 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-02-20T18:42:51.018Z,1740076971.018 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1740073927.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T18:42:51.018Z,1740076971.018 [optimize_roll_speed:NeedComms:A] Stopped
2025-02-20T18:42:51.418Z,1740076971.418 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-02-20T18:42:52.451Z,1740076972.451 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:43:23.579Z,1740077003.579 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T18:43:27.398Z,1740077007.398 [NAL9602](INFO): SBD MO Status=0, MOMSN=12912, MT Status=0, MTMSN=0
2025-02-20T18:43:27.398Z,1740077007.398 [NAL9602](INFO): No messages in MT queue
2025-02-20T18:43:28.619Z,1740077008.619 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184327.00,A,3647.66351,N,12151.80072,W,1.069,262.63,200225,,,A*77
2025-02-20T18:43:28.621Z,1740077008.621 [NAL9602](INFO): GPS fix at 20250220T184327: (36.794392, -121.863345)
2025-02-20T18:43:28.654Z,1740077008.654 [UniversalFixResidualReporter](INFO): Fix residual: 31.3 %DT, over the last 2570.9 m. Residual distance 803.8 m at bearing -74.6 degrees. Fix at (36.7944, -121.8633) with 1794.7 m made good.
2025-02-20T18:43:28.681Z,1740077008.681 [optimize_roll_speed:NeedComms:C] Stopped
2025-02-20T18:43:28.681Z,1740077008.681 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-02-20T18:43:32.642Z,1740077012.642 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.017710
2025-02-20T18:43:40.574Z,1740077020.574 [NAL9602](INFO): SBD MO Status=1, MOMSN=12913, MT Status=0, MTMSN=0
2025-02-20T18:43:40.631Z,1740077020.631 [NAL9602](INFO): Sent 266 bytes from file Logs/20250220T174543/Courier0018.lzma
2025-02-20T18:43:40.632Z,1740077020.632 [NAL9602](INFO): Packets left to send: 0
2025-02-20T18:43:41.120Z,1740077021.120 [DataOverHttps](INFO): Sending 1088 bytes from file Logs/20250220T174543/Express0019.lzma
2025-02-20T18:43:41.801Z,1740077021.801 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0019.lzma.bak
2025-02-20T18:43:41.801Z,1740077021.801 [DataOverHttps](INFO): SBD MOMSN=23968698
2025-02-20T18:43:44.355Z,1740077024.355 [optimize_roll_speed:NeedComms:D] Stopped
2025-02-20T18:43:44.355Z,1740077024.355 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-02-20T18:43:46.276Z,1740077026.276 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184345.00,A,3647.66308,N,12151.80073,W,0.661,146.23,200225,,,A*70
2025-02-20T18:43:46.279Z,1740077026.279 [NAL9602](INFO): GPS fix at 20250220T184345: (36.794385, -121.863345)
2025-02-20T18:43:46.463Z,1740077026.463 [optimize_roll_speed:NeedComms:E] Stopped
2025-02-20T18:43:46.473Z,1740077026.473 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-02-20T18:43:46.473Z,1740077026.473 [optimize_roll_speed:NeedComms] Stopped
2025-02-20T18:43:46.473Z,1740077026.473 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-02-20T18:43:46.473Z,1740077026.473 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-02-20T18:43:46.473Z,1740077026.473 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T18:43:46.757Z,1740077026.757 [optimize_roll_speed:Transit:PhoneHome](INFO): Completed optimize_roll_speed:Transit:PhoneHome
2025-02-20T18:43:46.758Z,1740077026.758 [optimize_roll_speed:Transit:PhoneHome] Stopped
2025-02-20T18:43:46.758Z,1740077026.758 [optimize_roll_speed:Transit:PhoneHome](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit:PhoneHome
2025-02-20T18:43:46.759Z,1740077026.759 [optimize_roll_speed:Transit](INFO): Completed optimize_roll_speed:Transit
2025-02-20T18:43:46.759Z,1740077026.759 [optimize_roll_speed:Transit] Stopped
2025-02-20T18:43:46.759Z,1740077026.759 [optimize_roll_speed:Transit](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit
2025-02-20T18:43:46.759Z,1740077026.759 [optimize_roll_speed:Transit:A.Pitch] Stopped
2025-02-20T18:43:46.807Z,1740077026.807 [optimize_roll_speed:Transit:B.SetRollSpeed] Stopped
2025-02-20T18:43:46.807Z,1740077026.807 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Uninitialize.
2025-02-20T18:43:46.817Z,1740077026.817 [optimize_roll_speed](INFO): Completed optimize_roll_speed
2025-02-20T18:43:46.817Z,1740077026.817 [MissionManager](INFO): optimize_roll_speed is completed.
2025-02-20T18:43:46.818Z,1740077026.818 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed] Stopped
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-20T18:43:46.818Z,1740077026.818 [optimize_roll_speed:BackseatDriver] Stopped
2025-02-20T18:43:46.819Z,1740077026.819 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-02-20T18:43:46.819Z,1740077026.819 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-02-20T18:43:46.819Z,1740077026.819 [optimize_roll_speed:PowerOnly] Stopped
2025-02-20T18:43:46.839Z,1740077026.839 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-02-20T18:43:46.839Z,1740077026.839 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-02-20T18:43:46.839Z,1740077026.839 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T18:43:46.839Z,1740077026.839 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-02-20T18:43:46.840Z,1740077026.840 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-20T18:43:46.840Z,1740077026.840 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-02-20T18:43:47.201Z,1740077027.201 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-02-20T18:43:47.307Z,1740077027.307 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T18:43:47.308Z,1740077027.308 [Default] Running Loop=1
2025-02-20T18:43:47.308Z,1740077027.308 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T18:43:47.308Z,1740077027.308 [Default:B.GoToSurface] Running Loop=1
2025-02-20T18:43:47.308Z,1740077027.308 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T18:43:47.308Z,1740077027.308 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T18:43:47.308Z,1740077027.308 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T18:43:47.309Z,1740077027.309 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T18:43:47.309Z,1740077027.309 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T18:43:47.310Z,1740077027.310 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T18:43:47.310Z,1740077027.310 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T18:43:47.310Z,1740077027.310 [Default:A.Wait] Running Loop=1
2025-02-20T18:43:47.310Z,1740077027.310 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T18:43:48.652Z,1740077028.652 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-20T18:43:48.653Z,1740077028.653 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-20T18:44:00.430Z,1740077040.430 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T18:44:00.430Z,1740077040.430 [Default:A.Wait] Stopped
2025-02-20T18:44:00.431Z,1740077040.431 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T18:44:00.846Z,1740077040.846 [Default:CheckIn] Running Loop=1
2025-02-20T18:44:00.847Z,1740077040.847 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T18:44:00.847Z,1740077040.847 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T18:44:02.894Z,1740077042.894 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184402.00,A,3647.66240,N,12151.80022,W,0.194,126.06,200225,,,A*71
2025-02-20T18:44:02.909Z,1740077042.909 [NAL9602](INFO): GPS fix at 20250220T184402: (36.794373, -121.863337)
2025-02-20T18:44:02.984Z,1740077042.984 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T18:44:02.984Z,1740077042.984 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T18:44:06.705Z,1740077046.705 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-20T18:44:06.705Z,1740077046.705 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-20T18:44:06.706Z,1740077046.706 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-20T18:44:06.709Z,1740077046.709 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T174543/Courier0021.lzma
2025-02-20T18:44:07.581Z,1740077047.581 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0021.lzma.bak
2025-02-20T18:44:07.581Z,1740077047.581 [DataOverHttps](INFO): SBD MOMSN=23968736
2025-02-20T18:44:23.447Z,1740077063.447 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250220T174543/Express0022.lzma
2025-02-20T18:44:24.449Z,1740077064.449 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0022.lzma.bak
2025-02-20T18:44:24.449Z,1740077064.449 [DataOverHttps](INFO): SBD MOMSN=23968739
2025-02-20T18:44:26.285Z,1740077066.285 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T18:44:26.285Z,1740077066.285 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T18:44:26.285Z,1740077066.285 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T18:44:35.556Z,1740077075.556 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T18:49:11.713Z,1740077351.713 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T184910
2025-02-20T18:49:19.235Z,1740077359.235 [DataOverHttps](INFO): Received command: configSet VerticalControl.elevDeadband 0.5 degree persist
2025-02-20T18:49:19.698Z,1740077359.698 [CommandExec](IMPORTANT): got command configSet VerticalControl.elevDeadband 0.5 degree persist
2025-02-20T18:49:26.937Z,1740077366.937 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-20T18:49:26.937Z,1740077366.937 [Default:CheckIn:C.Wait] Stopped
2025-02-20T18:49:26.937Z,1740077366.937 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T18:49:26.938Z,1740077366.938 [Default:CheckIn:D] Running Loop=1
2025-02-20T18:49:27.349Z,1740077367.349 [Default:CheckIn:D] Stopped
2025-02-20T18:49:27.350Z,1740077367.350 [Default:CheckIn:E] Running Loop=1
2025-02-20T18:49:27.738Z,1740077367.738 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  5.667362 min 
2025-02-20T18:49:27.739Z,1740077367.739 [Default:CheckIn:E] Stopped
2025-02-20T18:49:27.739Z,1740077367.739 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-20T18:49:27.739Z,1740077367.739 [Default:CheckIn] Stopped
2025-02-20T18:49:27.739Z,1740077367.739 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T18:49:27.739Z,1740077367.739 [Default:CheckIn](INFO): Running loop #2
2025-02-20T18:49:27.739Z,1740077367.739 [Default:CheckIn] Running Loop=2
2025-02-20T18:49:27.739Z,1740077367.739 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T18:49:27.740Z,1740077367.740 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T18:49:29.750Z,1740077369.750 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184929.00,A,3647.65353,N,12151.78620,W,0.719,55.05,200225,,,D*46
2025-02-20T18:49:29.752Z,1740077369.752 [NAL9602](INFO): GPS fix at 20250220T184929: (36.794226, -121.863103)
2025-02-20T18:49:29.763Z,1740077369.763 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T18:49:29.763Z,1740077369.763 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T18:49:36.963Z,1740077376.963 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250220T174543/Courier0024.lzma
2025-02-20T18:49:37.965Z,1740077377.965 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0024.lzma.bak
2025-02-20T18:49:37.965Z,1740077377.965 [DataOverHttps](INFO): SBD MOMSN=23968744
2025-02-20T18:49:52.778Z,1740077392.778 [NAL9602](INFO): SBD MO Status=2, MOMSN=12914, MT Status=2, MTMSN=0
2025-02-20T18:49:52.778Z,1740077392.778 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T18:49:55.179Z,1740077395.179 [DataOverHttps](INFO): Sending 249 bytes from file Logs/20250220T174543/Express0025.lzma
2025-02-20T18:49:56.181Z,1740077396.181 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0025.lzma.bak
2025-02-20T18:49:56.181Z,1740077396.181 [DataOverHttps](INFO): SBD MOMSN=23968747
2025-02-20T18:49:57.656Z,1740077397.656 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T18:49:57.656Z,1740077397.656 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T18:49:57.656Z,1740077397.656 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T18:50:13.789Z,1740077413.789 [NAL9602](INFO): SBD MO Status=0, MOMSN=12914, MT Status=0, MTMSN=0
2025-02-20T18:50:13.789Z,1740077413.789 [NAL9602](INFO): No messages in MT queue
2025-02-20T18:50:35.308Z,1740077435.308 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T185034
2025-02-20T18:50:42.799Z,1740077442.799 [DataOverHttps](INFO): Received command: configSet list
2025-02-20T18:50:42.826Z,1740077442.826 [CommandExec](IMPORTANT): got command configSet list
2025-02-20T18:50:42.827Z,1740077442.827 [CommandExec](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-02-20T18:50:42.828Z,1740077442.828 [CommandExec](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2025-02-20T18:50:42.828Z,1740077442.828 [CommandExec](IMPORTANT): DAT.loadAtStartup=1 bool;

2025-02-20T18:50:42.829Z,1740077442.829 [CommandExec](IMPORTANT): DATMMP.loadAtStartup=0 bool;

2025-02-20T18:50:42.830Z,1740077442.830 [CommandExec](IMPORTANT): DATMMP.simulateHardware=0 bool;

2025-02-20T18:50:42.830Z,1740077442.830 [CommandExec](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2025-02-20T18:50:42.831Z,1740077442.831 [CommandExec](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-02-20T18:50:42.832Z,1740077442.832 [CommandExec](IMPORTANT): ESPComponent.simulateHardware=1 bool;

2025-02-20T18:50:42.832Z,1740077442.832 [CommandExec](IMPORTANT): Express none PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water;

2025-02-20T18:50:42.833Z,1740077442.833 [CommandExec](IMPORTANT): SpeedControl.rollOptimum=0.950000 m/s;

2025-02-20T18:50:42.834Z,1740077442.834 [CommandExec](IMPORTANT): VerticalControl.buoyancyNeutral=305.318315 cubic_centimeter;

2025-02-20T18:50:42.834Z,1740077442.834 [CommandExec](IMPORTANT): VerticalControl.elevDeadband=0.5 degree;

2025-02-20T18:50:42.835Z,1740077442.835 [CommandExec](IMPORTANT): VerticalControl.massDefault=11.647778 millimeter;

2025-02-20T18:50:44.492Z,1740077444.492 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T18:54:58.304Z,1740077698.304 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-20T18:54:58.304Z,1740077698.304 [Default:CheckIn:C.Wait] Stopped
2025-02-20T18:54:58.304Z,1740077698.304 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T18:54:58.304Z,1740077698.304 [Default:CheckIn:D] Running Loop=1
2025-02-20T18:54:58.728Z,1740077698.728 [Default:CheckIn:D] Stopped
2025-02-20T18:54:58.729Z,1740077698.729 [Default:CheckIn:E] Running Loop=1
2025-02-20T18:54:59.132Z,1740077699.132 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  11.190347 min 
2025-02-20T18:54:59.132Z,1740077699.132 [Default:CheckIn:E] Stopped
2025-02-20T18:54:59.132Z,1740077699.132 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-20T18:54:59.132Z,1740077699.132 [Default:CheckIn] Stopped
2025-02-20T18:54:59.132Z,1740077699.132 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T18:54:59.132Z,1740077699.132 [Default:CheckIn](INFO): Running loop #3
2025-02-20T18:54:59.132Z,1740077699.132 [Default:CheckIn] Running Loop=3
2025-02-20T18:54:59.133Z,1740077699.133 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T18:54:59.133Z,1740077699.133 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T18:55:01.114Z,1740077701.114 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185500.00,A,3647.64343,N,12151.76873,W,0.641,116.52,200225,,,D*7E
2025-02-20T18:55:01.117Z,1740077701.117 [NAL9602](INFO): GPS fix at 20250220T185500: (36.794057, -121.862812)
2025-02-20T18:55:01.165Z,1740077701.165 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T18:55:01.166Z,1740077701.166 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T18:55:20.607Z,1740077720.607 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T174543/Courier0027.lzma
2025-02-20T18:55:21.609Z,1740077721.609 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0027.lzma.bak
2025-02-20T18:55:21.609Z,1740077721.609 [DataOverHttps](INFO): SBD MOMSN=23968758
2025-02-20T18:55:25.494Z,1740077725.494 [NAL9602](INFO): SBD MO Status=0, MOMSN=12915, MT Status=0, MTMSN=0
2025-02-20T18:55:25.494Z,1740077725.494 [NAL9602](INFO): No messages in MT queue
2025-02-20T18:55:48.284Z,1740077748.284 [DataOverHttps](INFO): Sending 547 bytes from file Logs/20250220T174543/Express0029.lzma
2025-02-20T18:55:49.285Z,1740077749.285 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0029.lzma.bak
2025-02-20T18:55:49.285Z,1740077749.285 [DataOverHttps](INFO): SBD MOMSN=23968761
2025-02-20T18:55:50.978Z,1740077750.978 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T18:55:50.978Z,1740077750.978 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T18:55:50.978Z,1740077750.978 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T18:55:56.197Z,1740077756.197 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T18:58:33.805Z,1740077913.805 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T185832
2025-02-20T18:58:45.783Z,1740077925.783 [DataOverHttps](INFO): Received command: configset CBIT.runNavErrorCritical 1 bool persist
2025-02-20T18:58:46.552Z,1740077926.552 [CommandExec](IMPORTANT): got command configSet CBIT.runNavErrorCritical 1 bool persist
2025-02-20T19:00:51.713Z,1740078051.713 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-20T19:00:51.713Z,1740078051.713 [Default:CheckIn:C.Wait] Stopped
2025-02-20T19:00:51.713Z,1740078051.713 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T19:00:51.713Z,1740078051.713 [Default:CheckIn:D] Running Loop=1
2025-02-20T19:00:52.125Z,1740078052.125 [Default:CheckIn:D] Stopped
2025-02-20T19:00:52.125Z,1740078052.125 [Default:CheckIn:E] Running Loop=1
2025-02-20T19:00:52.516Z,1740078052.516 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  17.080292 min 
2025-02-20T19:00:52.516Z,1740078052.516 [Default:CheckIn:E] Stopped
2025-02-20T19:00:52.516Z,1740078052.516 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-20T19:00:52.516Z,1740078052.516 [Default:CheckIn] Stopped
2025-02-20T19:00:52.516Z,1740078052.516 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T19:00:52.517Z,1740078052.517 [Default:CheckIn](INFO): Running loop #4
2025-02-20T19:00:52.517Z,1740078052.517 [Default:CheckIn] Running Loop=4
2025-02-20T19:00:52.517Z,1740078052.517 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T19:00:52.517Z,1740078052.517 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T19:00:54.530Z,1740078054.530 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190054.00,A,3647.63345,N,12151.74900,W,0.505,95.70,200225,,,D*41
2025-02-20T19:00:54.532Z,1740078054.532 [NAL9602](INFO): GPS fix at 20250220T190054: (36.793891, -121.862483)
2025-02-20T19:00:54.544Z,1740078054.544 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T19:00:54.544Z,1740078054.544 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T19:01:01.795Z,1740078061.795 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250220T174543/Courier0036.lzma
2025-02-20T19:01:02.797Z,1740078062.797 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Courier0036.lzma.bak
2025-02-20T19:01:02.798Z,1740078062.798 [DataOverHttps](INFO): SBD MOMSN=23968786
2025-02-20T19:01:10.758Z,1740078070.758 [NAL9602](INFO): SBD MO Status=0, MOMSN=12916, MT Status=0, MTMSN=0
2025-02-20T19:01:10.759Z,1740078070.759 [NAL9602](INFO): No messages in MT queue
2025-02-20T19:01:21.668Z,1740078081.668 [DataOverHttps](INFO): Sending 224 bytes from file Logs/20250220T174543/Express0037.lzma
2025-02-20T19:01:22.665Z,1740078082.665 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0037.lzma.bak
2025-02-20T19:01:22.665Z,1740078082.665 [DataOverHttps](INFO): SBD MOMSN=23968789
2025-02-20T19:01:39.199Z,1740078099.199 [DataOverHttps](INFO): Sending 60 bytes from file Logs/20250220T174543/Express0040.lzma
2025-02-20T19:01:40.201Z,1740078100.201 [DataOverHttps](INFO): Moved sent file to Logs/20250220T174543/Express0040.lzma.bak
2025-02-20T19:01:40.201Z,1740078100.201 [DataOverHttps](INFO): SBD MOMSN=23968795
2025-02-20T19:01:41.476Z,1740078101.476 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T19:01:41.890Z,1740078101.890 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T19:01:41.891Z,1740078101.891 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T19:01:41.891Z,1740078101.891 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T19:03:20.805Z,1740078200.805 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T190319
2025-02-20T19:03:28.575Z,1740078208.575 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 30 m;set transit.Speed SpeedControl.rollOptimum m/s;set transit.MaxDepth 40 m;run
2025-02-20T19:03:28.604Z,1740078208.604 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-20T19:03:28.605Z,1740078208.605 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-20T19:03:28.605Z,1740078208.605 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-20T19:03:28.608Z,1740078208.608 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-20T19:03:29.324Z,1740078209.324 [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>

2025-02-20T19:03:29.330Z,1740078209.330 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-20T19:03:29.333Z,1740078209.333 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-20T19:03:29.336Z,1740078209.336 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-20T19:03:29.364Z,1740078209.364 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-20T19:03:29.367Z,1740078209.367 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-20T19:03:29.398Z,1740078209.398 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-20T19:03:29.413Z,1740078209.413 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-20T19:03:29.421Z,1740078209.421 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-20T19:03:29.445Z,1740078209.445 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-20T19:03:29.464Z,1740078209.464 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-20T19:03:29.471Z,1740078209.471 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-20T19:03:29.474Z,1740078209.474 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-20T19:03:29.478Z,1740078209.478 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-20T19:03:29.478Z,1740078209.478 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T19:03:29.478Z,1740078209.478 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T19:03:29.492Z,1740078209.492 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T19:03:29.577Z,1740078209.577 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T190328
2025-02-20T19:03:29.826Z,1740078209.826 [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>

2025-02-20T19:03:29.832Z,1740078209.832 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-20T19:03:29.835Z,1740078209.835 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T19:03:29.838Z,1740078209.838 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T19:03:29.841Z,1740078209.841 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T19:03:29.844Z,1740078209.844 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T19:03:29.859Z,1740078209.859 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T19:03:29.862Z,1740078209.862 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T19:03:29.870Z,1740078209.870 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T19:03:29.899Z,1740078209.899 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T19:03:29.981Z,1740078209.981 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T19:03:29.982Z,1740078209.982 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T19:03:29.983Z,1740078209.983 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T19:03:30.125Z,1740078210.125 [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>

2025-02-20T19:03:30.134Z,1740078210.134 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T19:03:30.137Z,1740078210.137 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T19:03:30.177Z,1740078210.177 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T19:03:30.184Z,1740078210.184 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T19:03:30.185Z,1740078210.185 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T19:03:30.213Z,1740078210.213 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T19:03:30.252Z,1740078210.252 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T19:03:30.283Z,1740078210.283 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T19:03:30.283Z,1740078210.283 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T19:03:30.284Z,1740078210.284 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T19:03:30.319Z,1740078210.319 [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>

2025-02-20T19:03:30.327Z,1740078210.327 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T19:03:30.340Z,1740078210.340 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T19:03:30.345Z,1740078210.345 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T19:03:30.346Z,1740078210.346 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T19:03:30.347Z,1740078210.347 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T19:03:30.541Z,1740078210.541 [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>

2025-02-20T19:03:30.549Z,1740078210.549 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-20T19:03:30.585Z,1740078210.585 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T19:03:30.600Z,1740078210.600 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T19:03:30.607Z,1740078210.607 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T19:03:30.610Z,1740078210.610 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T19:03:30.639Z,1740078210.639 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T19:03:30.645Z,1740078210.645 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T19:03:30.657Z,1740078210.657 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-20T19:03:30.677Z,1740078210.677 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-20T19:03:30.692Z,1740078210.692 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-20T19:03:30.695Z,1740078210.695 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T19:03:30.747Z,1740078210.747 [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"
  }
}


2025-02-20T19:03:30.748Z,1740078210.748 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-20T19:03:40.927Z,1740078220.927 [DataOverHttps](INFO): Received command: restart logs
2025-02-20T19:03:51.942Z,1740078231.943 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 60 minute
2025-02-20T19:03:51.943Z,1740078231.943 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-02-20T19:03:51.944Z,1740078231.944 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-02-20T19:03:51.945Z,1740078231.945 [CommandExec](IMPORTANT): got command set transit.Depth 30 meter
2025-02-20T19:03:51.946Z,1740078231.946 [CommandExec](IMPORTANT): got command set transit.Speed SpeedControl.rollOptimum
2025-02-20T19:03:51.946Z,1740078231.946 [CommandExec](IMPORTANT): got command set transit.MaxDepth 40 meter
2025-02-20T19:03:51.947Z,1740078231.947 [CommandExec](IMPORTANT): got command run