2025-12-17T16:12:18.637Z,1765987938.637 [Supervisor](DEBUG): Initializing supervisor.
2025-12-17T16:12:18.641Z,1765987938.641 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-12-17T16:12:18.641Z,1765987938.641 [SyncHandler](INFO): Protected caller Thread ID is 6702
2025-12-17T16:12:18.642Z,1765987938.642 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-12-17T16:12:18.643Z,1765987938.643 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-12-17T16:12:18.643Z,1765987938.643 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6703
2025-12-17T16:12:18.647Z,1765987938.647 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-12-17T16:12:18.667Z,1765987938.667 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-12-17T16:12:18.668Z,1765987938.668 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-12-17T16:12:18.668Z,1765987938.668 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 6704
2025-12-17T16:12:18.673Z,1765987938.673 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-12-17T16:12:18.674Z,1765987938.674 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-12-17T16:12:18.674Z,1765987938.674 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6705
2025-12-17T16:12:18.676Z,1765987938.676 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-12-17T16:12:18.677Z,1765987938.677 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-12-17T16:12:18.677Z,1765987938.677 [logger ThreadHandler](INFO): Protected caller Thread ID is 6706
2025-12-17T16:12:18.681Z,1765987938.681 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-12-17T16:12:18.682Z,1765987938.682 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-12-17T16:12:18.683Z,1765987938.683 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-12-17T16:12:18.981Z,1765987938.981 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-12-17T16:12:18.982Z,1765987938.982 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-12-17T16:12:19.198Z,1765987939.198 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-12-17T16:12:19.199Z,1765987939.199 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-12-17T16:12:19.308Z,1765987939.308 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-12-17T16:12:19.309Z,1765987939.309 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-12-17T16:12:19.504Z,1765987939.504 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-12-17T16:12:19.505Z,1765987939.505 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-12-17T16:12:19.995Z,1765987939.995 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-12-17T16:12:19.995Z,1765987939.995 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-12-17T16:12:20.116Z,1765987940.116 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-12-17T16:12:20.116Z,1765987940.116 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-12-17T16:12:20.398Z,1765987940.398 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-12-17T16:12:20.400Z,1765987940.400 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-12-17T16:12:20.634Z,1765987940.634 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-12-17T16:12:20.635Z,1765987940.635 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-12-17T16:12:21.163Z,1765987941.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-12-17T16:12:21.164Z,1765987941.164 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-12-17T16:12:27.023Z,1765987947.023 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-12-17T16:12:27.023Z,1765987947.023 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-12-17T16:12:32.451Z,1765987952.451 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-12-17T16:12:34.498Z,1765987954.498 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-12-17T16:12:34.498Z,1765987954.498 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-12-17T16:12:34.649Z,1765987954.649 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-12-17T16:12:34.650Z,1765987954.650 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-12-17T16:12:35.489Z,1765987955.489 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-12-17T16:12:35.490Z,1765987955.490 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-12-17T16:12:35.840Z,1765987955.840 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-12-17T16:12:35.840Z,1765987955.840 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-12-17T16:12:35.945Z,1765987955.945 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-12-17T16:12:35.947Z,1765987955.947 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-12-17T16:12:35.949Z,1765987955.949 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-12-17T16:12:36.049Z,1765987956.049 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-12-17T16:12:36.167Z,1765987956.167 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-12-17T16:12:37.171Z,1765987957.171 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-12-17T16:12:37.272Z,1765987957.272 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-12-17T16:12:37.371Z,1765987957.371 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-12-17T16:12:37.491Z,1765987957.491 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-12-17T16:12:40.594Z,1765987960.594 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-12-17T16:12:40.772Z,1765987960.772 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-12-17T16:12:40.879Z,1765987960.879 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-12-17T16:12:41.157Z,1765987961.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-12-17T16:12:44.951Z,1765987964.951 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-12-17T16:12:47.106Z,1765987967.106 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-12-17T16:12:47.474Z,1765987967.474 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-12-17T16:12:47.475Z,1765987967.475 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-12-17T16:12:49.306Z,1765987969.306 [AHRS_M2] Loaded
2025-12-17T16:12:49.307Z,1765987969.307 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-12-17T16:12:49.345Z,1765987969.345 [BackseatComponent] Loaded
2025-12-17T16:12:49.345Z,1765987969.345 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-12-17T16:12:49.346Z,1765987969.346 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408AB4E0
2025-12-17T16:12:49.347Z,1765987969.347 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 6785
2025-12-17T16:12:49.350Z,1765987969.350 [LcmPublisher] Loaded
2025-12-17T16:12:49.350Z,1765987969.350 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2025-12-17T16:12:50.144Z,1765987970.144 [BPC1] Loaded
2025-12-17T16:12:50.145Z,1765987970.145 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-12-17T16:12:50.238Z,1765987970.238 [DAT] Loaded
2025-12-17T16:12:50.239Z,1765987970.239 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-12-17T16:12:50.240Z,1765987970.240 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408DB4E0
2025-12-17T16:12:50.240Z,1765987970.240 [DAT ThreadHandler](INFO): Protected caller Thread ID is 6786
2025-12-17T16:12:50.313Z,1765987970.313 [DataOverHttps] Loaded
2025-12-17T16:12:50.313Z,1765987970.313 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-12-17T16:12:50.314Z,1765987970.314 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4090B4E0
2025-12-17T16:12:50.314Z,1765987970.314 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6787
2025-12-17T16:12:50.337Z,1765987970.337 [Depth_Keller] Loaded
2025-12-17T16:12:50.337Z,1765987970.337 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-12-17T16:12:50.400Z,1765987970.400 [NAL9602] Loaded
2025-12-17T16:12:50.400Z,1765987970.400 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-12-17T16:12:50.429Z,1765987970.429 [Onboard] Loaded
2025-12-17T16:12:50.429Z,1765987970.429 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-12-17T16:12:50.430Z,1765987970.430 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4093B4E0
2025-12-17T16:12:50.431Z,1765987970.431 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 6788
2025-12-17T16:12:50.444Z,1765987970.444 [Power24vConverter] Loaded
2025-12-17T16:12:50.444Z,1765987970.444 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-12-17T16:12:50.461Z,1765987970.461 [Radio_Surface] Loaded
2025-12-17T16:12:50.461Z,1765987970.461 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-12-17T16:12:50.462Z,1765987970.462 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4096B4E0
2025-12-17T16:12:50.463Z,1765987970.463 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6789
2025-12-17T16:12:50.478Z,1765987970.478 [Sonardyne_Nano] Loaded
2025-12-17T16:12:50.478Z,1765987970.478 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-12-17T16:12:50.478Z,1765987970.478 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-12-17T16:12:50.479Z,1765987970.479 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-12-17T16:12:50.612Z,1765987970.612 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-12-17T16:12:50.612Z,1765987970.612 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-12-17T16:12:50.665Z,1765987970.665 [VerticalControl](DEBUG): Construct VerticalControl.
2025-12-17T16:12:50.725Z,1765987970.725 [VerticalControl] Loaded
2025-12-17T16:12:50.725Z,1765987970.725 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-12-17T16:12:50.728Z,1765987970.728 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-12-17T16:12:50.776Z,1765987970.776 [HorizontalControl] Loaded
2025-12-17T16:12:50.776Z,1765987970.776 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-12-17T16:12:50.778Z,1765987970.778 [SpeedControl](DEBUG): Construct SpeedControl.
2025-12-17T16:12:50.782Z,1765987970.782 [SpeedControl] Loaded
2025-12-17T16:12:50.782Z,1765987970.782 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-12-17T16:12:50.785Z,1765987970.785 [LoopControl](DEBUG): Construct LoopControl.
2025-12-17T16:12:50.785Z,1765987970.785 [LoopControl] Loaded
2025-12-17T16:12:50.785Z,1765987970.785 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-12-17T16:12:50.786Z,1765987970.786 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-12-17T16:12:50.786Z,1765987970.786 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-12-17T16:12:50.797Z,1765987970.797 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-12-17T16:12:50.797Z,1765987970.797 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-12-17T16:12:50.827Z,1765987970.827 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-12-17T16:12:50.827Z,1765987970.827 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-12-17T16:12:50.940Z,1765987970.940 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-12-17T16:12:50.940Z,1765987970.940 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-12-17T16:12:50.954Z,1765987970.954 [NavChart] Loaded
2025-12-17T16:12:50.954Z,1765987970.954 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-12-17T16:12:50.960Z,1765987970.960 [UniversalFixResidualReporter] Loaded
2025-12-17T16:12:50.960Z,1765987970.960 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-12-17T16:12:50.960Z,1765987970.960 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-12-17T16:12:50.961Z,1765987970.961 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-12-17T16:12:51.120Z,1765987971.120 [SBIT](DEBUG): Construct Startup Built In Test.
2025-12-17T16:12:51.129Z,1765987971.129 [SBIT] Loaded
2025-12-17T16:12:51.130Z,1765987971.130 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-12-17T16:12:51.133Z,1765987971.133 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-12-17T16:12:51.145Z,1765987971.145 [IBIT] Loaded
2025-12-17T16:12:51.145Z,1765987971.145 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-12-17T16:12:51.151Z,1765987971.151 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-12-17T16:12:51.231Z,1765987971.231 [CBIT] Loaded
2025-12-17T16:12:51.232Z,1765987971.232 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-12-17T16:12:51.263Z,1765987971.263 [GFScanner] Loaded
2025-12-17T16:12:51.264Z,1765987971.264 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-12-17T16:12:51.264Z,1765987971.264 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-12-17T16:12:51.265Z,1765987971.265 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-12-17T16:12:51.438Z,1765987971.438 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-12-17T16:12:51.439Z,1765987971.439 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-12-17T16:12:51.573Z,1765987971.573 [BuoyancyServo] Loaded
2025-12-17T16:12:51.573Z,1765987971.573 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-12-17T16:12:51.596Z,1765987971.596 [ElevatorServo] Loaded
2025-12-17T16:12:51.596Z,1765987971.596 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-12-17T16:12:51.617Z,1765987971.617 [RudderServo] Loaded
2025-12-17T16:12:51.617Z,1765987971.617 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-12-17T16:12:51.634Z,1765987971.634 [ThrusterHE] Loaded
2025-12-17T16:12:51.634Z,1765987971.634 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-12-17T16:12:51.635Z,1765987971.635 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-12-17T16:12:51.635Z,1765987971.635 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-12-17T16:12:51.805Z,1765987971.805 [CTD_Seabird] Loaded
2025-12-17T16:12:51.805Z,1765987971.805 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-12-17T16:12:51.806Z,1765987971.806 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BAF4E0
2025-12-17T16:12:51.807Z,1765987971.807 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 6790
2025-12-17T16:12:51.829Z,1765987971.829 [PAR_Licor] Loaded
2025-12-17T16:12:51.829Z,1765987971.829 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-12-17T16:12:51.874Z,1765987971.874 [WetLabsBB2FL] Loaded
2025-12-17T16:12:51.875Z,1765987971.875 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-12-17T16:12:51.875Z,1765987971.875 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BDF4E0
2025-12-17T16:12:51.876Z,1765987971.876 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 6791
2025-12-17T16:12:51.877Z,1765987971.877 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-12-17T16:12:51.877Z,1765987971.877 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-12-17T16:12:51.927Z,1765987971.927 [DepthRateCalculator] Loaded
2025-12-17T16:12:51.928Z,1765987971.928 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-12-17T16:12:51.933Z,1765987971.933 [PitchRateCalculator] Loaded
2025-12-17T16:12:51.933Z,1765987971.933 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-12-17T16:12:51.942Z,1765987971.942 [SpeedCalculator] Loaded
2025-12-17T16:12:51.942Z,1765987971.942 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-12-17T16:12:51.947Z,1765987971.947 [YawRateCalculator] Loaded
2025-12-17T16:12:51.947Z,1765987971.947 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-12-17T16:12:51.966Z,1765987971.966 [ElevatorOffsetCalculator] Loaded
2025-12-17T16:12:51.967Z,1765987971.967 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-12-17T16:12:51.967Z,1765987971.967 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-12-17T16:12:51.968Z,1765987971.968 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-12-17T16:12:52.026Z,1765987972.026 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-12-17T16:12:52.033Z,1765987972.033 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-12-17T16:12:52.035Z,1765987972.035 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-12-17T16:12:52.047Z,1765987972.047 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-12-17T16:12:52.048Z,1765987972.048 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2025-12-17T16:12:52.048Z,1765987972.048 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6792
2025-12-17T16:12:52.053Z,1765987972.053 [Supervisor](INFO): Main Thread ID is 827
2025-12-17T16:12:52.053Z,1765987972.053 [Supervisor](DEBUG): Running supervisor.
2025-12-17T16:12:52.054Z,1765987972.054 [CommandExec ThreadHandler](INFO): Handler Thread ID is 6793
2025-12-17T16:12:52.054Z,1765987972.054 [CommandExec](INFO): Initializing the command executive.
2025-12-17T16:12:52.056Z,1765987972.056 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6794
2025-12-17T16:12:52.058Z,1765987972.058 [controlThread ThreadHandler](INFO): Handler Thread ID is 6795
2025-12-17T16:12:52.059Z,1765987972.059 [controlThread](DEBUG): Initializing ControlThread
2025-12-17T16:12:52.061Z,1765987972.061 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-12-17T16:12:52.063Z,1765987972.063 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-12-17T16:12:52.063Z,1765987972.063 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-12-17T16:12:52.064Z,1765987972.064 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-12-17T16:12:52.065Z,1765987972.065 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-12-17T16:12:52.065Z,1765987972.065 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-12-17T16:12:52.065Z,1765987972.065 [SBIT](INFO): Initialize SBIT Component.
2025-12-17T16:12:52.066Z,1765987972.066 [SBIT](IMPORTANT): git: 2025-12-15_A
2025-12-17T16:12:52.066Z,1765987972.066 [SBIT](INFO): git hash: 5b50703234a74cb9c609bca727303ff504a0b330
2025-12-17T16:12:52.066Z,1765987972.066 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-12-17T16:12:52.067Z,1765987972.067 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Dec 4 01:17:04 UTC 2024
2025-12-17T16:12:52.068Z,1765987972.068 [SBIT](INFO): Beginning SBIT in 69.000000 seconds.
2025-12-17T16:12:52.069Z,1765987972.069 [IBIT](INFO): Initialize IBIT Component.
2025-12-17T16:12:52.070Z,1765987972.070 [CBIT](DEBUG): Initialize CBIT Component.
2025-12-17T16:12:52.071Z,1765987972.071 [logger ThreadHandler](INFO): Handler Thread ID is 6796
2025-12-17T16:12:52.084Z,1765987972.084 [CBIT](DEBUG): Initialized mux pins.
2025-12-17T16:12:52.084Z,1765987972.084 [CBIT](DEBUG): Initializing the watchdog timer.
2025-12-17T16:12:52.096Z,1765987972.096 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 6797
2025-12-17T16:12:52.105Z,1765987972.105 [DAT ThreadHandler](INFO): Handler Thread ID is 6798
2025-12-17T16:12:52.106Z,1765987972.106 [DAT](INFO): Powering up
2025-12-17T16:12:52.106Z,1765987972.106 [DAT](DEBUG): Initializing DAT.
2025-12-17T16:12:52.108Z,1765987972.108 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-12-17T16:12:52.108Z,1765987972.108 [CBIT](DEBUG): Initializing heartbeat.
2025-12-17T16:12:52.110Z,1765987972.110 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6800
2025-12-17T16:12:52.112Z,1765987972.112 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-12-17T16:12:52.132Z,1765987972.132 [Onboard ThreadHandler](INFO): Handler Thread ID is 6801
2025-12-17T16:12:52.150Z,1765987972.150 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6802
2025-12-17T16:12:52.173Z,1765987972.173 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 6803
2025-12-17T16:12:52.173Z,1765987972.173 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-12-17T16:12:52.177Z,1765987972.177 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 6805
2025-12-17T16:12:52.180Z,1765987972.180 [CBIT](DEBUG): Deactivating emergency mode.
2025-12-17T16:12:52.181Z,1765987972.181 [WetLabsBB2FL](INFO): Powering up
2025-12-17T16:12:52.182Z,1765987972.182 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6807
2025-12-17T16:12:52.220Z,1765987972.220 [CBIT](DEBUG): Backplane powered.
2025-12-17T16:12:52.220Z,1765987972.220 [GFScanner](DEBUG): Initializing GFScanner
2025-12-17T16:12:52.220Z,1765987972.220 [GFScanner](DEBUG): Deactivating GF circuits.
2025-12-17T16:12:52.228Z,1765987972.228 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-12-17T16:12:52.229Z,1765987972.229 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-12-17T16:12:52.229Z,1765987972.229 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-12-17T16:12:52.229Z,1765987972.229 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-12-17T16:12:52.230Z,1765987972.230 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-12-17T16:12:52.231Z,1765987972.231 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-12-17T16:12:52.231Z,1765987972.231 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-12-17T16:12:52.236Z,1765987972.236 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-12-17T16:12:52.556Z,1765987972.556 [Radio_Surface](INFO): Powering up
2025-12-17T16:12:53.075Z,1765987973.075 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-12-17T16:12:53.075Z,1765987973.075 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-12-17T16:12:53.075Z,1765987973.075 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-12-17T16:12:53.076Z,1765987973.076 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-12-17T16:12:53.076Z,1765987973.076 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-12-17T16:12:53.076Z,1765987973.076 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-12-17T16:12:53.076Z,1765987973.076 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-12-17T16:12:53.076Z,1765987973.076 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-12-17T16:12:53.090Z,1765987973.090 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-12-17T16:12:53.126Z,1765987973.126 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-12-17T16:12:53.152Z,1765987973.152 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-17T16:12:53.195Z,1765987973.195 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-12-17T16:12:53.195Z,1765987973.195 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-12-17T16:12:53.196Z,1765987973.196 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-12-17T16:12:53.209Z,1765987973.209 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-12-17T16:12:53.475Z,1765987973.475 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-12-17T16:12:53.497Z,1765987973.497 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-12-17T16:12:53.498Z,1765987973.498 [Default:A.Wait](DEBUG): Construct Wait.
2025-12-17T16:12:53.500Z,1765987973.500 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-17T16:12:53.549Z,1765987973.549 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-12-17T16:12:53.551Z,1765987973.551 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-12-17T16:12:53.578Z,1765987973.578 [Default:E.Execute](DEBUG): Construct Execute.
2025-12-17T16:12:53.596Z,1765987973.596 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

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

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

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

          set command = "Burn on"
        }

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

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

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

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-12-17T16:12:53.601Z,1765987973.601 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmPublisher,Reporter,LogSplitter,
2025-12-17T16:12:53.624Z,1765987973.624 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-12-17T16:12:53.692Z,1765987973.692 [Depth_Keller](INFO): Initializing.
2025-12-17T16:12:53.693Z,1765987973.693 [Power24vConverter](INFO): Powering up.
2025-12-17T16:12:53.694Z,1765987973.694 [Sonardyne_Nano](INFO): Initializing.
2025-12-17T16:12:53.732Z,1765987973.732 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-12-17T16:12:53.759Z,1765987973.759 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-12-17T16:12:53.764Z,1765987973.764 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-12-17T16:12:53.765Z,1765987973.765 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-12-17T16:12:53.772Z,1765987973.772 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-12-17T16:12:53.773Z,1765987973.773 [RudderServo](DEBUG): Initializing EZServoServo.
2025-12-17T16:12:53.780Z,1765987973.780 [RudderServo](DEBUG): Initializing RudderServo.
2025-12-17T16:12:53.781Z,1765987973.781 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:12:53.788Z,1765987973.788 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:12:53.791Z,1765987973.791 [CBIT](FAULT): WATER ALARM BOW.
2025-12-17T16:12:53.793Z,1765987973.793 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 1
2025-12-17T16:12:54.082Z,1765987974.082 [CBIT](FAULT): WATER ALARM BOW.
2025-12-17T16:12:54.083Z,1765987974.083 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 2
2025-12-17T16:12:54.288Z,1765987974.288 [WetLabsBB2FL](INFO): Powering down
2025-12-17T16:12:54.446Z,1765987974.446 [CBIT](FAULT): WATER ALARM BOW.
2025-12-17T16:12:54.447Z,1765987974.447 [CBIT](ERROR): WATER DETECTED IN PRESSURE HULL. Alarm Count: 3
2025-12-17T16:12:55.014Z,1765987975.014 [CBIT](FAULT): WATER ALARM BOW.
2025-12-17T16:12:55.028Z,1765987975.028 [CBIT](CRITICAL): WATER DETECTED IN PRESSURE HULL: BOW. BURNWIRE ACTIVATED
2025-12-17T16:12:55.028Z,1765987975.028 [Supervisor](INFO): Stop Mission called by CBIT::checkLeak
2025-12-17T16:12:55.028Z,1765987975.028 [CBIT](IMPORTANT): No ESP to power off.
2025-12-17T16:12:55.249Z,1765987975.249 [CommandExec](FAULT): Scheduling is paused
2025-12-17T16:12:55.250Z,1765987975.250 [CBIT](INFO): Critical error at 20251217T161255
2025-12-17T16:12:55.630Z,1765987975.630 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-12-17T16:12:56.916Z,1765987976.916 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2201
2025-12-17T16:12:59.204Z,1765987979.204 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-12-17T16:12:59.344Z,1765987979.344 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-12-17T16:13:03.697Z,1765987983.697 [DAT](INFO): DAT read: 

2025-12-17T16:13:03.698Z,1765987983.698 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-12-17T16:13:05.461Z,1765987985.461 [DAT](INFO): DAT read: MF Frequency Band

2025-12-17T16:13:05.462Z,1765987985.462 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-12-17T16:13:05.463Z,1765987985.463 [DAT](INFO): DAT read: Dec 17 2025 16:12:34 

2025-12-17T16:13:06.469Z,1765987986.469 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-12-17T16:13:06.470Z,1765987986.470 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-12-17T16:13:06.471Z,1765987986.471 [DAT](INFO): commRate: 800
2025-12-17T16:13:08.536Z,1765987988.536 [DAT](INFO): entering command mode
2025-12-17T16:13:08.737Z,1765987988.737 [DAT](INFO): DAT read: 

2025-12-17T16:13:08.737Z,1765987988.737 [DAT](INFO): DAT read: user:1>

2025-12-17T16:13:08.737Z,1765987988.737 [DAT](INFO): setting verbose to 3
2025-12-17T16:13:08.989Z,1765987988.989 [DAT](INFO): DAT read: user:1>

2025-12-17T16:13:08.990Z,1765987988.990 [DAT](INFO): DAT read: Verbose         | 3           

2025-12-17T16:13:08.990Z,1765987988.990 [DAT](INFO): set verbose to 3
2025-12-17T16:13:08.990Z,1765987988.990 [DAT](INFO): setting DatVerbose to 27440
2025-12-17T16:13:09.241Z,1765987989.241 [DAT](INFO): DAT read: user:2>

2025-12-17T16:13:09.242Z,1765987989.242 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-12-17T16:13:09.242Z,1765987989.242 [DAT](INFO): set DatVerbose to 27440
2025-12-17T16:13:09.242Z,1765987989.242 [DAT](INFO): setting transmit power to 8
2025-12-17T16:13:09.493Z,1765987989.493 [DAT](INFO): DAT read: user:3>

2025-12-17T16:13:09.494Z,1765987989.494 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-12-17T16:13:09.494Z,1765987989.494 [DAT](INFO): set transmit power to 8
2025-12-17T16:13:09.494Z,1765987989.494 [DAT](INFO): setting local address to 2
2025-12-17T16:13:09.745Z,1765987989.745 [DAT](INFO): DAT read: user:4>

2025-12-17T16:13:09.746Z,1765987989.746 [DAT](INFO): DAT read: LocalAddr       | 2           

2025-12-17T16:13:09.746Z,1765987989.746 [DAT](INFO): set local address to 2
2025-12-17T16:13:09.747Z,1765987989.747 [DAT](INFO): Setting time to: 16:13:9 And date to:12/17/2025
2025-12-17T16:13:09.997Z,1765987989.997 [DAT](INFO): DAT read: user:5>

2025-12-17T16:13:09.997Z,1765987989.997 [DAT](INFO): DAT read: Wed Dec 17, 2025  16:13:09  

2025-12-17T16:13:09.998Z,1765987989.998 [DAT](INFO): Local DAT time set to Wed Dec 17, 2025  16:13:09  

2025-12-17T16:13:20.685Z,1765988000.685 [NAL9602](INFO): Powering up NAL9602
2025-12-17T16:13:31.598Z,1765988011.598 [NAL9602](INFO): NAL9602 initialized
2025-12-17T16:13:59.462Z,1765988039.462 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:14:01.518Z,1765988041.518 [SBIT](IMPORTANT): Beginning Startup BIT
2025-12-17T16:14:01.523Z,1765988041.523 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-12-17T16:14:05.984Z,1765988045.984 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.001464
CHAN A1 (24V): 0.001002
CHAN A2 (12V): 0.001228
CHAN A3 (5V): -0.002022
CHAN B0 (3.3V): -0.001182
CHAN B1 (3.15aV): -0.001829
CHAN B2 (3.15bV): -0.001637
CHAN B3 (GND): -0.002385
OPEN: 0.005070
Full Scale: +/- 1 mA
2025-12-17T16:14:12.395Z,1765988052.395 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:14:14.851Z,1765988054.851 [SBIT](ERROR): Could not read massPosReader_.
2025-12-17T16:14:24.913Z,1765988064.913 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:14:37.841Z,1765988077.841 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:14:41.265Z,1765988081.265 [SBIT](ERROR): Could not read massPosReader_.
2025-12-17T16:14:41.266Z,1765988081.266 [SBIT](FAULT): Control surface position failure.
2025-12-17T16:14:50.769Z,1765988090.769 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:14:54.978Z,1765988094.978 [SBIT](ERROR): Could not read massPosReader_.
2025-12-17T16:14:54.978Z,1765988094.978 [SBIT](FAULT): Control surface position failure.
2025-12-17T16:14:55.385Z,1765988095.385 [SBIT](CRITICAL): SBIT FAILED
2025-12-17T16:14:55.385Z,1765988095.385 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-12-17T16:14:55.386Z,1765988095.386 [SBIT](IMPORTANT): BioacousticsDataBridge.loadAtStartup=0 bool;

2025-12-17T16:14:55.386Z,1765988095.386 [SBIT](IMPORTANT): BuoyancyServo.checkingTimeout=60 minute;

2025-12-17T16:14:55.386Z,1765988095.386 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-12-17T16:14:55.386Z,1765988095.386 [SBIT](IMPORTANT): MassServo.loadAtStartup=0 bool;

2025-12-17T16:14:55.386Z,1765988095.386 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.900000 m/s;

2025-12-17T16:14:55.386Z,1765988095.386 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=311.705211 cubic_centimeter;

2025-12-17T16:14:55.386Z,1765988095.386 [SBIT](IMPORTANT): VerticalControl.kdPitchMass=0.1 second;

2025-12-17T16:14:55.386Z,1765988095.386 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;

2025-12-17T16:14:55.387Z,1765988095.387 [SBIT](IMPORTANT): VerticalControl.kpPitchMass=0.1 none;

2025-12-17T16:14:55.387Z,1765988095.387 [SBIT](IMPORTANT): VerticalControl.massDeadband=0 millimeter;

2025-12-17T16:14:55.387Z,1765988095.387 [SBIT](IMPORTANT): VerticalControl.massDefault=12.391180 millimeter;

2025-12-17T16:14:55.387Z,1765988095.387 [SBIT](IMPORTANT): VerticalControl.massOnlyForceInt=1 bool;

2025-12-17T16:14:55.389Z,1765988095.389 [CBIT](INFO): Critical error at 20251217T161455
2025-12-17T16:14:55.659Z,1765988095.659 [MissionManager](IMPORTANT): Started mission Startup
2025-12-17T16:14:55.659Z,1765988095.659 [Startup] Running Loop=1
2025-12-17T16:14:55.659Z,1765988095.659 [Startup](DEBUG): Aggregate::initialize Startup
2025-12-17T16:14:55.659Z,1765988095.659 [Startup:A.GoToSurface] Running Loop=1
2025-12-17T16:14:55.659Z,1765988095.659 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-17T16:14:55.660Z,1765988095.660 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-17T16:14:55.661Z,1765988095.661 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-17T16:14:55.661Z,1765988095.661 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-17T16:14:55.661Z,1765988095.661 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-17T16:14:55.662Z,1765988095.662 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-17T16:14:55.662Z,1765988095.662 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-17T16:14:55.663Z,1765988095.663 [Startup:StartupSatComms] Running Loop=1
2025-12-17T16:14:55.663Z,1765988095.663 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-12-17T16:14:55.663Z,1765988095.663 [Startup:StartupSatComms:A] Running Loop=1
2025-12-17T16:14:56.059Z,1765988096.059 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-12-17T16:15:03.701Z,1765988103.701 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:15:16.625Z,1765988116.625 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:15:18.142Z,1765988118.142 [DataOverHttps](IMPORTANT): SBD MTMSN=20251217T161517
2025-12-17T16:15:18.147Z,1765988118.147 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004949
2025-12-17T16:15:25.665Z,1765988125.665 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.MaxDepth 1 m" 21h1d 1 2
2025-12-17T16:15:25.760Z,1765988125.760 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.MaxDepth 1 m" 21h1d 1 2.000000
2025-12-17T16:15:25.761Z,1765988125.761 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=21h1d
2025-12-17T16:15:25.762Z,1765988125.762 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='21h1d'): "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.MaxDepth 1 m", ASAP
2025-12-17T16:15:26.666Z,1765988126.666 [DataOverHttps](IMPORTANT): SBD MTMSN=20251217T161525
2025-12-17T16:15:29.149Z,1765988129.149 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:15:34.076Z,1765988134.076 [DataOverHttps](INFO): Received command: sched asap "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run" 21h1d 2 2
2025-12-17T16:15:34.083Z,1765988134.083 [CommandExec](IMPORTANT): got command schedule asap "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run" 21h1d 2 2.000000
2025-12-17T16:15:34.083Z,1765988134.083 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=21h1d
2025-12-17T16:15:34.084Z,1765988134.084 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='21h1d'): "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run", ASAP
2025-12-17T16:15:34.203Z,1765988134.203 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit_surface.tl
2025-12-17T16:15:34.203Z,1765988134.203 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit_surface.tl
2025-12-17T16:15:34.203Z,1765988134.203 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit_surface.tl
2025-12-17T16:15:34.205Z,1765988134.205 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit_surface.tl
2025-12-17T16:15:35.014Z,1765988135.014 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit_surface.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit_surface">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>36.797</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>-121.847</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>0.1</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1.2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="ElevatorAngle">
        <Units:degree />
        <Value>-7</Value>
    </DefineArg>
    <DefineArg Name="NeedGPSTime">
        <Units:minute />
        <Value>0.5</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>
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <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.buoyancyDefault />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.elevatorAngle />
            <Arg Name="ElevatorAngle" />
        </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>
        <Aggregate Id="UpdateShore">
            <When>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedGPSTime" />
                </Gt>
            </When>
            <Syslog Severity="Info">
                GPS Underway - last time_fix was: 
                <Universal:time_fix />
                <Units:epoch_second />
            </Syslog>
            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P1M" />
                <Universal:time_fix />
            </ReadDatum>
            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P1M" />
                <Universal:platform_communications />
            </ReadDatum>
        </Aggregate>
        <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" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-12-17T16:15:35.019Z,1765988135.019 [MissionManager](INFO): DefineArg transit_surface.MissionTimeout = 60.000000 min
2025-12-17T16:15:35.023Z,1765988135.023 [MissionManager](INFO): DefineArg transit_surface.NeedCommsTime = 30.000000 min
2025-12-17T16:15:35.026Z,1765988135.026 [MissionManager](INFO): DefineArg transit_surface.Latitude = 36.797001 arcdeg
2025-12-17T16:15:35.029Z,1765988135.029 [MissionManager](INFO): DefineArg transit_surface.Longitude = -121.847000 arcdeg
2025-12-17T16:15:35.032Z,1765988135.032 [MissionManager](INFO): DefineArg transit_surface.Northings = 0.000000 m
2025-12-17T16:15:35.035Z,1765988135.035 [MissionManager](INFO): DefineArg transit_surface.Eastings = 0.000000 m
2025-12-17T16:15:35.038Z,1765988135.038 [MissionManager](INFO): DefineArg transit_surface.Depth = 0.100000 m
2025-12-17T16:15:35.058Z,1765988135.058 [MissionManager](INFO): DefineArg transit_surface.Speed = 1.200000 m/s
2025-12-17T16:15:35.070Z,1765988135.070 [MissionManager](INFO): DefineArg transit_surface.MaxDepth = 2.000000 m
2025-12-17T16:15:35.073Z,1765988135.073 [MissionManager](INFO): DefineArg transit_surface.MinAltitude = 7.000000 m
2025-12-17T16:15:35.084Z,1765988135.084 [MissionManager](INFO): DefineArg transit_surface.ElevatorAngle = -7.000000 arcdeg
2025-12-17T16:15:35.090Z,1765988135.090 [MissionManager](INFO): DefineArg transit_surface.NeedGPSTime = 0.500000 min
2025-12-17T16:15:35.093Z,1765988135.093 [MissionManager](INFO): DefineArg transit_surface.MassHold = 1 bool
2025-12-17T16:15:35.095Z,1765988135.095 [MissionManager](INFO): DefineArg transit_surface.BuoyancyHold = 1 bool
2025-12-17T16:15:35.100Z,1765988135.100 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-12-17T16:15:35.100Z,1765988135.100 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-12-17T16:15:35.102Z,1765988135.102 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-12-17T16:15:35.517Z,1765988135.517 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2025-12-17T16:15:35.524Z,1765988135.524 [MissionManager](INFO): DefineArg transit_surface:NeedComms.DiveInterval = 1.000000 h
2025-12-17T16:15:35.536Z,1765988135.536 [MissionManager](INFO): DefineArg transit_surface:NeedComms.WaitForPitchUp = 10.000000 min
2025-12-17T16:15:35.539Z,1765988135.539 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-12-17T16:15:35.542Z,1765988135.542 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceDepthRate = nan m/s
2025-12-17T16:15:35.545Z,1765988135.545 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-12-17T16:15:35.547Z,1765988135.547 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacingTimeout = 1500.000000 s
2025-12-17T16:15:35.550Z,1765988135.550 [MissionManager](INFO): DefineArg transit_surface:NeedComms.GPSTimeout = 7.000000 min
2025-12-17T16:15:35.553Z,1765988135.553 [MissionManager](INFO): DefineArg transit_surface:NeedComms.CommsTimeout = 30.000000 min
2025-12-17T16:15:35.556Z,1765988135.556 [MissionManager](INFO): DefineArg transit_surface:NeedComms.DoingCommsMode = 0.000000 count
2025-12-17T16:15:35.559Z,1765988135.559 [MissionManager](INFO): DefineArg transit_surface:NeedComms.RestoreMode = 0.000000 count
2025-12-17T16:15:35.562Z,1765988135.562 [MissionManager](INFO): DefineOutput transit_surface:NeedComms.IsActive = 0 bool
2025-12-17T16:15:35.565Z,1765988135.565 [MissionManager](INFO): DefineOutput transit_surface:NeedComms.RequiredDiveMode = 0.000000 count
2025-12-17T16:15:35.612Z,1765988135.612 [transit_surface:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-17T16:15:35.695Z,1765988135.695 [transit_surface:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-17T16:15:35.732Z,1765988135.732 [transit_surface:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-17T16:15:35.757Z,1765988135.757 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-12-17T16:15:35.757Z,1765988135.757 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-12-17T16:15:35.758Z,1765988135.758 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-12-17T16:15:35.797Z,1765988135.797 [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>

2025-12-17T16:15:35.805Z,1765988135.805 [MissionManager](INFO): DefineArg transit_surface:BackseatDriver.EnableBackseat = 0 bool
2025-12-17T16:15:35.807Z,1765988135.807 [transit_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-12-17T16:15:35.818Z,1765988135.818 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-12-17T16:15:35.818Z,1765988135.818 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-12-17T16:15:35.819Z,1765988135.819 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-12-17T16:15:36.081Z,1765988136.081 [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>

2025-12-17T16:15:36.090Z,1765988136.090 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleAll = 0 bool
2025-12-17T16:15:36.096Z,1765988136.096 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad1 = 0 bool
2025-12-17T16:15:36.099Z,1765988136.099 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad2 = 0 bool
2025-12-17T16:15:36.106Z,1765988136.106 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad3 = 0 bool
2025-12-17T16:15:36.121Z,1765988136.121 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-12-17T16:15:36.141Z,1765988136.141 [transit_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-12-17T16:15:36.143Z,1765988136.143 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-17T16:15:36.151Z,1765988136.151 [transit_surface:MassHold.Pitch](DEBUG): Construct.
2025-12-17T16:15:36.165Z,1765988136.165 [transit_surface:J.Pitch](DEBUG): Construct.
2025-12-17T16:15:36.183Z,1765988136.183 [transit_surface:Transit:A.Pitch](DEBUG): Construct.
2025-12-17T16:15:36.202Z,1765988136.202 [transit_surface:Transit:B.SetSpeed](DEBUG): Construct.
2025-12-17T16:15:36.228Z,1765988136.228 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-12-17T16:15:36.275Z,1765988136.275 [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
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#   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
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mission transit_surface {
  """
  Vehicle transits to desired waypoint on the surface and can be commanded to use/hold
  mass or buoyancy. Useful for shore launch/recovery.
  """

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

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

    Latitude = 36.797 degree
      """
      Latitude of waypoint to seek.
      """

    Longitude = -121.847 degree
      """
      Longitude of waypoint to seek.
      """

    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 = 0.1 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1.2 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 2 meter
      """
      Maximum depth for the entire mission.
      """

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

    ElevatorAngle = -7 degree
      """
      Holds elevator angle to keep vehicle pitched up on the surface.
      """

    NeedGPSTime = 0.5 minute
      """
      After this time elapses grab a fix underway
      """

    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 default (note: note 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

  behavior Guidance:AltitudeEnvelope {
    run in parallel

    set minAltitude = MinAltitude
  }

  behavior Guidance:DepthEnvelope {
    run in parallel

    set maxDepth = MaxDepth
  }

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyDefault
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Pitch {
    run in parallel

    set elevatorAngle = ElevatorAngle
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    aggregate UpdateShore {
      run when (
        elapsed ( Universal:time_fix ) > NeedGPSTime
      )

      syslog info "GPS Underway - last time_fix was: " + Universal:time_fix~epoch_second

      readDatum id="Read_GPS" {
        timeout duration=P1M

        Universal:time_fix
      }

      readDatum id="Read_Iridium" {
        timeout duration=P1M

        Universal:platform_communications
      }
    }

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

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

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


2025-12-17T16:15:36.275Z,1765988136.275 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit_surface.tl id=transit_surface
2025-12-17T16:15:41.673Z,1765988141.673 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:15:48.461Z,1765988148.461 [CommandExec](IMPORTANT): got command set transit_surface.NeedCommsTime 15 minute
2025-12-17T16:15:48.462Z,1765988148.462 [CommandExec](IMPORTANT): got command set transit_surface.Latitude 36.813 degree
2025-12-17T16:15:48.462Z,1765988148.462 [CommandExec](IMPORTANT): got command set transit_surface.Longitude -121.948 degree
2025-12-17T16:15:48.463Z,1765988148.463 [CommandExec](IMPORTANT): got command set transit_surface.MaxDepth 1 meter
2025-12-17T16:15:52.200Z,1765988152.200 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-12-17T16:15:52.204Z,1765988152.204 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-12-17T16:15:52.340Z,1765988152.340 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-12-17T16:15:52.760Z,1765988152.760 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-12-17T16:15:52.760Z,1765988152.760 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-12-17T16:15:54.601Z,1765988154.601 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:15:55.217Z,1765988155.217 [CommandExec](IMPORTANT): got command set transit_surface.ElevatorAngle -15 degree
2025-12-17T16:15:55.218Z,1765988155.218 [CommandExec](IMPORTANT): got command set transit_surface.BuoyancyHold 0 bool
2025-12-17T16:15:55.218Z,1765988155.218 [CommandExec](IMPORTANT): got command run
2025-12-17T16:15:55.220Z,1765988155.220 [CommandExec](IMPORTANT): Running 
2025-12-17T16:15:55.844Z,1765988155.844 [Startup:StartupSatComms:A](INFO): Timed out from 2025-12-17T16:14:55.7Z
2025-12-17T16:15:55.844Z,1765988155.844 [Startup:StartupSatComms:A] Stopped
2025-12-17T16:15:55.844Z,1765988155.844 [Startup:StartupSatComms:B] Running Loop=1
2025-12-17T16:15:56.262Z,1765988156.262 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-17T16:16:03.839Z,1765988163.839 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251217T031937/Courier0129.lzma
2025-12-17T16:16:04.842Z,1765988164.842 [DataOverHttps](INFO): Moved sent file to Logs/20251217T031937/Courier0129.lzma.bak
2025-12-17T16:16:04.843Z,1765988164.843 [DataOverHttps](INFO): SBD MOMSN=26514330
2025-12-17T16:16:06.754Z,1765988166.754 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:16:22.428Z,1765988182.428 [DataOverHttps](INFO): Sending 246 bytes from file Logs/20251217T161218/Courier0000.lzma
2025-12-17T16:16:23.430Z,1765988183.430 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0000.lzma.bak
2025-12-17T16:16:23.430Z,1765988183.430 [DataOverHttps](INFO): SBD MOMSN=26514332
2025-12-17T16:16:31.409Z,1765988191.409 [NAL9602](INFO): SBD MO Status=2, MOMSN=14082, MT Status=2, MTMSN=0
2025-12-17T16:16:31.409Z,1765988191.409 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:16:40.608Z,1765988200.608 [DataOverHttps](INFO): Sending 220 bytes from file Logs/20251217T031937/Express0130.lzma
2025-12-17T16:16:41.625Z,1765988201.625 [DataOverHttps](INFO): Moved sent file to Logs/20251217T031937/Express0130.lzma.bak
2025-12-17T16:16:41.625Z,1765988201.625 [DataOverHttps](INFO): SBD MOMSN=26514337
2025-12-17T16:16:55.659Z,1765988215.659 [NAL9602](INFO): SBD MO Status=2, MOMSN=14082, MT Status=2, MTMSN=0
2025-12-17T16:16:55.659Z,1765988215.659 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:16:56.140Z,1765988216.140 [Startup:StartupSatComms:B](INFO): Timed out from 2025-12-17T16:15:55.8Z
2025-12-17T16:16:56.140Z,1765988216.140 [Startup:StartupSatComms:B] Stopped
2025-12-17T16:16:56.141Z,1765988216.141 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-12-17T16:16:56.141Z,1765988216.141 [Startup:StartupSatComms] Stopped
2025-12-17T16:16:56.141Z,1765988216.141 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-12-17T16:16:56.142Z,1765988216.142 [Startup](INFO): Completed Startup
2025-12-17T16:16:56.142Z,1765988216.142 [MissionManager](INFO): Startup is completed.
2025-12-17T16:16:56.142Z,1765988216.142 [MissionManager](INFO): Uninitializing Mission Startup
2025-12-17T16:16:56.142Z,1765988216.142 [Startup] Stopped
2025-12-17T16:16:56.142Z,1765988216.142 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-12-17T16:16:56.142Z,1765988216.142 [Startup:A.GoToSurface] Stopped
2025-12-17T16:16:56.142Z,1765988216.142 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-17T16:16:56.499Z,1765988216.499 [MissionManager](IMPORTANT): Started mission transit_surface
2025-12-17T16:16:56.499Z,1765988216.499 [transit_surface] Running Loop=1
2025-12-17T16:16:56.499Z,1765988216.499 [transit_surface](DEBUG): Aggregate::initialize transit_surface
2025-12-17T16:16:56.499Z,1765988216.499 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-12-17T16:16:56.499Z,1765988216.499 [transit_surface:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-12-17T16:16:56.499Z,1765988216.499 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-12-17T16:16:56.500Z,1765988216.500 [transit_surface:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-12-17T16:16:56.504Z,1765988216.504 [transit_surface:BackseatDriver] Running Loop=1
2025-12-17T16:16:56.504Z,1765988216.504 [transit_surface:BackseatDriver](DEBUG): Aggregate::initialize transit_surface:BackseatDriver
2025-12-17T16:16:56.504Z,1765988216.504 [transit_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-12-17T16:16:56.504Z,1765988216.504 [transit_surface:PowerOnly] Running Loop=1
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:PowerOnly](DEBUG): Aggregate::initialize transit_surface:PowerOnly
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:PowerOnly:A] Running Loop=1
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:PowerOnly:B] Running Loop=1
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:PowerOnly:C] Running Loop=1
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:PowerOnly:D] Running Loop=1
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:PowerOnly:E.Wait] Running Loop=1
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:BuoyancyHold.Buoyancy] Running Loop=1
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:MassHold.Pitch] Running Loop=1
2025-12-17T16:16:56.505Z,1765988216.505 [transit_surface:MassHold.Pitch](DEBUG): Initialize.
2025-12-17T16:16:56.506Z,1765988216.506 [transit_surface:J.Pitch] Running Loop=1
2025-12-17T16:16:56.506Z,1765988216.506 [transit_surface:J.Pitch](DEBUG): Initialize.
2025-12-17T16:16:56.506Z,1765988216.506 [transit_surface:B] Running Loop=1
2025-12-17T16:16:56.506Z,1765988216.506 [transit_surface:J.Pitch] Running Loop=1
2025-12-17T16:16:56.507Z,1765988216.507 [transit_surface:MassHold.Pitch] Running Loop=1
2025-12-17T16:16:56.507Z,1765988216.507 [transit_surface:BuoyancyHold.Buoyancy] Stopped
2025-12-17T16:16:56.507Z,1765988216.507 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-12-17T16:16:56.507Z,1765988216.507 [transit_surface:PowerOnly] Running Loop=1
2025-12-17T16:16:56.512Z,1765988216.512 [transit_surface:PowerOnly:D] Stopped
2025-12-17T16:16:56.512Z,1765988216.512 [transit_surface:PowerOnly:C] Stopped
2025-12-17T16:16:56.512Z,1765988216.512 [transit_surface:PowerOnly:B] Stopped
2025-12-17T16:16:56.512Z,1765988216.512 [transit_surface:PowerOnly:A] Stopped
2025-12-17T16:16:56.512Z,1765988216.512 [transit_surface:BackseatDriver] Running Loop=1
2025-12-17T16:16:56.513Z,1765988216.513 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-12-17T16:16:56.513Z,1765988216.513 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-12-17T16:16:56.514Z,1765988216.514 [transit_surface:B] Stopped
2025-12-17T16:16:56.514Z,1765988216.514 [transit_surface:C] Running Loop=1
2025-12-17T16:16:56.514Z,1765988216.514 [transit_surface:NeedComms] Running Loop=1
2025-12-17T16:16:56.514Z,1765988216.514 [transit_surface:NeedComms](DEBUG): Aggregate::initialize transit_surface:NeedComms
2025-12-17T16:16:56.514Z,1765988216.514 [transit_surface:NeedComms:C.GoToSurface] Running Loop=1
2025-12-17T16:16:56.514Z,1765988216.514 [transit_surface:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-17T16:16:56.515Z,1765988216.515 [transit_surface:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-12-17T16:16:56.515Z,1765988216.515 [transit_surface:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-12-17T16:16:56.515Z,1765988216.515 [transit_surface:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-12-17T16:16:56.520Z,1765988216.520 [transit_surface:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2025-12-17T16:16:56.520Z,1765988216.520 [transit_surface:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-17T16:16:56.521Z,1765988216.521 [transit_surface:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-17T16:16:56.521Z,1765988216.521 [transit_surface:NeedComms:A] Running Loop=1
2025-12-17T16:16:56.522Z,1765988216.522 [transit_surface:NeedComms:A](ERROR): data element is not active.
2025-12-17T16:16:56.522Z,1765988216.522 [transit_surface:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-12-17T16:16:56.522Z,1765988216.522 [transit_surface:NeedComms:A] Stopped
2025-12-17T16:16:56.522Z,1765988216.522 [transit_surface:NeedComms:setActive] Running Loop=1
2025-12-17T16:16:56.522Z,1765988216.522 [transit_surface:NeedComms:setActive](DEBUG): Aggregate::initialize transit_surface:NeedComms:setActive
2025-12-17T16:16:56.523Z,1765988216.523 [transit_surface:NeedComms:setActive:A] Running Loop=1
2025-12-17T16:16:56.883Z,1765988216.883 [transit_surface:C] Stopped
2025-12-17T16:16:56.883Z,1765988216.883 [transit_surface:Transit] Running Loop=1
2025-12-17T16:16:56.883Z,1765988216.883 [transit_surface:Transit](DEBUG): Aggregate::initialize transit_surface:Transit
2025-12-17T16:16:56.883Z,1765988216.883 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-12-17T16:16:56.883Z,1765988216.883 [transit_surface:Transit:A.Pitch](DEBUG): Initialize.
2025-12-17T16:16:56.883Z,1765988216.883 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-12-17T16:16:56.883Z,1765988216.883 [transit_surface:Transit:B.SetSpeed](DEBUG): Initialize.
2025-12-17T16:16:56.900Z,1765988216.900 [transit_surface:Transit:Wpt1.Waypoint] Running Loop=1
2025-12-17T16:16:56.900Z,1765988216.900 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-12-17T16:16:56.900Z,1765988216.900 [transit_surface:Transit:Wpt1.Waypoint](CRITICAL): Failed to init. No valid location available.
2025-12-17T16:16:56.901Z,1765988216.901 [transit_surface:NeedComms:setActive:A] Stopped
2025-12-17T16:16:56.901Z,1765988216.901 [transit_surface:NeedComms:setActive:B] Running Loop=1
2025-12-17T16:16:57.050Z,1765988217.050 [CBIT](INFO): Critical error at 20251217T161656
2025-12-17T16:16:57.050Z,1765988217.050 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-12-17T16:16:57.315Z,1765988217.315 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-12-17T16:16:57.315Z,1765988217.315 [transit_surface:Transit:Wpt1.Waypoint](CRITICAL): Failed to init. No valid location available.
2025-12-17T16:16:57.322Z,1765988217.322 [transit_surface:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:16:57.323Z,1765988217.323 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-12-17T16:16:57.323Z,1765988217.323 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-12-17T16:16:57.323Z,1765988217.323 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-12-17T16:16:57.323Z,1765988217.323 [transit_surface:Transit:UpdateShore:A](ERROR): data element is not active.
2025-12-17T16:16:57.388Z,1765988217.388 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-12-17T16:16:57.388Z,1765988217.388 [transit_surface:Transit:UpdateShore:A] Stopped
2025-12-17T16:16:57.388Z,1765988217.388 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-12-17T16:16:57.388Z,1765988217.388 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-12-17T16:16:57.389Z,1765988217.389 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-12-17T16:16:57.391Z,1765988217.391 [transit_surface:NeedComms:setActive:B] Stopped
2025-12-17T16:16:57.391Z,1765988217.391 [transit_surface:NeedComms:setActive](INFO): Completed transit_surface:NeedComms:setActive
2025-12-17T16:16:57.392Z,1765988217.392 [transit_surface:NeedComms:setActive] Stopped
2025-12-17T16:16:57.412Z,1765988217.412 [transit_surface:NeedComms:setActive](DEBUG): Aggregate::uninitialize transit_surface:NeedComms:setActive
2025-12-17T16:16:57.412Z,1765988217.412 [MissionManager](INFO): MissionManager is completed.
2025-12-17T16:16:57.412Z,1765988217.412 [MissionManager](INFO): Uninitializing Mission transit_surface
2025-12-17T16:16:57.412Z,1765988217.412 [transit_surface] Stopped
2025-12-17T16:16:57.412Z,1765988217.412 [transit_surface](DEBUG): Aggregate::uninitialize transit_surface
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:NeedComms] Stopped
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:NeedComms](DEBUG): Aggregate::uninitialize transit_surface:NeedComms
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:NeedComms:C.GoToSurface] Stopped
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:D.AltitudeEnvelope] Stopped
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:E.DepthEnvelope] Stopped
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:E.DepthEnvelope](DEBUG): Uninitialize.
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:BackseatDriver] Stopped
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:BackseatDriver](DEBUG): Aggregate::uninitialize transit_surface:BackseatDriver
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-12-17T16:16:57.413Z,1765988217.413 [transit_surface:PowerOnly] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:PowerOnly](DEBUG): Aggregate::uninitialize transit_surface:PowerOnly
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:PowerOnly:E.Wait] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:MassHold.Pitch] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:J.Pitch] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit](DEBUG): Aggregate::uninitialize transit_surface:Transit
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit:A.Pitch] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit:B.SetSpeed] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit:UpdateShore] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-12-17T16:16:57.414Z,1765988217.414 [transit_surface:Transit:Wpt1.Waypoint] Stopped
2025-12-17T16:16:57.415Z,1765988217.415 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-12-17T16:16:57.663Z,1765988217.663 [CBIT](INFO): Critical error at 20251217T161657
2025-12-17T16:16:57.749Z,1765988217.749 [MissionManager](IMPORTANT): Started mission Default
2025-12-17T16:16:57.749Z,1765988217.749 [Default] Running Loop=1
2025-12-17T16:16:57.749Z,1765988217.749 [Default](DEBUG): Aggregate::initialize Default
2025-12-17T16:16:57.749Z,1765988217.749 [Default:B.GoToSurface] Running Loop=1
2025-12-17T16:16:57.749Z,1765988217.749 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-17T16:16:57.749Z,1765988217.749 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-17T16:16:57.750Z,1765988217.750 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-17T16:16:57.750Z,1765988217.750 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-17T16:16:57.750Z,1765988217.750 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-17T16:16:57.750Z,1765988217.750 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-17T16:16:57.751Z,1765988217.751 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-17T16:16:57.751Z,1765988217.751 [Default:A.Wait] Running Loop=1
2025-12-17T16:16:57.751Z,1765988217.751 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:17:01.447Z,1765988221.447 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20251217T031937/Express0133.lzma
2025-12-17T16:17:02.450Z,1765988222.450 [DataOverHttps](INFO): Moved sent file to Logs/20251217T031937/Express0133.lzma.bak
2025-12-17T16:17:02.450Z,1765988222.450 [DataOverHttps](INFO): SBD MOMSN=26514343
2025-12-17T16:17:11.142Z,1765988231.142 [Default:A.Wait](INFO): Done Waiting.
2025-12-17T16:17:11.142Z,1765988231.142 [Default:A.Wait] Stopped
2025-12-17T16:17:11.142Z,1765988231.142 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:17:11.542Z,1765988231.542 [Default:CheckIn] Running Loop=1
2025-12-17T16:17:11.542Z,1765988231.542 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-12-17T16:17:11.542Z,1765988231.542 [Default:CheckIn:Read_GPS] Running Loop=1
2025-12-17T16:17:11.894Z,1765988231.894 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-17T16:17:26.026Z,1765988246.026 [NAL9602](INFO): SBD MO Status=2, MOMSN=14082, MT Status=2, MTMSN=0
2025-12-17T16:17:26.026Z,1765988246.026 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:17:41.242Z,1765988261.242 [DataOverHttps](IMPORTANT): SBD MTMSN=20251217T161740
2025-12-17T16:17:48.744Z,1765988268.744 [DataOverHttps](INFO): Received command: burn off
2025-12-17T16:17:48.794Z,1765988268.794 [CommandExec](IMPORTANT): got command burn off
2025-12-17T16:17:48.794Z,1765988268.794 [CommandExec](IMPORTANT): Deactivating dropweight wire
2025-12-17T16:17:49.746Z,1765988269.746 [DataOverHttps](IMPORTANT): SBD MTMSN=20251217T161748
2025-12-17T16:17:51.895Z,1765988271.895 [NAL9602](INFO): SBD MO Status=2, MOMSN=14082, MT Status=2, MTMSN=0
2025-12-17T16:17:51.895Z,1765988271.895 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:17:57.452Z,1765988277.452 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.MaxDepth 1 m" 21h9l 1 2
2025-12-17T16:17:57.457Z,1765988277.457 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.MaxDepth 1 m" 21h9l 1 2.000000
2025-12-17T16:17:57.457Z,1765988277.457 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=21h9l
2025-12-17T16:17:57.458Z,1765988277.458 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='21h9l'): "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.MaxDepth 1 m", ASAP
2025-12-17T16:17:58.454Z,1765988278.454 [DataOverHttps](IMPORTANT): SBD MTMSN=20251217T161757
2025-12-17T16:18:06.084Z,1765988286.084 [DataOverHttps](INFO): Received command: sched asap "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run" 21h9l 2 2
2025-12-17T16:18:06.091Z,1765988286.091 [CommandExec](IMPORTANT): got command schedule asap "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run" 21h9l 2 2.000000
2025-12-17T16:18:06.092Z,1765988286.092 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=21h9l
2025-12-17T16:18:06.093Z,1765988286.093 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='21h9l'): "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run", ASAP
2025-12-17T16:18:06.208Z,1765988286.208 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit_surface.tl
2025-12-17T16:18:06.209Z,1765988286.209 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit_surface.tl
2025-12-17T16:18:06.209Z,1765988286.209 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit_surface.tl
2025-12-17T16:18:06.211Z,1765988286.211 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit_surface.tl
2025-12-17T16:18:07.383Z,1765988287.383 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit_surface.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit_surface">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>36.797</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>-121.847</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>0.1</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1.2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="ElevatorAngle">
        <Units:degree />
        <Value>-7</Value>
    </DefineArg>
    <DefineArg Name="NeedGPSTime">
        <Units:minute />
        <Value>0.5</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>
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <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.buoyancyDefault />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.elevatorAngle />
            <Arg Name="ElevatorAngle" />
        </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>
        <Aggregate Id="UpdateShore">
            <When>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedGPSTime" />
                </Gt>
            </When>
            <Syslog Severity="Info">
                GPS Underway - last time_fix was: 
                <Universal:time_fix />
                <Units:epoch_second />
            </Syslog>
            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P1M" />
                <Universal:time_fix />
            </ReadDatum>
            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P1M" />
                <Universal:platform_communications />
            </ReadDatum>
        </Aggregate>
        <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" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-12-17T16:18:07.396Z,1765988287.396 [MissionManager](INFO): DefineArg transit_surface.MissionTimeout = 60.000000 min
2025-12-17T16:18:07.402Z,1765988287.402 [MissionManager](INFO): DefineArg transit_surface.NeedCommsTime = 30.000000 min
2025-12-17T16:18:07.412Z,1765988287.412 [MissionManager](INFO): DefineArg transit_surface.Latitude = 36.797001 arcdeg
2025-12-17T16:18:07.414Z,1765988287.414 [MissionManager](INFO): DefineArg transit_surface.Longitude = -121.847000 arcdeg
2025-12-17T16:18:07.428Z,1765988287.428 [MissionManager](INFO): DefineArg transit_surface.Northings = 0.000000 m
2025-12-17T16:18:07.494Z,1765988287.494 [MissionManager](INFO): DefineArg transit_surface.Eastings = 0.000000 m
2025-12-17T16:18:07.496Z,1765988287.496 [MissionManager](INFO): DefineArg transit_surface.Depth = 0.100000 m
2025-12-17T16:18:07.498Z,1765988287.498 [MissionManager](INFO): DefineArg transit_surface.Speed = 1.200000 m/s
2025-12-17T16:18:07.501Z,1765988287.501 [MissionManager](INFO): DefineArg transit_surface.MaxDepth = 2.000000 m
2025-12-17T16:18:07.503Z,1765988287.503 [MissionManager](INFO): DefineArg transit_surface.MinAltitude = 7.000000 m
2025-12-17T16:18:07.505Z,1765988287.505 [MissionManager](INFO): DefineArg transit_surface.ElevatorAngle = -7.000000 arcdeg
2025-12-17T16:18:07.507Z,1765988287.507 [MissionManager](INFO): DefineArg transit_surface.NeedGPSTime = 0.500000 min
2025-12-17T16:18:07.509Z,1765988287.509 [MissionManager](INFO): DefineArg transit_surface.MassHold = 1 bool
2025-12-17T16:18:07.511Z,1765988287.511 [MissionManager](INFO): DefineArg transit_surface.BuoyancyHold = 1 bool
2025-12-17T16:18:07.511Z,1765988287.511 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-12-17T16:18:07.512Z,1765988287.512 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-12-17T16:18:07.513Z,1765988287.513 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-12-17T16:18:07.870Z,1765988287.870 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2025-12-17T16:18:07.878Z,1765988287.878 [MissionManager](INFO): DefineArg transit_surface:NeedComms.DiveInterval = 1.000000 h
2025-12-17T16:18:07.881Z,1765988287.881 [MissionManager](INFO): DefineArg transit_surface:NeedComms.WaitForPitchUp = 10.000000 min
2025-12-17T16:18:07.883Z,1765988287.883 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-12-17T16:18:07.885Z,1765988287.885 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceDepthRate = nan m/s
2025-12-17T16:18:07.887Z,1765988287.887 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-12-17T16:18:07.890Z,1765988287.890 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacingTimeout = 1500.000000 s
2025-12-17T16:18:07.893Z,1765988287.893 [MissionManager](INFO): DefineArg transit_surface:NeedComms.GPSTimeout = 7.000000 min
2025-12-17T16:18:07.895Z,1765988287.895 [MissionManager](INFO): DefineArg transit_surface:NeedComms.CommsTimeout = 30.000000 min
2025-12-17T16:18:07.897Z,1765988287.897 [MissionManager](INFO): DefineArg transit_surface:NeedComms.DoingCommsMode = 0.000000 count
2025-12-17T16:18:07.899Z,1765988287.899 [MissionManager](INFO): DefineArg transit_surface:NeedComms.RestoreMode = 0.000000 count
2025-12-17T16:18:07.901Z,1765988287.901 [MissionManager](INFO): DefineOutput transit_surface:NeedComms.IsActive = 0 bool
2025-12-17T16:18:07.903Z,1765988287.903 [MissionManager](INFO): DefineOutput transit_surface:NeedComms.RequiredDiveMode = 0.000000 count
2025-12-17T16:18:07.912Z,1765988287.912 [transit_surface:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-17T16:18:07.966Z,1765988287.966 [transit_surface:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-17T16:18:07.971Z,1765988287.971 [transit_surface:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-17T16:18:08.005Z,1765988288.005 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-12-17T16:18:08.005Z,1765988288.005 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-12-17T16:18:08.006Z,1765988288.006 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-12-17T16:18:08.064Z,1765988288.064 [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>

2025-12-17T16:18:08.067Z,1765988288.067 [MissionManager](INFO): DefineArg transit_surface:BackseatDriver.EnableBackseat = 0 bool
2025-12-17T16:18:08.071Z,1765988288.071 [transit_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-12-17T16:18:08.098Z,1765988288.098 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-12-17T16:18:08.098Z,1765988288.098 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-12-17T16:18:08.099Z,1765988288.099 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-12-17T16:18:08.258Z,1765988288.258 [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>

2025-12-17T16:18:08.262Z,1765988288.262 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleAll = 0 bool
2025-12-17T16:18:08.264Z,1765988288.264 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad1 = 0 bool
2025-12-17T16:18:08.266Z,1765988288.266 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad2 = 0 bool
2025-12-17T16:18:08.267Z,1765988288.267 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad3 = 0 bool
2025-12-17T16:18:08.270Z,1765988288.270 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-12-17T16:18:08.284Z,1765988288.284 [transit_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-12-17T16:18:08.286Z,1765988288.286 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-17T16:18:08.289Z,1765988288.289 [transit_surface:MassHold.Pitch](DEBUG): Construct.
2025-12-17T16:18:08.341Z,1765988288.341 [transit_surface:J.Pitch](DEBUG): Construct.
2025-12-17T16:18:08.356Z,1765988288.356 [transit_surface:Transit:A.Pitch](DEBUG): Construct.
2025-12-17T16:18:08.360Z,1765988288.360 [transit_surface:Transit:B.SetSpeed](DEBUG): Construct.
2025-12-17T16:18:08.367Z,1765988288.367 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-12-17T16:18:08.401Z,1765988288.401 [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_surface {
  """
  Vehicle transits to desired waypoint on the surface and can be commanded to use/hold
  mass or buoyancy. Useful for shore launch/recovery.
  """

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

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

    Latitude = 36.797 degree
      """
      Latitude of waypoint to seek.
      """

    Longitude = -121.847 degree
      """
      Longitude of waypoint to seek.
      """

    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 = 0.1 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1.2 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 2 meter
      """
      Maximum depth for the entire mission.
      """

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

    ElevatorAngle = -7 degree
      """
      Holds elevator angle to keep vehicle pitched up on the surface.
      """

    NeedGPSTime = 0.5 minute
      """
      After this time elapses grab a fix underway
      """

    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 default (note: note 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

  behavior Guidance:AltitudeEnvelope {
    run in parallel

    set minAltitude = MinAltitude
  }

  behavior Guidance:DepthEnvelope {
    run in parallel

    set maxDepth = MaxDepth
  }

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyDefault
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Pitch {
    run in parallel

    set elevatorAngle = ElevatorAngle
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    aggregate UpdateShore {
      run when (
        elapsed ( Universal:time_fix ) > NeedGPSTime
      )

      syslog info "GPS Underway - last time_fix was: " + Universal:time_fix~epoch_second

      readDatum id="Read_GPS" {
        timeout duration=P1M

        Universal:time_fix
      }

      readDatum id="Read_Iridium" {
        timeout duration=P1M

        Universal:platform_communications
      }
    }

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

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

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


2025-12-17T16:18:08.402Z,1765988288.402 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit_surface.tl id=transit_surface
2025-12-17T16:18:21.020Z,1765988301.020 [NAL9602](INFO): SBD MO Status=0, MOMSN=14082, MT Status=0, MTMSN=0
2025-12-17T16:18:21.020Z,1765988301.020 [NAL9602](INFO): No messages in MT queue
2025-12-17T16:18:22.219Z,1765988302.219 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,161821.00,A,3646.99830,N,12157.34580,W,0.855,202.42,171225,,,A*7B
2025-12-17T16:18:22.222Z,1765988302.222 [NAL9602](INFO): GPS fix at 20251217T161821: (36.783305, -121.955763)
2025-12-17T16:18:22.249Z,1765988302.249 [Default:CheckIn:Read_GPS] Stopped
2025-12-17T16:18:22.249Z,1765988302.249 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-12-17T16:18:22.660Z,1765988302.660 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-17T16:18:30.845Z,1765988310.845 [CommandExec](IMPORTANT): got command set transit_surface.NeedCommsTime 15 minute
2025-12-17T16:18:30.846Z,1765988310.846 [CommandExec](IMPORTANT): got command set transit_surface.Latitude 36.813 degree
2025-12-17T16:18:30.846Z,1765988310.846 [CommandExec](IMPORTANT): got command set transit_surface.Longitude -121.948 degree
2025-12-17T16:18:30.847Z,1765988310.847 [CommandExec](IMPORTANT): got command set transit_surface.MaxDepth 1 meter
2025-12-17T16:18:37.038Z,1765988317.038 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:18:44.040Z,1765988324.040 [DataOverHttps](INFO): Sending 316 bytes from file Logs/20251217T161218/Courier0007.lzma
2025-12-17T16:18:45.042Z,1765988325.042 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0007.lzma.bak
2025-12-17T16:18:45.042Z,1765988325.042 [DataOverHttps](INFO): SBD MOMSN=26514354
2025-12-17T16:18:51.387Z,1765988331.387 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:18:51.651Z,1765988331.651 [CommandExec](IMPORTANT): got command set transit_surface.ElevatorAngle -15 degree
2025-12-17T16:18:51.652Z,1765988331.652 [CommandExec](IMPORTANT): got command set transit_surface.BuoyancyHold 0 bool
2025-12-17T16:18:51.653Z,1765988331.653 [CommandExec](IMPORTANT): got command run
2025-12-17T16:18:51.655Z,1765988331.655 [CommandExec](IMPORTANT): Running 
2025-12-17T16:18:51.823Z,1765988331.823 [Default] Stopped
2025-12-17T16:18:51.823Z,1765988331.823 [Default](DEBUG): Aggregate::uninitialize Default
2025-12-17T16:18:51.823Z,1765988331.823 [Default:B.GoToSurface] Stopped
2025-12-17T16:18:51.823Z,1765988331.823 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-17T16:18:51.823Z,1765988331.823 [Default:CheckIn] Stopped
2025-12-17T16:18:51.823Z,1765988331.823 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-12-17T16:18:51.823Z,1765988331.823 [Default:CheckIn:Read_Iridium] Stopped
2025-12-17T16:18:51.823Z,1765988331.823 [MissionManager](IMPORTANT): Started mission transit_surface
2025-12-17T16:18:51.823Z,1765988331.823 [transit_surface] Running Loop=1
2025-12-17T16:18:51.824Z,1765988331.824 [transit_surface](DEBUG): Aggregate::initialize transit_surface
2025-12-17T16:18:51.824Z,1765988331.824 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-12-17T16:18:51.824Z,1765988331.824 [transit_surface:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-12-17T16:18:51.824Z,1765988331.824 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-12-17T16:18:51.824Z,1765988331.824 [transit_surface:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-12-17T16:18:51.824Z,1765988331.824 [transit_surface:BackseatDriver] Running Loop=1
2025-12-17T16:18:51.824Z,1765988331.824 [transit_surface:BackseatDriver](DEBUG): Aggregate::initialize transit_surface:BackseatDriver
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:PowerOnly] Running Loop=1
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:PowerOnly](DEBUG): Aggregate::initialize transit_surface:PowerOnly
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:PowerOnly:A] Running Loop=1
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:PowerOnly:B] Running Loop=1
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:PowerOnly:C] Running Loop=1
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:PowerOnly:D] Running Loop=1
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:PowerOnly:E.Wait] Running Loop=1
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:BuoyancyHold.Buoyancy] Running Loop=1
2025-12-17T16:18:51.825Z,1765988331.825 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-12-17T16:18:51.826Z,1765988331.826 [transit_surface:MassHold.Pitch] Running Loop=1
2025-12-17T16:18:51.826Z,1765988331.826 [transit_surface:MassHold.Pitch](DEBUG): Initialize.
2025-12-17T16:18:51.826Z,1765988331.826 [transit_surface:J.Pitch] Running Loop=1
2025-12-17T16:18:51.826Z,1765988331.826 [transit_surface:J.Pitch](DEBUG): Initialize.
2025-12-17T16:18:51.826Z,1765988331.826 [transit_surface:B] Running Loop=1
2025-12-17T16:18:51.827Z,1765988331.827 [transit_surface:J.Pitch] Running Loop=1
2025-12-17T16:18:51.827Z,1765988331.827 [transit_surface:MassHold.Pitch] Running Loop=1
2025-12-17T16:18:51.827Z,1765988331.827 [transit_surface:BuoyancyHold.Buoyancy] Stopped
2025-12-17T16:18:51.827Z,1765988331.827 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-12-17T16:18:51.827Z,1765988331.827 [transit_surface:PowerOnly] Running Loop=1
2025-12-17T16:18:51.848Z,1765988331.848 [transit_surface:PowerOnly:D] Stopped
2025-12-17T16:18:51.848Z,1765988331.848 [transit_surface:PowerOnly:C] Stopped
2025-12-17T16:18:51.848Z,1765988331.848 [transit_surface:PowerOnly:B] Stopped
2025-12-17T16:18:51.848Z,1765988331.848 [transit_surface:PowerOnly:A] Stopped
2025-12-17T16:18:51.848Z,1765988331.848 [transit_surface:BackseatDriver] Running Loop=1
2025-12-17T16:18:51.848Z,1765988331.848 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-12-17T16:18:51.849Z,1765988331.849 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-12-17T16:18:51.849Z,1765988331.849 [transit_surface:B] Stopped
2025-12-17T16:18:51.849Z,1765988331.849 [transit_surface:C] Running Loop=1
2025-12-17T16:18:52.227Z,1765988332.227 [transit_surface:C] Stopped
2025-12-17T16:18:52.228Z,1765988332.228 [transit_surface:Transit] Running Loop=1
2025-12-17T16:18:52.228Z,1765988332.228 [transit_surface:Transit](DEBUG): Aggregate::initialize transit_surface:Transit
2025-12-17T16:18:52.228Z,1765988332.228 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-12-17T16:18:52.228Z,1765988332.228 [transit_surface:Transit:A.Pitch](DEBUG): Initialize.
2025-12-17T16:18:52.228Z,1765988332.228 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-12-17T16:18:52.228Z,1765988332.228 [transit_surface:Transit:B.SetSpeed](DEBUG): Initialize.
2025-12-17T16:18:52.229Z,1765988332.229 [transit_surface:Transit:Wpt1.Waypoint] Running Loop=1
2025-12-17T16:18:52.229Z,1765988332.229 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-12-17T16:18:52.230Z,1765988332.230 [transit_surface:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:18:52.657Z,1765988332.657 [transit_surface:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:18:52.658Z,1765988332.658 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-12-17T16:18:52.658Z,1765988332.658 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-12-17T16:18:52.658Z,1765988332.658 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-12-17T16:18:52.658Z,1765988332.658 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was:  1765988301.000000 second since 1970/01/01T00:00:00Z 
2025-12-17T16:18:52.659Z,1765988332.659 [transit_surface:Transit:UpdateShore:A] Stopped
2025-12-17T16:18:52.659Z,1765988332.659 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-12-17T16:18:52.659Z,1765988332.659 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-12-17T16:18:52.659Z,1765988332.659 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-12-17T16:18:52.667Z,1765988332.667 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-12-17T16:18:52.668Z,1765988332.668 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-12-17T16:18:52.668Z,1765988332.668 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-12-17T16:18:53.032Z,1765988333.032 [transit_surface:Transit:UpdateShore:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-17T16:18:53.467Z,1765988333.467 [transit_surface:D.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-12-17T16:18:54.703Z,1765988334.703 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,161853.00,A,3646.99668,N,12157.34792,W,0.505,203.38,171225,,,A*78
2025-12-17T16:18:54.726Z,1765988334.726 [NAL9602](INFO): GPS fix at 20251217T161853: (36.783278, -121.955799)
2025-12-17T16:18:54.893Z,1765988334.893 [transit_surface:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:18:54.894Z,1765988334.894 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-12-17T16:18:54.894Z,1765988334.894 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-12-17T16:18:55.415Z,1765988335.415 [transit_surface:Transit:UpdateShore:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-17T16:19:05.381Z,1765988345.381 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:19:12.850Z,1765988352.850 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2025-12-17T16:19:12.850Z,1765988352.850 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2025-12-17T16:19:12.850Z,1765988352.850 [BuoyancyServo] Communications Fault, FailCount= 1
2025-12-17T16:19:12.850Z,1765988352.850 [BuoyancyServo](ERROR): Communications Fault
2025-12-17T16:19:12.923Z,1765988352.923 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2025-12-17T16:19:14.798Z,1765988354.798 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-12-17T16:19:14.798Z,1765988354.798 [BuoyancyServo](INFO): Powering down
2025-12-17T16:19:15.616Z,1765988355.616 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-12-17T16:19:15.616Z,1765988355.616 [BuoyancyServo] No Fault, FailCount= 1
2025-12-17T16:19:15.954Z,1765988355.954 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-12-17T16:19:15.960Z,1765988355.960 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-12-17T16:19:20.038Z,1765988360.038 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:19:27.597Z,1765988367.597 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-17T16:19:30.555Z,1765988370.555 [DataOverHttps](INFO): Sending 1428 bytes from file Logs/20251217T161218/Express0001.lzma
2025-12-17T16:19:31.638Z,1765988371.638 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0001.lzma.bak
2025-12-17T16:19:31.639Z,1765988371.639 [DataOverHttps](INFO): SBD MOMSN=26514366
2025-12-17T16:19:34.006Z,1765988374.006 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:19:48.130Z,1765988388.130 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:19:53.047Z,1765988393.047 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251217T161218/Courier0012.lzma
2025-12-17T16:19:54.051Z,1765988394.051 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0012.lzma.bak
2025-12-17T16:19:54.051Z,1765988394.051 [DataOverHttps](INFO): SBD MOMSN=26514416
2025-12-17T16:19:55.280Z,1765988395.280 [transit_surface:Transit:UpdateShore:Read_Iridium](INFO): Timed out from 2025-12-17T16:18:54.9Z
2025-12-17T16:19:55.280Z,1765988395.280 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-12-17T16:19:55.281Z,1765988395.281 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-12-17T16:19:55.281Z,1765988395.281 [transit_surface:Transit:UpdateShore] Stopped
2025-12-17T16:19:55.281Z,1765988395.281 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-12-17T16:19:55.522Z,1765988395.522 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-12-17T16:19:55.522Z,1765988395.522 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-12-17T16:19:55.522Z,1765988395.522 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-12-17T16:19:55.522Z,1765988395.522 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was:  1765988333.000000 second since 1970/01/01T00:00:00Z 
2025-12-17T16:19:55.522Z,1765988395.522 [transit_surface:Transit:UpdateShore:A] Stopped
2025-12-17T16:19:55.523Z,1765988395.523 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-12-17T16:19:57.601Z,1765988397.601 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,161956.00,A,3647.01175,N,12157.34286,W,2.896,327.10,171225,,,D*7A
2025-12-17T16:19:57.604Z,1765988397.604 [NAL9602](INFO): GPS fix at 20251217T161956: (36.783529, -121.955714)
2025-12-17T16:19:57.616Z,1765988397.616 [transit_surface:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:19:57.617Z,1765988397.617 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-12-17T16:19:57.617Z,1765988397.617 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-12-17T16:20:01.901Z,1765988401.901 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:20:15.997Z,1765988415.997 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:20:16.043Z,1765988416.043 [NAL9602](INFO): SBD MO Status=2, MOMSN=14083, MT Status=2, MTMSN=0
2025-12-17T16:20:16.043Z,1765988416.043 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:20:29.599Z,1765988429.599 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251217T161218/Express0005.lzma
2025-12-17T16:20:30.048Z,1765988430.048 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:20:31.606Z,1765988431.606 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0005.lzma.bak
2025-12-17T16:20:31.606Z,1765988431.606 [DataOverHttps](INFO): SBD MOMSN=26514419
2025-12-17T16:20:32.072Z,1765988432.072 [NAL9602](INFO): SBD MO Status=2, MOMSN=14083, MT Status=2, MTMSN=0
2025-12-17T16:20:32.073Z,1765988432.073 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:20:44.014Z,1765988444.014 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:20:56.627Z,1765988456.627 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20251217T161218/Courier0016.lzma
2025-12-17T16:20:56.965Z,1765988456.965 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:20:57.809Z,1765988457.809 [transit_surface:Transit:UpdateShore:Read_Iridium](INFO): Timed out from 2025-12-17T16:19:57.6Z
2025-12-17T16:20:57.809Z,1765988457.809 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-12-17T16:20:57.810Z,1765988457.810 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-12-17T16:20:57.810Z,1765988457.810 [transit_surface:Transit:UpdateShore] Stopped
2025-12-17T16:20:57.810Z,1765988457.810 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-12-17T16:20:58.205Z,1765988458.205 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-12-17T16:20:58.205Z,1765988458.205 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-12-17T16:20:58.205Z,1765988458.205 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-12-17T16:20:58.206Z,1765988458.206 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was:  1765988396.000000 second since 1970/01/01T00:00:00Z 
2025-12-17T16:20:58.206Z,1765988458.206 [transit_surface:Transit:UpdateShore:A] Stopped
2025-12-17T16:20:58.206Z,1765988458.206 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-12-17T16:20:58.634Z,1765988458.634 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0016.lzma.bak
2025-12-17T16:20:58.634Z,1765988458.634 [DataOverHttps](INFO): SBD MOMSN=26514421
2025-12-17T16:21:10.147Z,1765988470.147 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:21:17.733Z,1765988477.733 [NAL9602](INFO): SBD MO Status=2, MOMSN=14083, MT Status=2, MTMSN=0
2025-12-17T16:21:17.733Z,1765988477.733 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:21:22.743Z,1765988482.743 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:21:35.455Z,1765988495.455 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:21:48.639Z,1765988508.639 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:21:58.506Z,1765988518.506 [transit_surface:Transit:UpdateShore:Read_GPS](INFO): Timed out from 2025-12-17T16:20:58.2Z
2025-12-17T16:21:58.506Z,1765988518.506 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-12-17T16:21:58.506Z,1765988518.506 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-12-17T16:22:01.405Z,1765988521.405 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:22:11.532Z,1765988531.532 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-12-17T16:22:11.533Z,1765988531.533 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-12-17T16:22:11.533Z,1765988531.533 [ThrusterHE] Communications Fault, FailCount= 1
2025-12-17T16:22:11.533Z,1765988531.533 [ThrusterHE](ERROR): Communications Fault
2025-12-17T16:22:11.557Z,1765988531.557 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-12-17T16:22:11.965Z,1765988531.965 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-17T16:22:11.965Z,1765988531.965 [ThrusterHE](INFO): Powering down
2025-12-17T16:22:12.673Z,1765988532.673 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:22:12.794Z,1765988532.794 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:22:12.797Z,1765988532.797 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-12-17T16:22:12.798Z,1765988532.798 [ThrusterHE] No Fault, FailCount= 1
2025-12-17T16:22:14.023Z,1765988534.023 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:22:16.956Z,1765988536.956 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251217T161218/Courier0019.lzma
2025-12-17T16:22:19.959Z,1765988539.959 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0019.lzma.bak
2025-12-17T16:22:19.959Z,1765988539.959 [DataOverHttps](INFO): SBD MOMSN=26514424
2025-12-17T16:22:27.010Z,1765988547.010 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:22:34.791Z,1765988554.791 [NAL9602](INFO): SBD MO Status=2, MOMSN=14083, MT Status=2, MTMSN=0
2025-12-17T16:22:34.791Z,1765988554.791 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:22:39.625Z,1765988559.625 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:22:48.333Z,1765988568.333 [DataOverHttps](INFO): Sending 764 bytes from file Logs/20251217T161218/Express0008.lzma
2025-12-17T16:22:49.334Z,1765988569.334 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0008.lzma.bak
2025-12-17T16:22:49.334Z,1765988569.334 [DataOverHttps](INFO): SBD MOMSN=26514426
2025-12-17T16:22:52.395Z,1765988572.395 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:22:58.639Z,1765988578.639 [transit_surface:Transit:UpdateShore:Read_Iridium](INFO): Timed out from 2025-12-17T16:21:58.5Z
2025-12-17T16:22:58.639Z,1765988578.639 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-12-17T16:22:58.639Z,1765988578.639 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-12-17T16:22:58.639Z,1765988578.639 [transit_surface:Transit:UpdateShore] Stopped
2025-12-17T16:22:58.639Z,1765988578.639 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-12-17T16:22:59.206Z,1765988579.206 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-12-17T16:22:59.206Z,1765988579.206 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-12-17T16:22:59.206Z,1765988579.206 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-12-17T16:22:59.207Z,1765988579.207 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was:  1765988396.000000 second since 1970/01/01T00:00:00Z 
2025-12-17T16:22:59.207Z,1765988579.207 [transit_surface:Transit:UpdateShore:A] Stopped
2025-12-17T16:22:59.207Z,1765988579.207 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-12-17T16:23:05.211Z,1765988585.211 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:23:17.998Z,1765988597.998 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:23:31.988Z,1765988611.988 [DataOverHttps](INFO): Sending 345 bytes from file Logs/20251217T161218/Express0014.lzma
2025-12-17T16:23:33.991Z,1765988613.991 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0014.lzma.bak
2025-12-17T16:23:33.992Z,1765988613.992 [DataOverHttps](INFO): SBD MOMSN=26514451
2025-12-17T16:23:37.125Z,1765988617.125 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:23:50.544Z,1765988630.544 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:23:59.469Z,1765988639.469 [transit_surface:Transit:UpdateShore:Read_GPS](INFO): Timed out from 2025-12-17T16:22:59.2Z
2025-12-17T16:23:59.469Z,1765988639.469 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-12-17T16:23:59.469Z,1765988639.469 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-12-17T16:24:03.837Z,1765988643.837 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:24:15.591Z,1765988655.591 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251217T161218/Courier0022.lzma
2025-12-17T16:24:16.594Z,1765988656.594 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0022.lzma.bak
2025-12-17T16:24:16.594Z,1765988656.594 [DataOverHttps](INFO): SBD MOMSN=26514463
2025-12-17T16:24:16.961Z,1765988656.961 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:24:18.714Z,1765988658.714 [NAL9602](INFO): SBD MO Status=2, MOMSN=14083, MT Status=2, MTMSN=0
2025-12-17T16:24:18.714Z,1765988658.714 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:24:29.915Z,1765988669.915 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:24:41.100Z,1765988681.100 [DataOverHttps](INFO): Sending 177 bytes from file Logs/20251217T161218/Express0017.lzma
2025-12-17T16:24:42.102Z,1765988682.102 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0017.lzma.bak
2025-12-17T16:24:42.102Z,1765988682.102 [DataOverHttps](INFO): SBD MOMSN=26514467
2025-12-17T16:24:42.845Z,1765988682.845 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:24:49.902Z,1765988689.902 [NAL9602](INFO): SBD MO Status=0, MOMSN=14083, MT Status=0, MTMSN=0
2025-12-17T16:24:49.903Z,1765988689.903 [NAL9602](INFO): No messages in MT queue
2025-12-17T16:24:55.947Z,1765988695.947 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:24:57.758Z,1765988697.758 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-12-17T16:24:57.758Z,1765988697.758 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-12-17T16:24:57.758Z,1765988697.758 [ThrusterHE] Communications Fault, FailCount= 1
2025-12-17T16:24:57.758Z,1765988697.758 [ThrusterHE](ERROR): Communications Fault
2025-12-17T16:24:57.779Z,1765988697.779 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-12-17T16:24:58.052Z,1765988698.052 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-17T16:24:58.052Z,1765988698.052 [ThrusterHE](INFO): Powering down
2025-12-17T16:24:58.921Z,1765988698.921 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:24:59.037Z,1765988699.037 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:24:59.041Z,1765988699.041 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-12-17T16:24:59.041Z,1765988699.041 [ThrusterHE] No Fault, FailCount= 1
2025-12-17T16:24:59.655Z,1765988699.655 [transit_surface:Transit:UpdateShore:Read_Iridium](INFO): Timed out from 2025-12-17T16:23:59.5Z
2025-12-17T16:24:59.655Z,1765988699.655 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-12-17T16:24:59.655Z,1765988699.655 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-12-17T16:24:59.655Z,1765988699.655 [transit_surface:Transit:UpdateShore] Stopped
2025-12-17T16:24:59.656Z,1765988699.656 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-12-17T16:25:00.030Z,1765988700.030 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-12-17T16:25:00.030Z,1765988700.030 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-12-17T16:25:00.030Z,1765988700.030 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-12-17T16:25:00.031Z,1765988700.031 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was:  1765988396.000000 second since 1970/01/01T00:00:00Z 
2025-12-17T16:25:00.031Z,1765988700.031 [transit_surface:Transit:UpdateShore:A] Stopped
2025-12-17T16:25:00.031Z,1765988700.031 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-12-17T16:25:02.035Z,1765988702.035 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162501.00,A,3647.13054,N,12157.30342,W,0.952,11.33,171225,,,A*42
2025-12-17T16:25:02.049Z,1765988702.049 [NAL9602](INFO): GPS fix at 20251217T162501: (36.785509, -121.955057)
2025-12-17T16:25:02.124Z,1765988702.124 [transit_surface:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:25:02.125Z,1765988702.125 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-12-17T16:25:02.125Z,1765988702.125 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-12-17T16:25:06.681Z,1765988706.681 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-12-17T16:25:06.776Z,1765988706.776 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-12-17T16:25:06.776Z,1765988706.776 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-12-17T16:25:06.776Z,1765988706.776 [ThrusterHE] Communications Fault, FailCount= 2
2025-12-17T16:25:06.776Z,1765988706.776 [ThrusterHE](ERROR): Communications Fault
2025-12-17T16:25:06.780Z,1765988706.780 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-12-17T16:25:07.233Z,1765988707.233 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-17T16:25:07.233Z,1765988707.233 [ThrusterHE](INFO): Powering down
2025-12-17T16:25:07.809Z,1765988707.809 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:25:07.929Z,1765988707.929 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:25:07.947Z,1765988707.947 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-12-17T16:25:07.947Z,1765988707.947 [ThrusterHE] No Fault, FailCount= 2
2025-12-17T16:25:09.301Z,1765988709.301 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:25:13.971Z,1765988713.971 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20251217T161218/Express0020.lzma
2025-12-17T16:25:14.978Z,1765988714.978 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0020.lzma.bak
2025-12-17T16:25:14.978Z,1765988714.978 [DataOverHttps](INFO): SBD MOMSN=26514470
2025-12-17T16:25:15.812Z,1765988715.812 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-12-17T16:25:15.917Z,1765988715.917 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-12-17T16:25:15.917Z,1765988715.917 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-12-17T16:25:15.917Z,1765988715.917 [ThrusterHE] Communications Fault, FailCount= 3
2025-12-17T16:25:15.917Z,1765988715.917 [ThrusterHE](ERROR): Communications Fault
2025-12-17T16:25:15.921Z,1765988715.921 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-12-17T16:25:16.321Z,1765988716.321 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-17T16:25:16.321Z,1765988716.321 [ThrusterHE](INFO): Powering down
2025-12-17T16:25:16.967Z,1765988716.967 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:25:17.081Z,1765988717.081 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:25:17.085Z,1765988717.085 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-12-17T16:25:17.085Z,1765988717.085 [ThrusterHE] No Fault, FailCount= 3
2025-12-17T16:25:22.345Z,1765988722.345 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:25:24.696Z,1765988724.696 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-12-17T16:25:24.792Z,1765988724.792 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-12-17T16:25:24.792Z,1765988724.792 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-12-17T16:25:24.792Z,1765988724.792 [ThrusterHE] Communications Fault, FailCount= 4
2025-12-17T16:25:24.792Z,1765988724.792 [ThrusterHE](ERROR): Communications Fault
2025-12-17T16:25:24.809Z,1765988724.809 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-12-17T16:25:25.141Z,1765988725.141 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-17T16:25:25.141Z,1765988725.141 [ThrusterHE](INFO): Powering down
2025-12-17T16:25:25.694Z,1765988725.694 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:25:25.823Z,1765988725.823 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:25:25.838Z,1765988725.838 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-12-17T16:25:25.838Z,1765988725.838 [ThrusterHE] No Fault, FailCount= 4
2025-12-17T16:25:33.576Z,1765988733.576 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-12-17T16:25:33.676Z,1765988733.676 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-12-17T16:25:33.676Z,1765988733.676 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-12-17T16:25:33.676Z,1765988733.676 [ThrusterHE] Communications Fault, FailCount= 5
2025-12-17T16:25:33.676Z,1765988733.676 [ThrusterHE](ERROR): Communications Fault
2025-12-17T16:25:33.680Z,1765988733.680 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-12-17T16:25:33.680Z,1765988733.680 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE
2025-12-17T16:25:33.989Z,1765988733.989 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-17T16:25:33.989Z,1765988733.989 [ThrusterHE](INFO): Powering down
2025-12-17T16:25:33.991Z,1765988733.991 [CBIT](INFO): Critical error at 20251217T162533
2025-12-17T16:25:33.991Z,1765988733.991 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-12-17T16:25:34.159Z,1765988734.159 [MissionManager](INFO): MissionManager is completed.
2025-12-17T16:25:34.159Z,1765988734.159 [MissionManager](INFO): Uninitializing Mission transit_surface
2025-12-17T16:25:34.159Z,1765988734.159 [transit_surface] Stopped
2025-12-17T16:25:34.159Z,1765988734.159 [transit_surface](DEBUG): Aggregate::uninitialize transit_surface
2025-12-17T16:25:34.159Z,1765988734.159 [transit_surface:D.AltitudeEnvelope] Stopped
2025-12-17T16:25:34.159Z,1765988734.159 [transit_surface:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-12-17T16:25:34.159Z,1765988734.159 [transit_surface:E.DepthEnvelope] Stopped
2025-12-17T16:25:34.159Z,1765988734.159 [transit_surface:E.DepthEnvelope](DEBUG): Uninitialize.
2025-12-17T16:25:34.159Z,1765988734.159 [transit_surface:BackseatDriver] Stopped
2025-12-17T16:25:34.159Z,1765988734.159 [transit_surface:BackseatDriver](DEBUG): Aggregate::uninitialize transit_surface:BackseatDriver
2025-12-17T16:25:34.160Z,1765988734.160 [transit_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-12-17T16:25:34.160Z,1765988734.160 [transit_surface:PowerOnly] Stopped
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:PowerOnly](DEBUG): Aggregate::uninitialize transit_surface:PowerOnly
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:PowerOnly:E.Wait] Stopped
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:MassHold.Pitch] Stopped
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:J.Pitch] Stopped
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:Transit] Stopped
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:Transit](DEBUG): Aggregate::uninitialize transit_surface:Transit
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:Transit:A.Pitch] Stopped
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:Transit:B.SetSpeed] Stopped
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:Transit:UpdateShore] Stopped
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-12-17T16:25:34.161Z,1765988734.161 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-12-17T16:25:34.162Z,1765988734.162 [transit_surface:Transit:Wpt1.Waypoint] Stopped
2025-12-17T16:25:34.162Z,1765988734.162 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-12-17T16:25:34.737Z,1765988734.737 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-17T16:25:34.803Z,1765988734.803 [MissionManager](IMPORTANT): Started mission Default
2025-12-17T16:25:34.803Z,1765988734.803 [Default] Running Loop=1
2025-12-17T16:25:34.836Z,1765988734.836 [Default](DEBUG): Aggregate::initialize Default
2025-12-17T16:25:34.836Z,1765988734.836 [Default:B.GoToSurface] Running Loop=1
2025-12-17T16:25:34.836Z,1765988734.836 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-17T16:25:34.836Z,1765988734.836 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-17T16:25:34.837Z,1765988734.837 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-17T16:25:34.837Z,1765988734.837 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-17T16:25:34.837Z,1765988734.837 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-17T16:25:34.838Z,1765988734.838 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-17T16:25:34.838Z,1765988734.838 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-17T16:25:34.838Z,1765988734.838 [Default:A.Wait] Running Loop=1
2025-12-17T16:25:34.838Z,1765988734.838 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:25:35.101Z,1765988735.101 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:25:47.612Z,1765988747.612 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:25:48.042Z,1765988748.042 [Default:A.Wait](INFO): Done Waiting.
2025-12-17T16:25:48.042Z,1765988748.042 [Default:A.Wait] Stopped
2025-12-17T16:25:48.042Z,1765988748.042 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:25:48.472Z,1765988748.472 [Default:CheckIn] Running Loop=1
2025-12-17T16:25:48.481Z,1765988748.481 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-12-17T16:25:48.481Z,1765988748.481 [Default:CheckIn:Read_GPS] Running Loop=1
2025-12-17T16:25:50.466Z,1765988750.466 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162549.00,A,3647.14481,N,12157.29668,W,0.991,7.39,171225,,,A*72
2025-12-17T16:25:50.468Z,1765988750.468 [NAL9602](INFO): GPS fix at 20251217T162549: (36.785747, -121.954945)
2025-12-17T16:25:50.479Z,1765988750.479 [Default:CheckIn:Read_GPS] Stopped
2025-12-17T16:25:50.479Z,1765988750.479 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-12-17T16:26:01.859Z,1765988761.859 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251217T161218/Courier0025.lzma
2025-12-17T16:26:02.862Z,1765988762.862 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0025.lzma.bak
2025-12-17T16:26:02.862Z,1765988762.862 [DataOverHttps](INFO): SBD MOMSN=26514473
2025-12-17T16:26:18.972Z,1765988778.972 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-12-17T16:26:18.972Z,1765988778.972 [ThrusterHE] No Fault, FailCount= 5
2025-12-17T16:26:19.366Z,1765988779.366 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:26:19.367Z,1765988779.367 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:26:20.529Z,1765988780.529 [NAL9602](INFO): SBD MO Status=2, MOMSN=14084, MT Status=2, MTMSN=0
2025-12-17T16:26:20.529Z,1765988780.529 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:26:21.446Z,1765988781.446 [ThrusterHE](FAULT): Thruster failed to initialize
2025-12-17T16:26:21.446Z,1765988781.446 [ThrusterHE] Communications Fault, FailCount= 1
2025-12-17T16:26:21.446Z,1765988781.446 [ThrusterHE](ERROR): Communications Fault
2025-12-17T16:26:21.450Z,1765988781.450 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-12-17T16:26:22.062Z,1765988782.062 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-17T16:26:22.062Z,1765988782.062 [ThrusterHE](INFO): Powering down
2025-12-17T16:26:22.840Z,1765988782.840 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-12-17T16:26:22.840Z,1765988782.840 [ThrusterHE] No Fault, FailCount= 1
2025-12-17T16:26:23.133Z,1765988783.133 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:26:23.143Z,1765988783.143 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:26:30.148Z,1765988790.148 [DataOverHttps](INFO): Sending 125 bytes from file Logs/20251217T161218/Courier0028.lzma
2025-12-17T16:26:31.150Z,1765988791.150 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0028.lzma.bak
2025-12-17T16:26:31.150Z,1765988791.150 [DataOverHttps](INFO): SBD MOMSN=26514476
2025-12-17T16:26:55.348Z,1765988815.348 [DataOverHttps](INFO): Sending 154 bytes from file Logs/20251217T161218/Express0023.lzma
2025-12-17T16:26:56.350Z,1765988816.350 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0023.lzma.bak
2025-12-17T16:26:56.350Z,1765988816.350 [DataOverHttps](INFO): SBD MOMSN=26514480
2025-12-17T16:26:58.950Z,1765988818.950 [NAL9602](INFO): SBD MO Status=0, MOMSN=14084, MT Status=0, MTMSN=0
2025-12-17T16:26:58.951Z,1765988818.951 [NAL9602](INFO): No messages in MT queue
2025-12-17T16:27:25.891Z,1765988845.891 [DataOverHttps](INFO): Sending 148 bytes from file Logs/20251217T161218/Express0026.lzma
2025-12-17T16:27:26.890Z,1765988846.890 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0026.lzma.bak
2025-12-17T16:27:26.890Z,1765988846.890 [DataOverHttps](INFO): SBD MOMSN=26514484
2025-12-17T16:27:29.365Z,1765988849.365 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-17T16:27:53.397Z,1765988873.397 [DataOverHttps](INFO): Sending 237 bytes from file Logs/20251217T161218/Express0029.lzma
2025-12-17T16:27:54.398Z,1765988874.398 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0029.lzma.bak
2025-12-17T16:27:54.398Z,1765988874.398 [DataOverHttps](INFO): SBD MOMSN=26514488
2025-12-17T16:27:56.077Z,1765988876.077 [Default:CheckIn:Read_Iridium] Stopped
2025-12-17T16:27:56.078Z,1765988876.078 [Default:CheckIn:C.Wait] Running Loop=1
2025-12-17T16:27:56.078Z,1765988876.078 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:28:09.234Z,1765988889.234 [DataOverHttps](IMPORTANT): SBD MTMSN=20251217T162808
2025-12-17T16:28:16.743Z,1765988896.743 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:28:18.540Z,1765988898.540 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.Speed 1 m/s;set transit_surface.MaxDepth 1 m" 21hqi 1 2
2025-12-17T16:28:18.608Z,1765988898.608 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.Speed 1 m/s;set transit_surface.MaxDepth 1 m" 21hqi 1 2.000000
2025-12-17T16:28:18.609Z,1765988898.609 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=21hqi
2025-12-17T16:28:18.610Z,1765988898.610 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='21hqi'): "load Transport/transit_surface.tl;set transit_surface.NeedCommsTime 15 min;set transit_surface.Latitude 36.813 degree;set transit_surface.Longitude -121.948 degree;set transit_surface.Speed 1 m/s;set transit_surface.MaxDepth 1 m", ASAP
2025-12-17T16:28:23.558Z,1765988903.558 [DataOverHttps](IMPORTANT): SBD MTMSN=20251217T162823
2025-12-17T16:28:30.854Z,1765988910.854 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:28:34.633Z,1765988914.633 [DataOverHttps](INFO): Received command: sched asap "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run" 21hqi 2 2
2025-12-17T16:28:34.667Z,1765988914.667 [CommandExec](IMPORTANT): got command schedule asap "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run" 21hqi 2 2.000000
2025-12-17T16:28:34.667Z,1765988914.667 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=21hqi
2025-12-17T16:28:34.669Z,1765988914.669 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='21hqi'): "set transit_surface.ElevatorAngle -15 degree;set transit_surface.BuoyancyHold 0 bool;run", ASAP
2025-12-17T16:28:34.785Z,1765988914.785 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit_surface.tl
2025-12-17T16:28:34.785Z,1765988914.785 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit_surface.tl
2025-12-17T16:28:34.785Z,1765988914.785 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit_surface.tl
2025-12-17T16:28:34.787Z,1765988914.787 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit_surface.tl
2025-12-17T16:28:36.298Z,1765988916.298 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit_surface.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit_surface">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>36.797</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>-121.847</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>0.1</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1.2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="ElevatorAngle">
        <Units:degree />
        <Value>-7</Value>
    </DefineArg>
    <DefineArg Name="NeedGPSTime">
        <Units:minute />
        <Value>0.5</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>
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <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.buoyancyDefault />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.elevatorAngle />
            <Arg Name="ElevatorAngle" />
        </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>
        <Aggregate Id="UpdateShore">
            <When>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedGPSTime" />
                </Gt>
            </When>
            <Syslog Severity="Info">
                GPS Underway - last time_fix was: 
                <Universal:time_fix />
                <Units:epoch_second />
            </Syslog>
            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P1M" />
                <Universal:time_fix />
            </ReadDatum>
            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P1M" />
                <Universal:platform_communications />
            </ReadDatum>
        </Aggregate>
        <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" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-12-17T16:28:36.307Z,1765988916.307 [MissionManager](INFO): DefineArg transit_surface.MissionTimeout = 60.000000 min
2025-12-17T16:28:36.323Z,1765988916.323 [MissionManager](INFO): DefineArg transit_surface.NeedCommsTime = 30.000000 min
2025-12-17T16:28:36.329Z,1765988916.329 [MissionManager](INFO): DefineArg transit_surface.Latitude = 36.797001 arcdeg
2025-12-17T16:28:36.336Z,1765988916.336 [MissionManager](INFO): DefineArg transit_surface.Longitude = -121.847000 arcdeg
2025-12-17T16:28:36.338Z,1765988916.338 [MissionManager](INFO): DefineArg transit_surface.Northings = 0.000000 m
2025-12-17T16:28:36.344Z,1765988916.344 [MissionManager](INFO): DefineArg transit_surface.Eastings = 0.000000 m
2025-12-17T16:28:36.347Z,1765988916.347 [MissionManager](INFO): DefineArg transit_surface.Depth = 0.100000 m
2025-12-17T16:28:36.353Z,1765988916.353 [MissionManager](INFO): DefineArg transit_surface.Speed = 1.200000 m/s
2025-12-17T16:28:36.355Z,1765988916.355 [MissionManager](INFO): DefineArg transit_surface.MaxDepth = 2.000000 m
2025-12-17T16:28:36.362Z,1765988916.362 [MissionManager](INFO): DefineArg transit_surface.MinAltitude = 7.000000 m
2025-12-17T16:28:36.404Z,1765988916.404 [MissionManager](INFO): DefineArg transit_surface.ElevatorAngle = -7.000000 arcdeg
2025-12-17T16:28:36.406Z,1765988916.406 [MissionManager](INFO): DefineArg transit_surface.NeedGPSTime = 0.500000 min
2025-12-17T16:28:36.412Z,1765988916.412 [MissionManager](INFO): DefineArg transit_surface.MassHold = 1 bool
2025-12-17T16:28:36.414Z,1765988916.414 [MissionManager](INFO): DefineArg transit_surface.BuoyancyHold = 1 bool
2025-12-17T16:28:36.415Z,1765988916.415 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-12-17T16:28:36.415Z,1765988916.415 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-12-17T16:28:36.437Z,1765988916.437 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-12-17T16:28:37.017Z,1765988917.017 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2025-12-17T16:28:37.040Z,1765988917.040 [MissionManager](INFO): DefineArg transit_surface:NeedComms.DiveInterval = 1.000000 h
2025-12-17T16:28:37.043Z,1765988917.043 [MissionManager](INFO): DefineArg transit_surface:NeedComms.WaitForPitchUp = 10.000000 min
2025-12-17T16:28:37.061Z,1765988917.061 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-12-17T16:28:37.063Z,1765988917.063 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceDepthRate = nan m/s
2025-12-17T16:28:37.071Z,1765988917.071 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-12-17T16:28:37.077Z,1765988917.077 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacingTimeout = 1500.000000 s
2025-12-17T16:28:37.080Z,1765988917.080 [MissionManager](INFO): DefineArg transit_surface:NeedComms.GPSTimeout = 7.000000 min
2025-12-17T16:28:37.086Z,1765988917.086 [MissionManager](INFO): DefineArg transit_surface:NeedComms.CommsTimeout = 30.000000 min
2025-12-17T16:28:37.092Z,1765988917.092 [MissionManager](INFO): DefineArg transit_surface:NeedComms.DoingCommsMode = 0.000000 count
2025-12-17T16:28:37.095Z,1765988917.095 [MissionManager](INFO): DefineArg transit_surface:NeedComms.RestoreMode = 0.000000 count
2025-12-17T16:28:37.137Z,1765988917.137 [MissionManager](INFO): DefineOutput transit_surface:NeedComms.IsActive = 0 bool
2025-12-17T16:28:37.139Z,1765988917.139 [MissionManager](INFO): DefineOutput transit_surface:NeedComms.RequiredDiveMode = 0.000000 count
2025-12-17T16:28:37.174Z,1765988917.174 [transit_surface:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-17T16:28:37.221Z,1765988917.221 [transit_surface:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-17T16:28:37.231Z,1765988917.231 [transit_surface:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-17T16:28:37.245Z,1765988917.245 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-12-17T16:28:37.245Z,1765988917.245 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-12-17T16:28:37.246Z,1765988917.246 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-12-17T16:28:37.302Z,1765988917.302 [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>

2025-12-17T16:28:37.310Z,1765988917.310 [MissionManager](INFO): DefineArg transit_surface:BackseatDriver.EnableBackseat = 0 bool
2025-12-17T16:28:37.348Z,1765988917.348 [transit_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-12-17T16:28:37.351Z,1765988917.351 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-12-17T16:28:37.351Z,1765988917.351 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-12-17T16:28:37.385Z,1765988917.385 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-12-17T16:28:37.608Z,1765988917.608 [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>

2025-12-17T16:28:37.612Z,1765988917.612 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleAll = 0 bool
2025-12-17T16:28:37.614Z,1765988917.614 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad1 = 0 bool
2025-12-17T16:28:37.629Z,1765988917.629 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad2 = 0 bool
2025-12-17T16:28:37.631Z,1765988917.631 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad3 = 0 bool
2025-12-17T16:28:37.634Z,1765988917.634 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-12-17T16:28:37.641Z,1765988917.641 [transit_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-12-17T16:28:37.643Z,1765988917.643 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-17T16:28:37.646Z,1765988917.646 [transit_surface:MassHold.Pitch](DEBUG): Construct.
2025-12-17T16:28:37.651Z,1765988917.651 [transit_surface:J.Pitch](DEBUG): Construct.
2025-12-17T16:28:37.655Z,1765988917.655 [transit_surface:Transit:A.Pitch](DEBUG): Construct.
2025-12-17T16:28:37.659Z,1765988917.659 [transit_surface:Transit:B.SetSpeed](DEBUG): Construct.
2025-12-17T16:28:37.667Z,1765988917.667 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-12-17T16:28:37.711Z,1765988917.711 [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_surface {
  """
  Vehicle transits to desired waypoint on the surface and can be commanded to use/hold
  mass or buoyancy. Useful for shore launch/recovery.
  """

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

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

    Latitude = 36.797 degree
      """
      Latitude of waypoint to seek.
      """

    Longitude = -121.847 degree
      """
      Longitude of waypoint to seek.
      """

    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 = 0.1 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1.2 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 2 meter
      """
      Maximum depth for the entire mission.
      """

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

    ElevatorAngle = -7 degree
      """
      Holds elevator angle to keep vehicle pitched up on the surface.
      """

    NeedGPSTime = 0.5 minute
      """
      After this time elapses grab a fix underway
      """

    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 default (note: note 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

  behavior Guidance:AltitudeEnvelope {
    run in parallel

    set minAltitude = MinAltitude
  }

  behavior Guidance:DepthEnvelope {
    run in parallel

    set maxDepth = MaxDepth
  }

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyDefault
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Pitch {
    run in parallel

    set elevatorAngle = ElevatorAngle
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    aggregate UpdateShore {
      run when (
        elapsed ( Universal:time_fix ) > NeedGPSTime
      )

      syslog info "GPS Underway - last time_fix was: " + Universal:time_fix~epoch_second

      readDatum id="Read_GPS" {
        timeout duration=P1M

        Universal:time_fix
      }

      readDatum id="Read_Iridium" {
        timeout duration=P1M

        Universal:platform_communications
      }
    }

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

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

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


2025-12-17T16:28:37.712Z,1765988917.712 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit_surface.tl id=transit_surface
2025-12-17T16:28:44.619Z,1765988924.619 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:28:58.776Z,1765988938.776 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:29:09.920Z,1765988949.920 [CommandExec](IMPORTANT): got command set transit_surface.NeedCommsTime 15 minute
2025-12-17T16:29:09.921Z,1765988949.921 [CommandExec](IMPORTANT): got command set transit_surface.Latitude 36.813 degree
2025-12-17T16:29:09.922Z,1765988949.922 [CommandExec](IMPORTANT): got command set transit_surface.Longitude -121.948 degree
2025-12-17T16:29:09.922Z,1765988949.922 [CommandExec](IMPORTANT): got command set transit_surface.Speed 1 meter_per_second
2025-12-17T16:29:09.923Z,1765988949.923 [CommandExec](IMPORTANT): got command set transit_surface.MaxDepth 1 meter
2025-12-17T16:29:12.723Z,1765988952.723 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:29:27.075Z,1765988967.075 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:29:37.417Z,1765988977.417 [CommandExec](IMPORTANT): got command set transit_surface.ElevatorAngle -15 degree
2025-12-17T16:29:37.418Z,1765988977.418 [CommandExec](IMPORTANT): got command set transit_surface.BuoyancyHold 0 bool
2025-12-17T16:29:37.418Z,1765988977.418 [CommandExec](IMPORTANT): got command run
2025-12-17T16:29:37.429Z,1765988977.429 [CommandExec](IMPORTANT): Running 
2025-12-17T16:29:37.641Z,1765988977.641 [Default] Stopped
2025-12-17T16:29:37.641Z,1765988977.641 [Default](DEBUG): Aggregate::uninitialize Default
2025-12-17T16:29:37.641Z,1765988977.641 [Default:B.GoToSurface] Stopped
2025-12-17T16:29:37.641Z,1765988977.641 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-17T16:29:37.641Z,1765988977.641 [Default:CheckIn] Stopped
2025-12-17T16:29:37.641Z,1765988977.641 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-12-17T16:29:37.641Z,1765988977.641 [Default:CheckIn:C.Wait] Stopped
2025-12-17T16:29:37.642Z,1765988977.642 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:29:37.642Z,1765988977.642 [MissionManager](IMPORTANT): Started mission transit_surface
2025-12-17T16:29:37.642Z,1765988977.642 [transit_surface] Running Loop=1
2025-12-17T16:29:37.642Z,1765988977.642 [transit_surface](DEBUG): Aggregate::initialize transit_surface
2025-12-17T16:29:37.642Z,1765988977.642 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-12-17T16:29:37.642Z,1765988977.642 [transit_surface:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-12-17T16:29:37.642Z,1765988977.642 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-12-17T16:29:37.642Z,1765988977.642 [transit_surface:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:BackseatDriver] Running Loop=1
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:BackseatDriver](DEBUG): Aggregate::initialize transit_surface:BackseatDriver
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:PowerOnly] Running Loop=1
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:PowerOnly](DEBUG): Aggregate::initialize transit_surface:PowerOnly
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:PowerOnly:A] Running Loop=1
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:PowerOnly:B] Running Loop=1
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:PowerOnly:C] Running Loop=1
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:PowerOnly:D] Running Loop=1
2025-12-17T16:29:37.643Z,1765988977.643 [transit_surface:PowerOnly:E.Wait] Running Loop=1
2025-12-17T16:29:37.644Z,1765988977.644 [transit_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:29:37.652Z,1765988977.652 [transit_surface:BuoyancyHold.Buoyancy] Running Loop=1
2025-12-17T16:29:37.652Z,1765988977.652 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-12-17T16:29:37.652Z,1765988977.652 [transit_surface:MassHold.Pitch] Running Loop=1
2025-12-17T16:29:37.652Z,1765988977.652 [transit_surface:MassHold.Pitch](DEBUG): Initialize.
2025-12-17T16:29:37.652Z,1765988977.652 [transit_surface:J.Pitch] Running Loop=1
2025-12-17T16:29:37.652Z,1765988977.652 [transit_surface:J.Pitch](DEBUG): Initialize.
2025-12-17T16:29:37.653Z,1765988977.653 [transit_surface:B] Running Loop=1
2025-12-17T16:29:37.653Z,1765988977.653 [transit_surface:J.Pitch] Running Loop=1
2025-12-17T16:29:37.654Z,1765988977.654 [transit_surface:MassHold.Pitch] Running Loop=1
2025-12-17T16:29:37.654Z,1765988977.654 [transit_surface:BuoyancyHold.Buoyancy] Stopped
2025-12-17T16:29:37.654Z,1765988977.654 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-12-17T16:29:37.654Z,1765988977.654 [transit_surface:PowerOnly] Running Loop=1
2025-12-17T16:29:37.654Z,1765988977.654 [transit_surface:PowerOnly:D] Stopped
2025-12-17T16:29:37.654Z,1765988977.654 [transit_surface:PowerOnly:C] Stopped
2025-12-17T16:29:37.654Z,1765988977.654 [transit_surface:PowerOnly:B] Stopped
2025-12-17T16:29:37.654Z,1765988977.654 [transit_surface:PowerOnly:A] Stopped
2025-12-17T16:29:37.655Z,1765988977.655 [transit_surface:BackseatDriver] Running Loop=1
2025-12-17T16:29:37.655Z,1765988977.655 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-12-17T16:29:37.655Z,1765988977.655 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-12-17T16:29:37.656Z,1765988977.656 [transit_surface:B] Stopped
2025-12-17T16:29:37.684Z,1765988977.684 [transit_surface:C] Running Loop=1
2025-12-17T16:29:38.028Z,1765988978.028 [transit_surface:C] Stopped
2025-12-17T16:29:38.044Z,1765988978.044 [transit_surface:Transit] Running Loop=1
2025-12-17T16:29:38.044Z,1765988978.044 [transit_surface:Transit](DEBUG): Aggregate::initialize transit_surface:Transit
2025-12-17T16:29:38.044Z,1765988978.044 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-12-17T16:29:38.044Z,1765988978.044 [transit_surface:Transit:A.Pitch](DEBUG): Initialize.
2025-12-17T16:29:38.044Z,1765988978.044 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-12-17T16:29:38.045Z,1765988978.045 [transit_surface:Transit:B.SetSpeed](DEBUG): Initialize.
2025-12-17T16:29:38.045Z,1765988978.045 [transit_surface:Transit:Wpt1.Waypoint] Running Loop=1
2025-12-17T16:29:38.045Z,1765988978.045 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-12-17T16:29:38.046Z,1765988978.046 [transit_surface:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:29:38.397Z,1765988978.397 [transit_surface:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:29:38.398Z,1765988978.398 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-12-17T16:29:38.398Z,1765988978.398 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-12-17T16:29:38.398Z,1765988978.398 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-12-17T16:29:38.399Z,1765988978.399 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was:  1765988749.000000 second since 1970/01/01T00:00:00Z 
2025-12-17T16:29:38.399Z,1765988978.399 [transit_surface:Transit:UpdateShore:A] Stopped
2025-12-17T16:29:38.399Z,1765988978.399 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-12-17T16:29:38.399Z,1765988978.399 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-12-17T16:29:38.399Z,1765988978.399 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-12-17T16:29:38.841Z,1765988978.841 [transit_surface:Transit:UpdateShore:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-17T16:29:39.260Z,1765988979.260 [transit_surface:D.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-12-17T16:29:40.482Z,1765988980.482 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162939.00,A,3647.13965,N,12157.29486,W,0.505,291.76,171225,,,D*79
2025-12-17T16:29:40.485Z,1765988980.485 [NAL9602](INFO): GPS fix at 20251217T162939: (36.785661, -121.954914)
2025-12-17T16:29:40.533Z,1765988980.533 [transit_surface:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.813000,-121.947998
2025-12-17T16:29:40.534Z,1765988980.534 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-12-17T16:29:40.534Z,1765988980.534 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-12-17T16:29:40.812Z,1765988980.812 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:29:40.897Z,1765988980.897 [transit_surface:Transit:UpdateShore:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-17T16:29:42.200Z,1765988982.200 [DataOverHttps](IMPORTANT): SBD MTMSN=20251217T162940
2025-12-17T16:29:43.168Z,1765988983.168 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-12-17T16:29:43.484Z,1765988983.484 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-12-17T16:29:43.484Z,1765988983.484 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-12-17T16:29:43.484Z,1765988983.484 [ThrusterHE] Communications Fault, FailCount= 2
2025-12-17T16:29:43.484Z,1765988983.484 [ThrusterHE](ERROR): Communications Fault
2025-12-17T16:29:43.489Z,1765988983.489 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-12-17T16:29:43.777Z,1765988983.777 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-17T16:29:43.777Z,1765988983.777 [ThrusterHE](INFO): Powering down
2025-12-17T16:29:44.497Z,1765988984.497 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-17T16:29:44.625Z,1765988984.625 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-17T16:29:44.629Z,1765988984.629 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-12-17T16:29:44.629Z,1765988984.629 [ThrusterHE] No Fault, FailCount= 2
2025-12-17T16:29:52.860Z,1765988992.860 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251217T161218/Courier0031.lzma
2025-12-17T16:29:52.863Z,1765988992.863 [DataOverHttps](INFO): Received command: maintain control verticalcontrol.buoyancyaction 900 cc
2025-12-17T16:29:54.827Z,1765988994.827 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0031.lzma.bak
2025-12-17T16:29:54.827Z,1765988994.827 [DataOverHttps](INFO): SBD MOMSN=26514515
2025-12-17T16:29:54.997Z,1765988994.997 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:29:57.147Z,1765988997.147 [CommandExec](IMPORTANT): got command maintain control VerticalControl.buoyancyAction 900 cubic_centimeter
2025-12-17T16:29:57.156Z,1765988997.156 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.buoyancyAction" handled in the control thread.
2025-12-17T16:29:57.317Z,1765988997.317 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.buoyancyAction,BuoyancyServo,ElevatorServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmPublisher,Reporter,LogSplitter,
2025-12-17T16:30:09.255Z,1765989009.255 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:30:12.091Z,1765989012.091 [NAL9602](INFO): SBD MO Status=2, MOMSN=14085, MT Status=2, MTMSN=0
2025-12-17T16:30:12.092Z,1765989012.092 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:30:22.605Z,1765989022.605 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:30:22.675Z,1765989022.675 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251217T161218/Courier0037.lzma
2025-12-17T16:30:23.678Z,1765989023.678 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0037.lzma.bak
2025-12-17T16:30:23.678Z,1765989023.678 [DataOverHttps](INFO): SBD MOMSN=26514519
2025-12-17T16:30:35.955Z,1765989035.955 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:30:38.790Z,1765989038.790 [NAL9602](INFO): SBD MO Status=2, MOMSN=14085, MT Status=2, MTMSN=0
2025-12-17T16:30:38.790Z,1765989038.790 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:30:40.837Z,1765989040.837 [transit_surface:Transit:UpdateShore:Read_Iridium](INFO): Timed out from 2025-12-17T16:29:40.5Z
2025-12-17T16:30:40.838Z,1765989040.838 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-12-17T16:30:40.838Z,1765989040.838 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-12-17T16:30:40.838Z,1765989040.838 [transit_surface:Transit:UpdateShore] Stopped
2025-12-17T16:30:40.838Z,1765989040.838 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-12-17T16:30:41.273Z,1765989041.273 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-12-17T16:30:41.273Z,1765989041.273 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-12-17T16:30:41.273Z,1765989041.273 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-12-17T16:30:41.274Z,1765989041.274 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was:  1765988979.000000 second since 1970/01/01T00:00:00Z 
2025-12-17T16:30:41.274Z,1765989041.274 [transit_surface:Transit:UpdateShore:A] Stopped
2025-12-17T16:30:41.274Z,1765989041.274 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-12-17T16:30:44.997Z,1765989044.997 [DataOverHttps](INFO): Sending 652 bytes from file Logs/20251217T161218/Express0032.lzma
2025-12-17T16:30:45.998Z,1765989045.998 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0032.lzma.bak
2025-12-17T16:30:45.998Z,1765989045.998 [DataOverHttps](INFO): SBD MOMSN=26514521
2025-12-17T16:30:48.503Z,1765989048.503 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:31:01.430Z,1765989061.430 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:31:13.957Z,1765989073.957 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:31:26.478Z,1765989086.478 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:31:28.556Z,1765989088.556 [VerticalControl](CRITICAL): Excessive depth excursion=12.169132 m, failToGoUpDepth_=1.080227 m, depthRate=0.355699 m/s, pitch=-64.481766 deg.
2025-12-17T16:31:28.777Z,1765989088.777 [CBIT](INFO): Critical error at 20251217T163128
2025-12-17T16:31:28.778Z,1765989088.778 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-12-17T16:31:28.927Z,1765989088.927 [MissionManager](INFO): MissionManager is completed.
2025-12-17T16:31:28.927Z,1765989088.927 [MissionManager](INFO): Uninitializing Mission transit_surface
2025-12-17T16:31:28.927Z,1765989088.927 [transit_surface] Stopped
2025-12-17T16:31:28.927Z,1765989088.927 [transit_surface](DEBUG): Aggregate::uninitialize transit_surface
2025-12-17T16:31:28.927Z,1765989088.927 [transit_surface:D.AltitudeEnvelope] Stopped
2025-12-17T16:31:28.927Z,1765989088.927 [transit_surface:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-12-17T16:31:28.927Z,1765989088.927 [transit_surface:E.DepthEnvelope] Stopped
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:E.DepthEnvelope](DEBUG): Uninitialize.
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:BackseatDriver] Stopped
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:BackseatDriver](DEBUG): Aggregate::uninitialize transit_surface:BackseatDriver
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:PowerOnly] Stopped
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:PowerOnly](DEBUG): Aggregate::uninitialize transit_surface:PowerOnly
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:PowerOnly:E.Wait] Stopped
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:MassHold.Pitch] Stopped
2025-12-17T16:31:28.928Z,1765989088.928 [transit_surface:J.Pitch] Stopped
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit] Stopped
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit](DEBUG): Aggregate::uninitialize transit_surface:Transit
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit:A.Pitch] Stopped
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit:B.SetSpeed] Stopped
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit:UpdateShore] Stopped
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit:Wpt1.Waypoint] Stopped
2025-12-17T16:31:28.929Z,1765989088.929 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-12-17T16:31:29.329Z,1765989089.329 [MissionManager](IMPORTANT): Started mission Default
2025-12-17T16:31:29.329Z,1765989089.329 [Default] Running Loop=1
2025-12-17T16:31:29.330Z,1765989089.330 [Default](DEBUG): Aggregate::initialize Default
2025-12-17T16:31:29.330Z,1765989089.330 [Default:B.GoToSurface] Running Loop=1
2025-12-17T16:31:29.330Z,1765989089.330 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-17T16:31:29.330Z,1765989089.330 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-17T16:31:29.330Z,1765989089.330 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-17T16:31:29.331Z,1765989089.331 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-17T16:31:29.331Z,1765989089.331 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-17T16:31:29.331Z,1765989089.331 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-17T16:31:29.331Z,1765989089.331 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-17T16:31:29.332Z,1765989089.332 [Default:A.Wait] Running Loop=1
2025-12-17T16:31:29.332Z,1765989089.332 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:31:29.719Z,1765989089.719 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (1 active estimators).
2025-12-17T16:31:39.406Z,1765989099.406 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:31:42.664Z,1765989102.664 [Default:A.Wait](INFO): Done Waiting.
2025-12-17T16:31:42.664Z,1765989102.664 [Default:A.Wait] Stopped
2025-12-17T16:31:42.664Z,1765989102.664 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:31:49.044Z,1765989109.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-17T16:31:51.937Z,1765989111.937 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:31:53.980Z,1765989113.980 [VerticalControl](CRITICAL): Dropping drop weight at excessive depth excursion=22.102179, failToGoUpDepth_=1.080227, depthRate=0.391291 m/s, pitch=-58.892166 deg.
2025-12-17T16:31:54.077Z,1765989114.077 [CBIT](INFO): Critical error at 20251217T163153
2025-12-17T16:31:56.244Z,1765989116.244 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-12-17T16:32:04.454Z,1765989124.454 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:32:16.980Z,1765989136.980 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:32:20.168Z,1765989140.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-17T16:32:29.502Z,1765989149.502 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:32:29.543Z,1765989149.543 [Default:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -68.34
2025-12-17T16:32:41.469Z,1765989161.469 [DAT](INFO): DAT read: user:6>Rx Time:16:32:40.2066

2025-12-17T16:32:41.470Z,1765989161.470 [DAT](INFO): Rx dataTimestamp_ set to:1765989161.469177
2025-12-17T16:32:42.027Z,1765989162.027 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:32:42.494Z,1765989162.494 [DAT](INFO): DAT read: 16:32:40.2066 LVL= 32752, 28561, 25330,     0, AGC= 90, IDX=   0, 0.55, 0.000,-1.307,-1.212,-1.555, PHS= 1.564, 0.243, 0.404, RAW=  96.4, -32.1, CAL= 103.9, -32.2, ROT=  46.1,  32.2

2025-12-17T16:32:42.496Z,1765989162.496 [DAT](INFO): got valid direction response:
 16:32:40.2066 LVL= 32752, 28561, 25330,     0, AGC= 90, IDX=   0, 0.55, 0.000,-1.307,-1.212,-1.555, PHS= 1.564, 0.243, 0.404, RAW=  96.4, -32.1, CAL= 103.9, -32.2, ROT=  46.1,  32.2

2025-12-17T16:32:42.504Z,1765989162.504 [DAT](INFO): DAT read: $Error in header

2025-12-17T16:32:42.505Z,1765989162.505 [DAT](INFO): Received a bad header
2025-12-17T16:32:42.516Z,1765989162.516 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-12-17T16:32:42.517Z,1765989162.517 [DAT](INFO): direction in FSK: [0.586752,0.609725,-0.532876]
2025-12-17T16:32:51.308Z,1765989171.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-17T16:32:54.954Z,1765989174.954 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:33:22.432Z,1765989202.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-17T16:33:24.852Z,1765989204.852 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:33:37.780Z,1765989217.780 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:33:41.493Z,1765989221.493 [DAT](INFO): DAT read: Rx Time:16:33:40.2176

2025-12-17T16:33:41.494Z,1765989221.494 [DAT](INFO): Rx dataTimestamp_ set to:1765989221.493476
2025-12-17T16:33:41.997Z,1765989221.997 [DAT](INFO): DAT read: 

2025-12-17T16:33:41.997Z,1765989221.997 [DAT](INFO): DAT read: $Packet for address 11

2025-12-17T16:33:41.998Z,1765989221.998 [DAT](INFO): received a packet notification
2025-12-17T16:33:42.753Z,1765989222.753 [DAT](INFO): DAT read: Rx Time:16:33:41.4927

2025-12-17T16:33:42.753Z,1765989222.753 [DAT](INFO): Rx dataTimestamp_ set to:1765989222.753051
2025-12-17T16:33:43.761Z,1765989223.761 [DAT](INFO): DAT read: $Error in header

2025-12-17T16:33:43.761Z,1765989223.761 [DAT](INFO): Received a bad header
2025-12-17T16:33:46.529Z,1765989226.529 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.531143
2025-12-17T16:33:50.707Z,1765989230.707 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:34:03.637Z,1765989243.637 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:34:16.563Z,1765989256.563 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:34:21.861Z,1765989261.861 [Default:CheckIn] Running Loop=1
2025-12-17T16:34:21.861Z,1765989261.861 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-12-17T16:34:21.861Z,1765989261.861 [Default:CheckIn:Read_GPS] Running Loop=1
2025-12-17T16:34:23.684Z,1765989263.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-17T16:34:29.492Z,1765989269.492 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:34:40.401Z,1765989280.401 [NAL9602](INFO): SBD MO Status=0, MOMSN=14085, MT Status=0, MTMSN=0
2025-12-17T16:34:40.401Z,1765989280.401 [NAL9602](INFO): No messages in MT queue
2025-12-17T16:34:41.614Z,1765989281.614 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163440.00,A,3647.14540,N,12157.30065,W,0.117,227.65,171225,,,D*7E
2025-12-17T16:34:41.616Z,1765989281.616 [NAL9602](INFO): GPS fix at 20251217T163440: (36.785757, -121.955011)
2025-12-17T16:34:41.627Z,1765989281.627 [Default:CheckIn:Read_GPS] Stopped
2025-12-17T16:34:41.627Z,1765989281.627 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-12-17T16:34:42.420Z,1765989282.420 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:34:54.599Z,1765989294.599 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:34:54.832Z,1765989294.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-17T16:34:55.834Z,1765989295.834 [NAL9602](INFO): SBD MO Status=2, MOMSN=14086, MT Status=2, MTMSN=0
2025-12-17T16:34:55.834Z,1765989295.834 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:35:07.571Z,1765989307.571 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:35:20.525Z,1765989320.525 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:35:21.318Z,1765989321.318 [NAL9602](INFO): SBD MO Status=2, MOMSN=14086, MT Status=2, MTMSN=0
2025-12-17T16:35:21.318Z,1765989321.318 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-17T16:35:26.361Z,1765989326.361 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003318
2025-12-17T16:35:34.267Z,1765989334.267 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:35:38.440Z,1765989338.440 [DataOverHttps](INFO): Sending 266 bytes from file Logs/20251217T161218/Courier0040.lzma
2025-12-17T16:35:39.442Z,1765989339.442 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0040.lzma.bak
2025-12-17T16:35:39.442Z,1765989339.442 [DataOverHttps](INFO): SBD MOMSN=26514552
2025-12-17T16:35:57.081Z,1765989357.081 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-17T16:36:01.440Z,1765989361.440 [DataOverHttps](INFO): Sending 183 bytes from file Logs/20251217T161218/Express0038.lzma
2025-12-17T16:36:02.442Z,1765989362.442 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0038.lzma.bak
2025-12-17T16:36:02.442Z,1765989362.442 [DataOverHttps](INFO): SBD MOMSN=26514558
2025-12-17T16:36:27.985Z,1765989387.985 [DataOverHttps](INFO): Sending 236 bytes from file Logs/20251217T161218/Express0041.lzma
2025-12-17T16:36:28.986Z,1765989388.986 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0041.lzma.bak
2025-12-17T16:36:28.986Z,1765989388.986 [DataOverHttps](INFO): SBD MOMSN=26514564
2025-12-17T16:36:31.305Z,1765989391.305 [Default:CheckIn:Read_Iridium] Stopped
2025-12-17T16:36:31.305Z,1765989391.305 [Default:CheckIn:C.Wait] Running Loop=1
2025-12-17T16:36:31.305Z,1765989391.305 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:37:53.119Z,1765989473.119 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:38:07.259Z,1765989487.259 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:38:21.404Z,1765989501.404 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:38:34.755Z,1765989514.755 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:38:48.494Z,1765989528.494 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:39:01.828Z,1765989541.828 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:39:15.167Z,1765989555.167 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:39:28.895Z,1765989568.895 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:39:43.441Z,1765989583.441 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:39:57.995Z,1765989597.995 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-12-17T16:40:11.327Z,1765989611.327 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:40:17.390Z,1765989617.390 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:40:29.914Z,1765989629.914 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:40:42.843Z,1765989642.843 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:40:55.771Z,1765989655.771 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:41:07.891Z,1765989667.891 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:41:20.421Z,1765989680.421 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:41:31.761Z,1765989691.761 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-12-17T16:41:31.762Z,1765989691.762 [Default:CheckIn:C.Wait] Stopped
2025-12-17T16:41:31.762Z,1765989691.762 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:41:31.762Z,1765989691.762 [Default:CheckIn:D] Running Loop=1
2025-12-17T16:41:32.160Z,1765989692.160 [Default:CheckIn:D] Stopped
2025-12-17T16:41:32.160Z,1765989692.160 [Default:CheckIn:E] Running Loop=1
2025-12-17T16:41:32.555Z,1765989692.555 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  10.047177 min 
2025-12-17T16:41:32.555Z,1765989692.555 [Default:CheckIn:E] Stopped
2025-12-17T16:41:32.555Z,1765989692.555 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-12-17T16:41:32.555Z,1765989692.555 [Default:CheckIn] Stopped
2025-12-17T16:41:32.555Z,1765989692.555 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-12-17T16:41:32.556Z,1765989692.556 [Default:CheckIn](INFO): Running loop #2
2025-12-17T16:41:32.556Z,1765989692.556 [Default:CheckIn] Running Loop=2
2025-12-17T16:41:32.556Z,1765989692.556 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-12-17T16:41:32.556Z,1765989692.556 [Default:CheckIn:Read_GPS] Running Loop=1
2025-12-17T16:41:33.343Z,1765989693.343 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:41:34.575Z,1765989694.575 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164133.00,A,3647.12930,N,12157.32159,W,0.622,292.49,171225,,,D*78
2025-12-17T16:41:34.577Z,1765989694.577 [NAL9602](INFO): GPS fix at 20251217T164133: (36.785488, -121.955360)
2025-12-17T16:41:34.618Z,1765989694.618 [Default:CheckIn:Read_GPS] Stopped
2025-12-17T16:41:34.618Z,1765989694.618 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-12-17T16:41:46.275Z,1765989706.275 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:41:47.607Z,1765989707.607 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251217T161218/Courier0043.lzma
2025-12-17T16:41:48.610Z,1765989708.610 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Courier0043.lzma.bak
2025-12-17T16:41:48.610Z,1765989708.610 [DataOverHttps](INFO): SBD MOMSN=26514593
2025-12-17T16:41:59.609Z,1765989719.609 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:42:12.541Z,1765989732.541 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:42:20.316Z,1765989740.316 [DataOverHttps](INFO): Sending 185 bytes from file Logs/20251217T161218/Express0044.lzma
2025-12-17T16:42:21.323Z,1765989741.323 [DataOverHttps](INFO): Moved sent file to Logs/20251217T161218/Express0044.lzma.bak
2025-12-17T16:42:21.323Z,1765989741.323 [DataOverHttps](INFO): SBD MOMSN=26514596
2025-12-17T16:42:23.090Z,1765989743.090 [Default:CheckIn:Read_Iridium] Stopped
2025-12-17T16:42:23.125Z,1765989743.125 [Default:CheckIn:C.Wait] Running Loop=1
2025-12-17T16:42:23.125Z,1765989743.125 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-17T16:42:25.465Z,1765989745.465 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:42:37.596Z,1765989757.596 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-12-17T16:43:03.149Z,1765989783.149 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:43:16.390Z,1765989796.390 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:43:29.327Z,1765989809.327 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:43:34.182Z,1765989814.182 [NAL9602](INFO): SBD MO Status=1, MOMSN=14086, MT Status=0, MTMSN=0
2025-12-17T16:43:34.182Z,1765989814.182 [NAL9602](INFO): No messages in MT queue
2025-12-17T16:43:41.851Z,1765989821.851 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-17T16:43:54.023Z,1765989834.023 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-12-17T16:43:54.024Z,1765989834.024 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 6.
2025-12-17T16:43:54.027Z,1765989834.027 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-12-17T16:44:04.893Z,1765989844.893 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-17T16:47:23.741Z,1765990043.741 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-12-17T16:47:23.741Z,1765990043.741 [Default:CheckIn:C.Wait] Stopped
2025-12-17T16:47:23.741Z,1765990043.741 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-17T16:47:23.741Z,1765990043.741 [Default:CheckIn:D] Running Loop=1
2025-12-17T16:47:24.154Z,1765990044.154 [Default:CheckIn:D] Stopped
2025-12-17T16:47:24.154Z,1765990044.154 [Default:CheckIn:E] Running Loop=1
2025-12-17T16:47:24.546Z,1765990044.546 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  15.913735 min 
2025-12-17T16:47:24.546Z,1765990044.546 [Default:CheckIn:E] Stopped
2025-12-17T16:47:24.546Z,1765990044.546 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-12-17T16:47:24.546Z,1765990044.546 [Default:CheckIn] Stopped
2025-12-17T16:47:24.546Z,1765990044.546 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-12-17T16:47:24.546Z,1765990044.546 [Default:CheckIn](INFO): Running loop #3
2025-12-17T16:47:24.546Z,1765990044.546 [Default:CheckIn] Running Loop=3
2025-12-17T16:47:24.546Z,1765990044.546 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-12-17T16:47:24.547Z,1765990044.547 [Default:CheckIn:Read_GPS] Running Loop=1
2025-12-17T16:47:26.555Z,1765990046.555 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164725.00,A,3647.11723,N,12157.33470,W,0.525,215.87,171225,,,D*70
2025-12-17T16:47:26.557Z,1765990046.557 [NAL9602](INFO): GPS fix at 20251217T164725: (36.785287, -121.955578)
2025-12-17T16:47:26.570Z,1765990046.570 [Default:CheckIn:Read_GPS] Stopped
2025-12-17T16:47:26.5