2025-07-23T15:36:01.226Z,1753284961.226 [Supervisor](DEBUG): Initializing supervisor.
2025-07-23T15:36:01.230Z,1753284961.230 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-07-23T15:36:01.231Z,1753284961.231 [SyncHandler](INFO): Protected caller Thread ID is 1037
2025-07-23T15:36:01.231Z,1753284961.231 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-07-23T15:36:01.232Z,1753284961.232 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-07-23T15:36:01.232Z,1753284961.232 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1038
2025-07-23T15:36:01.236Z,1753284961.236 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-07-23T15:36:01.258Z,1753284961.258 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-07-23T15:36:01.259Z,1753284961.259 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-07-23T15:36:01.259Z,1753284961.259 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1039
2025-07-23T15:36:01.263Z,1753284961.263 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-07-23T15:36:01.264Z,1753284961.264 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-07-23T15:36:01.265Z,1753284961.265 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1040
2025-07-23T15:36:01.267Z,1753284961.267 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-07-23T15:36:01.268Z,1753284961.268 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-07-23T15:36:01.268Z,1753284961.268 [logger ThreadHandler](INFO): Protected caller Thread ID is 1041
2025-07-23T15:36:01.272Z,1753284961.272 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-07-23T15:36:01.273Z,1753284961.273 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-07-23T15:36:01.274Z,1753284961.274 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-07-23T15:36:01.614Z,1753284961.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-07-23T15:36:01.615Z,1753284961.615 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-07-23T15:36:02.374Z,1753284962.374 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-07-23T15:36:02.375Z,1753284962.375 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-07-23T15:36:02.492Z,1753284962.492 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-07-23T15:36:02.493Z,1753284962.493 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-07-23T15:36:03.045Z,1753284963.045 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-07-23T15:36:03.045Z,1753284963.045 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-07-23T15:36:03.151Z,1753284963.151 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-07-23T15:36:03.152Z,1753284963.152 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-07-23T15:36:03.251Z,1753284963.251 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-07-23T15:36:03.251Z,1753284963.251 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-07-23T15:36:03.674Z,1753284963.674 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-07-23T15:36:03.674Z,1753284963.674 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-07-23T15:36:03.903Z,1753284963.903 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-07-23T15:36:03.904Z,1753284963.904 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-07-23T15:36:04.051Z,1753284964.051 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-07-23T15:36:04.051Z,1753284964.051 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-07-23T15:36:04.308Z,1753284964.308 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-07-23T15:36:04.308Z,1753284964.308 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-07-23T15:36:04.878Z,1753284964.878 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-07-23T15:36:04.879Z,1753284964.879 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-07-23T15:36:05.276Z,1753284965.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-07-23T15:36:05.276Z,1753284965.276 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-07-23T15:36:05.365Z,1753284965.365 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-07-23T15:36:05.605Z,1753284965.605 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-07-23T15:36:05.605Z,1753284965.605 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-07-23T15:36:06.156Z,1753284966.156 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-07-23T15:36:06.156Z,1753284966.156 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-07-23T15:36:06.556Z,1753284966.556 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-07-23T15:36:06.558Z,1753284966.558 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2025-07-23T15:36:06.559Z,1753284966.559 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2025-07-23T15:36:06.667Z,1753284966.667 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2025-07-23T15:36:06.827Z,1753284966.827 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2025-07-23T15:36:06.922Z,1753284966.922 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2025-07-23T15:36:07.014Z,1753284967.014 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2025-07-23T15:36:07.136Z,1753284967.136 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg
2025-07-23T15:36:07.229Z,1753284967.229 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2025-07-23T15:36:07.344Z,1753284967.344 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2025-07-23T15:36:07.627Z,1753284967.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-07-23T15:36:07.628Z,1753284967.628 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2025-07-23T15:36:07.768Z,1753284967.768 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2025-07-23T15:36:07.870Z,1753284967.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2025-07-23T15:36:07.971Z,1753284967.971 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2025-07-23T15:36:08.064Z,1753284968.064 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-07-23T15:36:08.076Z,1753284968.076 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-07-23T15:36:08.495Z,1753284968.495 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-07-23T15:36:08.497Z,1753284968.497 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-07-23T15:36:08.523Z,1753284968.523 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-07-23T15:36:08.523Z,1753284968.523 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-07-23T15:36:08.577Z,1753284968.577 [DepthRateCalculator] Loaded
2025-07-23T15:36:08.577Z,1753284968.577 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-07-23T15:36:08.583Z,1753284968.583 [PitchRateCalculator] Loaded
2025-07-23T15:36:08.583Z,1753284968.583 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-07-23T15:36:08.594Z,1753284968.594 [SpeedCalculator] Loaded
2025-07-23T15:36:08.594Z,1753284968.594 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-07-23T15:36:08.599Z,1753284968.599 [YawRateCalculator] Loaded
2025-07-23T15:36:08.599Z,1753284968.599 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-07-23T15:36:08.622Z,1753284968.622 [ElevatorOffsetCalculator] Loaded
2025-07-23T15:36:08.622Z,1753284968.622 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-07-23T15:36:08.623Z,1753284968.623 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-07-23T15:36:08.624Z,1753284968.624 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-07-23T15:36:08.679Z,1753284968.680 [VerticalControl](DEBUG): Construct VerticalControl.
2025-07-23T15:36:08.738Z,1753284968.738 [VerticalControl] Loaded
2025-07-23T15:36:08.738Z,1753284968.738 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-07-23T15:36:08.741Z,1753284968.741 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-07-23T15:36:08.790Z,1753284968.790 [HorizontalControl] Loaded
2025-07-23T15:36:08.791Z,1753284968.791 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-07-23T15:36:08.793Z,1753284968.793 [SpeedControl](DEBUG): Construct SpeedControl.
2025-07-23T15:36:08.796Z,1753284968.796 [SpeedControl] Loaded
2025-07-23T15:36:08.796Z,1753284968.796 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-07-23T15:36:08.799Z,1753284968.799 [LoopControl](DEBUG): Construct LoopControl.
2025-07-23T15:36:08.799Z,1753284968.799 [LoopControl] Loaded
2025-07-23T15:36:08.800Z,1753284968.800 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-07-23T15:36:08.800Z,1753284968.800 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-07-23T15:36:08.801Z,1753284968.801 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-07-23T15:36:08.919Z,1753284968.919 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-07-23T15:36:08.919Z,1753284968.919 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-07-23T15:36:08.934Z,1753284968.934 [NavChart] Loaded
2025-07-23T15:36:08.934Z,1753284968.934 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-07-23T15:36:08.940Z,1753284968.940 [UniversalFixResidualReporter] Loaded
2025-07-23T15:36:08.940Z,1753284968.940 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-07-23T15:36:08.941Z,1753284968.941 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-07-23T15:36:08.941Z,1753284968.941 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-07-23T15:36:09.125Z,1753284969.125 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-07-23T15:36:09.125Z,1753284969.125 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-07-23T15:36:09.644Z,1753284969.644 [AHRS_M2] Loaded
2025-07-23T15:36:09.644Z,1753284969.644 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-07-23T15:36:09.684Z,1753284969.684 [BackseatComponent] Loaded
2025-07-23T15:36:09.684Z,1753284969.684 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-07-23T15:36:09.686Z,1753284969.686 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4093E4E0
2025-07-23T15:36:09.686Z,1753284969.686 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1126
2025-07-23T15:36:09.689Z,1753284969.689 [LcmUniversalReporter] Loaded
2025-07-23T15:36:09.689Z,1753284969.689 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-07-23T15:36:10.543Z,1753284970.543 [BPC1] Loaded
2025-07-23T15:36:10.543Z,1753284970.543 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-07-23T15:36:10.618Z,1753284970.618 [DataOverHttps] Loaded
2025-07-23T15:36:10.619Z,1753284970.619 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-07-23T15:36:10.620Z,1753284970.620 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4096E4E0
2025-07-23T15:36:10.620Z,1753284970.620 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1127
2025-07-23T15:36:10.722Z,1753284970.722 [DAT] Loaded
2025-07-23T15:36:10.722Z,1753284970.722 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-07-23T15:36:10.723Z,1753284970.723 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 4099E4E0
2025-07-23T15:36:10.723Z,1753284970.723 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1128
2025-07-23T15:36:10.747Z,1753284970.747 [Depth_Keller] Loaded
2025-07-23T15:36:10.747Z,1753284970.747 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-07-23T15:36:10.814Z,1753284970.814 [NAL9602] Loaded
2025-07-23T15:36:10.814Z,1753284970.814 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-07-23T15:36:10.845Z,1753284970.845 [Onboard] Loaded
2025-07-23T15:36:10.845Z,1753284970.845 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-07-23T15:36:10.846Z,1753284970.846 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409CE4E0
2025-07-23T15:36:10.846Z,1753284970.846 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1129
2025-07-23T15:36:10.861Z,1753284970.861 [Power24vConverter] Loaded
2025-07-23T15:36:10.861Z,1753284970.861 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-07-23T15:36:10.878Z,1753284970.878 [Radio_Surface] Loaded
2025-07-23T15:36:10.878Z,1753284970.878 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-07-23T15:36:10.879Z,1753284970.879 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409FE4E0
2025-07-23T15:36:10.879Z,1753284970.879 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1130
2025-07-23T15:36:10.927Z,1753284970.927 [RDI_Pathfinder] Loaded
2025-07-23T15:36:10.927Z,1753284970.927 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-07-23T15:36:10.943Z,1753284970.943 [Sonardyne_Nano] Loaded
2025-07-23T15:36:10.943Z,1753284970.943 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-07-23T15:36:10.944Z,1753284970.944 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-07-23T15:36:10.944Z,1753284970.944 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-07-23T15:36:11.352Z,1753284971.352 [BuoyancyServo] Loaded
2025-07-23T15:36:11.352Z,1753284971.352 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-07-23T15:36:11.407Z,1753284971.407 [ElevatorServo] Loaded
2025-07-23T15:36:11.407Z,1753284971.407 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-07-23T15:36:11.452Z,1753284971.452 [DockingStepper] Loaded
2025-07-23T15:36:11.452Z,1753284971.452 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-07-23T15:36:11.476Z,1753284971.476 [MassServo] Loaded
2025-07-23T15:36:11.476Z,1753284971.476 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-07-23T15:36:11.502Z,1753284971.502 [RudderServo] Loaded
2025-07-23T15:36:11.502Z,1753284971.502 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-07-23T15:36:11.519Z,1753284971.519 [ThrusterHE] Loaded
2025-07-23T15:36:11.519Z,1753284971.519 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-07-23T15:36:11.520Z,1753284971.520 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-07-23T15:36:11.520Z,1753284971.520 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-07-23T15:36:11.785Z,1753284971.785 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-07-23T15:36:11.785Z,1753284971.785 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-07-23T15:36:11.816Z,1753284971.816 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-07-23T15:36:11.816Z,1753284971.816 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-07-23T15:36:12.178Z,1753284972.178 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-07-23T15:36:12.179Z,1753284972.179 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-07-23T15:36:12.358Z,1753284972.358 [CTD_Seabird] Loaded
2025-07-23T15:36:12.358Z,1753284972.358 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-07-23T15:36:12.360Z,1753284972.360 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BBE4E0
2025-07-23T15:36:12.360Z,1753284972.360 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1131
2025-07-23T15:36:12.398Z,1753284972.398 [ESPComponent] Loaded
2025-07-23T15:36:12.398Z,1753284972.398 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-07-23T15:36:12.421Z,1753284972.421 [PAR_Licor] Loaded
2025-07-23T15:36:12.421Z,1753284972.421 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-07-23T15:36:12.469Z,1753284972.469 [WetLabsBB2FL] Loaded
2025-07-23T15:36:12.469Z,1753284972.469 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-07-23T15:36:12.470Z,1753284972.470 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BEE4E0
2025-07-23T15:36:12.471Z,1753284972.471 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1132
2025-07-23T15:36:12.471Z,1753284972.471 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-07-23T15:36:12.472Z,1753284972.472 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-07-23T15:36:12.642Z,1753284972.642 [SBIT](DEBUG): Construct Startup Built In Test.
2025-07-23T15:36:12.651Z,1753284972.651 [SBIT] Loaded
2025-07-23T15:36:12.652Z,1753284972.652 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-07-23T15:36:12.655Z,1753284972.655 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-07-23T15:36:12.668Z,1753284972.668 [IBIT] Loaded
2025-07-23T15:36:12.668Z,1753284972.668 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-07-23T15:36:12.674Z,1753284972.674 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-07-23T15:36:12.759Z,1753284972.759 [CBIT] Loaded
2025-07-23T15:36:12.759Z,1753284972.759 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-07-23T15:36:12.793Z,1753284972.793 [GFScanner] Loaded
2025-07-23T15:36:12.793Z,1753284972.793 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-07-23T15:36:12.794Z,1753284972.794 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-07-23T15:36:12.800Z,1753284972.800 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-07-23T15:36:12.803Z,1753284972.803 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-07-23T15:36:12.815Z,1753284972.815 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-07-23T15:36:12.816Z,1753284972.816 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C694E0
2025-07-23T15:36:12.817Z,1753284972.817 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1133
2025-07-23T15:36:12.821Z,1753284972.821 [Supervisor](INFO): Main Thread ID is 824
2025-07-23T15:36:12.821Z,1753284972.821 [Supervisor](DEBUG): Running supervisor.
2025-07-23T15:36:12.822Z,1753284972.822 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1134
2025-07-23T15:36:12.822Z,1753284972.822 [CommandExec](INFO): Initializing the command executive.
2025-07-23T15:36:12.824Z,1753284972.824 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1135
2025-07-23T15:36:12.826Z,1753284972.826 [controlThread ThreadHandler](INFO): Handler Thread ID is 1136
2025-07-23T15:36:12.827Z,1753284972.827 [controlThread](DEBUG): Initializing ControlThread
2025-07-23T15:36:12.827Z,1753284972.827 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-07-23T15:36:12.828Z,1753284972.828 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-07-23T15:36:12.828Z,1753284972.828 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-07-23T15:36:12.828Z,1753284972.828 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-07-23T15:36:12.829Z,1753284972.829 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-07-23T15:36:12.829Z,1753284972.829 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-07-23T15:36:12.831Z,1753284972.831 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-07-23T15:36:12.832Z,1753284972.832 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-07-23T15:36:12.832Z,1753284972.832 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-07-23T15:36:12.833Z,1753284972.833 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-07-23T15:36:12.833Z,1753284972.833 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-07-23T15:36:12.837Z,1753284972.837 [SBIT](INFO): Initialize SBIT Component.
2025-07-23T15:36:12.838Z,1753284972.838 [SBIT](IMPORTANT): git: 2025-07-16
2025-07-23T15:36:12.838Z,1753284972.838 [SBIT](INFO): git hash: d69d2715ddd00fa751675e8858faf22d094d5d81
2025-07-23T15:36:12.838Z,1753284972.838 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-07-23T15:36:12.839Z,1753284972.839 [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
2025-07-23T15:36:12.840Z,1753284972.840 [SBIT](INFO): Beginning SBIT in 93.000000 seconds.
2025-07-23T15:36:12.841Z,1753284972.841 [IBIT](INFO): Initialize IBIT Component.
2025-07-23T15:36:12.842Z,1753284972.842 [CBIT](DEBUG): Initialize CBIT Component.
2025-07-23T15:36:12.843Z,1753284972.843 [logger ThreadHandler](INFO): Handler Thread ID is 1137
2025-07-23T15:36:12.853Z,1753284972.853 [CBIT](DEBUG): Initialized mux pins.
2025-07-23T15:36:12.853Z,1753284972.853 [CBIT](DEBUG): Initializing the watchdog timer.
2025-07-23T15:36:12.861Z,1753284972.861 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1138
2025-07-23T15:36:12.873Z,1753284972.873 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1139
2025-07-23T15:36:12.875Z,1753284972.875 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-07-23T15:36:12.877Z,1753284972.877 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-07-23T15:36:12.877Z,1753284972.877 [CBIT](DEBUG): Initializing heartbeat.
2025-07-23T15:36:12.885Z,1753284972.885 [DAT ThreadHandler](INFO): Handler Thread ID is 1140
2025-07-23T15:36:12.886Z,1753284972.886 [DAT](INFO): Powering up
2025-07-23T15:36:12.886Z,1753284972.886 [DAT](DEBUG): Initializing DAT.
2025-07-23T15:36:12.890Z,1753284972.890 [Onboard ThreadHandler](INFO): Handler Thread ID is 1142
2025-07-23T15:36:12.925Z,1753284972.925 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1143
2025-07-23T15:36:12.927Z,1753284972.927 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1144
2025-07-23T15:36:12.927Z,1753284972.927 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-07-23T15:36:12.934Z,1753284972.934 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1146
2025-07-23T15:36:12.937Z,1753284972.937 [WetLabsBB2FL](INFO): Powering up
2025-07-23T15:36:12.938Z,1753284972.938 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1148
2025-07-23T15:36:12.941Z,1753284972.941 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-07-23T15:36:12.941Z,1753284972.941 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-07-23T15:36:12.941Z,1753284972.941 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-07-23T15:36:12.941Z,1753284972.941 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-07-23T15:36:12.941Z,1753284972.941 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-07-23T15:36:12.942Z,1753284972.942 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-07-23T15:36:12.942Z,1753284972.942 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-07-23T15:36:12.942Z,1753284972.942 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-07-23T15:36:12.949Z,1753284972.949 [CBIT](DEBUG): Deactivating emergency mode.
2025-07-23T15:36:12.989Z,1753284972.989 [CBIT](DEBUG): Backplane powered.
2025-07-23T15:36:12.989Z,1753284972.989 [GFScanner](DEBUG): Initializing GFScanner
2025-07-23T15:36:12.989Z,1753284972.989 [GFScanner](DEBUG): Deactivating GF circuits.
2025-07-23T15:36:12.994Z,1753284972.994 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-07-23T15:36:12.995Z,1753284972.995 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-07-23T15:36:12.995Z,1753284972.995 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-07-23T15:36:12.996Z,1753284972.996 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-07-23T15:36:13.065Z,1753284973.065 [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>

2025-07-23T15:36:13.070Z,1753284973.070 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-23T15:36:13.111Z,1753284973.111 [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
    }
  }
}


2025-07-23T15:36:13.112Z,1753284973.112 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-07-23T15:36:13.112Z,1753284973.112 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-07-23T15:36:13.113Z,1753284973.113 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-07-23T15:36:13.329Z,1753284973.329 [Radio_Surface](INFO): Powering up
2025-07-23T15:36:13.416Z,1753284973.416 [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>

2025-07-23T15:36:13.438Z,1753284973.438 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-07-23T15:36:13.449Z,1753284973.449 [Default:A.Wait](DEBUG): Construct Wait.
2025-07-23T15:36:13.451Z,1753284973.451 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-23T15:36:13.468Z,1753284973.468 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-07-23T15:36:13.495Z,1753284973.495 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-07-23T15:36:13.517Z,1753284973.517 [Default:E.Execute](DEBUG): Construct Execute.
2025-07-23T15:36:13.520Z,1753284973.520 [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"
  }
}


2025-07-23T15:36:13.525Z,1753284973.525 [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,
2025-07-23T15:36:13.537Z,1753284973.537 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-07-23T15:36:13.597Z,1753284973.597 [Depth_Keller](INFO): Initializing.
2025-07-23T15:36:13.598Z,1753284973.598 [Power24vConverter](INFO): Powering up.
2025-07-23T15:36:13.599Z,1753284973.599 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-23T15:36:13.606Z,1753284973.606 [Sonardyne_Nano](INFO): Initializing.
2025-07-23T15:36:13.634Z,1753284973.634 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-07-23T15:36:13.660Z,1753284973.660 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-07-23T15:36:13.669Z,1753284973.669 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-07-23T15:36:13.670Z,1753284973.670 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-07-23T15:36:13.677Z,1753284973.677 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-07-23T15:36:13.678Z,1753284973.678 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-07-23T15:36:13.685Z,1753284973.685 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-07-23T15:36:13.686Z,1753284973.686 [MassServo](DEBUG): Initializing EZServoServo.
2025-07-23T15:36:13.693Z,1753284973.693 [MassServo](DEBUG): Initializing MassServo.
2025-07-23T15:36:13.694Z,1753284973.694 [RudderServo](DEBUG): Initializing EZServoServo.
2025-07-23T15:36:13.701Z,1753284973.701 [RudderServo](DEBUG): Initializing RudderServo.
2025-07-23T15:36:13.702Z,1753284973.702 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-07-23T15:36:13.709Z,1753284973.709 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-07-23T15:36:15.045Z,1753284975.045 [WetLabsBB2FL](INFO): Powering down
2025-07-23T15:36:15.555Z,1753284975.555 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-07-23T15:36:16.841Z,1753284976.841 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207
2025-07-23T15:36:19.417Z,1753284979.417 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-07-23T15:36:24.729Z,1753284984.729 [DAT](INFO): DAT read: 

2025-07-23T15:36:24.731Z,1753284984.731 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-07-23T15:36:26.244Z,1753284986.244 [DAT](INFO): DAT read: MF Frequency Band

2025-07-23T15:36:26.248Z,1753284986.248 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-07-23T15:36:26.250Z,1753284986.250 [DAT](INFO): DAT read: Jul 23 2025 13:39:24 

2025-07-23T15:36:27.502Z,1753284987.502 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-07-23T15:36:27.503Z,1753284987.503 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-07-23T15:36:27.504Z,1753284987.504 [DAT](INFO): commRate: 600
2025-07-23T15:36:29.569Z,1753284989.569 [DAT](INFO): entering command mode
2025-07-23T15:36:29.769Z,1753284989.769 [DAT](INFO): DAT read: 

2025-07-23T15:36:29.770Z,1753284989.770 [DAT](INFO): DAT read: user:1>

2025-07-23T15:36:29.770Z,1753284989.770 [DAT](INFO): setting verbose to 3
2025-07-23T15:36:30.022Z,1753284990.022 [DAT](INFO): DAT read: user:1>

2025-07-23T15:36:30.023Z,1753284990.023 [DAT](INFO): DAT read: Verbose         | 3           

2025-07-23T15:36:30.023Z,1753284990.023 [DAT](INFO): set verbose to 3
2025-07-23T15:36:30.023Z,1753284990.023 [DAT](INFO): setting DatVerbose to 27440
2025-07-23T15:36:30.274Z,1753284990.274 [DAT](INFO): DAT read: user:2>

2025-07-23T15:36:30.275Z,1753284990.275 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-07-23T15:36:30.275Z,1753284990.275 [DAT](INFO): set DatVerbose to 27440
2025-07-23T15:36:30.275Z,1753284990.275 [DAT](INFO): setting transmit power to 8
2025-07-23T15:36:30.525Z,1753284990.525 [DAT](INFO): DAT read: user:3>

2025-07-23T15:36:30.526Z,1753284990.526 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-07-23T15:36:30.527Z,1753284990.527 [DAT](INFO): set transmit power to 8
2025-07-23T15:36:30.527Z,1753284990.527 [DAT](INFO): setting local address to 11
2025-07-23T15:36:30.777Z,1753284990.777 [DAT](INFO): DAT read: user:4>

2025-07-23T15:36:30.778Z,1753284990.778 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-07-23T15:36:30.779Z,1753284990.779 [DAT](INFO): set local address to 11
2025-07-23T15:36:30.780Z,1753284990.780 [DAT](INFO): Setting time to: 15:36:30 And date to:7/23/2025
2025-07-23T15:36:31.030Z,1753284991.030 [DAT](INFO): DAT read: user:5>

2025-07-23T15:36:31.030Z,1753284991.030 [DAT](INFO): DAT read: Wed Jul 23, 2025  15:36:30  

2025-07-23T15:36:31.031Z,1753284991.031 [DAT](INFO): Local DAT time set to Wed Jul 23, 2025  15:36:30  

2025-07-23T15:36:41.022Z,1753285001.022 [NAL9602](INFO): Powering up NAL9602
2025-07-23T15:36:51.918Z,1753285011.918 [NAL9602](INFO): NAL9602 initialized
2025-07-23T15:37:46.502Z,1753285066.502 [SBIT](IMPORTANT): Beginning Startup BIT
2025-07-23T15:37:46.506Z,1753285066.506 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-07-23T15:37:51.102Z,1753285071.102 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.003759
CHAN A1 (24V): -0.002085
CHAN A2 (12V): -0.000095
CHAN A3 (5V): 0.000160
CHAN B0 (3.3V): 0.000492
CHAN B1 (3.15aV): 0.000074
CHAN B2 (3.15bV): 0.000339
CHAN B3 (GND): 0.000713
OPEN: 0.004985
Full Scale: +/- 1 mA
2025-07-23T15:38:40.668Z,1753285120.668 [SBIT](IMPORTANT): SBIT PASSED
2025-07-23T15:38:40.668Z,1753285120.668 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-07-23T15:38:40.669Z,1753285120.669 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-07-23T15:38:40.669Z,1753285120.669 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-07-23T15:38:40.669Z,1753285120.669 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2025-07-23T15:38:40.669Z,1753285120.669 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 15.000000 meter;

2025-07-23T15:38:40.670Z,1753285120.670 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=0.1 ampere_hour;

2025-07-23T15:38:40.670Z,1753285120.670 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt;

2025-07-23T15:38:40.670Z,1753285120.670 [SBIT](IMPORTANT): NAL9602.fastGPSFix=0 bool;

2025-07-23T15:38:40.670Z,1753285120.670 [SBIT](IMPORTANT): NAL9602.iridiumMTQueueTimeout=2 minute;

2025-07-23T15:38:40.670Z,1753285120.670 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=159.857109 cubic_centimeter;

2025-07-23T15:38:40.670Z,1753285120.670 [SBIT](IMPORTANT): VerticalControl.massDefault=18.418426 millimeter;

2025-07-23T15:38:41.074Z,1753285121.074 [MissionManager](IMPORTANT): Started mission Startup
2025-07-23T15:38:41.075Z,1753285121.075 [Startup] Running Loop=1
2025-07-23T15:38:41.075Z,1753285121.075 [Startup](DEBUG): Aggregate::initialize Startup
2025-07-23T15:38:41.075Z,1753285121.075 [Startup:A.GoToSurface] Running Loop=1
2025-07-23T15:38:41.075Z,1753285121.075 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-23T15:38:41.076Z,1753285121.076 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-07-23T15:38:41.076Z,1753285121.076 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-07-23T15:38:41.076Z,1753285121.076 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-07-23T15:38:41.077Z,1753285121.077 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-07-23T15:38:41.077Z,1753285121.077 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-23T15:38:41.078Z,1753285121.078 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-23T15:38:41.079Z,1753285121.079 [Startup:StartupSatComms] Running Loop=1
2025-07-23T15:38:41.079Z,1753285121.079 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-07-23T15:38:41.079Z,1753285121.079 [Startup:StartupSatComms:A] Running Loop=1
2025-07-23T15:38:41.468Z,1753285121.468 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-07-23T15:38:55.198Z,1753285135.198 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-23T15:38:56.404Z,1753285136.404 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153855.00,A,3647.03867,N,12151.23131,W,0.544,182.04,230725,,,A*70
2025-07-23T15:38:56.407Z,1753285136.407 [NAL9602](INFO): GPS fix at 20250723T153855: (36.783978, -121.853855)
2025-07-23T15:38:56.494Z,1753285136.494 [Startup:StartupSatComms:A] Stopped
2025-07-23T15:38:56.494Z,1753285136.494 [Startup:StartupSatComms:B] Running Loop=1
2025-07-23T15:38:56.894Z,1753285136.894 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-23T15:39:02.162Z,1753285142.162 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004042
2025-07-23T15:39:10.068Z,1753285150.068 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250723T132228/Courier0010.lzma
2025-07-23T15:39:11.071Z,1753285151.071 [DataOverHttps](INFO): Moved sent file to Logs/20250723T132228/Courier0010.lzma.bak
2025-07-23T15:39:11.071Z,1753285151.071 [DataOverHttps](INFO): SBD MOMSN=25576338
2025-07-23T15:39:26.934Z,1753285166.934 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2025-07-23T15:39:27.009Z,1753285167.009 [NAL9602](ERROR): received: 
+CSQ:0

OK
2025-07-23T15:39:28.151Z,1753285168.151 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-23T15:39:28.605Z,1753285168.605 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250723T153601/Courier0000.lzma
2025-07-23T15:39:29.607Z,1753285169.607 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Courier0000.lzma.bak
2025-07-23T15:39:29.607Z,1753285169.607 [DataOverHttps](INFO): SBD MOMSN=25576340
2025-07-23T15:39:46.541Z,1753285186.541 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20250723T132228/Express0011.lzma
2025-07-23T15:39:47.542Z,1753285187.542 [DataOverHttps](INFO): Moved sent file to Logs/20250723T132228/Express0011.lzma.bak
2025-07-23T15:39:47.543Z,1753285187.543 [DataOverHttps](INFO): SBD MOMSN=25576344
2025-07-23T15:39:56.839Z,1753285196.839 [Startup:StartupSatComms:B](INFO): Timed out from 2025-07-23T15:38:56.5Z
2025-07-23T15:39:56.839Z,1753285196.839 [Startup:StartupSatComms:B] Stopped
2025-07-23T15:39:56.839Z,1753285196.839 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-07-23T15:39:56.839Z,1753285196.839 [Startup:StartupSatComms] Stopped
2025-07-23T15:39:56.839Z,1753285196.839 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-07-23T15:39:56.840Z,1753285196.840 [Startup](INFO): Completed Startup
2025-07-23T15:39:56.840Z,1753285196.840 [MissionManager](INFO): Startup is completed.
2025-07-23T15:39:56.841Z,1753285196.841 [MissionManager](INFO): Uninitializing Mission Startup
2025-07-23T15:39:56.841Z,1753285196.841 [Startup] Stopped
2025-07-23T15:39:56.841Z,1753285196.841 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-07-23T15:39:56.841Z,1753285196.841 [Startup:A.GoToSurface] Stopped
2025-07-23T15:39:56.841Z,1753285196.841 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-23T15:39:57.249Z,1753285197.249 [MissionManager](IMPORTANT): Started mission Default
2025-07-23T15:39:57.249Z,1753285197.249 [Default] Running Loop=1
2025-07-23T15:39:57.249Z,1753285197.249 [Default](DEBUG): Aggregate::initialize Default
2025-07-23T15:39:57.249Z,1753285197.249 [Default:B.GoToSurface] Running Loop=1
2025-07-23T15:39:57.250Z,1753285197.250 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-23T15:39:57.250Z,1753285197.250 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-07-23T15:39:57.250Z,1753285197.250 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-07-23T15:39:57.250Z,1753285197.250 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-07-23T15:39:57.251Z,1753285197.251 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-07-23T15:39:57.251Z,1753285197.251 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-23T15:39:57.251Z,1753285197.251 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-23T15:39:57.251Z,1753285197.251 [Default:A.Wait] Running Loop=1
2025-07-23T15:39:57.252Z,1753285197.252 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-07-23T15:39:57.642Z,1753285197.642 [NAL9602](INFO): Powering down
2025-07-23T15:40:05.339Z,1753285205.339 [DataOverHttps](INFO): Sending 1201 bytes from file Logs/20250723T153601/Express0001.lzma
2025-07-23T15:40:06.314Z,1753285206.314 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Express0001.lzma.bak
2025-07-23T15:40:06.315Z,1753285206.315 [DataOverHttps](INFO): SBD MOMSN=25576354
2025-07-23T15:40:10.629Z,1753285210.629 [Default:A.Wait](INFO): Done Waiting.
2025-07-23T15:40:10.629Z,1753285210.629 [Default:A.Wait] Stopped
2025-07-23T15:40:10.629Z,1753285210.629 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-07-23T15:40:11.000Z,1753285211.000 [Default:CheckIn] Running Loop=1
2025-07-23T15:40:11.000Z,1753285211.000 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-07-23T15:40:11.000Z,1753285211.000 [Default:CheckIn:Read_GPS] Running Loop=1
2025-07-23T15:40:11.410Z,1753285211.410 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-23T15:40:11.801Z,1753285211.801 [NAL9602](INFO): Powering up
2025-07-23T15:40:22.711Z,1753285222.711 [NAL9602](INFO): NAL9602 initialized
2025-07-23T15:40:39.927Z,1753285239.927 [DataOverHttps](IMPORTANT): SBD MTMSN=20250723T154038
2025-07-23T15:40:47.773Z,1753285247.773 [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" 4rkuy 1 2
2025-07-23T15:40:47.810Z,1753285247.810 [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" 4rkuy 1 2.000000
2025-07-23T15:40:47.810Z,1753285247.810 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4rkuy
2025-07-23T15:40:47.811Z,1753285247.811 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='4rkuy'): "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
2025-07-23T15:40:48.775Z,1753285248.775 [DataOverHttps](IMPORTANT): SBD MTMSN=20250723T154047
2025-07-23T15:40:56.517Z,1753285256.517 [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" 4rkuy 2 2
2025-07-23T15:40:56.554Z,1753285256.554 [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" 4rkuy 2 2.000000
2025-07-23T15:40:56.555Z,1753285256.555 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4rkuy
2025-07-23T15:40:56.556Z,1753285256.556 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='4rkuy'): "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
2025-07-23T15:40:56.703Z,1753285256.703 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-07-23T15:40:56.703Z,1753285256.703 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-07-23T15:40:56.703Z,1753285256.703 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-07-23T15:40:56.706Z,1753285256.706 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-07-23T15:40:57.512Z,1753285257.512 [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>

2025-07-23T15:40:57.542Z,1753285257.542 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-07-23T15:40:57.549Z,1753285257.549 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-07-23T15:40:57.552Z,1753285257.552 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-07-23T15:40:57.560Z,1753285257.560 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-07-23T15:40:57.567Z,1753285257.567 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-07-23T15:40:57.574Z,1753285257.574 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-07-23T15:40:57.585Z,1753285257.585 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-07-23T15:40:57.588Z,1753285257.588 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-07-23T15:40:57.591Z,1753285257.591 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-07-23T15:40:57.617Z,1753285257.617 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-07-23T15:40:57.620Z,1753285257.620 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-07-23T15:40:57.623Z,1753285257.623 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-07-23T15:40:57.627Z,1753285257.627 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-07-23T15:40:57.645Z,1753285257.645 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-07-23T15:40:57.653Z,1753285257.653 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-07-23T15:40:57.656Z,1753285257.656 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-07-23T15:40:57.671Z,1753285257.671 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-07-23T15:40:57.675Z,1753285257.675 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-07-23T15:40:57.694Z,1753285257.694 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-07-23T15:40:57.695Z,1753285257.695 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-07-23T15:40:57.695Z,1753285257.695 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-07-23T15:40:57.696Z,1753285257.696 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-07-23T15:40:58.406Z,1753285258.406 [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>

2025-07-23T15:40:58.413Z,1753285258.413 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-07-23T15:40:58.416Z,1753285258.416 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-07-23T15:40:58.440Z,1753285258.440 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-07-23T15:40:58.447Z,1753285258.447 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-07-23T15:40:58.463Z,1753285258.463 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-07-23T15:40:58.466Z,1753285258.466 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-07-23T15:40:58.485Z,1753285258.485 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-07-23T15:40:58.488Z,1753285258.488 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-07-23T15:40:58.519Z,1753285258.519 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-23T15:40:58.623Z,1753285258.623 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-07-23T15:40:58.623Z,1753285258.623 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-07-23T15:40:58.624Z,1753285258.624 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-07-23T15:40:58.821Z,1753285258.821 [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>

2025-07-23T15:40:58.826Z,1753285258.826 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-07-23T15:40:58.837Z,1753285258.837 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-07-23T15:40:58.840Z,1753285258.840 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-07-23T15:40:58.848Z,1753285258.848 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-07-23T15:40:58.869Z,1753285258.869 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-07-23T15:40:58.894Z,1753285258.894 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-07-23T15:40:58.969Z,1753285258.969 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-07-23T15:40:58.994Z,1753285258.994 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-07-23T15:40:58.994Z,1753285258.994 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-07-23T15:40:58.995Z,1753285258.995 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-07-23T15:40:59.034Z,1753285259.034 [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>

2025-07-23T15:40:59.039Z,1753285259.039 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-07-23T15:40:59.074Z,1753285259.074 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-07-23T15:40:59.081Z,1753285259.081 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-07-23T15:40:59.081Z,1753285259.081 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-07-23T15:40:59.085Z,1753285259.085 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-07-23T15:40:59.342Z,1753285259.342 [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>

2025-07-23T15:40:59.346Z,1753285259.346 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-07-23T15:40:59.349Z,1753285259.349 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-07-23T15:40:59.352Z,1753285259.352 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-07-23T15:40:59.379Z,1753285259.379 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-07-23T15:40:59.413Z,1753285259.413 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-07-23T15:40:59.438Z,1753285259.438 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-07-23T15:40:59.485Z,1753285259.485 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-07-23T15:40:59.505Z,1753285259.505 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-07-23T15:40:59.527Z,1753285259.527 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-07-23T15:40:59.542Z,1753285259.542 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-07-23T15:40:59.574Z,1753285259.574 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-07-23T15:40:59.613Z,1753285259.613 [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"
  }
}


2025-07-23T15:40:59.613Z,1753285259.613 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-07-23T15:41:12.759Z,1753285272.759 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MissionTimeout 120 minute
2025-07-23T15:41:12.760Z,1753285272.760 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 60 minute
2025-07-23T15:41:12.760Z,1753285272.760 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.806966 degree
2025-07-23T15:41:35.354Z,1753285295.354 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -121.824326 degree
2025-07-23T15:41:35.355Z,1753285295.355 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Depth 15 meter
2025-07-23T15:41:35.356Z,1753285295.356 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MaxSpeed 1.4 meter_per_second
2025-07-23T15:41:35.356Z,1753285295.356 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MinStep 0.01 meter_per_second
2025-07-23T15:41:35.358Z,1753285295.358 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MaxDepth 25 meter
2025-07-23T15:41:35.359Z,1753285295.359 [CommandExec](IMPORTANT): got command run
2025-07-23T15:41:35.361Z,1753285295.361 [CommandExec](IMPORTANT): Running 
2025-07-23T15:41:35.486Z,1753285295.486 [Default] Stopped
2025-07-23T15:41:35.486Z,1753285295.486 [Default](DEBUG): Aggregate::uninitialize Default
2025-07-23T15:41:35.486Z,1753285295.486 [Default:B.GoToSurface] Stopped
2025-07-23T15:41:35.486Z,1753285295.486 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-23T15:41:35.486Z,1753285295.486 [Default:CheckIn] Stopped
2025-07-23T15:41:35.486Z,1753285295.486 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-07-23T15:41:35.486Z,1753285295.486 [Default:CheckIn:Read_GPS] Stopped
2025-07-23T15:41:35.487Z,1753285295.487 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-07-23T15:41:35.487Z,1753285295.487 [optimize_roll_speed] Running Loop=1
2025-07-23T15:41:35.487Z,1753285295.487 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-07-23T15:41:35.487Z,1753285295.487 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-07-23T15:41:35.487Z,1753285295.487 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-07-23T15:41:35.487Z,1753285295.487 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-23T15:41:35.487Z,1753285295.487 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-07-23T15:41:35.488Z,1753285295.488 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-07-23T15:41:35.501Z,1753285295.501 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-07-23T15:41:35.501Z,1753285295.501 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-07-23T15:41:35.501Z,1753285295.501 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-07-23T15:41:35.501Z,1753285295.501 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-07-23T15:41:35.501Z,1753285295.501 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-07-23T15:41:35.501Z,1753285295.501 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-07-23T15:41:35.501Z,1753285295.501 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-07-23T15:41:35.501Z,1753285295.501 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-07-23T15:41:35.502Z,1753285295.502 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-07-23T15:41:35.502Z,1753285295.502 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-07-23T15:41:35.502Z,1753285295.502 [optimize_roll_speed:B] Running Loop=1
2025-07-23T15:41:35.503Z,1753285295.503 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-07-23T15:41:35.503Z,1753285295.503 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-07-23T15:41:35.503Z,1753285295.503 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-07-23T15:41:35.504Z,1753285295.504 [optimize_roll_speed:PowerOnly:D] Stopped
2025-07-23T15:41:35.504Z,1753285295.504 [optimize_roll_speed:PowerOnly:C] Stopped
2025-07-23T15:41:35.504Z,1753285295.504 [optimize_roll_speed:PowerOnly:B] Stopped
2025-07-23T15:41:35.504Z,1753285295.504 [optimize_roll_speed:PowerOnly:A] Stopped
2025-07-23T15:41:35.504Z,1753285295.504 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-07-23T15:41:35.504Z,1753285295.504 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-07-23T15:41:35.504Z,1753285295.504 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-23T15:41:35.517Z,1753285295.517 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-23T15:41:35.518Z,1753285295.518 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-23T15:41:35.519Z,1753285295.519 [optimize_roll_speed:B] Stopped
2025-07-23T15:41:35.519Z,1753285295.519 [optimize_roll_speed:C] Running Loop=1
2025-07-23T15:41:35.848Z,1753285295.848 [optimize_roll_speed:C] Stopped
2025-07-23T15:41:35.848Z,1753285295.848 [optimize_roll_speed:E] Running Loop=1
2025-07-23T15:41:36.299Z,1753285296.299 [optimize_roll_speed:E] Stopped
2025-07-23T15:41:36.299Z,1753285296.299 [optimize_roll_speed:F] Running Loop=1
2025-07-23T15:41:36.660Z,1753285296.660 [optimize_roll_speed:F] Stopped
2025-07-23T15:41:36.660Z,1753285296.660 [optimize_roll_speed:G] Running Loop=1
2025-07-23T15:41:37.052Z,1753285297.052 [optimize_roll_speed:G] Stopped
2025-07-23T15:41:37.052Z,1753285297.052 [optimize_roll_speed:StartingMission] Running Loop=1
2025-07-23T15:41:37.052Z,1753285297.052 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::initialize optimize_roll_speed:StartingMission
2025-07-23T15:41:37.471Z,1753285297.471 [optimize_roll_speed:NeedComms] Running Loop=1
2025-07-23T15:41:37.471Z,1753285297.471 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-07-23T15:41:37.471Z,1753285297.471 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-07-23T15:41:37.471Z,1753285297.471 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-23T15:41:37.472Z,1753285297.472 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-23T15:41:37.472Z,1753285297.472 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-23T15:41:37.472Z,1753285297.472 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-23T15:41:37.493Z,1753285297.493 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-23T15:41:37.505Z,1753285297.505 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-23T15:41:37.505Z,1753285297.505 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-23T15:41:37.505Z,1753285297.505 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-07-23T15:41:37.507Z,1753285297.507 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1753285135.000000 second since 1970/01/01T00:00:00Z 
2025-07-23T15:41:37.507Z,1753285297.507 [optimize_roll_speed:NeedComms:A] Stopped
2025-07-23T15:41:37.880Z,1753285297.880 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-07-23T15:41:38.284Z,1753285298.284 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 890.41,1125.07, 965.22
2025-07-23T15:41:38.318Z,1753285298.318 [optimize_roll_speed:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-23T15:41:52.013Z,1753285312.013 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-23T15:42:08.596Z,1753285328.596 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for water velocity. Device response is::WS  +255,  +208,A
2025-07-23T15:42:26.344Z,1753285346.344 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-23T15:42:27.557Z,1753285347.557 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,154223.00,A,3647.01016,N,12151.23929,W,0.097,255.73,230725,,,A*73
2025-07-23T15:42:27.560Z,1753285347.560 [NAL9602](INFO): GPS fix at 20250723T154223: (36.783503, -121.853988)
2025-07-23T15:42:27.574Z,1753285347.574 [optimize_roll_speed:NeedComms:C] Stopped
2025-07-23T15:42:27.575Z,1753285347.575 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-07-23T15:42:27.995Z,1753285347.995 [optimize_roll_speed:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-23T15:42:35.740Z,1753285355.740 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250723T153601/Courier0004.lzma
2025-07-23T15:42:36.743Z,1753285356.743 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Courier0004.lzma.bak
2025-07-23T15:42:36.743Z,1753285356.743 [DataOverHttps](INFO): SBD MOMSN=25576382
2025-07-23T15:42:53.156Z,1753285373.156 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250723T153601/Courier0007.lzma
2025-07-23T15:42:54.159Z,1753285374.159 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Courier0007.lzma.bak
2025-07-23T15:42:54.159Z,1753285374.159 [DataOverHttps](INFO): SBD MOMSN=25576388
2025-07-23T15:42:59.474Z,1753285379.474 [NAL9602](INFO): Powering down
2025-07-23T15:43:10.706Z,1753285390.706 [DataOverHttps](INFO): Sending 730 bytes from file Logs/20250723T153601/Express0005.lzma
2025-07-23T15:43:11.707Z,1753285391.707 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Express0005.lzma.bak
2025-07-23T15:43:11.707Z,1753285391.707 [DataOverHttps](INFO): SBD MOMSN=25576390
2025-07-23T15:43:28.168Z,1753285408.168 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250723T153601/Express0008.lzma
2025-07-23T15:43:29.171Z,1753285409.171 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Express0008.lzma.bak
2025-07-23T15:43:29.171Z,1753285409.171 [DataOverHttps](INFO): SBD MOMSN=25576422
2025-07-23T15:43:30.616Z,1753285410.616 [optimize_roll_speed:NeedComms:D] Stopped
2025-07-23T15:43:30.616Z,1753285410.616 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-07-23T15:43:30.996Z,1753285410.996 [optimize_roll_speed:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-23T15:43:31.388Z,1753285411.388 [NAL9602](INFO): Powering up
2025-07-23T15:43:42.298Z,1753285422.298 [NAL9602](INFO): NAL9602 initialized
2025-07-23T15:44:14.250Z,1753285454.250 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-23T15:44:14.333Z,1753285454.333 [NAL9602](ERROR): received: 
+CSQ:0

OK
2025-07-23T15:45:04.619Z,1753285504.619 [CommandLine](INFO): End of History
2025-07-23T15:45:04.648Z,1753285504.648 [CommandLine](INFO): End of History
2025-07-23T15:45:04.661Z,1753285504.661 [CommandLine](INFO): End of History
2025-07-23T15:45:04.689Z,1753285504.689 [CommandLine](INFO): End of History
2025-07-23T15:45:04.749Z,1753285504.749 [CommandLine](INFO): End of History
2025-07-23T15:45:04.756Z,1753285504.756 [CommandLine](INFO): End of History
2025-07-23T15:45:04.800Z,1753285504.800 [CommandLine](INFO): End of History
2025-07-23T15:45:05.024Z,1753285505.024 [CommandLine](INFO): End of History
2025-07-23T15:45:05.032Z,1753285505.032 [CommandLine](INFO): End of History
2025-07-23T15:45:05.044Z,1753285505.044 [CommandLine](INFO): End of History
2025-07-23T15:45:45.126Z,1753285545.126 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-23T15:45:49.973Z,1753285549.973 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,154546.00,A,3646.98332,N,12151.24803,W,0.739,209.56,230725,,,D*75
2025-07-23T15:45:49.975Z,1753285549.975 [NAL9602](INFO): GPS fix at 20250723T154546: (36.783055, -121.854134)
2025-07-23T15:45:49.989Z,1753285549.989 [optimize_roll_speed:NeedComms:E] Stopped
2025-07-23T15:45:49.990Z,1753285549.990 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-07-23T15:45:49.990Z,1753285549.990 [optimize_roll_speed:NeedComms] Stopped
2025-07-23T15:45:49.990Z,1753285549.990 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-07-23T15:45:49.990Z,1753285549.990 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-07-23T15:45:49.991Z,1753285549.991 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-23T15:45:50.445Z,1753285550.445 [optimize_roll_speed:StartingMission](INFO): Completed optimize_roll_speed:StartingMission
2025-07-23T15:45:50.445Z,1753285550.445 [optimize_roll_speed:StartingMission] Stopped
2025-07-23T15:45:50.445Z,1753285550.445 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::uninitialize optimize_roll_speed:StartingMission
2025-07-23T15:45:50.445Z,1753285550.445 [optimize_roll_speed:Transit] Running Loop=1
2025-07-23T15:45:50.445Z,1753285550.445 [optimize_roll_speed:Transit](DEBUG): Aggregate::initialize optimize_roll_speed:Transit
2025-07-23T15:45:50.445Z,1753285550.445 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-07-23T15:45:50.445Z,1753285550.445 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Initialize.
2025-07-23T15:45:50.446Z,1753285550.446 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-07-23T15:45:50.446Z,1753285550.446 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Initialize.
2025-07-23T15:45:50.447Z,1753285550.447 [optimize_roll_speed:Transit:Wpt1.Waypoint] Running Loop=1
2025-07-23T15:45:50.447Z,1753285550.447 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-07-23T15:45:50.448Z,1753285550.448 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-07-23T15:45:50.804Z,1753285550.804 [optimize_roll_speed:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-07-23T15:45:50.804Z,1753285550.804 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-07-23T15:45:50.805Z,1753285550.805 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-07-23T15:45:50.814Z,1753285550.814 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-07-23T15:45:50.814Z,1753285550.814 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-07-23T15:45:50.814Z,1753285550.814 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-07-23T15:46:22.272Z,1753285582.272 [NAL9602](INFO): Powering down
2025-07-23T15:47:34.457Z,1753285654.457 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-23T15:47:37.470Z,1753285657.470 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247673
2025-07-23T15:47:53.133Z,1753285673.133 [Radio_Surface](INFO): Powering down
2025-07-23T15:48:09.598Z,1753285689.598 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-23T15:48:10.601Z,1753285690.601 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-07-23T15:50:50.592Z,1753285850.592 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -2.143505 degrees over 739 samples
2025-07-23T15:50:50.594Z,1753285850.594 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.850000 m/s (avg roll: -2.143505 degrees, target: 0.000000 degrees)
2025-07-23T15:51:32.162Z,1753285892.162 [BPC1](ERROR): Failed to receive data from all battery packs.
2025-07-23T15:51:32.162Z,1753285892.162 [BPC1] Communications Fault, FailCount= 1
2025-07-23T15:51:32.162Z,1753285892.162 [BPC1](ERROR): Communications Fault
2025-07-23T15:51:32.356Z,1753285892.356 [CBIT](ERROR): Communications Fault in component: BPC1
2025-07-23T15:55:51.142Z,1753286151.142 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -2.560302 degrees over 735 samples
2025-07-23T15:55:51.142Z,1753286151.142 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Same direction. New step: 0.100000 m/s
2025-07-23T15:55:51.143Z,1753286151.143 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.750000 m/s (avg roll: -2.560302 degrees, target: 0.000000 degrees)
2025-07-23T16:00:51.715Z,1753286451.715 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -2.007753 degrees over 741 samples
2025-07-23T16:00:51.715Z,1753286451.715 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Same direction. New step: 0.200000 m/s
2025-07-23T16:00:51.716Z,1753286451.716 [optimize_roll_speed:Transit:B.SetRollSpeed](FAULT): Cannot achieve target roll 0.000000 degrees. Minimum speed reached: 0.600000 m/s
2025-07-23T16:00:51.716Z,1753286451.716 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.600000 m/s (avg roll: -2.007753 degrees, target: 0.000000 degrees)
2025-07-23T16:00:51.717Z,1753286451.717 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Persisting best achievable speed 0.600000 m/s for 0.000000 degrees roll to config
2025-07-23T16:00:51.722Z,1753286451.722 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-07-23T16:00:51.723Z,1753286451.723 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-07-23T16:00:51.723Z,1753286451.723 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-07-23T16:00:51.724Z,1753286451.724 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2025-07-23T16:00:51.725Z,1753286451.725 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 15.000000 meter;

2025-07-23T16:00:51.725Z,1753286451.725 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): IBIT.batteryCapacityThreshold=0.1 ampere_hour;

2025-07-23T16:00:51.726Z,1753286451.726 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt;

2025-07-23T16:00:51.727Z,1753286451.727 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): NAL9602.fastGPSFix=0 bool;

2025-07-23T16:00:51.727Z,1753286451.727 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): NAL9602.iridiumMTQueueTimeout=2 minute;

2025-07-23T16:00:51.728Z,1753286451.728 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): SpeedControl.rollOptimum=0.600000 meter_per_second;

2025-07-23T16:00:51.745Z,1753286451.745 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.buoyancyNeutral=159.857109 cubic_centimeter;

2025-07-23T16:00:51.746Z,1753286451.746 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massDefault=18.418426 millimeter;

2025-07-23T16:01:33.352Z,1753286493.352 [CBIT](INFO): Clearing failed state for component BPC1
2025-07-23T16:01:33.352Z,1753286493.352 [BPC1] No Fault, FailCount= 1
2025-07-23T16:05:52.283Z,1753286752.283 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.969633 degrees over 741 samples
2025-07-23T16:09:29.674Z,1753286969.674 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      -37.20769.00,   3,  20.00,  0.00
2025-07-23T16:10:52.886Z,1753287052.886 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.485451 degrees over 736 samples
2025-07-23T16:15:53.594Z,1753287353.594 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.552942 degrees over 738 samples
2025-07-23T16:19:05.082Z,1753287545.082 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00012820055817,35.0, +12.7,   0.0,1499.5, ,  0.00,1423.57,1504.73,1342.41,   0.00
2025-07-23T16:20:19.427Z,1753287619.427 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-23T16:20:20.218Z,1753287620.218 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +38,  +320,
2025-07-23T16:20:30.311Z,1753287630.311 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -28,  +273, 
2025-07-23T16:20:54.256Z,1753287654.256 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.683499 degrees over 737 samples
2025-07-23T16:23:14.860Z,1753287794.860 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +139.35,      +811.91,  0
2025-07-23T16:25:54.777Z,1753287954.777 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.410241 degrees over 730 samples
2025-07-23T16:30:55.340Z,1753288255.340 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.657091 degrees over 737 samples
2025-07-23T16:32:33.910Z,1753288353.910 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-23T16:32:33.910Z,1753288353.910 [BPC1](ERROR): Battery stick #18 (s/n: 0186) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-23T16:32:33.911Z,1753288353.911 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-07-23T16:32:33.912Z,1753288353.912 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-23T16:32:33.913Z,1753288353.913 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-07-23T16:32:33.914Z,1753288353.914 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-23T16:32:33.914Z,1753288353.914 [BPC1](INFO): Calculating totals. Valid battery stick count: 30. Valid reserve battery stick count: 3.
2025-07-23T16:32:33.935Z,1753288353.935 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-07-23T16:35:55.959Z,1753288555.959 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.591657 degrees over 742 samples
2025-07-23T16:40:56.559Z,1753288856.559 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.540606 degrees over 737 samples
2025-07-23T16:45:51.240Z,1753289151.240 [optimize_roll_speed:NeedComms] Running Loop=1
2025-07-23T16:45:51.240Z,1753289151.240 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-07-23T16:45:51.240Z,1753289151.240 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-07-23T16:45:51.240Z,1753289151.240 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-23T16:45:51.257Z,1753289151.257 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-23T16:45:51.257Z,1753289151.257 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-23T16:45:51.258Z,1753289151.258 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-23T16:45:51.258Z,1753289151.258 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-23T16:45:51.258Z,1753289151.258 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-23T16:45:51.259Z,1753289151.259 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-23T16:45:51.259Z,1753289151.259 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-07-23T16:45:51.265Z,1753289151.265 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1753285546.000000 second since 1970/01/01T00:00:00Z 
2025-07-23T16:45:51.265Z,1753289151.265 [optimize_roll_speed:NeedComms:A] Stopped
2025-07-23T16:45:57.055Z,1753289157.055 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.429046 degrees over 734 samples
2025-07-23T16:46:50.849Z,1753289210.849 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-07-23T16:46:51.421Z,1753289211.421 [Radio_Surface](INFO): Powering up
2025-07-23T16:46:51.593Z,1753289211.593 [NAL9602](INFO): Powering up
2025-07-23T16:46:57.189Z,1753289217.189 [DataOverHttps](INFO): Radio surface powered ON.
2025-07-23T16:47:02.505Z,1753289222.505 [NAL9602](INFO): NAL9602 initialized
2025-07-23T16:47:27.309Z,1753289247.309 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-23T16:47:34.426Z,1753289254.426 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-23T16:47:34.505Z,1753289254.505 [NAL9602](ERROR): received: 
+CSQ:0

OK
2025-07-23T16:48:02.449Z,1753289282.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-23T16:48:37.589Z,1753289317.589 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-23T16:49:06.541Z,1753289346.541 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-23T16:49:12.745Z,1753289352.745 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-23T16:49:12.995Z,1753289352.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164912.00,A,3647.44375,N,12150.66412,W,0.544,193.52,230725,,,A*7A
2025-07-23T16:49:12.998Z,1753289352.998 [NAL9602](INFO): GPS fix at 20250723T164912: (36.790729, -121.844402)
2025-07-23T16:49:13.027Z,1753289353.027 [UniversalFixResidualReporter](INFO): Fix residual: 7.1 %DT, over the last 1385.3 m. Residual distance 98.2 m at bearing 36.2 degrees. Fix at (36.7907, -121.8444) with 1216.2 m made good.
2025-07-23T16:49:13.035Z,1753289353.035 [optimize_roll_speed:NeedComms:C] Stopped
2025-07-23T16:49:13.035Z,1753289353.035 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-07-23T16:49:28.439Z,1753289368.439 [DataOverHttps](IMPORTANT): SBD MTMSN=20250723T164927
2025-07-23T16:49:28.442Z,1753289368.442 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003420
2025-07-23T16:49:36.261Z,1753289376.261 [DataOverHttps](INFO): Sending 264 bytes from file Logs/20250723T153601/Courier0010.lzma
2025-07-23T16:49:36.263Z,1753289376.263 [DataOverHttps](INFO): Received command: stop
2025-07-23T16:49:36.266Z,1753289376.266 [CommandExec](IMPORTANT): got command stop
2025-07-23T16:49:36.266Z,1753289376.266 [CommandExec](IMPORTANT): Scheduling is paused
2025-07-23T16:49:36.266Z,1753289376.266 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-07-23T16:49:36.451Z,1753289376.451 [MissionManager](INFO): MissionManager is completed.
2025-07-23T16:49:36.451Z,1753289376.451 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-07-23T16:49:36.451Z,1753289376.451 [optimize_roll_speed] Stopped
2025-07-23T16:49:36.451Z,1753289376.451 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-07-23T16:49:36.451Z,1753289376.451 [optimize_roll_speed:NeedComms] Stopped
2025-07-23T16:49:36.451Z,1753289376.451 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-07-23T16:49:36.451Z,1753289376.451 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-07-23T16:49:36.451Z,1753289376.451 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-23T16:49:36.451Z,1753289376.451 [optimize_roll_speed:NeedComms:D] Stopped
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:BackseatDriver] Stopped
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-07-23T16:49:36.452Z,1753289376.452 [optimize_roll_speed:PowerOnly] Stopped
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:Transit] Stopped
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:Transit](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:Transit:A.Pitch] Stopped
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:Transit:B.SetRollSpeed] Stopped
2025-07-23T16:49:36.453Z,1753289376.453 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Uninitialize.
2025-07-23T16:49:36.454Z,1753289376.454 [optimize_roll_speed:Transit:Wpt1.Waypoint] Stopped
2025-07-23T16:49:36.454Z,1753289376.454 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-07-23T16:49:36.845Z,1753289376.845 [MissionManager](IMPORTANT): Started mission Default
2025-07-23T16:49:36.846Z,1753289376.846 [Default] Running Loop=1
2025-07-23T16:49:36.846Z,1753289376.846 [Default](DEBUG): Aggregate::initialize Default
2025-07-23T16:49:36.846Z,1753289376.846 [Default:B.GoToSurface] Running Loop=1
2025-07-23T16:49:36.846Z,1753289376.846 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-23T16:49:36.846Z,1753289376.846 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-07-23T16:49:36.846Z,1753289376.846 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-07-23T16:49:36.847Z,1753289376.847 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-07-23T16:49:36.847Z,1753289376.847 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-07-23T16:49:36.847Z,1753289376.847 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-23T16:49:36.848Z,1753289376.848 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-23T16:49:36.848Z,1753289376.848 [Default:A.Wait] Running Loop=1
2025-07-23T16:49:36.848Z,1753289376.848 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-07-23T16:49:37.263Z,1753289377.263 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Courier0010.lzma.bak
2025-07-23T16:49:37.263Z,1753289377.263 [DataOverHttps](INFO): SBD MOMSN=25577116
2025-07-23T16:49:43.702Z,1753289383.702 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2025-07-23T16:49:43.785Z,1753289383.785 [NAL9602](ERROR): received: 
+CSQ:0

OK
2025-07-23T16:49:50.174Z,1753289390.174 [Default:A.Wait](INFO): Done Waiting.
2025-07-23T16:49:50.174Z,1753289390.174 [Default:A.Wait] Stopped
2025-07-23T16:49:50.174Z,1753289390.174 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-07-23T16:49:50.579Z,1753289390.579 [Default:CheckIn] Running Loop=1
2025-07-23T16:49:50.579Z,1753289390.579 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-07-23T16:49:50.579Z,1753289390.579 [Default:CheckIn:Read_GPS] Running Loop=1
2025-07-23T16:49:52.587Z,1753289392.587 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164951.00,A,3647.43892,N,12150.66969,W,0.641,212.11,230725,,,A*72
2025-07-23T16:49:52.598Z,1753289392.598 [NAL9602](INFO): GPS fix at 20250723T164951: (36.790649, -121.844495)
2025-07-23T16:49:52.610Z,1753289392.610 [Default:CheckIn:Read_GPS] Stopped
2025-07-23T16:49:52.610Z,1753289392.610 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-07-23T16:49:53.044Z,1753289393.044 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-23T16:50:01.044Z,1753289401.044 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250723T153601/Courier0013.lzma
2025-07-23T16:50:02.047Z,1753289402.047 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Courier0013.lzma.bak
2025-07-23T16:50:02.047Z,1753289402.047 [DataOverHttps](INFO): SBD MOMSN=25577120
2025-07-23T16:50:18.752Z,1753289418.752 [DataOverHttps](INFO): Sending 1339 bytes from file Logs/20250723T153601/Express0011.lzma
2025-07-23T16:50:19.735Z,1753289419.735 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Express0011.lzma.bak
2025-07-23T16:50:19.735Z,1753289419.735 [DataOverHttps](INFO): SBD MOMSN=25577123
2025-07-23T16:50:24.514Z,1753289424.514 [NAL9602](INFO): Powering down
2025-07-23T16:50:37.915Z,1753289437.915 [DataOverHttps](INFO): Sending 198 bytes from file Logs/20250723T153601/Express0014.lzma
2025-07-23T16:50:38.916Z,1753289438.916 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Express0014.lzma.bak
2025-07-23T16:50:38.916Z,1753289438.916 [DataOverHttps](INFO): SBD MOMSN=25577162
2025-07-23T16:50:55.140Z,1753289455.140 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250723T153601/Express0017.lzma
2025-07-23T16:50:56.143Z,1753289456.143 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Express0017.lzma.bak
2025-07-23T16:50:56.143Z,1753289456.143 [DataOverHttps](INFO): SBD MOMSN=25577169
2025-07-23T16:50:57.677Z,1753289457.677 [Default:CheckIn:Read_Iridium] Stopped
2025-07-23T16:50:57.678Z,1753289457.678 [Default:CheckIn:C.Wait] Running Loop=1
2025-07-23T16:50:57.678Z,1753289457.678 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-07-23T16:55:58.259Z,1753289758.259 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-07-23T16:55:58.259Z,1753289758.259 [Default:CheckIn:C.Wait] Stopped
2025-07-23T16:55:58.260Z,1753289758.260 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-07-23T16:55:58.260Z,1753289758.260 [Default:CheckIn:D] Running Loop=1
2025-07-23T16:55:58.671Z,1753289758.671 [Default:CheckIn:D] Stopped
2025-07-23T16:55:58.671Z,1753289758.671 [Default:CheckIn:E] Running Loop=1
2025-07-23T16:55:59.096Z,1753289759.096 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.363752 min 
2025-07-23T16:55:59.096Z,1753289759.096 [Default:CheckIn:E] Stopped
2025-07-23T16:55:59.096Z,1753289759.096 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-07-23T16:55:59.096Z,1753289759.096 [Default:CheckIn] Stopped
2025-07-23T16:55:59.096Z,1753289759.096 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-07-23T16:55:59.101Z,1753289759.101 [Default:CheckIn](INFO): Running loop #2
2025-07-23T16:55:59.101Z,1753289759.101 [Default:CheckIn] Running Loop=2
2025-07-23T16:55:59.101Z,1753289759.101 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-07-23T16:55:59.101Z,1753289759.101 [Default:CheckIn:Read_GPS] Running Loop=1
2025-07-23T16:55:59.870Z,1753289759.870 [NAL9602](INFO): Powering up
2025-07-23T16:56:10.767Z,1753289770.767 [NAL9602](INFO): NAL9602 initialized
2025-07-23T16:56:11.991Z,1753289771.991 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165611.00,A,3647.39813,N,12150.71362,W,0.700,205.90,230725,,,D*75
2025-07-23T16:56:11.993Z,1753289771.993 [NAL9602](INFO): GPS fix at 20250723T165611: (36.789969, -121.845227)
2025-07-23T16:56:12.040Z,1753289772.040 [Default:CheckIn:Read_GPS] Stopped
2025-07-23T16:56:12.040Z,1753289772.040 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-07-23T16:56:19.784Z,1753289779.784 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20250723T153601/Courier0019.lzma
2025-07-23T16:56:20.787Z,1753289780.787 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Courier0019.lzma.bak
2025-07-23T16:56:20.787Z,1753289780.787 [DataOverHttps](INFO): SBD MOMSN=25577236
2025-07-23T16:56:33.799Z,1753289793.799 [NAL9602](INFO): SBD MO Status=2, MOMSN=12900, MT Status=2, MTMSN=0
2025-07-23T16:56:33.800Z,1753289793.800 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-07-23T16:56:37.137Z,1753289797.137 [DataOverHttps](INFO): Sending 185 bytes from file Logs/20250723T153601/Express0020.lzma
2025-07-23T16:56:38.139Z,1753289798.139 [DataOverHttps](INFO): Moved sent file to Logs/20250723T153601/Express0020.lzma.bak
2025-07-23T16:56:38.139Z,1753289798.139 [DataOverHttps](INFO): SBD MOMSN=25577239
2025-07-23T16:56:39.489Z,1753289799.489 [Default:CheckIn:Read_Iridium] Stopped
2025-07-23T16:56:39.489Z,1753289799.489 [Default:CheckIn:C.Wait] Running Loop=1
2025-07-23T16:56:39.489Z,1753289799.489 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-07-23T16:56:51.169Z,1753289811.169 [NAL9602](INFO): SBD MO Status=2, MOMSN=12900, MT Status=2, MTMSN=0
2025-07-23T16:56:51.169Z,1753289811.169 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-07-23T16:57:12.585Z,1753289832.585 [NAL9602](INFO): SBD MO Status=2, MOMSN=12900, MT Status=2, MTMSN=0
2025-07-23T16:57:12.585Z,1753289832.585 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-07-23T16:58:14.018Z,1753289894.018 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-23T16:58:44.690Z,1753289924.690 [NAL9602](INFO): Powering down
2025-07-23T17:01:33.270Z,1753290093.270 [DataOverHttps](IMPORTANT): SBD MTMSN=20250723T170132
2025-07-23T17:01:40.108Z,1753290100.108 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-07-23T17:01:40.108Z,1753290100.108 [Default:CheckIn:C.Wait] Stopped
2025-07-23T17:01:40.108Z,1753290100.108 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-07-23T17:01:40.108Z,1753290100.108 [Default:CheckIn:D] Running Loop=1
2025-07-23T17:01:40.488Z,1753290100.488 [Default:CheckIn:D] Stopped
2025-07-23T17:01:40.488Z,1753290100.488 [Default:CheckIn:E] Running Loop=1
2025-07-23T17:01:40.850Z,1753290100.850 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  12.060705 min 
2025-07-23T17:01:40.850Z,1753290100.850 [Default:CheckIn:E] Stopped
2025-07-23T17:01:40.850Z,1753290100.850 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-07-23T17:01:40.851Z,1753290100.851 [Default:CheckIn] Stopped
2025-07-23T17:01:40.851Z,1753290100.851 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-07-23T17:01:40.851Z,1753290100.851 [Default:CheckIn](INFO): Running loop #3
2025-07-23T17:01:40.851Z,1753290100.851 [Default:CheckIn] Running Loop=3
2025-07-23T17:01:40.851Z,1753290100.851 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-07-23T17:01:40.851Z,1753290100.851 [Default:CheckIn:Read_GPS] Running Loop=1
2025-07-23T17:01:41.646Z,1753290101.646 [NAL9602](INFO): Powering up