2025-07-23T13:17:46.867Z,1753276666.867 [Supervisor](DEBUG): Initializing supervisor.
2025-07-23T13:17:46.872Z,1753276666.872 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-07-23T13:17:46.872Z,1753276666.872 [SyncHandler](INFO): Protected caller Thread ID is 831
2025-07-23T13:17:46.873Z,1753276666.873 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-07-23T13:17:46.874Z,1753276666.874 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-07-23T13:17:46.874Z,1753276666.874 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 832
2025-07-23T13:17:46.878Z,1753276666.878 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-07-23T13:17:46.898Z,1753276666.898 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-07-23T13:17:46.899Z,1753276666.899 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-07-23T13:17:46.899Z,1753276666.899 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 833
2025-07-23T13:17:46.904Z,1753276666.904 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-07-23T13:17:46.905Z,1753276666.905 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-07-23T13:17:46.905Z,1753276666.905 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 834
2025-07-23T13:17:46.907Z,1753276666.907 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-07-23T13:17:46.908Z,1753276666.908 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-07-23T13:17:46.909Z,1753276666.909 [logger ThreadHandler](INFO): Protected caller Thread ID is 835
2025-07-23T13:17:46.913Z,1753276666.913 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-07-23T13:17:46.913Z,1753276666.913 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-07-23T13:17:46.916Z,1753276666.916 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-07-23T13:17:47.283Z,1753276667.283 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-07-23T13:17:47.285Z,1753276667.285 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-07-23T13:17:48.106Z,1753276668.106 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-07-23T13:17:48.107Z,1753276668.107 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-07-23T13:17:48.231Z,1753276668.231 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-07-23T13:17:48.231Z,1753276668.231 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-07-23T13:17:48.834Z,1753276668.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-07-23T13:17:48.836Z,1753276668.836 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-07-23T13:17:48.946Z,1753276668.946 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-07-23T13:17:48.947Z,1753276668.947 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-07-23T13:17:49.051Z,1753276669.051 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-07-23T13:17:49.051Z,1753276669.051 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-07-23T13:17:49.517Z,1753276669.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-07-23T13:17:49.519Z,1753276669.519 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-07-23T13:17:49.762Z,1753276669.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-07-23T13:17:49.763Z,1753276669.763 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-07-23T13:17:49.916Z,1753276669.916 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-07-23T13:17:49.917Z,1753276669.917 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-07-23T13:17:50.192Z,1753276670.192 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-07-23T13:17:50.193Z,1753276670.193 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-07-23T13:17:51.287Z,1753276671.287 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-07-23T13:17:51.287Z,1753276671.287 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-07-23T13:17:51.833Z,1753276671.833 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-07-23T13:17:51.835Z,1753276671.835 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-07-23T13:17:51.927Z,1753276671.927 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-07-23T13:17:52.134Z,1753276672.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-07-23T13:17:52.135Z,1753276672.135 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-07-23T13:17:52.408Z,1753276672.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-07-23T13:17:52.409Z,1753276672.409 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-07-23T13:17:52.742Z,1753276672.742 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-07-23T13:17:52.744Z,1753276672.744 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2025-07-23T13:17:52.749Z,1753276672.749 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2025-07-23T13:17:52.860Z,1753276672.860 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2025-07-23T13:17:53.032Z,1753276673.032 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2025-07-23T13:17:53.130Z,1753276673.130 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2025-07-23T13:17:53.226Z,1753276673.226 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2025-07-23T13:17:53.369Z,1753276673.369 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg
2025-07-23T13:17:53.468Z,1753276673.468 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2025-07-23T13:17:53.588Z,1753276673.588 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2025-07-23T13:17:53.883Z,1753276673.883 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-07-23T13:17:53.884Z,1753276673.884 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2025-07-23T13:17:54.033Z,1753276674.033 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2025-07-23T13:17:54.140Z,1753276674.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2025-07-23T13:17:54.246Z,1753276674.246 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2025-07-23T13:17:54.343Z,1753276674.343 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-07-23T13:17:54.357Z,1753276674.357 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-07-23T13:17:54.546Z,1753276674.546 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-07-23T13:17:54.547Z,1753276674.547 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-07-23T13:17:54.563Z,1753276674.563 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-07-23T13:17:54.564Z,1753276674.564 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-07-23T13:17:54.642Z,1753276674.642 [DepthRateCalculator] Loaded
2025-07-23T13:17:54.642Z,1753276674.642 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-07-23T13:17:54.648Z,1753276674.648 [PitchRateCalculator] Loaded
2025-07-23T13:17:54.648Z,1753276674.648 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-07-23T13:17:54.659Z,1753276674.659 [SpeedCalculator] Loaded
2025-07-23T13:17:54.659Z,1753276674.659 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-07-23T13:17:54.665Z,1753276674.665 [YawRateCalculator] Loaded
2025-07-23T13:17:54.665Z,1753276674.665 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-07-23T13:17:54.688Z,1753276674.688 [ElevatorOffsetCalculator] Loaded
2025-07-23T13:17:54.688Z,1753276674.688 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-07-23T13:17:54.689Z,1753276674.689 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-07-23T13:17:54.689Z,1753276674.689 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-07-23T13:17:54.768Z,1753276674.768 [VerticalControl](DEBUG): Construct VerticalControl.
2025-07-23T13:17:54.828Z,1753276674.828 [VerticalControl] Loaded
2025-07-23T13:17:54.828Z,1753276674.828 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-07-23T13:17:54.831Z,1753276674.831 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-07-23T13:17:54.880Z,1753276674.880 [HorizontalControl] Loaded
2025-07-23T13:17:54.880Z,1753276674.880 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-07-23T13:17:54.883Z,1753276674.883 [SpeedControl](DEBUG): Construct SpeedControl.
2025-07-23T13:17:54.886Z,1753276674.886 [SpeedControl] Loaded
2025-07-23T13:17:54.886Z,1753276674.886 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-07-23T13:17:54.889Z,1753276674.889 [LoopControl](DEBUG): Construct LoopControl.
2025-07-23T13:17:54.889Z,1753276674.889 [LoopControl] Loaded
2025-07-23T13:17:54.890Z,1753276674.890 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-07-23T13:17:54.890Z,1753276674.890 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-07-23T13:17:54.891Z,1753276674.891 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-07-23T13:17:55.042Z,1753276675.042 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-07-23T13:17:55.042Z,1753276675.042 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-07-23T13:17:55.057Z,1753276675.057 [NavChart] Loaded
2025-07-23T13:17:55.057Z,1753276675.057 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-07-23T13:17:55.063Z,1753276675.063 [UniversalFixResidualReporter] Loaded
2025-07-23T13:17:55.063Z,1753276675.063 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-07-23T13:17:55.064Z,1753276675.064 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-07-23T13:17:55.064Z,1753276675.064 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-07-23T13:17:55.306Z,1753276675.306 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-07-23T13:17:55.308Z,1753276675.308 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-07-23T13:17:56.235Z,1753276676.235 [AHRS_M2] Loaded
2025-07-23T13:17:56.235Z,1753276676.235 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-07-23T13:17:56.491Z,1753276676.491 [BackseatComponent] Loaded
2025-07-23T13:17:56.491Z,1753276676.491 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-07-23T13:17:56.492Z,1753276676.492 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4093E4E0
2025-07-23T13:17:56.492Z,1753276676.492 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 920
2025-07-23T13:17:56.495Z,1753276676.495 [LcmUniversalReporter] Loaded
2025-07-23T13:17:56.496Z,1753276676.496 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-07-23T13:17:58.008Z,1753276678.008 [BPC1] Loaded
2025-07-23T13:17:58.009Z,1753276678.009 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-07-23T13:17:58.152Z,1753276678.152 [DataOverHttps] Loaded
2025-07-23T13:17:58.153Z,1753276678.153 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-07-23T13:17:58.154Z,1753276678.154 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4096E4E0
2025-07-23T13:17:58.154Z,1753276678.154 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 921
2025-07-23T13:17:58.258Z,1753276678.258 [DAT] Loaded
2025-07-23T13:17:58.259Z,1753276678.259 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-07-23T13:17:58.260Z,1753276678.260 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 4099E4E0
2025-07-23T13:17:58.260Z,1753276678.260 [DAT ThreadHandler](INFO): Protected caller Thread ID is 922
2025-07-23T13:17:58.285Z,1753276678.285 [Depth_Keller] Loaded
2025-07-23T13:17:58.286Z,1753276678.286 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-07-23T13:17:58.355Z,1753276678.355 [NAL9602] Loaded
2025-07-23T13:17:58.355Z,1753276678.355 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-07-23T13:17:58.387Z,1753276678.387 [Onboard] Loaded
2025-07-23T13:17:58.387Z,1753276678.387 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-07-23T13:17:58.388Z,1753276678.388 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409CE4E0
2025-07-23T13:17:58.388Z,1753276678.388 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 923
2025-07-23T13:17:58.404Z,1753276678.404 [Power24vConverter] Loaded
2025-07-23T13:17:58.404Z,1753276678.404 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-07-23T13:17:58.421Z,1753276678.421 [Radio_Surface] Loaded
2025-07-23T13:17:58.421Z,1753276678.421 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-07-23T13:17:58.422Z,1753276678.422 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409FE4E0
2025-07-23T13:17:58.422Z,1753276678.422 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 924
2025-07-23T13:17:58.472Z,1753276678.472 [RDI_Pathfinder] Loaded
2025-07-23T13:17:58.472Z,1753276678.472 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-07-23T13:17:58.489Z,1753276678.489 [Sonardyne_Nano] Loaded
2025-07-23T13:17:58.489Z,1753276678.489 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-07-23T13:17:58.490Z,1753276678.490 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-07-23T13:17:58.490Z,1753276678.490 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-07-23T13:17:58.675Z,1753276678.675 [BuoyancyServo] Loaded
2025-07-23T13:17:58.675Z,1753276678.675 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-07-23T13:17:58.699Z,1753276678.699 [ElevatorServo] Loaded
2025-07-23T13:17:58.700Z,1753276678.700 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-07-23T13:17:58.732Z,1753276678.732 [DockingStepper] Loaded
2025-07-23T13:17:58.733Z,1753276678.733 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-07-23T13:17:58.757Z,1753276678.757 [MassServo] Loaded
2025-07-23T13:17:58.757Z,1753276678.757 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-07-23T13:17:58.779Z,1753276678.779 [RudderServo] Loaded
2025-07-23T13:17:58.779Z,1753276678.779 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-07-23T13:17:58.797Z,1753276678.797 [ThrusterHE] Loaded
2025-07-23T13:17:58.798Z,1753276678.798 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-07-23T13:17:58.798Z,1753276678.798 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-07-23T13:17:58.799Z,1753276678.799 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-07-23T13:17:58.894Z,1753276678.894 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-07-23T13:17:58.895Z,1753276678.895 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-07-23T13:17:58.945Z,1753276678.945 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-07-23T13:17:58.946Z,1753276678.946 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-07-23T13:17:59.420Z,1753276679.420 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-07-23T13:17:59.420Z,1753276679.420 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-07-23T13:17:59.661Z,1753276679.661 [CTD_Seabird] Loaded
2025-07-23T13:17:59.662Z,1753276679.662 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-07-23T13:17:59.663Z,1753276679.663 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BBE4E0
2025-07-23T13:17:59.663Z,1753276679.663 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 925
2025-07-23T13:17:59.702Z,1753276679.702 [ESPComponent] Loaded
2025-07-23T13:17:59.702Z,1753276679.702 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-07-23T13:17:59.726Z,1753276679.726 [PAR_Licor] Loaded
2025-07-23T13:17:59.726Z,1753276679.726 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-07-23T13:17:59.774Z,1753276679.774 [WetLabsBB2FL] Loaded
2025-07-23T13:17:59.775Z,1753276679.775 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-07-23T13:17:59.776Z,1753276679.776 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BEE4E0
2025-07-23T13:17:59.776Z,1753276679.776 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 926
2025-07-23T13:17:59.777Z,1753276679.777 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-07-23T13:17:59.779Z,1753276679.779 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-07-23T13:17:59.999Z,1753276679.999 [SBIT](DEBUG): Construct Startup Built In Test.
2025-07-23T13:18:00.009Z,1753276680.009 [SBIT] Loaded
2025-07-23T13:18:00.009Z,1753276680.009 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-07-23T13:18:00.013Z,1753276680.013 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-07-23T13:18:00.026Z,1753276680.026 [IBIT] Loaded
2025-07-23T13:18:00.027Z,1753276680.027 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-07-23T13:18:00.032Z,1753276680.032 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-07-23T13:18:00.118Z,1753276680.118 [CBIT] Loaded
2025-07-23T13:18:00.119Z,1753276680.119 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-07-23T13:18:00.153Z,1753276680.153 [GFScanner] Loaded
2025-07-23T13:18:00.153Z,1753276680.153 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-07-23T13:18:00.154Z,1753276680.154 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-07-23T13:18:00.160Z,1753276680.160 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-07-23T13:18:00.163Z,1753276680.163 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-07-23T13:18:00.175Z,1753276680.175 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-07-23T13:18:00.176Z,1753276680.176 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C694E0
2025-07-23T13:18:00.176Z,1753276680.176 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 927
2025-07-23T13:18:00.181Z,1753276680.181 [Supervisor](INFO): Main Thread ID is 824
2025-07-23T13:18:00.181Z,1753276680.181 [Supervisor](DEBUG): Running supervisor.
2025-07-23T13:18:00.181Z,1753276680.181 [CommandExec ThreadHandler](INFO): Handler Thread ID is 928
2025-07-23T13:18:00.182Z,1753276680.182 [CommandExec](INFO): Initializing the command executive.
2025-07-23T13:18:00.183Z,1753276680.183 [CommandLine ThreadHandler](INFO): Handler Thread ID is 929
2025-07-23T13:18:00.186Z,1753276680.186 [controlThread ThreadHandler](INFO): Handler Thread ID is 930
2025-07-23T13:18:00.186Z,1753276680.186 [controlThread](DEBUG): Initializing ControlThread
2025-07-23T13:18:00.187Z,1753276680.187 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-07-23T13:18:00.187Z,1753276680.187 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-07-23T13:18:00.188Z,1753276680.188 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-07-23T13:18:00.188Z,1753276680.188 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-07-23T13:18:00.188Z,1753276680.188 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-07-23T13:18:00.189Z,1753276680.189 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-07-23T13:18:00.190Z,1753276680.190 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-07-23T13:18:00.191Z,1753276680.191 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-07-23T13:18:00.192Z,1753276680.192 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-07-23T13:18:00.192Z,1753276680.192 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-07-23T13:18:00.193Z,1753276680.193 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-07-23T13:18:00.198Z,1753276680.198 [SBIT](INFO): Initialize SBIT Component.
2025-07-23T13:18:00.198Z,1753276680.198 [SBIT](IMPORTANT): git: 2025-07-16
2025-07-23T13:18:00.199Z,1753276680.199 [SBIT](INFO): git hash: d69d2715ddd00fa751675e8858faf22d094d5d81
2025-07-23T13:18:00.199Z,1753276680.199 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-07-23T13:18:00.200Z,1753276680.200 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Sep 24 11:12:27 PDT 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-07-23T13:18:00.201Z,1753276680.201 [SBIT](INFO): Beginning SBIT in 93.000000 seconds.
2025-07-23T13:18:00.202Z,1753276680.202 [IBIT](INFO): Initialize IBIT Component.
2025-07-23T13:18:00.202Z,1753276680.202 [CBIT](DEBUG): Initialize CBIT Component.
2025-07-23T13:18:00.203Z,1753276680.203 [logger ThreadHandler](INFO): Handler Thread ID is 931
2025-07-23T13:18:00.214Z,1753276680.214 [CBIT](DEBUG): Initialized mux pins.
2025-07-23T13:18:00.214Z,1753276680.214 [CBIT](DEBUG): Initializing the watchdog timer.
2025-07-23T13:18:00.222Z,1753276680.222 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 932
2025-07-23T13:18:00.234Z,1753276680.234 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 933
2025-07-23T13:18:00.236Z,1753276680.236 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-07-23T13:18:00.238Z,1753276680.238 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2025-07-23T13:18:00.243Z,1753276680.243 [CBIT](FAULT): Found backtrace file:
1753283562.664343 [BackseatComponent]: SIGSEGV: address not mapped to object
1753283562.664343 [BackseatComponent]: Backtrace:
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x1b46d0]
Modules/Sensor.so(_ZN17BackseatComponent15isDataRequestedEv+0x24) [0x40696ca4]
./bin/LRAUV(_ZN7PCaller10PThreadRunEPv+0xc8) [0x1b411c]

1753283562.764541 [AHRS_M2]: SIGSEGV: address not mapped to object
1753283562.764541 [AHRS_M2]: Backtrace:
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x1b46d0]
Modules/Sensor.so(_ZN7AHRS_M210readConfigEv+0x28) [0x4068db94]
./bin/LRAUV(_ZN9Component15executeRunStateEv+0x7c) [0xef1b4]
./bin/LRAUV(_ZN7PCaller10PThreadRunEPv+0xc8) [0x1b411c]

1753283562.790344 [AHRS_M2]: SIGSEGV: address not mapped to object
1753283562.790344 [AHRS_M2]: Backtrace:
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x1b46d0]
./bin/LRAUV(_ZN20UniversalDataElement16notifyChangeDoneEP10DataWriter+0x60) [0x139488]
./bin/LRAUV(_ZN11DataElement18registerChangeDoneEv+0x1c) [0xfa4a8]
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x110) [0x1b47c0]
[(nil)]

2025-07-23T13:18:00.245Z,1753276680.245 [DAT ThreadHandler](INFO): Handler Thread ID is 934
2025-07-23T13:18:00.246Z,1753276680.246 [CBIT](FAULT): Renaming backtrace file to Data/backtrace4
2025-07-23T13:18:00.247Z,1753276680.247 [CBIT](DEBUG): Initializing heartbeat.
2025-07-23T13:18:00.254Z,1753276680.254 [DAT](INFO): Powering up
2025-07-23T13:18:00.254Z,1753276680.254 [DAT](DEBUG): Initializing DAT.
2025-07-23T13:18:00.255Z,1753276680.255 [Onboard ThreadHandler](INFO): Handler Thread ID is 936
2025-07-23T13:18:00.279Z,1753276680.279 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 937
2025-07-23T13:18:00.287Z,1753276680.287 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 938
2025-07-23T13:18:00.288Z,1753276680.288 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-07-23T13:18:00.291Z,1753276680.291 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 940
2025-07-23T13:18:00.294Z,1753276680.294 [WetLabsBB2FL](INFO): Powering up
2025-07-23T13:18:00.295Z,1753276680.295 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 942
2025-07-23T13:18:00.304Z,1753276680.304 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-07-23T13:18:00.304Z,1753276680.304 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-07-23T13:18:00.304Z,1753276680.304 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-07-23T13:18:00.304Z,1753276680.304 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-07-23T13:18:00.304Z,1753276680.304 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-07-23T13:18:00.304Z,1753276680.304 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-07-23T13:18:00.305Z,1753276680.305 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-07-23T13:18:00.305Z,1753276680.305 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-07-23T13:18:00.317Z,1753276680.317 [CBIT](DEBUG): Deactivating emergency mode.
2025-07-23T13:18:00.358Z,1753276680.358 [CBIT](DEBUG): Backplane powered.
2025-07-23T13:18:00.358Z,1753276680.358 [GFScanner](DEBUG): Initializing GFScanner
2025-07-23T13:18:00.358Z,1753276680.358 [GFScanner](DEBUG): Deactivating GF circuits.
2025-07-23T13:18:00.363Z,1753276680.363 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-07-23T13:18:00.363Z,1753276680.363 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-07-23T13:18:00.364Z,1753276680.364 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-07-23T13:18:00.373Z,1753276680.373 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-07-23T13:18:00.429Z,1753276680.429 [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>

2025-07-23T13:18:00.454Z,1753276680.454 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-23T13:18:00.486Z,1753276680.486 [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
    }
  }
}


2025-07-23T13:18:00.487Z,1753276680.487 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-07-23T13:18:00.487Z,1753276680.487 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-07-23T13:18:00.513Z,1753276680.513 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-07-23T13:18:00.686Z,1753276680.686 [Radio_Surface](INFO): Powering up
2025-07-23T13:18:00.798Z,1753276680.798 [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>

2025-07-23T13:18:00.820Z,1753276680.820 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-07-23T13:18:00.821Z,1753276680.821 [Default:A.Wait](DEBUG): Construct Wait.
2025-07-23T13:18:00.823Z,1753276680.823 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-23T13:18:00.876Z,1753276680.876 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-07-23T13:18:00.879Z,1753276680.879 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-07-23T13:18:00.897Z,1753276680.897 [Default:E.Execute](DEBUG): Construct Execute.
2025-07-23T13:18:00.900Z,1753276680.900 [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"
  }
}


2025-07-23T13:18:00.910Z,1753276680.910 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-07-23T13:18:00.934Z,1753276680.934 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-07-23T13:18:01.074Z,1753276681.074 [Depth_Keller](INFO): Initializing.
2025-07-23T13:18:01.075Z,1753276681.075 [Power24vConverter](INFO): Powering up.
2025-07-23T13:18:01.076Z,1753276681.076 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-23T13:18:01.078Z,1753276681.078 [Sonardyne_Nano](INFO): Initializing.
2025-07-23T13:18:01.122Z,1753276681.122 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-07-23T13:18:01.148Z,1753276681.148 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-07-23T13:18:01.154Z,1753276681.154 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-07-23T13:18:01.155Z,1753276681.155 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-07-23T13:18:01.162Z,1753276681.162 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-07-23T13:18:01.163Z,1753276681.163 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-07-23T13:18:01.170Z,1753276681.170 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-07-23T13:18:01.171Z,1753276681.171 [MassServo](DEBUG): Initializing EZServoServo.
2025-07-23T13:18:01.178Z,1753276681.178 [MassServo](DEBUG): Initializing MassServo.
2025-07-23T13:18:01.179Z,1753276681.179 [RudderServo](DEBUG): Initializing EZServoServo.
2025-07-23T13:18:01.186Z,1753276681.186 [RudderServo](DEBUG): Initializing RudderServo.
2025-07-23T13:18:01.187Z,1753276681.187 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-07-23T13:18:01.194Z,1753276681.194 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-07-23T13:18:01.196Z,1753276681.196 [CommandExec](FAULT): Scheduling is paused
2025-07-23T13:18:01.196Z,1753276681.196 [CBIT](INFO): Critical error at 20250723T131800
2025-07-23T13:18:01.196Z,1753276681.196 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-07-23T13:18:02.402Z,1753276682.402 [WetLabsBB2FL](INFO): Powering down
2025-07-23T13:18:03.344Z,1753276683.344 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-07-23T13:18:04.598Z,1753276684.598 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207
2025-07-23T13:18:06.811Z,1753276686.811 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-07-23T13:18:12.110Z,1753276692.110 [DAT](INFO): DAT read: 

2025-07-23T13:18:12.112Z,1753276692.112 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-07-23T13:18:13.875Z,1753276693.875 [DAT](INFO): DAT read: MF Frequency Band

2025-07-23T13:18:13.876Z,1753276693.876 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-07-23T13:18:13.876Z,1753276693.876 [DAT](INFO): DAT read: Jul 23 2025 15:15:04 

2025-07-23T13:18:14.883Z,1753276694.883 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-07-23T13:18:14.884Z,1753276694.884 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-07-23T13:18:14.884Z,1753276694.884 [DAT](INFO): commRate: 600
2025-07-23T13:18:16.950Z,1753276696.950 [DAT](INFO): entering command mode
2025-07-23T13:18:17.150Z,1753276697.150 [DAT](INFO): DAT read: 

2025-07-23T13:18:17.151Z,1753276697.151 [DAT](INFO): DAT read: user:1>

2025-07-23T13:18:17.151Z,1753276697.151 [DAT](INFO): setting verbose to 3
2025-07-23T13:18:17.402Z,1753276697.402 [DAT](INFO): DAT read: user:1>

2025-07-23T13:18:17.403Z,1753276697.403 [DAT](INFO): DAT read: Verbose         | 3           

2025-07-23T13:18:17.404Z,1753276697.404 [DAT](INFO): set verbose to 3
2025-07-23T13:18:17.404Z,1753276697.404 [DAT](INFO): setting DatVerbose to 27440
2025-07-23T13:18:17.655Z,1753276697.655 [DAT](INFO): DAT read: user:2>

2025-07-23T13:18:17.655Z,1753276697.655 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-07-23T13:18:17.656Z,1753276697.656 [DAT](INFO): set DatVerbose to 27440
2025-07-23T13:18:17.656Z,1753276697.656 [DAT](INFO): setting transmit power to 8
2025-07-23T13:18:17.906Z,1753276697.906 [DAT](INFO): DAT read: user:3>

2025-07-23T13:18:17.907Z,1753276697.907 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-07-23T13:18:17.908Z,1753276697.908 [DAT](INFO): set transmit power to 8
2025-07-23T13:18:17.908Z,1753276697.908 [DAT](INFO): setting local address to 11
2025-07-23T13:18:18.158Z,1753276698.158 [DAT](INFO): DAT read: user:4>

2025-07-23T13:18:18.159Z,1753276698.159 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-07-23T13:18:18.160Z,1753276698.160 [DAT](INFO): set local address to 11
2025-07-23T13:18:18.161Z,1753276698.161 [DAT](INFO): Setting time to: 13:18:18 And date to:7/23/2025
2025-07-23T13:18:18.410Z,1753276698.410 [DAT](INFO): DAT read: user:5>

2025-07-23T13:18:18.411Z,1753276698.411 [DAT](INFO): DAT read: Wed Jul 23, 2025  13:18:18  

2025-07-23T13:18:18.412Z,1753276698.412 [DAT](INFO): Local DAT time set to Wed Jul 23, 2025  13:18:18  

2025-07-23T13:18:28.395Z,1753276708.395 [NAL9602](INFO): Powering up NAL9602
2025-07-23T13:18:39.307Z,1753276719.307 [NAL9602](INFO): NAL9602 initialized
2025-07-23T13:19:33.948Z,1753276773.948 [SBIT](IMPORTANT): Beginning Startup BIT
2025-07-23T13:19:33.952Z,1753276773.952 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-07-23T13:19:38.395Z,1753276778.395 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.004035
CHAN A1 (24V): -0.002330
CHAN A2 (12V): -0.000275
CHAN A3 (5V): 0.000761
CHAN B0 (3.3V): 0.001092
CHAN B1 (3.15aV): 0.000129
CHAN B2 (3.15bV): 0.000148
CHAN B3 (GND): 0.000847
OPEN: -0.003243
Full Scale: +/- 1 mA
2025-07-23T13:20:27.693Z,1753276827.693 [SBIT](IMPORTANT): SBIT PASSED
2025-07-23T13:20:27.693Z,1753276827.693 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-07-23T13:20:27.694Z,1753276827.694 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-07-23T13:20:27.694Z,1753276827.694 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-07-23T13:20:27.694Z,1753276827.694 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2025-07-23T13:20:27.694Z,1753276827.694 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 15.000000 meter;

2025-07-23T13:20:27.694Z,1753276827.694 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=0.1 ampere_hour;

2025-07-23T13:20:27.694Z,1753276827.694 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt;

2025-07-23T13:20:27.695Z,1753276827.695 [SBIT](IMPORTANT): NAL9602.fastGPSFix=0 bool;

2025-07-23T13:20:27.695Z,1753276827.695 [SBIT](IMPORTANT): NAL9602.iridiumMTQueueTimeout=2 minute;

2025-07-23T13:20:27.695Z,1753276827.695 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=159.857109 cubic_centimeter;

2025-07-23T13:20:27.695Z,1753276827.695 [SBIT](IMPORTANT): VerticalControl.massDefault=18.418426 millimeter;

2025-07-23T13:20:28.117Z,1753276828.117 [MissionManager](IMPORTANT): Started mission Startup
2025-07-23T13:20:28.118Z,1753276828.118 [Startup] Running Loop=1
2025-07-23T13:20:28.118Z,1753276828.118 [Startup](DEBUG): Aggregate::initialize Startup
2025-07-23T13:20:28.118Z,1753276828.118 [Startup:A.GoToSurface] Running Loop=1
2025-07-23T13:20:28.118Z,1753276828.118 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-23T13:20:28.119Z,1753276828.119 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-07-23T13:20:28.119Z,1753276828.119 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-07-23T13:20:28.119Z,1753276828.119 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-07-23T13:20:28.120Z,1753276828.120 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-07-23T13:20:28.120Z,1753276828.120 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-23T13:20:28.120Z,1753276828.120 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-23T13:20:28.122Z,1753276828.122 [Startup:StartupSatComms] Running Loop=1
2025-07-23T13:20:28.122Z,1753276828.122 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-07-23T13:20:28.122Z,1753276828.122 [Startup:StartupSatComms:A] Running Loop=1
2025-07-23T13:20:28.520Z,1753276828.520 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-07-23T13:20:38.424Z,1753276838.424 [DataOverHttps](IMPORTANT): SBD MTMSN=20250723T151734
2025-07-23T13:20:38.428Z,1753276838.428 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004658
2025-07-23T13:20:42.635Z,1753276842.635 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-23T13:20:45.946Z,1753276845.946 [DataOverHttps](INFO): Received command: sched asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.MissionTimeout 120 min;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.806966 degree" 4rjqa 1 2
2025-07-23T13:20:45.983Z,1753276845.983 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.MissionTimeout 120 min;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.806966 degree" 4rjqa 1 2.000000
2025-07-23T13:20:45.983Z,1753276845.983 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4rjqa
2025-07-23T13:20:45.984Z,1753276845.984 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='4rjqa'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.MissionTimeout 120 min;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.806966 degree", ASAP
2025-07-23T13:20:46.948Z,1753276846.948 [DataOverHttps](IMPORTANT): SBD MTMSN=20250723T151742
2025-07-23T13:20:48.280Z,1753276848.280 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,151741.00,A,3647.22034,N,12151.21269,W,0.622,181.35,230725,,,A*7B
2025-07-23T13:20:48.283Z,1753276848.283 [NAL9602](INFO): GPS fix at 20250723T151741: (36.787006, -121.853545)
2025-07-23T13:20:48.295Z,1753276848.295 [Startup:StartupSatComms:A] Stopped
2025-07-23T13:20:48.295Z,1753276848.295 [Startup:StartupSatComms:B] Running Loop=1
2025-07-23T13:20:48.734Z,1753276848.734 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-23T13:20:55.937Z,1753276855.937 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250722T172326/Courier0045.lzma
2025-07-23T13:20:55.939Z,1753276855.939 [DataOverHttps](INFO): Received command: sched asap "set optimize_roll_speed.Longitude -121.824326 degree;set optimize_roll_speed.Depth 15 m;set optimize_roll_speed.MaxSpeed 1.4 m/s;set optimize_roll_speed.MinStep 0.01 m/s;set optimize_roll_speed.MaxDepth 25 m;run" 4rjqa 2 2
2025-07-23T13:20:55.978Z,1753276855.978 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed.Longitude -121.824326 degree;set optimize_roll_speed.Depth 15 m;set optimize_roll_speed.MaxSpeed 1.4 m/s;set optimize_roll_speed.MinStep 0.01 m/s;set optimize_roll_speed.MaxDepth 25 m;run" 4rjqa 2 2.000000
2025-07-23T13:20:55.979Z,1753276855.979 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4rjqa
2025-07-23T13:20:55.980Z,1753276855.980 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='4rjqa'): "set optimize_roll_speed.Longitude -121.824326 degree;set optimize_roll_speed.Depth 15 m;set optimize_roll_speed.MaxSpeed 1.4 m/s;set optimize_roll_speed.MinStep 0.01 m/s;set optimize_roll_speed.MaxDepth 25 m;run", ASAP
2025-07-23T13:20:56.119Z,1753276856.119 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-07-23T13:20:56.119Z,1753276856.119 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-07-23T13:20:56.120Z,1753276856.120 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-07-23T13:20:56.143Z,1753276856.143 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-07-23T13:20:57.210Z,1753276857.210 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="optimize_roll_speed">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="StartSpeed">
        <Units:meter_per_second />
        <Value>0.9</Value>
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="WindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="InitStep">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="MinStep">
        <Units:meter_per_second />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="Verbose">
        <True />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetRollSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetRollSpeed.targetRoll />
                <Arg Name="TargetRollAngle" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.rollError />
                <Arg Name="RollError" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.maxSpeed />
                <Arg Name="MaxSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.startSpeed />
                <Arg Name="StartSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minSpeed />
                <Arg Name="MinSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.estimationWindow />
                <Arg Name="WindowLen" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.initStep />
                <Arg Name="InitStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minStep />
                <Arg Name="MinStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.verbose />
                <Arg Name="Verbose" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.persistResult />
                <True />
            </Setting>
        </Guidance:SetRollSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-07-23T13:20:57.256Z,1753276857.256 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-07-23T13:20:57.267Z,1753276857.267 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-07-23T13:20:57.310Z,1753276857.310 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-07-23T13:20:57.313Z,1753276857.313 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-07-23T13:20:57.328Z,1753276857.328 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-07-23T13:20:57.339Z,1753276857.339 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-07-23T13:20:57.366Z,1753276857.366 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-07-23T13:20:57.374Z,1753276857.374 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-07-23T13:20:57.377Z,1753276857.377 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-07-23T13:20:57.384Z,1753276857.384 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-07-23T13:20:57.403Z,1753276857.403 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-07-23T13:20:57.410Z,1753276857.410 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-07-23T13:20:57.413Z,1753276857.413 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-07-23T13:20:57.425Z,1753276857.425 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-07-23T13:20:57.436Z,1753276857.436 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-07-23T13:20:57.443Z,1753276857.443 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-07-23T13:20:57.451Z,1753276857.451 [DataOverHttps](INFO): Moved sent file to Logs/20250722T172326/Courier0045.lzma.bak
2025-07-23T13:20:57.452Z,1753276857.452 [DataOverHttps](IMPORTANT): SBD MOMSN=25576109, MTMSN=20250723T151752
2025-07-23T13:20:57.466Z,1753276857.466 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-07-23T13:20:57.469Z,1753276857.469 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-07-23T13:20:57.478Z,1753276857.478 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-07-23T13:20:57.479Z,1753276857.479 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-07-23T13:20:57.479Z,1753276857.479 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-07-23T13:20:57.480Z,1753276857.480 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-07-23T13:20:58.016Z,1753276858.016 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-07-23T13:20:58.071Z,1753276858.071 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-07-23T13:20:58.090Z,1753276858.090 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-07-23T13:20:58.102Z,1753276858.102 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-07-23T13:20:58.105Z,1753276858.105 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-07-23T13:20:58.116Z,1753276858.116 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-07-23T13:20:58.127Z,1753276858.127 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-07-23T13:20:58.166Z,1753276858.166 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-07-23T13:20:58.182Z,1753276858.182 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-07-23T13:20:58.205Z,1753276858.205 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-23T13:20:58.272Z,1753276858.272 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-07-23T13:20:58.272Z,1753276858.272 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-07-23T13:20:58.273Z,1753276858.273 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-07-23T13:20:58.479Z,1753276858.479 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-07-23T13:20:58.492Z,1753276858.492 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-07-23T13:20:58.499Z,1753276858.499 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-07-23T13:20:58.515Z,1753276858.515 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-07-23T13:20:58.523Z,1753276858.523 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-07-23T13:20:58.525Z,1753276858.525 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-07-23T13:20:58.547Z,1753276858.547 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-07-23T13:20:58.569Z,1753276858.569 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-07-23T13:20:58.589Z,1753276858.589 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-07-23T13:20:58.589Z,1753276858.589 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-07-23T13:20:58.594Z,1753276858.594 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-07-23T13:20:58.648Z,1753276858.648 [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>

2025-07-23T13:20:58.657Z,1753276858.657 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-07-23T13:20:58.665Z,1753276858.665 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-07-23T13:20:58.676Z,1753276858.676 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-07-23T13:20:58.676Z,1753276858.676 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-07-23T13:20:58.677Z,1753276858.677 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-07-23T13:20:58.967Z,1753276858.967 [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>

2025-07-23T13:20:58.980Z,1753276858.980 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-07-23T13:20:58.984Z,1753276858.984 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-07-23T13:20:58.995Z,1753276858.995 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-07-23T13:20:59.002Z,1753276859.002 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-07-23T13:20:59.010Z,1753276859.010 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-07-23T13:20:59.021Z,1753276859.021 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-07-23T13:20:59.028Z,1753276859.028 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-07-23T13:20:59.033Z,1753276859.033 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-07-23T13:20:59.053Z,1753276859.053 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-07-23T13:20:59.076Z,1753276859.076 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-07-23T13:20:59.101Z,1753276859.101 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-07-23T13:20:59.143Z,1753276859.143 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission optimize_roll_speed {
  """
  Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
  """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    MaxDepth = 35 meter
      """
      Maximum depth for the entire mission.
      """

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  call id="StartingMission" priorityHere=false refId="NeedComms"

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetRollSpeed {
      run in parallel

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

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

      set latitude = Latitude
      set longitude = Longitude
    }

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


2025-07-23T13:20:59.143Z,1753276859.143 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-07-23T13:21:11.766Z,1753276871.766 [DataOverHttps](INFO): Received command: schedule resume
2025-07-23T13:21:13.309Z,1753276873.309 [DataOverHttps](IMPORTANT): SBD MTMSN=20250723T151808
2025-07-23T13:21:20.334Z,1753276880.334 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-07-23T13:21:21.102Z,1753276881.102 [NAL9602](INFO): Powering down
2025-07-23T13:21:24.642Z,1753276884.642 [DataOverHttps](INFO): Sending 330 bytes from file Logs/20250723T131746/Courier0000.lzma
2025-07-23T13:21:24.645Z,1753276884.645 [DataOverHttps](INFO): Received command: sched "load Transport/keepstation.tl;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 10 m;set keepstation.MaxDepth 30 m;run"
2025-07-23T13:21:25.484Z,1753276885.484 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MissionTimeout 120 minute
2025-07-23T13:21:25.485Z,1753276885.485 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 60 minute
2025-07-23T13:21:25.486Z,1753276885.486 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.806966 degree
2025-07-23T13:21:25.489Z,1753276885.489 [CommandExec](IMPORTANT): got command schedule resume
2025-07-23T13:21:25.489Z,1753276885.489 [CommandExec](IMPORTANT): Scheduling is resumed
2025-07-23T13:21:25.502Z,1753276885.502 [CommandExec](IMPORTANT): got command schedule "load Transport/keepstation.tl;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 10 m;set keepstation.MaxDepth 30 m;run"
2025-07-23T13:21:25.503Z,1753276885.503 [Co