2025-02-20T20:22:12.721Z,1740082932.721 [CommandExec](IMPORTANT): got command restart logs
2025-02-20T20:24:10.749Z,1740083050.749 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T202409
2025-02-20T20:24:18.099Z,1740083058.099 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.NeedCommsTime 60 min;set transit.Latitude 36.79631 degree;set transit.Longitude -121.87204 degree;set transit.Depth 30 m;set transit.Speed SpeedControl.rollOptimum m/s;set transit.MaxDepth 40 m" 21snr 1 2
2025-02-20T20:24:18.116Z,1740083058.116 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.NeedCommsTime 60 min;set transit.Latitude 36.79631 degree;set transit.Longitude -121.87204 degree;set transit.Depth 30 m;set transit.Speed SpeedControl.rollOptimum m/s;set transit.MaxDepth 40 m" 21snr 1 2.000000
2025-02-20T20:24:18.116Z,1740083058.116 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=21snr
2025-02-20T20:24:18.117Z,1740083058.117 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='21snr'): "load Transport/transit.tl;set transit.NeedCommsTime 60 min;set transit.Latitude 36.79631 degree;set transit.Longitude -121.87204 degree;set transit.Depth 30 m;set transit.Speed SpeedControl.rollOptimum m/s;set transit.MaxDepth 40 m", ASAP
2025-02-20T20:24:19.101Z,1740083059.101 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T202418
2025-02-20T20:24:26.683Z,1740083066.683 [DataOverHttps](INFO): Received command: sched asap "set transit:BackseatDriver.EnableBackseat 1 bool;run" 21snr 2 2
2025-02-20T20:24:26.746Z,1740083066.746 [CommandExec](IMPORTANT): got command schedule asap "set transit:BackseatDriver.EnableBackseat 1 bool;run" 21snr 2 2.000000
2025-02-20T20:24:26.747Z,1740083066.747 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=21snr
2025-02-20T20:24:26.748Z,1740083066.748 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='21snr'): "set transit:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-02-20T20:24:26.865Z,1740083066.865 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-20T20:24:26.865Z,1740083066.865 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-20T20:24:26.866Z,1740083066.866 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-20T20:24:26.867Z,1740083066.867 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-20T20:24:27.523Z,1740083067.523 [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>

2025-02-20T20:24:27.533Z,1740083067.533 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-20T20:24:27.536Z,1740083067.536 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-20T20:24:27.538Z,1740083067.538 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-20T20:24:27.541Z,1740083067.541 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-20T20:24:27.543Z,1740083067.543 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-20T20:24:27.561Z,1740083067.561 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-20T20:24:27.568Z,1740083067.568 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-20T20:24:27.570Z,1740083067.570 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-20T20:24:27.574Z,1740083067.574 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-20T20:24:27.596Z,1740083067.596 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-20T20:24:27.598Z,1740083067.598 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-20T20:24:27.605Z,1740083067.605 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-20T20:24:27.611Z,1740083067.611 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-20T20:24:27.612Z,1740083067.612 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T20:24:27.612Z,1740083067.612 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T20:24:27.613Z,1740083067.613 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T20:24:27.834Z,1740083067.834 [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>

2025-02-20T20:24:27.840Z,1740083067.840 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-20T20:24:27.842Z,1740083067.842 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T20:24:27.844Z,1740083067.844 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T20:24:27.846Z,1740083067.846 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T20:24:27.849Z,1740083067.849 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T20:24:27.851Z,1740083067.851 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T20:24:27.853Z,1740083067.853 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T20:24:27.855Z,1740083067.855 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T20:24:27.861Z,1740083067.861 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T20:24:27.957Z,1740083067.957 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T20:24:27.957Z,1740083067.957 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T20:24:27.958Z,1740083067.958 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T20:24:28.093Z,1740083068.093 [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>

2025-02-20T20:24:28.097Z,1740083068.097 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T20:24:28.099Z,1740083068.099 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T20:24:28.102Z,1740083068.102 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T20:24:28.104Z,1740083068.104 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T20:24:28.105Z,1740083068.105 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T20:24:28.110Z,1740083068.110 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T20:24:28.117Z,1740083068.117 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T20:24:28.125Z,1740083068.125 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T20:24:28.126Z,1740083068.126 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T20:24:28.127Z,1740083068.127 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T20:24:28.178Z,1740083068.178 [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>

2025-02-20T20:24:28.181Z,1740083068.181 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T20:24:28.183Z,1740083068.183 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T20:24:28.185Z,1740083068.185 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T20:24:28.185Z,1740083068.185 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T20:24:28.186Z,1740083068.186 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T20:24:28.338Z,1740083068.338 [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>

2025-02-20T20:24:28.343Z,1740083068.343 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-20T20:24:28.346Z,1740083068.346 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T20:24:28.374Z,1740083068.374 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T20:24:28.376Z,1740083068.376 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T20:24:28.379Z,1740083068.379 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T20:24:28.387Z,1740083068.387 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T20:24:28.389Z,1740083068.389 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T20:24:28.392Z,1740083068.392 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-20T20:24:28.397Z,1740083068.397 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-20T20:24:28.422Z,1740083068.422 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-20T20:24:28.429Z,1740083068.429 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T20:24:28.461Z,1740083068.461 [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"
  }
}


2025-02-20T20:24:28.462Z,1740083068.462 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-20T20:24:46.037Z,1740083086.037 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 60 minute
2025-02-20T20:24:46.038Z,1740083086.038 [CommandExec](IMPORTANT): got command set transit.Latitude 36.79631 degree
2025-02-20T20:24:46.039Z,1740083086.039 [CommandExec](IMPORTANT): got command set transit.Longitude -121.87204 degree
2025-02-20T20:24:46.040Z,1740083086.040 [CommandExec](IMPORTANT): got command set transit.Depth 30 meter
2025-02-20T20:24:46.040Z,1740083086.040 [CommandExec](IMPORTANT): got command set transit.Speed SpeedControl.rollOptimum
2025-02-20T20:24:46.041Z,1740083086.041 [CommandExec](IMPORTANT): got command set transit.MaxDepth 40 meter
2025-02-20T20:24:53.186Z,1740083093.186 [CommandExec](IMPORTANT): got command set transit:BackseatDriver.EnableBackseat 1 bool
2025-02-20T20:24:53.186Z,1740083093.186 [CommandExec](IMPORTANT): got command run
2025-02-20T20:24:53.192Z,1740083093.192 [CommandExec](IMPORTANT): Running 
2025-02-20T20:24:53.367Z,1740083093.367 [Default] Stopped
2025-02-20T20:24:53.367Z,1740083093.367 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-20T20:24:53.367Z,1740083093.367 [Default:B.GoToSurface] Stopped
2025-02-20T20:24:53.367Z,1740083093.367 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T20:24:53.368Z,1740083093.368 [Default:CheckIn] Stopped
2025-02-20T20:24:53.368Z,1740083093.368 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T20:24:53.368Z,1740083093.368 [Default:CheckIn:C.Wait] Stopped
2025-02-20T20:24:53.368Z,1740083093.368 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T20:24:53.368Z,1740083093.368 [MissionManager](IMPORTANT): Started mission transit
2025-02-20T20:24:53.368Z,1740083093.368 [transit] Running Loop=1
2025-02-20T20:24:53.368Z,1740083093.368 [transit](DEBUG): Aggregate::initialize transit
2025-02-20T20:24:53.368Z,1740083093.368 [transit:StandardEnvelopes] Running Loop=1
2025-02-20T20:24:53.369Z,1740083093.369 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-02-20T20:24:53.369Z,1740083093.369 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T20:24:53.369Z,1740083093.369 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-20T20:24:53.369Z,1740083093.369 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T20:24:53.369Z,1740083093.369 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-20T20:24:53.369Z,1740083093.369 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T20:24:53.369Z,1740083093.369 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-20T20:24:53.369Z,1740083093.369 [transit:BackseatDriver] Running Loop=1
2025-02-20T20:24:53.369Z,1740083093.369 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-02-20T20:24:53.370Z,1740083093.370 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-20T20:24:53.370Z,1740083093.370 [transit:PowerOnly] Running Loop=1
2025-02-20T20:24:53.370Z,1740083093.370 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-02-20T20:24:53.370Z,1740083093.370 [transit:PowerOnly:A] Running Loop=1
2025-02-20T20:24:53.370Z,1740083093.370 [transit:PowerOnly:B] Running Loop=1
2025-02-20T20:24:53.370Z,1740083093.370 [transit:PowerOnly:C] Running Loop=1
2025-02-20T20:24:53.370Z,1740083093.370 [transit:PowerOnly:D] Running Loop=1
2025-02-20T20:24:53.370Z,1740083093.370 [transit:PowerOnly:E.Wait] Running Loop=1
2025-02-20T20:24:53.370Z,1740083093.370 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-20T20:24:53.370Z,1740083093.370 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-20T20:24:53.370Z,1740083093.370 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-20T20:24:53.370Z,1740083093.370 [transit:MassHold.Pitch] Running Loop=1
2025-02-20T20:24:53.371Z,1740083093.371 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-02-20T20:24:53.371Z,1740083093.371 [transit:B] Running Loop=1
2025-02-20T20:24:53.396Z,1740083093.396 [transit:MassHold.Pitch] Running Loop=1
2025-02-20T20:24:53.396Z,1740083093.396 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-20T20:24:53.396Z,1740083093.396 [transit:PowerOnly] Running Loop=1
2025-02-20T20:24:53.396Z,1740083093.396 [transit:PowerOnly:D] Stopped
2025-02-20T20:24:53.397Z,1740083093.397 [transit:PowerOnly:C] Stopped
2025-02-20T20:24:53.397Z,1740083093.397 [transit:PowerOnly:B] Stopped
2025-02-20T20:24:53.397Z,1740083093.397 [transit:PowerOnly:A] Stopped
2025-02-20T20:24:53.397Z,1740083093.397 [transit:BackseatDriver] Running Loop=1
2025-02-20T20:24:53.397Z,1740083093.397 [transit:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-20T20:24:53.407Z,1740083093.407 [BackseatComponent](INFO): Powering up
2025-02-20T20:24:53.408Z,1740083093.408 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-20T20:24:53.469Z,1740083093.469 [transit:StandardEnvelopes] Running Loop=1
2025-02-20T20:24:53.469Z,1740083093.469 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T20:24:53.470Z,1740083093.470 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T20:24:53.470Z,1740083093.470 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T20:24:53.470Z,1740083093.470 [transit:B] Stopped
2025-02-20T20:24:53.471Z,1740083093.471 [transit:C] Running Loop=1
2025-02-20T20:24:53.776Z,1740083093.776 [transit:C] Stopped
2025-02-20T20:24:53.776Z,1740083093.776 [transit:E] Running Loop=1
2025-02-20T20:24:54.179Z,1740083094.179 [transit:E] Stopped
2025-02-20T20:24:54.180Z,1740083094.180 [transit:F] Running Loop=1
2025-02-20T20:24:54.591Z,1740083094.591 [transit:F] Stopped
2025-02-20T20:24:54.592Z,1740083094.592 [transit:G] Running Loop=1
2025-02-20T20:24:54.987Z,1740083094.987 [transit:G] Stopped
2025-02-20T20:24:54.988Z,1740083094.988 [transit:Transit] Running Loop=1
2025-02-20T20:24:54.988Z,1740083094.988 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-02-20T20:24:54.988Z,1740083094.988 [transit:Transit:A.Pitch] Running Loop=1
2025-02-20T20:24:54.988Z,1740083094.988 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-02-20T20:24:54.988Z,1740083094.988 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-20T20:24:54.988Z,1740083094.988 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-02-20T20:24:54.988Z,1740083094.988 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-20T20:24:54.988Z,1740083094.988 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-20T20:24:54.989Z,1740083094.989 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-02-20T20:24:55.390Z,1740083095.390 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.796310,-121.872040
2025-02-20T20:24:55.390Z,1740083095.390 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-20T20:24:55.390Z,1740083095.390 [transit:Transit:A.Pitch] Running Loop=1
2025-02-20T20:25:50.987Z,1740083150.987 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T20:25:58.473Z,1740083158.473 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250220T202602
2025-02-20T20:26:37.278Z,1740083197.278 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T20:26:50.210Z,1740083210.210 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T20:26:52.200Z,1740083212.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T20:26:57.199Z,1740083217.199 [transit:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2165
2025-02-20T20:26:57.585Z,1740083217.585 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-02-20T20:27:03.239Z,1740083223.239 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T20:27:16.595Z,1740083236.595 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T20:27:16.963Z,1740083236.963 [Radio_Surface](INFO): Powering down
2025-02-20T20:27:23.327Z,1740083243.327 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T20:27:24.332Z,1740083244.332 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-20T20:27:29.126Z,1740083249.126 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T20:27:42.481Z,1740083262.481 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T20:27:55.051Z,1740083275.051 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T20:29:12.764Z,1740083352.764 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727310
2025-02-20T20:30:59.148Z,1740083459.148 [transit:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2166
2025-02-20T20:31:20.995Z,1740083480.995 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-20T20:31:32.059Z,1740083492.059 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.001488
CHAN A1 (24V): -0.000704
CHAN A2 (12V): 0.000719
CHAN A3 (5V): -0.001824
CHAN B0 (3.3V): -0.000560
CHAN B1 (3.15aV): -0.001465
CHAN B2 (3.15bV): -0.001214
CHAN B3 (GND): -0.002133
OPEN: 0.005143
Full Scale: +/- 1 mA
2025-02-20T20:33:00.944Z,1740083580.944 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-20T20:33:02.980Z,1740083582.980 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-20T20:33:02.980Z,1740083582.980 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-20T20:33:02.985Z,1740083582.985 [BPC1](INFO): Received data from all battery sticks.
2025-02-20T21:08:23.144Z,1740085703.144 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-02-20T21:09:06.711Z,1740085746.711 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.796310,-121.872040
2025-02-20T21:09:06.711Z,1740085746.711 [transit:Transit:Wpt1.Waypoint] Stopped
2025-02-20T21:09:06.711Z,1740085746.711 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-20T21:09:06.712Z,1740085746.712 [transit:Transit:PhoneHome] Running Loop=1
2025-02-20T21:09:06.712Z,1740085746.712 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-02-20T21:09:07.104Z,1740085747.104 [transit:NeedComms] Running Loop=1
2025-02-20T21:09:07.104Z,1740085747.104 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-02-20T21:09:07.104Z,1740085747.104 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T21:09:07.104Z,1740085747.104 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T21:09:07.105Z,1740085747.105 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T21:09:07.105Z,1740085747.105 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T21:09:07.105Z,1740085747.105 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T21:09:07.106Z,1740085747.106 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T21:09:07.106Z,1740085747.106 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T21:09:07.106Z,1740085747.106 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T21:09:07.107Z,1740085747.107 [transit:NeedComms:A] Running Loop=1
2025-02-20T21:09:07.109Z,1740085747.109 [transit:NeedComms:A](INFO): last time_fix was:  1740082779.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T21:09:07.109Z,1740085747.109 [transit:NeedComms:A] Stopped
2025-02-20T21:09:53.218Z,1740085793.218 [transit:NeedComms:C] Running Loop=1
2025-02-20T21:09:53.621Z,1740085793.621 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T21:09:53.716Z,1740085793.716 [Radio_Surface](INFO): Powering up
2025-02-20T21:09:59.871Z,1740085799.871 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-20T21:10:23.910Z,1740085823.910 [NAL9602](INFO): SBD MO Status=0, MOMSN=12928, MT Status=0, MTMSN=0
2025-02-20T21:10:23.910Z,1740085823.910 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:10:25.118Z,1740085825.118 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211024.00,A,3647.56834,N,12152.14895,W,0.680,300.26,200225,,,A*78
2025-02-20T21:10:25.120Z,1740085825.120 [NAL9602](INFO): GPS fix at 20250220T211024: (36.792806, -121.869149)
2025-02-20T21:10:25.133Z,1740085825.133 [UniversalFixResidualReporter](INFO): Fix residual: 20.0 %DT, over the last 2512.6 m. Residual distance 502.4 m at bearing -36.3 degrees. Fix at (36.7928, -121.8691) with 2138.6 m made good.
2025-02-20T21:10:25.157Z,1740085825.157 [transit:NeedComms:C] Stopped
2025-02-20T21:10:25.157Z,1740085825.157 [transit:NeedComms:D] Running Loop=1
2025-02-20T21:10:25.557Z,1740085825.557 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T21:10:29.992Z,1740085829.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:10:40.969Z,1740085840.969 [NAL9602](INFO): SBD MO Status=1, MOMSN=12929, MT Status=0, MTMSN=0
2025-02-20T21:10:41.023Z,1740085841.023 [NAL9602](INFO): Sent 39 bytes from file Logs/20250220T193717/Courier0012.lzma
2025-02-20T21:10:41.024Z,1740085841.024 [NAL9602](INFO): Packets left to send: 0
2025-02-20T21:10:49.997Z,1740085849.997 [NAL9602](INFO): SBD MO Status=1, MOMSN=12930, MT Status=0, MTMSN=0
2025-02-20T21:10:50.055Z,1740085850.055 [NAL9602](INFO): Sent 332 bytes from file Logs/20250220T202212/Courier0000.lzma
2025-02-20T21:10:50.056Z,1740085850.056 [NAL9602](INFO): Packets left to send: 1
2025-02-20T21:10:56.550Z,1740085856.550 [NAL9602](INFO): SBD MO Status=1, MOMSN=12931, MT Status=0, MTMSN=0
2025-02-20T21:10:56.600Z,1740085856.600 [NAL9602](INFO): Sent 32 bytes from file Logs/20250220T202212/Courier0000.lzma
2025-02-20T21:10:56.600Z,1740085856.600 [NAL9602](INFO): Packets left to send: 0
2025-02-20T21:11:01.116Z,1740085861.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:11:04.840Z,1740085864.840 [NAL9602](INFO): SBD MO Status=1, MOMSN=12932, MT Status=0, MTMSN=0
2025-02-20T21:11:04.899Z,1740085864.899 [NAL9602](INFO): Sent 114 bytes from file Logs/20250220T193717/Express0013.lzma
2025-02-20T21:11:04.900Z,1740085864.900 [NAL9602](INFO): Packets left to send: 0
2025-02-20T21:11:16.690Z,1740085876.690 [NAL9602](INFO): SBD MO Status=1, MOMSN=12933, MT Status=0, MTMSN=0
2025-02-20T21:11:16.743Z,1740085876.743 [NAL9602](INFO): Sent 332 bytes from file Logs/20250220T202212/Express0001.lzma
2025-02-20T21:11:16.744Z,1740085876.744 [NAL9602](INFO): Packets left to send: 3
2025-02-20T21:11:32.240Z,1740085892.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:11:45.914Z,1740085905.914 [NAL9602](INFO): SBD MO Status=2, MOMSN=12934, MT Status=2, MTMSN=0
2025-02-20T21:11:45.914Z,1740085905.914 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T21:11:57.826Z,1740085917.826 [NAL9602](INFO): SBD MO Status=1, MOMSN=12934, MT Status=0, MTMSN=0
2025-02-20T21:11:57.883Z,1740085917.883 [NAL9602](INFO): Sent 332 bytes from file Logs/20250220T202212/Express0001.lzma
2025-02-20T21:11:57.884Z,1740085917.884 [NAL9602](INFO): Packets left to send: 2
2025-02-20T21:12:03.364Z,1740085923.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:12:06.550Z,1740085926.550 [NAL9602](INFO): SBD MO Status=1, MOMSN=12935, MT Status=0, MTMSN=0
2025-02-20T21:12:06.603Z,1740085926.603 [NAL9602](INFO): Sent 332 bytes from file Logs/20250220T202212/Express0001.lzma
2025-02-20T21:12:06.604Z,1740085926.604 [NAL9602](INFO): Packets left to send: 1
2025-02-20T21:12:14.406Z,1740085934.406 [NAL9602](INFO): SBD MO Status=1, MOMSN=12936, MT Status=0, MTMSN=0
2025-02-20T21:12:14.460Z,1740085934.460 [NAL9602](INFO): Sent 214 bytes from file Logs/20250220T202212/Express0001.lzma
2025-02-20T21:12:14.460Z,1740085934.460 [NAL9602](INFO): Packets left to send: 0
2025-02-20T21:12:19.422Z,1740085939.422 [NAL9602](INFO): SBD MO Status=0, MOMSN=12937, MT Status=0, MTMSN=0
2025-02-20T21:12:19.505Z,1740085939.505 [transit:NeedComms:D] Stopped
2025-02-20T21:12:19.506Z,1740085939.506 [transit:NeedComms:E] Running Loop=1
2025-02-20T21:12:19.866Z,1740085939.866 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T21:12:21.850Z,1740085941.850 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211221.00,A,3647.56651,N,12152.15587,W,0.875,223.11,200225,,,A*7D
2025-02-20T21:12:21.853Z,1740085941.853 [NAL9602](INFO): GPS fix at 20250220T211221: (36.792775, -121.869264)
2025-02-20T21:12:21.882Z,1740085941.882 [transit:NeedComms:E] Stopped
2025-02-20T21:12:21.882Z,1740085941.882 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-02-20T21:12:21.883Z,1740085941.883 [transit:NeedComms] Stopped
2025-02-20T21:12:21.883Z,1740085941.883 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-02-20T21:12:21.883Z,1740085941.883 [transit:NeedComms:B.GoToSurface] Stopped
2025-02-20T21:12:21.883Z,1740085941.883 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T21:12:22.284Z,1740085942.284 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-02-20T21:12:22.284Z,1740085942.284 [transit:Transit:PhoneHome] Stopped
2025-02-20T21:12:22.284Z,1740085942.284 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-02-20T21:12:22.285Z,1740085942.285 [transit:Transit](INFO): Completed transit:Transit
2025-02-20T21:12:22.285Z,1740085942.285 [transit:Transit] Stopped
2025-02-20T21:12:22.285Z,1740085942.285 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-02-20T21:12:22.285Z,1740085942.285 [transit:Transit:A.Pitch] Stopped
2025-02-20T21:12:22.285Z,1740085942.285 [transit:Transit:B.SetSpeed] Stopped
2025-02-20T21:12:22.285Z,1740085942.285 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-02-20T21:12:22.289Z,1740085942.289 [transit](INFO): Completed transit
2025-02-20T21:12:22.289Z,1740085942.289 [MissionManager](INFO): transit is completed.
2025-02-20T21:12:22.289Z,1740085942.289 [MissionManager](INFO): Uninitializing Mission transit
2025-02-20T21:12:22.289Z,1740085942.289 [transit] Stopped
2025-02-20T21:12:22.289Z,1740085942.289 [transit](DEBUG): Aggregate::uninitialize transit
2025-02-20T21:12:22.289Z,1740085942.289 [transit:StandardEnvelopes] Stopped
2025-02-20T21:12:22.289Z,1740085942.289 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-02-20T21:12:22.289Z,1740085942.289 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-20T21:12:22.289Z,1740085942.289 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-20T21:12:22.289Z,1740085942.289 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-20T21:12:22.290Z,1740085942.290 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-20T21:12:22.290Z,1740085942.290 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-20T21:12:22.290Z,1740085942.290 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-20T21:12:22.290Z,1740085942.290 [transit:BackseatDriver] Stopped
2025-02-20T21:12:22.290Z,1740085942.290 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-02-20T21:12:22.290Z,1740085942.290 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-02-20T21:12:22.290Z,1740085942.290 [transit:PowerOnly] Stopped
2025-02-20T21:12:22.290Z,1740085942.290 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-02-20T21:12:22.290Z,1740085942.290 [transit:PowerOnly:E.Wait] Stopped
2025-02-20T21:12:22.290Z,1740085942.290 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T21:12:22.290Z,1740085942.290 [transit:BuoyancyHold.Buoyancy] Stopped
2025-02-20T21:12:22.290Z,1740085942.290 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-20T21:12:22.291Z,1740085942.291 [transit:MassHold.Pitch] Stopped
2025-02-20T21:12:22.645Z,1740085942.645 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-02-20T21:12:22.694Z,1740085942.694 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T21:12:22.694Z,1740085942.694 [Default] Running Loop=1
2025-02-20T21:12:22.694Z,1740085942.694 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T21:12:22.694Z,1740085942.694 [Default:B.GoToSurface] Running Loop=1
2025-02-20T21:12:22.694Z,1740085942.694 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T21:12:22.695Z,1740085942.695 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T21:12:22.695Z,1740085942.695 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T21:12:22.696Z,1740085942.696 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T21:12:22.696Z,1740085942.696 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T21:12:22.696Z,1740085942.696 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T21:12:22.697Z,1740085942.697 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T21:12:22.697Z,1740085942.697 [Default:A.Wait] Running Loop=1
2025-02-20T21:12:22.697Z,1740085942.697 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:12:23.216Z,1740085943.216 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-20T21:12:23.217Z,1740085943.217 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-20T21:12:34.495Z,1740085954.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:12:36.023Z,1740085956.023 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T21:12:36.023Z,1740085956.023 [Default:A.Wait] Stopped
2025-02-20T21:12:36.023Z,1740085956.023 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T21:12:36.428Z,1740085956.428 [Default:CheckIn] Running Loop=1
2025-02-20T21:12:36.428Z,1740085956.428 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T21:12:36.428Z,1740085956.428 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T21:12:38.438Z,1740085958.438 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211237.00,A,3647.56617,N,12152.15563,W,0.058,205.38,200225,,,A*7A
2025-02-20T21:12:38.441Z,1740085958.441 [NAL9602](INFO): GPS fix at 20250220T211237: (36.792769, -121.869260)
2025-02-20T21:12:38.452Z,1740085958.452 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T21:12:38.452Z,1740085958.452 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T21:12:41.401Z,1740085961.401 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-20T21:12:41.401Z,1740085961.401 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-20T21:12:41.402Z,1740085961.402 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-20T21:12:51.822Z,1740085971.822 [NAL9602](INFO): SBD MO Status=1, MOMSN=12938, MT Status=0, MTMSN=0
2025-02-20T21:12:51.879Z,1740085971.879 [NAL9602](INFO): Sent 74 bytes from file Logs/20250220T202212/Courier0003.lzma
2025-02-20T21:12:51.880Z,1740085971.880 [NAL9602](INFO): Packets left to send: 0
2025-02-20T21:13:05.627Z,1740085985.627 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:13:15.134Z,1740085995.134 [NAL9602](INFO): SBD MO Status=1, MOMSN=12939, MT Status=0, MTMSN=0
2025-02-20T21:13:15.197Z,1740085995.197 [NAL9602](INFO): Sent 104 bytes from file Logs/20250220T202212/Express0004.lzma
2025-02-20T21:13:15.198Z,1740085995.198 [NAL9602](INFO): Packets left to send: 0
2025-02-20T21:13:26.854Z,1740086006.854 [NAL9602](INFO): SBD MO Status=2, MOMSN=12940, MT Status=2, MTMSN=0
2025-02-20T21:13:26.854Z,1740086006.854 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T21:13:31.966Z,1740086011.966 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-02-20T21:13:36.684Z,1740086016.684 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:13:49.658Z,1740086029.658 [NAL9602](INFO): SBD MO Status=0, MOMSN=12940, MT Status=0, MTMSN=0
2025-02-20T21:13:49.795Z,1740086029.795 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T21:13:49.796Z,1740086029.796 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T21:13:49.796Z,1740086029.796 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:14:06.548Z,1740086046.548 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003541
2025-02-20T21:14:20.364Z,1740086060.364 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:15:19.428Z,1740086119.428 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T211518
2025-02-20T21:15:27.031Z,1740086127.031 [DataOverHttps](INFO): Received command: restart logs