2025-03-26T23:48:19.306Z,1743032899.306 [Supervisor](DEBUG): Initializing supervisor.
2025-03-26T23:48:19.310Z,1743032899.310 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-03-26T23:48:19.311Z,1743032899.311 [SyncHandler](INFO): Protected caller Thread ID is 1001
2025-03-26T23:48:19.311Z,1743032899.311 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-03-26T23:48:19.312Z,1743032899.312 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-03-26T23:48:19.312Z,1743032899.312 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1002
2025-03-26T23:48:19.316Z,1743032899.316 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-03-26T23:48:19.338Z,1743032899.338 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-03-26T23:48:19.339Z,1743032899.339 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-03-26T23:48:19.339Z,1743032899.339 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1003
2025-03-26T23:48:19.343Z,1743032899.343 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-03-26T23:48:19.344Z,1743032899.344 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-03-26T23:48:19.345Z,1743032899.345 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1004
2025-03-26T23:48:19.347Z,1743032899.347 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-03-26T23:48:19.348Z,1743032899.348 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-03-26T23:48:19.348Z,1743032899.348 [logger ThreadHandler](INFO): Protected caller Thread ID is 1005
2025-03-26T23:48:19.352Z,1743032899.352 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-03-26T23:48:19.353Z,1743032899.353 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-03-26T23:48:19.354Z,1743032899.354 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-03-26T23:48:19.576Z,1743032899.576 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-03-26T23:48:19.577Z,1743032899.577 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-03-26T23:48:19.694Z,1743032899.694 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-03-26T23:48:19.695Z,1743032899.695 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-03-26T23:48:19.800Z,1743032899.800 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-03-26T23:48:19.800Z,1743032899.800 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-03-26T23:48:20.305Z,1743032900.305 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-03-26T23:48:20.305Z,1743032900.305 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-03-26T23:48:20.670Z,1743032900.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-03-26T23:48:20.671Z,1743032900.671 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-03-26T23:48:21.029Z,1743032901.029 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-03-26T23:48:21.030Z,1743032901.030 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-03-26T23:48:21.230Z,1743032901.230 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-03-26T23:48:21.231Z,1743032901.231 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-03-26T23:48:21.319Z,1743032901.319 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-03-26T23:48:21.410Z,1743032901.410 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-03-26T23:48:21.838Z,1743032901.838 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-03-26T23:48:21.838Z,1743032901.838 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-03-26T23:48:22.143Z,1743032902.143 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-03-26T23:48:22.144Z,1743032902.144 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-03-26T23:48:22.793Z,1743032902.793 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-03-26T23:48:22.794Z,1743032902.794 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-03-26T23:48:23.490Z,1743032903.490 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-03-26T23:48:23.491Z,1743032903.491 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-03-26T23:48:23.749Z,1743032903.749 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-03-26T23:48:23.749Z,1743032903.749 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-03-26T23:48:23.900Z,1743032903.900 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-03-26T23:48:23.901Z,1743032903.901 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-03-26T23:48:24.836Z,1743032904.836 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-03-26T23:48:24.838Z,1743032904.838 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2025-03-26T23:48:24.839Z,1743032904.839 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2025-03-26T23:48:24.933Z,1743032904.933 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2025-03-26T23:48:25.075Z,1743032905.075 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2025-03-26T23:48:25.359Z,1743032905.359 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-03-26T23:48:25.360Z,1743032905.360 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2025-03-26T23:48:25.493Z,1743032905.493 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2025-03-26T23:48:25.600Z,1743032905.600 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2025-03-26T23:48:25.703Z,1743032905.703 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2025-03-26T23:48:25.821Z,1743032905.821 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2025-03-26T23:48:25.915Z,1743032905.915 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2025-03-26T23:48:26.011Z,1743032906.011 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2025-03-26T23:48:26.111Z,1743032906.111 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2025-03-26T23:48:26.290Z,1743032906.290 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/root/
2025-03-26T23:48:26.291Z,1743032906.291 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-03-26T23:48:26.305Z,1743032906.305 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-03-26T23:48:26.361Z,1743032906.361 [DepthRateCalculator] Loaded
2025-03-26T23:48:26.361Z,1743032906.361 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-03-26T23:48:26.367Z,1743032906.367 [PitchRateCalculator] Loaded
2025-03-26T23:48:26.368Z,1743032906.368 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-03-26T23:48:26.378Z,1743032906.378 [SpeedCalculator] Loaded
2025-03-26T23:48:26.378Z,1743032906.378 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-03-26T23:48:26.384Z,1743032906.384 [YawRateCalculator] Loaded
2025-03-26T23:48:26.384Z,1743032906.384 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-03-26T23:48:26.406Z,1743032906.406 [ElevatorOffsetCalculator] Loaded
2025-03-26T23:48:26.406Z,1743032906.406 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-03-26T23:48:26.407Z,1743032906.407 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-03-26T23:48:26.407Z,1743032906.407 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-03-26T23:48:26.438Z,1743032906.438 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-03-26T23:48:26.438Z,1743032906.438 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-03-26T23:48:26.449Z,1743032906.449 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-03-26T23:48:26.450Z,1743032906.450 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-03-26T23:48:26.981Z,1743032906.981 [AHRS_M2] Loaded
2025-03-26T23:48:26.981Z,1743032906.981 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-03-26T23:48:27.021Z,1743032907.021 [BackseatComponent] Loaded
2025-03-26T23:48:27.021Z,1743032907.021 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-03-26T23:48:27.023Z,1743032907.023 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408754E0
2025-03-26T23:48:27.023Z,1743032907.023 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1087
2025-03-26T23:48:27.026Z,1743032907.026 [LcmUniversalReporter] Loaded
2025-03-26T23:48:27.026Z,1743032907.026 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-03-26T23:48:27.837Z,1743032907.837 [BPC1] Loaded
2025-03-26T23:48:27.838Z,1743032907.838 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-03-26T23:48:27.935Z,1743032907.935 [DAT] Loaded
2025-03-26T23:48:27.936Z,1743032907.936 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-03-26T23:48:27.937Z,1743032907.937 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408A54E0
2025-03-26T23:48:27.937Z,1743032907.937 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1088
2025-03-26T23:48:28.053Z,1743032908.053 [DataOverHttps] Loaded
2025-03-26T23:48:28.053Z,1743032908.053 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-03-26T23:48:28.054Z,1743032908.054 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408D54E0
2025-03-26T23:48:28.055Z,1743032908.055 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1089
2025-03-26T23:48:28.139Z,1743032908.139 [Depth_Keller] Loaded
2025-03-26T23:48:28.139Z,1743032908.139 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-03-26T23:48:28.151Z,1743032908.151 [DropWeight] Loaded
2025-03-26T23:48:28.151Z,1743032908.151 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-03-26T23:48:28.303Z,1743032908.303 [MultiRay](INFO): Found secondary power supply at: /dev/loadC7
2025-03-26T23:48:28.303Z,1743032908.303 [MultiRay] Loaded
2025-03-26T23:48:28.303Z,1743032908.303 [ComponentRegistry](DEBUG): SyncComponent "MultiRay" handled in the control thread.
2025-03-26T23:48:28.568Z,1743032908.568 [NAL9602] Loaded
2025-03-26T23:48:28.568Z,1743032908.568 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-03-26T23:48:28.613Z,1743032908.613 [Onboard] Loaded
2025-03-26T23:48:28.613Z,1743032908.613 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-03-26T23:48:28.614Z,1743032908.614 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409054E0
2025-03-26T23:48:28.615Z,1743032908.615 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1090
2025-03-26T23:48:28.621Z,1743032908.621 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2025-03-26T23:48:28.634Z,1743032908.634 [PowerOnly] Loaded
2025-03-26T23:48:28.635Z,1743032908.635 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2025-03-26T23:48:28.649Z,1743032908.649 [Power24vConverter] Loaded
2025-03-26T23:48:28.649Z,1743032908.649 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-03-26T23:48:28.666Z,1743032908.666 [Radio_Surface] Loaded
2025-03-26T23:48:28.667Z,1743032908.667 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-03-26T23:48:28.668Z,1743032908.668 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409354E0
2025-03-26T23:48:28.668Z,1743032908.668 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1091
2025-03-26T23:48:28.694Z,1743032908.694 [Waterlinked] Loaded
2025-03-26T23:48:28.694Z,1743032908.694 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread.
2025-03-26T23:48:28.694Z,1743032908.694 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-03-26T23:48:28.695Z,1743032908.695 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-03-26T23:48:28.946Z,1743032908.946 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-03-26T23:48:28.946Z,1743032908.946 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-03-26T23:48:28.960Z,1743032908.960 [NavChart] Loaded
2025-03-26T23:48:28.961Z,1743032908.961 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-03-26T23:48:28.967Z,1743032908.967 [UniversalFixResidualReporter] Loaded
2025-03-26T23:48:28.967Z,1743032908.967 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-03-26T23:48:28.967Z,1743032908.967 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-03-26T23:48:28.968Z,1743032908.968 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-03-26T23:48:29.144Z,1743032909.144 [SBIT](DEBUG): Construct Startup Built In Test.
2025-03-26T23:48:29.159Z,1743032909.159 [SBIT] Loaded
2025-03-26T23:48:29.159Z,1743032909.159 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-03-26T23:48:29.162Z,1743032909.162 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-03-26T23:48:29.175Z,1743032909.175 [IBIT] Loaded
2025-03-26T23:48:29.176Z,1743032909.176 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-03-26T23:48:29.181Z,1743032909.181 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-03-26T23:48:29.264Z,1743032909.264 [CBIT] Loaded
2025-03-26T23:48:29.264Z,1743032909.264 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-03-26T23:48:29.296Z,1743032909.296 [GFScanner] Loaded
2025-03-26T23:48:29.296Z,1743032909.296 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-03-26T23:48:29.297Z,1743032909.297 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-03-26T23:48:29.297Z,1743032909.297 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-03-26T23:48:29.474Z,1743032909.474 [CTD_Seabird] Loaded
2025-03-26T23:48:29.474Z,1743032909.474 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-03-26T23:48:29.475Z,1743032909.475 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A474E0
2025-03-26T23:48:29.476Z,1743032909.476 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1092
2025-03-26T23:48:29.499Z,1743032909.499 [PAR_Licor] Loaded
2025-03-26T23:48:29.499Z,1743032909.499 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-03-26T23:48:29.546Z,1743032909.546 [WetLabsBB2FL] Loaded
2025-03-26T23:48:29.546Z,1743032909.546 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-03-26T23:48:29.547Z,1743032909.547 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A774E0
2025-03-26T23:48:29.547Z,1743032909.547 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1093
2025-03-26T23:48:29.548Z,1743032909.548 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-03-26T23:48:29.549Z,1743032909.549 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-03-26T23:48:29.697Z,1743032909.697 [BuoyancyServo] Loaded
2025-03-26T23:48:29.698Z,1743032909.698 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-03-26T23:48:29.722Z,1743032909.722 [ElevatorServo] Loaded
2025-03-26T23:48:29.722Z,1743032909.722 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-03-26T23:48:29.746Z,1743032909.746 [MassServo] Loaded
2025-03-26T23:48:29.747Z,1743032909.747 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-03-26T23:48:29.769Z,1743032909.769 [RudderServo] Loaded
2025-03-26T23:48:29.770Z,1743032909.770 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-03-26T23:48:29.788Z,1743032909.788 [ThrusterHE] Loaded
2025-03-26T23:48:29.789Z,1743032909.789 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-03-26T23:48:29.789Z,1743032909.789 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-03-26T23:48:29.790Z,1743032909.790 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-03-26T23:48:29.847Z,1743032909.847 [VerticalControl](DEBUG): Construct VerticalControl.
2025-03-26T23:48:29.901Z,1743032909.901 [VerticalControl] Loaded
2025-03-26T23:48:29.902Z,1743032909.902 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-03-26T23:48:29.905Z,1743032909.905 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-03-26T23:48:29.950Z,1743032909.950 [HorizontalControl] Loaded
2025-03-26T23:48:29.951Z,1743032909.951 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-03-26T23:48:29.953Z,1743032909.953 [SpeedControl](DEBUG): Construct SpeedControl.
2025-03-26T23:48:29.955Z,1743032909.955 [SpeedControl] Loaded
2025-03-26T23:48:29.955Z,1743032909.955 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-03-26T23:48:29.958Z,1743032909.958 [LoopControl](DEBUG): Construct LoopControl.
2025-03-26T23:48:29.959Z,1743032909.959 [LoopControl] Loaded
2025-03-26T23:48:29.959Z,1743032909.959 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-03-26T23:48:29.960Z,1743032909.960 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-03-26T23:48:29.960Z,1743032909.960 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-03-26T23:48:30.103Z,1743032910.103 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-03-26T23:48:30.104Z,1743032910.104 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-03-26T23:48:30.298Z,1743032910.298 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-03-26T23:48:30.299Z,1743032910.299 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-03-26T23:48:30.677Z,1743032910.677 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-03-26T23:48:30.677Z,1743032910.677 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-03-26T23:48:30.740Z,1743032910.740 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-03-26T23:48:30.746Z,1743032910.746 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-03-26T23:48:30.749Z,1743032910.749 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-03-26T23:48:30.761Z,1743032910.761 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-03-26T23:48:30.762Z,1743032910.762 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-03-26T23:48:30.762Z,1743032910.762 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1094
2025-03-26T23:48:30.767Z,1743032910.767 [Supervisor](INFO): Main Thread ID is 829
2025-03-26T23:48:30.767Z,1743032910.767 [Supervisor](DEBUG): Running supervisor.
2025-03-26T23:48:30.768Z,1743032910.768 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1095
2025-03-26T23:48:30.768Z,1743032910.768 [CommandExec](INFO): Initializing the command executive.
2025-03-26T23:48:30.770Z,1743032910.770 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1096
2025-03-26T23:48:30.773Z,1743032910.773 [controlThread ThreadHandler](INFO): Handler Thread ID is 1097
2025-03-26T23:48:30.773Z,1743032910.773 [controlThread](DEBUG): Initializing ControlThread
2025-03-26T23:48:30.774Z,1743032910.774 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-03-26T23:48:30.775Z,1743032910.775 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-03-26T23:48:30.775Z,1743032910.775 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-03-26T23:48:30.775Z,1743032910.775 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-03-26T23:48:30.776Z,1743032910.776 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-03-26T23:48:30.780Z,1743032910.780 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-03-26T23:48:30.780Z,1743032910.780 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-03-26T23:48:30.781Z,1743032910.781 [SBIT](INFO): Initialize SBIT Component.
2025-03-26T23:48:30.781Z,1743032910.781 [SBIT](IMPORTANT): git: 2025-03-26-1-g1815535cc
2025-03-26T23:48:30.781Z,1743032910.781 [SBIT](INFO): git hash: 1815535cca105e464bdb7831f6233b5043f0283f
2025-03-26T23:48:30.782Z,1743032910.782 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-03-26T23:48:30.783Z,1743032910.783 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-03-26T23:48:30.784Z,1743032910.784 [SBIT](INFO): Beginning SBIT in 99.000000 seconds.
2025-03-26T23:48:30.785Z,1743032910.785 [IBIT](INFO): Initialize IBIT Component.
2025-03-26T23:48:30.785Z,1743032910.785 [CBIT](DEBUG): Initialize CBIT Component.
2025-03-26T23:48:30.786Z,1743032910.786 [logger ThreadHandler](INFO): Handler Thread ID is 1098
2025-03-26T23:48:30.798Z,1743032910.798 [CBIT](DEBUG): Initialized mux pins.
2025-03-26T23:48:30.799Z,1743032910.799 [CBIT](DEBUG): Initializing the watchdog timer.
2025-03-26T23:48:30.807Z,1743032910.807 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1099
2025-03-26T23:48:30.822Z,1743032910.822 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-03-26T23:48:30.823Z,1743032910.823 [CBIT](DEBUG): Initializing heartbeat.
2025-03-26T23:48:30.824Z,1743032910.824 [DAT ThreadHandler](INFO): Handler Thread ID is 1100
2025-03-26T23:48:30.824Z,1743032910.824 [DAT](INFO): Powering up
2025-03-26T23:48:30.825Z,1743032910.825 [DAT](DEBUG): Initializing DAT.
2025-03-26T23:48:30.828Z,1743032910.828 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1102
2025-03-26T23:48:30.830Z,1743032910.830 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-03-26T23:48:30.851Z,1743032910.851 [Onboard ThreadHandler](INFO): Handler Thread ID is 1103
2025-03-26T23:48:30.868Z,1743032910.868 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1104
2025-03-26T23:48:30.890Z,1743032910.890 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1105
2025-03-26T23:48:30.890Z,1743032910.890 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-03-26T23:48:30.895Z,1743032910.895 [CBIT](DEBUG): Deactivating emergency mode.
2025-03-26T23:48:30.896Z,1743032910.896 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1107
2025-03-26T23:48:30.899Z,1743032910.899 [WetLabsBB2FL](INFO): Powering up
2025-03-26T23:48:30.900Z,1743032910.900 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1109
2025-03-26T23:48:30.903Z,1743032910.903 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-03-26T23:48:30.903Z,1743032910.903 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-03-26T23:48:30.903Z,1743032910.903 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-03-26T23:48:30.903Z,1743032910.903 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-03-26T23:48:30.904Z,1743032910.904 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-03-26T23:48:30.904Z,1743032910.904 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-03-26T23:48:30.904Z,1743032910.904 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-03-26T23:48:30.904Z,1743032910.904 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-03-26T23:48:30.934Z,1743032910.934 [CBIT](DEBUG): Backplane powered.
2025-03-26T23:48:30.935Z,1743032910.935 [GFScanner](DEBUG): Initializing GFScanner
2025-03-26T23:48:30.935Z,1743032910.935 [GFScanner](DEBUG): Deactivating GF circuits.
2025-03-26T23:48:30.944Z,1743032910.944 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-03-26T23:48:30.946Z,1743032910.946 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-03-26T23:48:30.946Z,1743032910.946 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-03-26T23:48:30.947Z,1743032910.947 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-03-26T23:48:30.948Z,1743032910.948 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-03-26T23:48:30.949Z,1743032910.949 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-03-26T23:48:30.949Z,1743032910.949 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-03-26T23:48:30.950Z,1743032910.950 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-03-26T23:48:31.016Z,1743032911.016 [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>

2025-03-26T23:48:31.021Z,1743032911.021 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-26T23:48:31.045Z,1743032911.045 [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
    }
  }
}


2025-03-26T23:48:31.046Z,1743032911.046 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-03-26T23:48:31.046Z,1743032911.046 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-03-26T23:48:31.059Z,1743032911.059 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-03-26T23:48:31.275Z,1743032911.275 [Radio_Surface](INFO): Powering up
2025-03-26T23:48:31.279Z,1743032911.279 [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>

2025-03-26T23:48:31.289Z,1743032911.289 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-03-26T23:48:31.291Z,1743032911.291 [Default:A.Wait](DEBUG): Construct Wait.
2025-03-26T23:48:31.293Z,1743032911.293 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-26T23:48:31.317Z,1743032911.317 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-03-26T23:48:31.320Z,1743032911.320 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-03-26T23:48:31.342Z,1743032911.342 [Default:E.Execute](DEBUG): Construct Execute.
2025-03-26T23:48:31.345Z,1743032911.345 [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"
  }
}


2025-03-26T23:48:31.350Z,1743032911.350 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,MultiRay,NAL9602,PowerOnly,Power24vConverter,Waterlinked,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-03-26T23:48:31.371Z,1743032911.371 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-03-26T23:48:31.420Z,1743032911.420 [Depth_Keller](INFO): Initializing.
2025-03-26T23:48:31.421Z,1743032911.421 [MultiRay](INFO): Powering up MultiRay Lights
2025-03-26T23:48:31.421Z,1743032911.421 [MultiRay](INFO): Powering up secondary power supply.
2025-03-26T23:48:31.460Z,1743032911.460 [Power24vConverter](INFO): Powering up.
2025-03-26T23:48:31.469Z,1743032911.469 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-03-26T23:48:31.496Z,1743032911.496 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-03-26T23:48:31.503Z,1743032911.503 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-03-26T23:48:31.504Z,1743032911.504 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-26T23:48:31.511Z,1743032911.511 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-26T23:48:31.512Z,1743032911.512 [MassServo](DEBUG): Initializing EZServoServo.
2025-03-26T23:48:31.519Z,1743032911.519 [MassServo](DEBUG): Initializing MassServo.
2025-03-26T23:48:31.520Z,1743032911.520 [RudderServo](DEBUG): Initializing EZServoServo.
2025-03-26T23:48:31.535Z,1743032911.535 [RudderServo](DEBUG): Initializing RudderServo.
2025-03-26T23:48:31.536Z,1743032911.536 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-26T23:48:31.543Z,1743032911.543 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-26T23:48:33.511Z,1743032913.511 [WetLabsBB2FL](INFO): Powering down
2025-03-26T23:48:37.279Z,1743032917.279 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-26T23:48:37.919Z,1743032917.919 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-03-26T23:48:42.419Z,1743032922.419 [DAT](INFO): DAT read: 

2025-03-26T23:48:42.422Z,1743032922.422 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-26T23:48:43.928Z,1743032923.928 [DAT](INFO): DAT read: MF Frequency Band

2025-03-26T23:48:43.929Z,1743032923.929 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-26T23:48:43.929Z,1743032923.929 [DAT](INFO): DAT read: Mar 26 2025 23:48:38 

2025-03-26T23:48:44.936Z,1743032924.936 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-26T23:48:44.937Z,1743032924.937 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-03-26T23:48:44.937Z,1743032924.937 [DAT](INFO): commRate: 800
2025-03-26T23:48:47.003Z,1743032927.003 [DAT](INFO): entering command mode
2025-03-26T23:48:47.204Z,1743032927.204 [DAT](INFO): DAT read: 

2025-03-26T23:48:47.205Z,1743032927.205 [DAT](INFO): DAT read: user:1>

2025-03-26T23:48:47.205Z,1743032927.205 [DAT](INFO): setting verbose to 3
2025-03-26T23:48:47.455Z,1743032927.455 [DAT](INFO): DAT read: user:1>

2025-03-26T23:48:47.456Z,1743032927.456 [DAT](INFO): DAT read: Verbose         | 3           

2025-03-26T23:48:47.457Z,1743032927.457 [DAT](INFO): set verbose to 3
2025-03-26T23:48:47.457Z,1743032927.457 [DAT](INFO): setting DatVerbose to 27440
2025-03-26T23:48:47.707Z,1743032927.707 [DAT](INFO): DAT read: user:2>

2025-03-26T23:48:47.708Z,1743032927.708 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-03-26T23:48:47.709Z,1743032927.709 [DAT](INFO): set DatVerbose to 27440
2025-03-26T23:48:47.709Z,1743032927.709 [DAT](INFO): setting transmit power to 8
2025-03-26T23:48:47.959Z,1743032927.959 [DAT](INFO): DAT read: user:3>

2025-03-26T23:48:47.960Z,1743032927.960 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-03-26T23:48:47.961Z,1743032927.961 [DAT](INFO): set transmit power to 8
2025-03-26T23:48:47.961Z,1743032927.961 [DAT](INFO): setting local address to 9
2025-03-26T23:48:48.211Z,1743032928.211 [DAT](INFO): DAT read: user:4>

2025-03-26T23:48:48.212Z,1743032928.212 [DAT](INFO): DAT read: LocalAddr       | 9           

2025-03-26T23:48:48.213Z,1743032928.213 [DAT](INFO): set local address to 9
2025-03-26T23:48:48.214Z,1743032928.214 [DAT](INFO): Setting time to: 23:48:48 And date to:3/26/2025
2025-03-26T23:48:48.463Z,1743032928.463 [DAT](INFO): DAT read: user:5>

2025-03-26T23:48:48.464Z,1743032928.464 [DAT](INFO): DAT read: Wed Mar 26, 2025  23:48:48  

2025-03-26T23:48:48.465Z,1743032928.465 [DAT](INFO): Local DAT time set to Wed Mar 26, 2025  23:48:48  

2025-03-26T23:48:58.600Z,1743032938.600 [NAL9602](INFO): Powering up NAL9602
2025-03-26T23:49:08.799Z,1743032948.799 [Waterlinked](INFO): Powering down
2025-03-26T23:49:09.509Z,1743032949.509 [NAL9602](INFO): NAL9602 initialized
2025-03-26T23:49:31.734Z,1743032971.734 [NAL9602](INFO): SBD MO Status=2, MOMSN=18755, MT Status=2, MTMSN=0
2025-03-26T23:49:31.734Z,1743032971.734 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-26T23:50:03.246Z,1743033003.246 [NAL9602](INFO): SBD MO Status=0, MOMSN=18755, MT Status=0, MTMSN=0
2025-03-26T23:50:03.246Z,1743033003.246 [NAL9602](INFO): No messages in MT queue
2025-03-26T23:50:10.545Z,1743033010.545 [SBIT](IMPORTANT): Beginning Startup BIT
2025-03-26T23:50:10.550Z,1743033010.550 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-26T23:50:15.071Z,1743033015.071 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.007146
CHAN A1 (24V): 0.000722
CHAN A2 (12V): -0.005387
CHAN A3 (5V): -0.003461
CHAN B0 (3.3V): -0.001694
CHAN B1 (3.15aV): -0.000711
CHAN B2 (3.15bV): -0.002165
CHAN B3 (GND): -0.000691
OPEN: 0.008598
Full Scale: +/- 1 mA
2025-03-26T23:51:04.847Z,1743033064.847 [SBIT](IMPORTANT): SBIT PASSED
2025-03-26T23:51:04.847Z,1743033064.847 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-03-26T23:51:04.848Z,1743033064.848 [SBIT](IMPORTANT): Express linearApproximation DATMMP.acoustic_contact_range 15.000000 meter;

2025-03-26T23:51:04.848Z,1743033064.848 [SBIT](IMPORTANT): Express linearApproximation TrackAcousticContact.range_to_contact 15.000000 meter;

2025-03-26T23:51:04.848Z,1743033064.848 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool;

2025-03-26T23:51:04.849Z,1743033064.849 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool;

2025-03-26T23:51:04.851Z,1743033064.851 [SBIT](IMPORTANT): MultiRay.brightnessWhite=100 none;

2025-03-26T23:51:04.851Z,1743033064.851 [SBIT](IMPORTANT): MultiRay.loadAtStartup=1 bool;

2025-03-26T23:51:04.852Z,1743033064.852 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2025-03-26T23:51:04.852Z,1743033064.852 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=0 bool;

2025-03-26T23:51:04.852Z,1743033064.852 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=200 cubic_centimeter;

2025-03-26T23:51:04.852Z,1743033064.852 [SBIT](IMPORTANT): VerticalControl.kdDepth=0.2 radian_per_second_per_meter;

2025-03-26T23:51:04.852Z,1743033064.852 [SBIT](IMPORTANT): VerticalControl.kpDepth=0.15 radian_per_meter;

2025-03-26T23:51:04.852Z,1743033064.852 [SBIT](IMPORTANT): VerticalControl.massDefault=2 centimeter;

2025-03-26T23:51:05.255Z,1743033065.255 [MissionManager](IMPORTANT): Started mission Startup
2025-03-26T23:51:05.255Z,1743033065.255 [Startup] Running Loop=1
2025-03-26T23:51:05.256Z,1743033065.256 [Startup](DEBUG): Aggregate::initialize Startup
2025-03-26T23:51:05.256Z,1743033065.256 [Startup:A.GoToSurface] Running Loop=1
2025-03-26T23:51:05.256Z,1743033065.256 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-26T23:51:05.256Z,1743033065.256 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-26T23:51:05.257Z,1743033065.257 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-26T23:51:05.257Z,1743033065.257 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-26T23:51:05.257Z,1743033065.257 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-26T23:51:05.258Z,1743033065.258 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-26T23:51:05.258Z,1743033065.258 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-26T23:51:05.260Z,1743033065.260 [Startup:StartupSatComms] Running Loop=1
2025-03-26T23:51:05.260Z,1743033065.260 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-03-26T23:51:05.260Z,1743033065.260 [Startup:StartupSatComms:A] Running Loop=1
2025-03-26T23:51:05.639Z,1743033065.639 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-03-26T23:51:31.088Z,1743033091.088 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-03-26T23:51:31.088Z,1743033091.088 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-26T23:51:31.123Z,1743033091.123 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-26T23:51:31.541Z,1743033091.541 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-26T23:51:31.541Z,1743033091.541 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-03-26T23:51:53.977Z,1743033113.977 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005106
2025-03-26T23:52:05.400Z,1743033125.400 [Startup:StartupSatComms:A](INFO): Timed out from 2025-03-26T23:51:05.3Z
2025-03-26T23:52:05.401Z,1743033125.401 [Startup:StartupSatComms:A] Stopped
2025-03-26T23:52:05.401Z,1743033125.401 [Startup:StartupSatComms:B] Running Loop=1
2025-03-26T23:52:05.813Z,1743033125.813 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-26T23:52:07.757Z,1743033127.757 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250326T225009/Courier0018.lzma
2025-03-26T23:52:08.649Z,1743033128.649 [DataOverHttps](INFO): Moved sent file to Logs/20250326T225009/Courier0018.lzma.bak
2025-03-26T23:52:08.649Z,1743033128.649 [DataOverHttps](INFO): SBD MOMSN=24463248
2025-03-26T23:52:13.641Z,1743033133.641 [CommandExec](IMPORTANT): got command get latitude
2025-03-26T23:52:13.641Z,1743033133.641 [CommandExec](FAULT): Element has no value
2025-03-26T23:52:25.112Z,1743033145.112 [DataOverHttps](INFO): Sending 229 bytes from file Logs/20250326T233808/Courier0000.lzma
2025-03-26T23:52:26.112Z,1743033146.112 [DataOverHttps](INFO): Moved sent file to Logs/20250326T233808/Courier0000.lzma.bak
2025-03-26T23:52:26.113Z,1743033146.113 [DataOverHttps](INFO): SBD MOMSN=24463250
2025-03-26T23:52:41.942Z,1743033161.942 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250326T233808/Courier0004.lzma
2025-03-26T23:52:42.944Z,1743033162.944 [DataOverHttps](INFO): Moved sent file to Logs/20250326T233808/Courier0004.lzma.bak
2025-03-26T23:52:42.945Z,1743033162.945 [DataOverHttps](INFO): SBD MOMSN=24463255
2025-03-26T23:52:58.684Z,1743033178.684 [DataOverHttps](INFO): Sending 185 bytes from file Logs/20250326T234353/Courier0000.lzma
2025-03-26T23:52:59.685Z,1743033179.685 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234353/Courier0000.lzma.bak
2025-03-26T23:52:59.685Z,1743033179.685 [DataOverHttps](INFO): SBD MOMSN=24463257
2025-03-26T23:53:04.074Z,1743033184.074 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235302.00,A,3648.14838,N,12148.10201,W,0.836,0.45,260325,,,A*76
2025-03-26T23:53:04.077Z,1743033184.077 [NAL9602](INFO): GPS fix at 20250326T235302: (36.802473, -121.801700)
2025-03-26T23:53:05.759Z,1743033185.759 [Startup:StartupSatComms:B](INFO): Timed out from 2025-03-26T23:52:05.4Z
2025-03-26T23:53:05.759Z,1743033185.759 [Startup:StartupSatComms:B] Stopped
2025-03-26T23:53:05.759Z,1743033185.759 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-03-26T23:53:05.759Z,1743033185.759 [Startup:StartupSatComms] Stopped
2025-03-26T23:53:05.759Z,1743033185.759 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-03-26T23:53:05.760Z,1743033185.760 [Startup](INFO): Completed Startup
2025-03-26T23:53:05.760Z,1743033185.760 [MissionManager](INFO): Startup is completed.
2025-03-26T23:53:05.760Z,1743033185.760 [MissionManager](INFO): Uninitializing Mission Startup
2025-03-26T23:53:05.761Z,1743033185.761 [Startup] Stopped
2025-03-26T23:53:05.761Z,1743033185.761 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-03-26T23:53:05.761Z,1743033185.761 [Startup:A.GoToSurface] Stopped
2025-03-26T23:53:05.761Z,1743033185.761 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-26T23:53:06.175Z,1743033186.175 [MissionManager](IMPORTANT): Started mission Default
2025-03-26T23:53:06.175Z,1743033186.175 [Default] Running Loop=1
2025-03-26T23:53:06.175Z,1743033186.175 [Default](DEBUG): Aggregate::initialize Default
2025-03-26T23:53:06.175Z,1743033186.175 [Default:B.GoToSurface] Running Loop=1
2025-03-26T23:53:06.175Z,1743033186.175 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-26T23:53:06.175Z,1743033186.175 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-26T23:53:06.176Z,1743033186.176 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-26T23:53:06.176Z,1743033186.176 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-26T23:53:06.176Z,1743033186.176 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-26T23:53:06.176Z,1743033186.176 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-26T23:53:06.177Z,1743033186.177 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-26T23:53:06.177Z,1743033186.177 [Default:A.Wait] Running Loop=1
2025-03-26T23:53:06.177Z,1743033186.177 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-26T23:53:15.950Z,1743033195.950 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250326T234353/Courier0004.lzma
2025-03-26T23:53:16.952Z,1743033196.952 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234353/Courier0004.lzma.bak
2025-03-26T23:53:16.952Z,1743033196.952 [DataOverHttps](INFO): SBD MOMSN=24463261
2025-03-26T23:53:19.501Z,1743033199.501 [Default:A.Wait](INFO): Done Waiting.
2025-03-26T23:53:19.501Z,1743033199.501 [Default:A.Wait] Stopped
2025-03-26T23:53:19.501Z,1743033199.501 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-26T23:53:19.864Z,1743033199.864 [Default:CheckIn] Running Loop=1
2025-03-26T23:53:19.864Z,1743033199.864 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-26T23:53:19.864Z,1743033199.864 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-26T23:53:20.260Z,1743033200.260 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-26T23:53:21.864Z,1743033201.864 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235320.00,A,3648.14662,N,12148.09922,W,1.186,274.10,260325,,,A*77
2025-03-26T23:53:21.866Z,1743033201.866 [NAL9602](INFO): GPS fix at 20250326T235320: (36.802444, -121.801654)
2025-03-26T23:53:21.878Z,1743033201.878 [Default:CheckIn:Read_GPS] Stopped
2025-03-26T23:53:21.878Z,1743033201.878 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-26T23:53:22.296Z,1743033202.296 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-26T23:53:40.615Z,1743033220.615 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250326T234819/Courier0000.lzma
2025-03-26T23:53:41.617Z,1743033221.617 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0000.lzma.bak
2025-03-26T23:53:41.617Z,1743033221.617 [DataOverHttps](INFO): SBD MOMSN=24463263
2025-03-26T23:53:54.624Z,1743033234.624 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-26T23:53:58.211Z,1743033238.211 [DataOverHttps](INFO): Sending 224 bytes from file Logs/20250326T234819/Courier0004.lzma
2025-03-26T23:53:59.429Z,1743033239.429 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0004.lzma.bak
2025-03-26T23:53:59.429Z,1743033239.429 [DataOverHttps](INFO): SBD MOMSN=24463269
2025-03-26T23:54:15.306Z,1743033255.306 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250326T225009/Express0019.lzma
2025-03-26T23:54:16.308Z,1743033256.308 [DataOverHttps](INFO): Moved sent file to Logs/20250326T225009/Express0019.lzma.bak
2025-03-26T23:54:16.308Z,1743033256.308 [DataOverHttps](INFO): SBD MOMSN=24463275
2025-03-26T23:54:32.318Z,1743033272.318 [DataOverHttps](INFO): Sending 1013 bytes from file Logs/20250326T233808/Express0001.lzma
2025-03-26T23:54:33.316Z,1743033273.316 [DataOverHttps](INFO): Moved sent file to Logs/20250326T233808/Express0001.lzma.bak
2025-03-26T23:54:33.317Z,1743033273.317 [DataOverHttps](INFO): SBD MOMSN=24463277
2025-03-26T23:54:41.929Z,1743033281.929 [DataOverHttps](IMPORTANT): SBD MTMSN=20250326T235441
2025-03-26T23:54:49.322Z,1743033289.322 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250326T233808/Express0005.lzma
2025-03-26T23:54:49.325Z,1743033289.325 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.2 m/s;set transit.MinOffshore 0.3 km;run
2025-03-26T23:54:49.371Z,1743033289.371 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-26T23:54:49.372Z,1743033289.372 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-26T23:54:49.372Z,1743033289.372 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-26T23:54:49.376Z,1743033289.376 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-26T23:54:50.128Z,1743033290.128 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-26T23:54:50.135Z,1743033290.135 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-26T23:54:50.138Z,1743033290.138 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-26T23:54:50.141Z,1743033290.141 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-26T23:54:50.144Z,1743033290.144 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-26T23:54:50.147Z,1743033290.147 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-26T23:54:50.150Z,1743033290.150 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-26T23:54:50.153Z,1743033290.153 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-26T23:54:50.156Z,1743033290.156 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-26T23:54:50.159Z,1743033290.159 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-26T23:54:50.162Z,1743033290.162 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-26T23:54:50.165Z,1743033290.165 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-26T23:54:50.168Z,1743033290.168 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-26T23:54:50.171Z,1743033290.171 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-26T23:54:50.171Z,1743033290.171 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-26T23:54:50.171Z,1743033290.171 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-26T23:54:50.173Z,1743033290.173 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-26T23:54:50.894Z,1743033290.894 [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>

2025-03-26T23:54:50.903Z,1743033290.903 [DataOverHttps](INFO): Moved sent file to Logs/20250326T233808/Express0005.lzma.bak
2025-03-26T23:54:50.903Z,1743033290.903 [DataOverHttps](INFO): SBD MOMSN=24463310
2025-03-26T23:54:50.909Z,1743033290.909 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-26T23:54:50.913Z,1743033290.913 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-26T23:54:50.916Z,1743033290.916 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-26T23:54:50.919Z,1743033290.919 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-26T23:54:50.922Z,1743033290.922 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-26T23:54:50.925Z,1743033290.925 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-26T23:54:50.928Z,1743033290.928 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-26T23:54:50.932Z,1743033290.932 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-26T23:54:50.972Z,1743033290.972 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-26T23:54:51.043Z,1743033291.043 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-26T23:54:51.043Z,1743033291.043 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-26T23:54:51.044Z,1743033291.044 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-26T23:54:51.297Z,1743033291.297 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-26T23:54:51.310Z,1743033291.310 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-26T23:54:51.321Z,1743033291.321 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-26T23:54:51.351Z,1743033291.351 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-26T23:54:51.354Z,1743033291.354 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-26T23:54:51.379Z,1743033291.379 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-26T23:54:51.400Z,1743033291.400 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-26T23:54:51.425Z,1743033291.425 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-26T23:54:51.472Z,1743033291.472 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-26T23:54:51.472Z,1743033291.472 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-26T23:54:51.473Z,1743033291.473 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-26T23:54:51.555Z,1743033291.555 [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>

2025-03-26T23:54:51.587Z,1743033291.587 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-26T23:54:51.589Z,1743033291.589 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-26T23:54:51.597Z,1743033291.597 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-26T23:54:51.597Z,1743033291.597 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-26T23:54:51.598Z,1743033291.598 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-26T23:54:51.919Z,1743033291.919 [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>

2025-03-26T23:54:51.925Z,1743033291.925 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-26T23:54:51.940Z,1743033291.940 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-26T23:54:51.943Z,1743033291.943 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-26T23:54:51.946Z,1743033291.946 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-26T23:54:51.949Z,1743033291.949 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-26T23:54:51.997Z,1743033291.997 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-26T23:54:52.003Z,1743033292.003 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-26T23:54:52.023Z,1743033292.023 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-26T23:54:52.044Z,1743033292.044 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-26T23:54:52.070Z,1743033292.070 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-26T23:54:52.073Z,1743033292.073 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-26T23:54:52.115Z,1743033292.115 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-26T23:54:52.116Z,1743033292.116 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-26T23:55:04.616Z,1743033304.616 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-26T23:55:04.616Z,1743033304.616 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-26T23:55:04.617Z,1743033304.617 [CommandExec](IMPORTANT): got command set transit.Speed 1.2 meter_per_second
2025-03-26T23:55:04.618Z,1743033304.618 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.3 kilometer
2025-03-26T23:55:04.619Z,1743033304.619 [CommandExec](IMPORTANT): got command run
2025-03-26T23:55:04.621Z,1743033304.621 [CommandExec](IMPORTANT): Running 
2025-03-26T23:55:05.002Z,1743033305.002 [Default] Stopped
2025-03-26T23:55:05.003Z,1743033305.003 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-26T23:55:05.003Z,1743033305.003 [Default:B.GoToSurface] Stopped
2025-03-26T23:55:05.003Z,1743033305.003 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-26T23:55:05.003Z,1743033305.003 [Default:CheckIn] Stopped
2025-03-26T23:55:05.003Z,1743033305.003 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-26T23:55:05.003Z,1743033305.003 [Default:CheckIn:Read_Iridium] Stopped
2025-03-26T23:55:05.003Z,1743033305.003 [MissionManager](IMPORTANT): Started mission transit
2025-03-26T23:55:05.003Z,1743033305.003 [transit] Running Loop=1
2025-03-26T23:55:05.003Z,1743033305.003 [transit](DEBUG): Aggregate::initialize transit
2025-03-26T23:55:05.004Z,1743033305.004 [transit:StandardEnvelopes] Running Loop=1
2025-03-26T23:55:05.004Z,1743033305.004 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-26T23:55:05.004Z,1743033305.004 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-26T23:55:05.004Z,1743033305.004 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-26T23:55:05.004Z,1743033305.004 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-26T23:55:05.004Z,1743033305.004 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-26T23:55:05.004Z,1743033305.004 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-26T23:55:05.004Z,1743033305.004 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-26T23:55:05.005Z,1743033305.005 [transit:BackseatDriver] Running Loop=1
2025-03-26T23:55:05.005Z,1743033305.005 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-26T23:55:05.005Z,1743033305.005 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-26T23:55:05.005Z,1743033305.005 [transit:PowerOnly] Running Loop=1
2025-03-26T23:55:05.005Z,1743033305.005 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-26T23:55:05.005Z,1743033305.005 [transit:PowerOnly:A] Running Loop=1
2025-03-26T23:55:05.005Z,1743033305.005 [transit:PowerOnly:B] Running Loop=1
2025-03-26T23:55:05.005Z,1743033305.005 [transit:PowerOnly:C] Running Loop=1
2025-03-26T23:55:05.005Z,1743033305.005 [transit:PowerOnly:D] Running Loop=1
2025-03-26T23:55:05.005Z,1743033305.005 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-26T23:55:05.006Z,1743033305.006 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-26T23:55:05.006Z,1743033305.006 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-26T23:55:05.006Z,1743033305.006 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-26T23:55:05.006Z,1743033305.006 [transit:MassHold.Pitch] Running Loop=1
2025-03-26T23:55:05.006Z,1743033305.006 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-26T23:55:05.006Z,1743033305.006 [transit:B] Running Loop=1
2025-03-26T23:55:05.007Z,1743033305.007 [transit:MassHold.Pitch] Running Loop=1
2025-03-26T23:55:05.007Z,1743033305.007 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-26T23:55:05.008Z,1743033305.008 [transit:PowerOnly] Running Loop=1
2025-03-26T23:55:05.008Z,1743033305.008 [transit:PowerOnly:D] Stopped
2025-03-26T23:55:05.008Z,1743033305.008 [transit:PowerOnly:C] Stopped
2025-03-26T23:55:05.008Z,1743033305.008 [transit:PowerOnly:B] Stopped
2025-03-26T23:55:05.008Z,1743033305.008 [transit:PowerOnly:A] Stopped
2025-03-26T23:55:05.008Z,1743033305.008 [transit:BackseatDriver] Running Loop=1
2025-03-26T23:55:05.009Z,1743033305.009 [transit:StandardEnvelopes] Running Loop=1
2025-03-26T23:55:05.009Z,1743033305.009 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-26T23:55:05.009Z,1743033305.009 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-26T23:55:05.010Z,1743033305.010 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-26T23:55:05.011Z,1743033305.011 [transit:B] Stopped
2025-03-26T23:55:05.011Z,1743033305.011 [transit:C] Running Loop=1
2025-03-26T23:55:05.389Z,1743033305.389 [transit:C] Stopped
2025-03-26T23:55:05.389Z,1743033305.389 [transit:E] Running Loop=1
2025-03-26T23:55:05.760Z,1743033305.760 [transit:E] Stopped
2025-03-26T23:55:05.760Z,1743033305.760 [transit:F] Running Loop=1
2025-03-26T23:55:06.167Z,1743033306.167 [transit:F] Stopped
2025-03-26T23:55:06.167Z,1743033306.167 [transit:G] Running Loop=1
2025-03-26T23:55:06.548Z,1743033306.548 [transit:G] Stopped
2025-03-26T23:55:06.548Z,1743033306.548 [transit:Transit] Running Loop=1
2025-03-26T23:55:06.548Z,1743033306.548 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-26T23:55:06.548Z,1743033306.548 [transit:Transit:A.Pitch] Running Loop=1
2025-03-26T23:55:06.549Z,1743033306.549 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-26T23:55:06.549Z,1743033306.549 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-26T23:55:06.549Z,1743033306.549 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-26T23:55:06.549Z,1743033306.549 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-26T23:55:06.549Z,1743033306.549 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-26T23:55:06.555Z,1743033306.555 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-26T23:55:06.556Z,1743033306.556 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-03-26T23:55:06.960Z,1743033306.960 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-26T23:55:06.961Z,1743033306.961 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-26T23:55:06.961Z,1743033306.961 [transit:Transit:A.Pitch] Running Loop=1
2025-03-26T23:55:06.978Z,1743033306.978 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-03-26T23:55:06.978Z,1743033306.978 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-03-26T23:55:06.978Z,1743033306.978 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-03-26T23:55:10.170Z,1743033310.170 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250326T234819/Courier0007.lzma
2025-03-26T23:55:11.172Z,1743033311.172 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0007.lzma.bak
2025-03-26T23:55:11.173Z,1743033311.173 [DataOverHttps](INFO): SBD MOMSN=24463313
2025-03-26T23:55:31.178Z,1743033331.178 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2025-03-26T23:55:31.185Z,1743033331.185 [BPC1](INFO): Received data from all battery sticks.
2025-03-26T23:56:14.311Z,1743033374.311 [Waterlinked](INFO): Powering down
2025-03-26T23:56:21.107Z,1743033381.107 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.507286
2025-03-26T23:56:53.252Z,1743033413.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-26T23:57:14.979Z,1743033434.979 [Radio_Surface](INFO): Powering down
2025-03-26T23:57:28.391Z,1743033448.391 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-26T23:57:29.396Z,1743033449.396 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-27T00:20:20.243Z,1743034820.243 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-27T00:20:20.243Z,1743034820.243 [Waterlinked] Communications Fault, FailCount= 1
2025-03-27T00:20:20.243Z,1743034820.243 [Waterlinked](ERROR): Communications Fault
2025-03-27T00:20:20.506Z,1743034820.506 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-27T00:20:20.743Z,1743034820.743 [Waterlinked](INFO): Powering down
2025-03-27T00:20:21.470Z,1743034821.470 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-27T00:20:21.470Z,1743034821.470 [Waterlinked] No Fault, FailCount= 1
2025-03-27T00:23:22.913Z,1743035002.913 [transit:NeedComms] Running Loop=1
2025-03-27T00:23:22.913Z,1743035002.913 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-03-27T00:23:22.913Z,1743035002.913 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-03-27T00:23:22.913Z,1743035002.913 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-27T00:23:22.913Z,1743035002.913 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-27T00:23:22.914Z,1743035002.914 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-27T00:23:22.914Z,1743035002.914 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-27T00:23:22.914Z,1743035002.914 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-27T00:23:22.931Z,1743035002.931 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-27T00:23:22.931Z,1743035002.931 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-27T00:23:22.932Z,1743035002.932 [transit:NeedComms:A] Running Loop=1
2025-03-27T00:23:22.933Z,1743035002.933 [transit:NeedComms:A](INFO): last time_fix was:  1743033200.000000 second since 1970/01/01T00:00:00Z 
2025-03-27T00:23:22.934Z,1743035002.934 [transit:NeedComms:A] Stopped
2025-03-27T00:23:28.039Z,1743035008.039 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T00:23:28.135Z,1743035008.135 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-27T00:23:28.135Z,1743035008.135 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-27T00:23:28.135Z,1743035008.135 [ThrusterHE] Communications Fault, FailCount= 1
2025-03-27T00:23:28.135Z,1743035008.135 [ThrusterHE](ERROR): Communications Fault
2025-03-27T00:23:28.139Z,1743035008.139 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-27T00:23:28.423Z,1743035008.423 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-27T00:23:28.423Z,1743035008.423 [ThrusterHE](INFO): Powering down
2025-03-27T00:23:29.399Z,1743035009.399 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-27T00:23:29.516Z,1743035009.516 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-27T00:23:29.519Z,1743035009.519 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-27T00:23:29.519Z,1743035009.519 [ThrusterHE] No Fault, FailCount= 1
2025-03-27T00:24:07.402Z,1743035047.402 [transit:NeedComms:C] Running Loop=1
2025-03-27T00:24:07.875Z,1743035047.875 [Waterlinked](INFO): Powering down
2025-03-27T00:24:07.898Z,1743035047.898 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-27T00:24:07.923Z,1743035047.923 [Radio_Surface](INFO): Powering up
2025-03-27T00:24:14.055Z,1743035054.055 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-27T00:24:44.175Z,1743035084.175 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:25:02.355Z,1743035102.355 [NAL9602](INFO): SBD MO Status=0, MOMSN=18756, MT Status=0, MTMSN=0
2025-03-27T00:25:02.355Z,1743035102.355 [NAL9602](INFO): No messages in MT queue
2025-03-27T00:25:03.570Z,1743035103.570 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002501.00,A,3647.96307,N,12149.10363,W,0.428,204.48,270325,,,A*7A
2025-03-27T00:25:03.572Z,1743035103.572 [NAL9602](INFO): GPS fix at 20250327T002501: (36.799385, -121.818394)
2025-03-27T00:25:03.585Z,1743035103.585 [UniversalFixResidualReporter](INFO): Fix residual: 25.4 %DT, over the last 2028.1 m. Residual distance 514.8 m at bearing -85.4 degrees. Fix at (36.7994, -121.8184) with 1528.8 m made good.
2025-03-27T00:25:03.609Z,1743035103.609 [transit:NeedComms:C] Stopped
2025-03-27T00:25:03.609Z,1743035103.609 [transit:NeedComms:D] Running Loop=1
2025-03-27T00:25:04.023Z,1743035104.023 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-27T00:25:19.315Z,1743035119.315 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:25:35.940Z,1743035135.940 [NAL9602](INFO): SBD MO Status=2, MOMSN=18757, MT Status=2, MTMSN=0
2025-03-27T00:25:35.941Z,1743035135.941 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-27T00:25:54.455Z,1743035154.455 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:25:54.971Z,1743035154.971 [NAL9602](INFO): SBD MO Status=1, MOMSN=18757, MT Status=0, MTMSN=0
2025-03-27T00:25:55.025Z,1743035155.025 [NAL9602](INFO): Sent 266 bytes from file Logs/20250326T234819/Courier0010.lzma
2025-03-27T00:25:55.025Z,1743035155.025 [NAL9602](INFO): Packets left to send: 0
2025-03-27T00:26:09.966Z,1743035169.966 [NAL9602](INFO): SBD MO Status=2, MOMSN=18758, MT Status=2, MTMSN=0
2025-03-27T00:26:09.966Z,1743035169.966 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-27T00:26:29.612Z,1743035189.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:27:04.759Z,1743035224.759 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:27:38.512Z,1743035258.512 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003630
2025-03-27T00:27:46.032Z,1743035266.032 [DataOverHttps](INFO): Sending 546 bytes from file Logs/20250326T234353/Express0001.lzma
2025-03-27T00:27:47.033Z,1743035267.033 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234353/Express0001.lzma.bak
2025-03-27T00:27:47.033Z,1743035267.033 [DataOverHttps](INFO): SBD MOMSN=24463467
2025-03-27T00:28:06.035Z,1743035286.035 [DataOverHttps](INFO): Sending 156 bytes from file Logs/20250326T234353/Express0005.lzma
2025-03-27T00:28:07.028Z,1743035287.028 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234353/Express0005.lzma.bak
2025-03-27T00:28:07.029Z,1743035287.029 [DataOverHttps](INFO): SBD MOMSN=24463481
2025-03-27T00:28:11.236Z,1743035291.236 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-27T00:28:22.988Z,1743035302.988 [DataOverHttps](INFO): Sending 909 bytes from file Logs/20250326T234819/Express0001.lzma
2025-03-27T00:28:23.988Z,1743035303.988 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0001.lzma.bak
2025-03-27T00:28:23.989Z,1743035303.989 [DataOverHttps](INFO): SBD MOMSN=24463487
2025-03-27T00:28:39.975Z,1743035319.975 [DataOverHttps](INFO): Sending 398 bytes from file Logs/20250326T234819/Express0005.lzma
2025-03-27T00:28:40.976Z,1743035320.976 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0005.lzma.bak
2025-03-27T00:28:40.977Z,1743035320.977 [DataOverHttps](INFO): SBD MOMSN=24463511
2025-03-27T00:28:57.315Z,1743035337.315 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20250326T234819/Express0008.lzma
2025-03-27T00:28:58.316Z,1743035338.316 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0008.lzma.bak
2025-03-27T00:28:58.317Z,1743035338.317 [DataOverHttps](INFO): SBD MOMSN=24463517
2025-03-27T00:29:14.340Z,1743035354.340 [DataOverHttps](INFO): Sending 533 bytes from file Logs/20250326T234819/Express0011.lzma
2025-03-27T00:29:15.340Z,1743035355.340 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0011.lzma.bak
2025-03-27T00:29:15.341Z,1743035355.341 [DataOverHttps](INFO): SBD MOMSN=24463525
2025-03-27T00:29:16.712Z,1743035356.712 [transit:NeedComms:D] Stopped
2025-03-27T00:29:16.713Z,1743035356.713 [transit:NeedComms:E] Running Loop=1
2025-03-27T00:29:17.127Z,1743035357.127 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-27T00:29:18.706Z,1743035358.706 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002917.00,A,3647.96824,N,12149.06187,W,0.797,48.91,270325,,,A*4D
2025-03-27T00:29:18.708Z,1743035358.708 [NAL9602](INFO): GPS fix at 20250327T002917: (36.799471, -121.817698)
2025-03-27T00:29:18.778Z,1743035358.778 [transit:NeedComms:E] Stopped
2025-03-27T00:29:18.779Z,1743035358.779 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-03-27T00:29:18.780Z,1743035358.780 [transit:NeedComms] Stopped
2025-03-27T00:29:18.780Z,1743035358.780 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-03-27T00:29:18.780Z,1743035358.780 [transit:NeedComms:B.GoToSurface] Stopped
2025-03-27T00:29:18.780Z,1743035358.780 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-27T00:29:54.895Z,1743035394.895 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.20 m/s, pitch 20.00 deg, mass-position 20.00 mm (1 active estimators).
2025-03-27T00:30:24.349Z,1743035424.349 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.240421
2025-03-27T00:30:55.379Z,1743035455.379 [Radio_Surface](INFO): Powering down
2025-03-27T00:30:57.503Z,1743035457.503 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:30:58.507Z,1743035458.507 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-27T00:34:21.202Z,1743035661.202 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-27T00:34:51.764Z,1743035691.764 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-27T00:54:32.366Z,1743036872.366 [Waterlinked](ERROR): only read 3 of 5 data items. Device response::BI,  -849,  +143,    -40.00
2025-03-27T00:55:05.204Z,1743036905.204 [transit](INFO): Timed out from 2025-03-26T23:55:05.0Z
2025-03-27T00:55:05.204Z,1743036905.204 [MissionManager](INFO): transit is completed.
2025-03-27T00:55:05.204Z,1743036905.204 [MissionManager](INFO): Uninitializing Mission transit
2025-03-27T00:55:05.204Z,1743036905.204 [transit] Stopped
2025-03-27T00:55:05.204Z,1743036905.204 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-27T00:55:05.205Z,1743036905.205 [transit:StandardEnvelopes] Stopped
2025-03-27T00:55:05.205Z,1743036905.205 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-27T00:55:05.205Z,1743036905.205 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-27T00:55:05.205Z,1743036905.205 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-27T00:55:05.205Z,1743036905.205 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-27T00:55:05.205Z,1743036905.205 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-27T00:55:05.205Z,1743036905.205 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-27T00:55:05.205Z,1743036905.205 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-27T00:55:05.205Z,1743036905.205 [transit:BackseatDriver] Stopped
2025-03-27T00:55:05.205Z,1743036905.205 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-27T00:55:05.205Z,1743036905.205 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-27T00:55:05.205Z,1743036905.205 [transit:PowerOnly] Stopped
2025-03-27T00:55:05.206Z,1743036905.206 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-27T00:55:05.206Z,1743036905.206 [transit:PowerOnly:E.Wait] Stopped
2025-03-27T00:55:05.206Z,1743036905.206 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T00:55:05.206Z,1743036905.206 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-27T00:55:05.206Z,1743036905.206 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-27T00:55:05.206Z,1743036905.206 [transit:MassHold.Pitch] Stopped
2025-03-27T00:55:05.206Z,1743036905.206 [transit:Transit] Stopped
2025-03-27T00:55:05.206Z,1743036905.206 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-27T00:55:05.206Z,1743036905.206 [transit:Transit:A.Pitch] Stopped
2025-03-27T00:55:05.206Z,1743036905.206 [transit:Transit:B.SetSpeed] Stopped
2025-03-27T00:55:05.206Z,1743036905.206 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-27T00:55:05.208Z,1743036905.208 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-27T00:55:05.208Z,1743036905.208 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-27T00:55:05.627Z,1743036905.627 [MissionManager](IMPORTANT): Started mission Default
2025-03-27T00:55:05.627Z,1743036905.627 [Default] Running Loop=1
2025-03-27T00:55:05.627Z,1743036905.627 [Default](DEBUG): Aggregate::initialize Default
2025-03-27T00:55:05.627Z,1743036905.627 [Default:B.GoToSurface] Running Loop=1
2025-03-27T00:55:05.627Z,1743036905.627 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-27T00:55:05.627Z,1743036905.627 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-27T00:55:05.628Z,1743036905.628 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-27T00:55:05.628Z,1743036905.628 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-27T00:55:05.628Z,1743036905.628 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-27T00:55:05.629Z,1743036905.629 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-27T00:55:05.629Z,1743036905.629 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-27T00:55:05.629Z,1743036905.629 [Default:A.Wait] Running Loop=1
2025-03-27T00:55:05.630Z,1743036905.630 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-27T00:55:06.013Z,1743036906.013 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -25.00 mm (2 active estimators).
2025-03-27T00:55:06.099Z,1743036906.099 [Radio_Surface](INFO): Powering up
2025-03-27T00:55:11.591Z,1743036911.591 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-27T00:55:18.895Z,1743036918.895 [Default:A.Wait](INFO): Done Waiting.
2025-03-27T00:55:18.895Z,1743036918.895 [Default:A.Wait] Stopped
2025-03-27T00:55:18.895Z,1743036918.895 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T00:55:36.325Z,1743036936.325 [Default:CheckIn] Running Loop=1
2025-03-27T00:55:36.325Z,1743036936.325 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-27T00:55:36.325Z,1743036936.325 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-27T00:55:36.731Z,1743036936.731 [Waterlinked](INFO): Powering down
2025-03-27T00:55:41.711Z,1743036941.711 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:56:16.859Z,1743036976.859 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:56:52.007Z,1743037012.007 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:57:27.147Z,1743037047.147 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:58:02.287Z,1743037082.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T00:58:35.928Z,1743037115.928 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003745
2025-03-27T01:00:36.459Z,1743037236.459 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-27T00:55:36.3Z
2025-03-27T01:00:36.459Z,1743037236.459 [Default:CheckIn:Read_GPS] Stopped
2025-03-27T01:00:36.459Z,1743037236.459 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-27T01:00:40.094Z,1743037240.094 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-27T01:00:45.038Z,1743037245.038 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250326T234819/Courier0013.lzma
2025-03-27T01:00:46.040Z,1743037246.040 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0013.lzma.bak
2025-03-27T01:00:46.041Z,1743037246.041 [DataOverHttps](INFO): SBD MOMSN=24463668
2025-03-27T01:01:01.889Z,1743037261.889 [DataOverHttps](INFO): Sending 333 bytes from file Logs/20250326T234819/Express0014.lzma
2025-03-27T01:01:02.884Z,1743037262.884 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0014.lzma.bak
2025-03-27T01:01:02.885Z,1743037262.885 [DataOverHttps](INFO): SBD MOMSN=24463671
2025-03-27T01:01:04.341Z,1743037264.341 [Default:CheckIn:Read_Iridium] Stopped
2025-03-27T01:01:04.341Z,1743037264.341 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-27T01:01:04.341Z,1743037264.341 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-27T01:01:10.796Z,1743037270.796 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-27T01:02:56.641Z,1743037376.641 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2025-03-27T01:02:56.644Z,1743037376.644 [BPC1](INFO): Received data from all battery sticks.
2025-03-27T01:06:04.926Z,1743037564.926 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-27T01:06:04.927Z,1743037564.927 [Default:CheckIn:C.Wait] Stopped
2025-03-27T01:06:04.927Z,1743037564.927 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T01:06:04.927Z,1743037564.927 [Default:CheckIn:D] Running Loop=1
2025-03-27T01:06:05.336Z,1743037565.336 [Default:CheckIn:D] Stopped
2025-03-27T01:06:05.336Z,1743037565.336 [Default:CheckIn:E] Running Loop=1
2025-03-27T01:06:05.721Z,1743037565.721 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  10.995149 min 
2025-03-27T01:06:05.721Z,1743037565.721 [Default:CheckIn:E] Stopped
2025-03-27T01:06:05.722Z,1743037565.722 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-27T01:06:05.722Z,1743037565.722 [Default:CheckIn] Stopped
2025-03-27T01:06:05.722Z,1743037565.722 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-27T01:06:05.722Z,1743037565.722 [Default:CheckIn](INFO): Running loop #2
2025-03-27T01:06:05.722Z,1743037565.722 [Default:CheckIn] Running Loop=2
2025-03-27T01:06:05.722Z,1743037565.722 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-27T01:06:05.722Z,1743037565.722 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-27T01:06:07.332Z,1743037567.332 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-27T01:06:07.332Z,1743037567.332 [NAL9602] Data Fault, FailCount= 1
2025-03-27T01:06:07.332Z,1743037567.332 [NAL9602](ERROR): Data Fault
2025-03-27T01:06:07.351Z,1743037567.351 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-27T01:06:07.735Z,1743037567.735 [NAL9602](INFO): Powering down
2025-03-27T01:06:08.554Z,1743037568.554 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-27T01:06:08.554Z,1743037568.554 [NAL9602] No Fault, FailCount= 1
2025-03-27T01:06:38.028Z,1743037598.028 [NAL9602](INFO): Powering up NAL9602
2025-03-27T01:06:48.940Z,1743037608.940 [NAL9602](INFO): NAL9602 initialized
2025-03-27T01:07:41.652Z,1743037661.652 [DAT](INFO): DAT read: user:6>Rx Time:01:07:40.8442

2025-03-27T01:07:41.652Z,1743037661.652 [DAT](INFO): Rx dataTimestamp_ set to:1743037661.651984
2025-03-27T01:07:41.653Z,1743037661.653 [DAT](INFO): DAT read: 

2025-03-27T01:07:41.653Z,1743037661.653 [DAT](INFO): DAT read: $Packet for address 0

2025-03-27T01:07:41.654Z,1743037661.654 [DAT](INFO): received a packet notification
2025-03-27T01:11:05.901Z,1743037865.901 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-27T01:06:05.7Z
2025-03-27T01:11:05.901Z,1743037865.901 [Default:CheckIn:Read_GPS] Stopped
2025-03-27T01:11:05.901Z,1743037865.901 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-27T01:11:12.851Z,1743037872.851 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20250326T234819/Courier0016.lzma
2025-03-27T01:11:13.852Z,1743037873.852 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0016.lzma.bak
2025-03-27T01:11:13.853Z,1743037873.853 [DataOverHttps](INFO): SBD MOMSN=24463716
2025-03-27T01:11:29.703Z,1743037889.703 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20250326T234819/Express0017.lzma
2025-03-27T01:11:30.704Z,1743037890.704 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0017.lzma.bak
2025-03-27T01:11:30.705Z,1743037890.705 [DataOverHttps](INFO): SBD MOMSN=24463718
2025-03-27T01:11:32.160Z,1743037892.160 [Default:CheckIn:Read_Iridium] Stopped
2025-03-27T01:11:32.160Z,1743037892.160 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-27T01:11:32.160Z,1743037892.160 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-27T01:11:51.961Z,1743037911.961 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-27T01:12:22.652Z,1743037942.652 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-27T01:16:32.761Z,1743038192.761 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-27T01:16:32.761Z,1743038192.761 [Default:CheckIn:C.Wait] Stopped
2025-03-27T01:16:32.761Z,1743038192.761 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T01:16:32.762Z,1743038192.762 [Default:CheckIn:D] Running Loop=1
2025-03-27T01:16:33.176Z,1743038193.176 [Default:CheckIn:D] Stopped
2025-03-27T01:16:33.176Z,1743038193.176 [Default:CheckIn:E] Running Loop=1
2025-03-27T01:16:33.571Z,1743038193.571 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  21.459151 min 
2025-03-27T01:16:33.571Z,1743038193.571 [Default:CheckIn:E] Stopped
2025-03-27T01:16:33.571Z,1743038193.571 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-27T01:16:33.571Z,1743038193.571 [Default:CheckIn] Stopped
2025-03-27T01:16:33.571Z,1743038193.571 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-27T01:16:33.571Z,1743038193.571 [Default:CheckIn](INFO): Running loop #3
2025-03-27T01:16:33.571Z,1743038193.571 [Default:CheckIn] Running Loop=3
2025-03-27T01:16:33.571Z,1743038193.571 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-27T01:16:33.572Z,1743038193.572 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-27T01:16:35.582Z,1743038195.582 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011634.00,A,3647.86838,N,12149.71832,W,0.214,110.93,270325,,,A*7A
2025-03-27T01:16:35.584Z,1743038195.584 [NAL9602](INFO): GPS fix at 20250327T011634: (36.797806, -121.828639)
2025-03-27T01:16:35.596Z,1743038195.596 [UniversalFixResidualReporter](INFO): Fix residual: 32.8 %DT, over the last 1519.9 m. Residual distance 498.0 m at bearing -80.8 degrees. Fix at (36.7978, -121.8286) with 991.6 m made good.
2025-03-27T01:16:35.597Z,1743038195.597 [Default:CheckIn:Read_GPS] Stopped
2025-03-27T01:16:35.597Z,1743038195.597 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-27T01:16:43.002Z,1743038203.002 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20250326T234819/Courier0019.lzma
2025-03-27T01:16:44.005Z,1743038204.005 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0019.lzma.bak
2025-03-27T01:16:44.005Z,1743038204.005 [DataOverHttps](INFO): SBD MOMSN=24463755
2025-03-27T01:16:59.805Z,1743038219.805 [DataOverHttps](INFO): Sending 237 bytes from file Logs/20250326T234819/Express0020.lzma
2025-03-27T01:17:00.800Z,1743038220.800 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0020.lzma.bak
2025-03-27T01:17:00.801Z,1743038220.801 [DataOverHttps](INFO): SBD MOMSN=24463758
2025-03-27T01:17:01.875Z,1743038221.875 [Default:CheckIn:Read_Iridium] Stopped
2025-03-27T01:17:01.875Z,1743038221.875 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-27T01:17:01.875Z,1743038221.875 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-27T01:17:06.292Z,1743038226.292 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-27T01:17:06.367Z,1743038226.367 [NAL9602](ERROR): received: 
+CSQ:0

OK758, 2, 0, 0, 0

OK
2025-03-27T01:17:52.361Z,1743038272.361 [NAL9602](INFO): SBD MO Status=2, MOMSN=18758, MT Status=2, MTMSN=0
2025-03-27T01:17:52.361Z,1743038272.361 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-27T01:18:20.441Z,1743038300.441 [DataOverHttps](IMPORTANT): SBD MTMSN=20250327T011819
2025-03-27T01:18:27.923Z,1743038307.923 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.2 m/s;set transit.MinOffshore 0.3 km;run
2025-03-27T01:18:27.983Z,1743038307.983 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-27T01:18:27.984Z,1743038307.984 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-27T01:18:27.984Z,1743038307.984 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-27T01:18:27.985Z,1743038307.985 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-27T01:18:28.652Z,1743038308.652 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-27T01:18:28.657Z,1743038308.657 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-27T01:18:28.659Z,1743038308.659 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-27T01:18:28.662Z,1743038308.662 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-27T01:18:28.664Z,1743038308.664 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-27T01:18:28.666Z,1743038308.666 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-27T01:18:28.668Z,1743038308.668 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-27T01:18:28.671Z,1743038308.671 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-27T01:18:28.673Z,1743038308.673 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-27T01:18:28.675Z,1743038308.675 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-27T01:18:28.677Z,1743038308.677 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-27T01:18:28.679Z,1743038308.679 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-27T01:18:28.681Z,1743038308.681 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-27T01:18:28.683Z,1743038308.683 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-27T01:18:28.684Z,1743038308.684 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-27T01:18:28.684Z,1743038308.684 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-27T01:18:28.685Z,1743038308.685 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-27T01:18:29.024Z,1743038309.024 [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>

2025-03-27T01:18:29.029Z,1743038309.029 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-27T01:18:29.031Z,1743038309.031 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-27T01:18:29.033Z,1743038309.033 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-27T01:18:29.035Z,1743038309.035 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-27T01:18:29.037Z,1743038309.037 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-27T01:18:29.040Z,1743038309.040 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-27T01:18:29.042Z,1743038309.042 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-27T01:18:29.044Z,1743038309.044 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-27T01:18:29.050Z,1743038309.050 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-27T01:18:29.135Z,1743038309.135 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-27T01:18:29.135Z,1743038309.135 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-27T01:18:29.136Z,1743038309.136 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-27T01:18:29.353Z,1743038309.353 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-27T01:18:29.357Z,1743038309.357 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-27T01:18:29.359Z,1743038309.359 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-27T01:18:29.361Z,1743038309.361 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-27T01:18:29.364Z,1743038309.364 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-27T01:18:29.364Z,1743038309.364 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-27T01:18:29.370Z,1743038309.370 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-27T01:18:29.376Z,1743038309.376 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-27T01:18:29.385Z,1743038309.385 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-27T01:18:29.385Z,1743038309.385 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-27T01:18:29.386Z,1743038309.386 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-27T01:18:29.442Z,1743038309.442 [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>

2025-03-27T01:18:29.447Z,1743038309.447 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-27T01:18:29.449Z,1743038309.449 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-27T01:18:29.452Z,1743038309.452 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-27T01:18:29.452Z,1743038309.452 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-27T01:18:29.453Z,1743038309.453 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-27T01:18:29.638Z,1743038309.638 [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>

2025-03-27T01:18:29.641Z,1743038309.641 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-27T01:18:29.644Z,1743038309.644 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-27T01:18:29.645Z,1743038309.645 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-27T01:18:29.648Z,1743038309.648 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-27T01:18:29.650Z,1743038309.650 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-27T01:18:29.692Z,1743038309.692 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-27T01:18:29.694Z,1743038309.694 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-27T01:18:29.705Z,1743038309.705 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-27T01:18:29.721Z,1743038309.721 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-27T01:18:29.726Z,1743038309.726 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-27T01:18:29.728Z,1743038309.728 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-27T01:18:29.745Z,1743038309.745 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-27T01:18:29.745Z,1743038309.745 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-27T01:18:38.351Z,1743038318.351 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-27T01:18:38.351Z,1743038318.351 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-27T01:18:38.352Z,1743038318.352 [CommandExec](IMPORTANT): got command set transit.Speed 1.2 meter_per_second
2025-03-27T01:18:38.353Z,1743038318.353 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.3 kilometer
2025-03-27T01:18:38.353Z,1743038318.353 [CommandExec](IMPORTANT): got command run
2025-03-27T01:18:38.355Z,1743038318.355 [CommandExec](IMPORTANT): Running 
2025-03-27T01:18:38.429Z,1743038318.429 [Default] Stopped
2025-03-27T01:18:38.430Z,1743038318.430 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-27T01:18:38.430Z,1743038318.430 [Default:B.GoToSurface] Stopped
2025-03-27T01:18:38.430Z,1743038318.430 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-27T01:18:38.430Z,1743038318.430 [Default:CheckIn] Stopped
2025-03-27T01:18:38.430Z,1743038318.430 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-27T01:18:38.430Z,1743038318.430 [Default:CheckIn:C.Wait] Stopped
2025-03-27T01:18:38.430Z,1743038318.430 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T01:18:38.430Z,1743038318.430 [MissionManager](IMPORTANT): Started mission transit
2025-03-27T01:18:38.435Z,1743038318.435 [transit] Running Loop=1
2025-03-27T01:18:38.435Z,1743038318.435 [transit](DEBUG): Aggregate::initialize transit
2025-03-27T01:18:38.435Z,1743038318.435 [transit:StandardEnvelopes] Running Loop=1
2025-03-27T01:18:38.435Z,1743038318.435 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-27T01:18:38.435Z,1743038318.435 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-27T01:18:38.435Z,1743038318.435 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-27T01:18:38.435Z,1743038318.435 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-27T01:18:38.436Z,1743038318.436 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-27T01:18:38.436Z,1743038318.436 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-27T01:18:38.436Z,1743038318.436 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-27T01:18:38.436Z,1743038318.436 [transit:BackseatDriver] Running Loop=1
2025-03-27T01:18:38.436Z,1743038318.436 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-27T01:18:38.436Z,1743038318.436 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-27T01:18:38.436Z,1743038318.436 [transit:PowerOnly] Running Loop=1
2025-03-27T01:18:38.436Z,1743038318.436 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-27T01:18:38.436Z,1743038318.436 [transit:PowerOnly:A] Running Loop=1
2025-03-27T01:18:38.436Z,1743038318.436 [transit:PowerOnly:B] Running Loop=1
2025-03-27T01:18:38.436Z,1743038318.436 [transit:PowerOnly:C] Running Loop=1
2025-03-27T01:18:38.436Z,1743038318.436 [transit:PowerOnly:D] Running Loop=1
2025-03-27T01:18:38.437Z,1743038318.437 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-27T01:18:38.437Z,1743038318.437 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-27T01:18:38.437Z,1743038318.437 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-27T01:18:38.437Z,1743038318.437 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-27T01:18:38.437Z,1743038318.437 [transit:MassHold.Pitch] Running Loop=1
2025-03-27T01:18:38.437Z,1743038318.437 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-27T01:18:38.437Z,1743038318.437 [transit:B] Running Loop=1
2025-03-27T01:18:38.438Z,1743038318.438 [transit:MassHold.Pitch] Running Loop=1
2025-03-27T01:18:38.438Z,1743038318.438 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-27T01:18:38.443Z,1743038318.443 [transit:PowerOnly] Running Loop=1
2025-03-27T01:18:38.445Z,1743038318.445 [transit:PowerOnly:D] Stopped
2025-03-27T01:18:38.445Z,1743038318.445 [transit:PowerOnly:C] Stopped
2025-03-27T01:18:38.445Z,1743038318.445 [transit:PowerOnly:B] Stopped
2025-03-27T01:18:38.445Z,1743038318.445 [transit:PowerOnly:A] Stopped
2025-03-27T01:18:38.445Z,1743038318.445 [transit:BackseatDriver] Running Loop=1
2025-03-27T01:18:38.445Z,1743038318.445 [transit:StandardEnvelopes] Running Loop=1
2025-03-27T01:18:38.445Z,1743038318.445 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-27T01:18:38.445Z,1743038318.445 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-27T01:18:38.446Z,1743038318.446 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-27T01:18:38.446Z,1743038318.446 [transit:B] Stopped
2025-03-27T01:18:38.451Z,1743038318.451 [transit:C] Running Loop=1
2025-03-27T01:18:38.853Z,1743038318.853 [transit:C] Stopped
2025-03-27T01:18:38.853Z,1743038318.853 [transit:E] Running Loop=1
2025-03-27T01:18:39.259Z,1743038319.259 [transit:E] Stopped
2025-03-27T01:18:39.259Z,1743038319.259 [transit:F] Running Loop=1
2025-03-27T01:18:39.629Z,1743038319.629 [transit:F] Stopped
2025-03-27T01:18:39.630Z,1743038319.630 [transit:G] Running Loop=1
2025-03-27T01:18:40.044Z,1743038320.044 [transit:G] Stopped
2025-03-27T01:18:40.044Z,1743038320.044 [transit:Transit] Running Loop=1
2025-03-27T01:18:40.045Z,1743038320.045 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-27T01:18:40.045Z,1743038320.045 [transit:Transit:A.Pitch] Running Loop=1
2025-03-27T01:18:40.045Z,1743038320.045 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-27T01:18:40.045Z,1743038320.045 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-27T01:18:40.045Z,1743038320.045 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-27T01:18:40.045Z,1743038320.045 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-27T01:18:40.045Z,1743038320.045 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-27T01:18:40.046Z,1743038320.046 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-27T01:18:40.464Z,1743038320.464 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-27T01:18:40.465Z,1743038320.465 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-27T01:18:40.465Z,1743038320.465 [transit:Transit:A.Pitch] Running Loop=1
2025-03-27T01:19:16.012Z,1743038356.012 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.20 m/s, pitch 30.00 deg, mass-position 20.00 mm (3 active estimators).
2025-03-27T01:20:02.476Z,1743038402.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:20:05.487Z,1743038405.487 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.263416
2025-03-27T01:20:37.615Z,1743038437.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:20:43.807Z,1743038443.807 [Radio_Surface](INFO): Powering down
2025-03-27T01:21:12.763Z,1743038472.763 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:21:13.767Z,1743038473.767 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-27T01:21:37.397Z,1743038497.397 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-27T01:21:42.663Z,1743038502.663 [Waterlinked](ERROR): DVL uart error: serial timeout
2025-03-27T01:21:42.663Z,1743038502.663 [Waterlinked] Communications Fault, FailCount= 1
2025-03-27T01:21:42.663Z,1743038502.663 [Waterlinked](ERROR): Communications Fault
2025-03-27T01:21:42.938Z,1743038502.938 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-27T01:21:43.139Z,1743038503.139 [Waterlinked](INFO): Powering down
2025-03-27T01:21:44.096Z,1743038504.096 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-27T01:21:44.096Z,1743038504.096 [Waterlinked] No Fault, FailCount= 1
2025-03-27T01:22:08.096Z,1743038528.096 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-27T01:31:22.791Z,1743039082.791 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-27T01:31:52.839Z,1743039112.839 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:31:52.928Z,1743039112.928 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-27T01:31:52.929Z,1743039112.929 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-27T01:31:52.929Z,1743039112.929 [ThrusterHE] Communications Fault, FailCount= 1
2025-03-27T01:31:52.929Z,1743039112.929 [ThrusterHE](ERROR): Communications Fault
2025-03-27T01:31:52.939Z,1743039112.939 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-27T01:31:53.857Z,1743039113.857 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-27T01:31:53.857Z,1743039113.857 [ThrusterHE](INFO): Powering down
2025-03-27T01:31:54.331Z,1743039114.331 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-27T01:31:54.453Z,1743039114.453 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-27T01:31:54.473Z,1743039114.473 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-27T01:31:54.474Z,1743039114.474 [ThrusterHE] No Fault, FailCount= 1
2025-03-27T01:32:02.051Z,1743039122.051 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:32:02.139Z,1743039122.139 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-27T01:32:02.139Z,1743039122.139 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-27T01:32:02.139Z,1743039122.139 [ThrusterHE] Communications Fault, FailCount= 2
2025-03-27T01:32:02.139Z,1743039122.139 [ThrusterHE](ERROR): Communications Fault
2025-03-27T01:32:02.143Z,1743039122.143 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-27T01:32:02.420Z,1743039122.420 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-27T01:32:02.420Z,1743039122.420 [ThrusterHE](INFO): Powering down
2025-03-27T01:32:03.250Z,1743039123.250 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-27T01:32:03.368Z,1743039123.368 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-27T01:32:03.378Z,1743039123.378 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-27T01:32:03.378Z,1743039123.378 [ThrusterHE] No Fault, FailCount= 2
2025-03-27T01:32:08.987Z,1743039128.987 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-27T01:32:48.823Z,1743039168.823 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:32:48.911Z,1743039168.911 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-27T01:32:48.911Z,1743039168.911 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-27T01:32:48.912Z,1743039168.912 [ThrusterHE] Communications Fault, FailCount= 3
2025-03-27T01:32:48.912Z,1743039168.912 [ThrusterHE](ERROR): Communications Fault
2025-03-27T01:32:48.920Z,1743039168.920 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-27T01:32:49.397Z,1743039169.397 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-27T01:32:49.398Z,1743039169.398 [ThrusterHE](INFO): Powering down
2025-03-27T01:32:49.882Z,1743039169.882 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-27T01:32:50.011Z,1743039170.011 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-27T01:32:50.019Z,1743039170.019 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-27T01:32:50.019Z,1743039170.019 [ThrusterHE] No Fault, FailCount= 3
2025-03-27T01:32:55.406Z,1743039175.406 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-27T01:33:28.734Z,1743039208.734 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:34:06.933Z,1743039246.933 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:34:09.467Z,1743039249.467 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:34:13.132Z,1743039253.132 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:34:16.719Z,1743039256.719 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:34:19.967Z,1743039259.967 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:34:24.363Z,1743039264.363 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-27T01:34:25.133Z,1743039265.133 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-27T01:34:25.133Z,1743039265.133 [ThrusterHE](INFO): Powering down
2025-03-27T01:34:25.808Z,1743039265.808 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-27T01:34:25.928Z,1743039265.928 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-27T01:34:26.919Z,1743039266.919 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-03-27T01:34:26.919Z,1743039266.919 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-27T01:34:26.919Z,1743039266.919 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-27T01:34:26.920Z,1743039266.920 [transit:Transit:PhoneHome] Running Loop=1
2025-03-27T01:34:26.920Z,1743039266.920 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-03-27T01:34:27.345Z,1743039267.345 [transit:NeedComms] Running Loop=1
2025-03-27T01:34:27.345Z,1743039267.345 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-03-27T01:34:27.345Z,1743039267.345 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-03-27T01:34:27.345Z,1743039267.345 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-27T01:34:27.346Z,1743039267.346 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-27T01:34:27.346Z,1743039267.346 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-27T01:34:27.347Z,1743039267.347 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-27T01:34:27.347Z,1743039267.347 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-27T01:34:27.347Z,1743039267.347 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-27T01:34:27.348Z,1743039267.348 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-27T01:34:27.348Z,1743039267.348 [transit:NeedComms:A] Running Loop=1
2025-03-27T01:34:27.349Z,1743039267.349 [transit:NeedComms:A](INFO): last time_fix was:  1743038194.000000 second since 1970/01/01T00:00:00Z 
2025-03-27T01:34:27.349Z,1743039267.349 [transit:NeedComms:A] Stopped
2025-03-27T01:34:33.119Z,1743039273.119 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:34:33.792Z,1743039273.792 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:34:33.815Z,1743039273.815 [Radio_Surface](INFO): Powering up
2025-03-27T01:34:34.380Z,1743039274.380 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:34:34.693Z,1743039274.693 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:34:35.143Z,1743039275.143 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:34:35.481Z,1743039275.481 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:34:36.124Z,1743039276.124 [transit:NeedComms:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.08 too low. Waiting for 600.000000 seconds.
2025-03-27T01:34:39.084Z,1743039279.084 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-27T01:34:43.687Z,1743039283.687 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:34:43.840Z,1743039283.840 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:34:44.271Z,1743039284.271 [transit:NeedComms:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.08 too low. Waiting for 600.000000 seconds.
2025-03-27T01:35:09.203Z,1743039309.203 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:35:44.360Z,1743039344.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:35:57.839Z,1743039357.839 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:35:58.161Z,1743039358.161 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:35:58.446Z,1743039358.446 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:35:58.843Z,1743039358.843 [transit:NeedComms:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.08 too low. Waiting for 600.000000 seconds.
2025-03-27T01:36:06.758Z,1743039366.758 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:07.095Z,1743039367.095 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:07.440Z,1743039367.440 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:07.863Z,1743039367.863 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:08.138Z,1743039368.138 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:08.579Z,1743039368.579 [transit:NeedComms:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.08 too low. Waiting for 600.000000 seconds.
2025-03-27T01:36:18.882Z,1743039378.882 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:19.091Z,1743039379.091 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:19.512Z,1743039379.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:36:19.554Z,1743039379.554 [transit:NeedComms:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.08 too low. Waiting for 600.000000 seconds.
2025-03-27T01:36:41.277Z,1743039401.277 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:41.670Z,1743039401.670 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:42.085Z,1743039402.085 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:42.470Z,1743039402.470 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:42.876Z,1743039402.876 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:43.287Z,1743039403.287 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T01:36:43.872Z,1743039403.872 [transit:NeedComms:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.08 too low. Waiting for 600.000000 seconds.
2025-03-27T01:36:54.655Z,1743039414.655 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:37:29.807Z,1743039449.807 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:37:52.471Z,1743039472.471 [transit:NeedComms:C] Running Loop=1
2025-03-27T01:37:52.947Z,1743039472.947 [Waterlinked](INFO): Powering down
2025-03-27T01:37:52.965Z,1743039472.965 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-27T01:38:04.947Z,1743039484.947 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:38:25.144Z,1743039505.144 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-27T01:38:25.223Z,1743039505.223 [NAL9602](ERROR): received: 
+CSQ:0

OK758, 2, 0, 0, 0

OK
2025-03-27T01:38:40.091Z,1743039520.091 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:38:52.620Z,1743039532.620 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003708
2025-03-27T01:42:16.691Z,1743039736.691 [NAL9602](INFO): SBD MO Status=2, MOMSN=18758, MT Status=2, MTMSN=0
2025-03-27T01:42:16.691Z,1743039736.691 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-27T01:42:46.984Z,1743039766.984 [NAL9602](INFO): SBD MO Status=2, MOMSN=18758, MT Status=2, MTMSN=0
2025-03-27T01:42:46.984Z,1743039766.984 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-27T01:43:04.361Z,1743039784.361 [NAL9602](INFO): SBD MO Status=2, MOMSN=18758, MT Status=2, MTMSN=0
2025-03-27T01:43:04.361Z,1743039784.361 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-27T01:43:04.759Z,1743039784.759 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-27T01:43:05.970Z,1743039785.970 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014305.00,A,3647.82425,N,12150.13280,W,0.914,23.72,270325,,,A*46
2025-03-27T01:43:05.972Z,1743039785.972 [NAL9602](INFO): GPS fix at 20250327T014305: (36.797071, -121.835547)
2025-03-27T01:43:05.989Z,1743039785.989 [UniversalFixResidualReporter](INFO): Fix residual: 74.4 %DT, over the last 2572.3 m. Residual distance 1912.9 m at bearing -87.2 degrees. Fix at (36.7971, -121.8355) with 620.5 m made good.
2025-03-27T01:43:05.992Z,1743039785.992 [transit:NeedComms:C] Stopped
2025-03-27T01:43:05.993Z,1743039785.993 [transit:NeedComms:D] Running Loop=1
2025-03-27T01:43:06.405Z,1743039786.405 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-27T01:43:13.258Z,1743039793.258 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20250326T234819/Courier0022.lzma
2025-03-27T01:43:14.260Z,1743039794.260 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0022.lzma.bak
2025-03-27T01:43:14.261Z,1743039794.261 [DataOverHttps](INFO): SBD MOMSN=24463866
2025-03-27T01:43:30.294Z,1743039810.294 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250326T234819/Courier0025.lzma
2025-03-27T01:43:31.297Z,1743039811.297 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0025.lzma.bak
2025-03-27T01:43:31.297Z,1743039811.297 [DataOverHttps](INFO): SBD MOMSN=24463869
2025-03-27T01:43:38.290Z,1743039818.290 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-27T01:43:50.124Z,1743039830.124 [DataOverHttps](INFO): Sending 817 bytes from file Logs/20250326T234819/Express0023.lzma
2025-03-27T01:43:51.117Z,1743039831.117 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0023.lzma.bak
2025-03-27T01:43:51.117Z,1743039831.117 [DataOverHttps](INFO): SBD MOMSN=24463871
2025-03-27T01:44:07.526Z,1743039847.526 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250326T234819/Express0026.lzma
2025-03-27T01:44:08.528Z,1743039848.528 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0026.lzma.bak
2025-03-27T01:44:08.529Z,1743039848.529 [DataOverHttps](INFO): SBD MOMSN=24463904
2025-03-27T01:44:09.873Z,1743039849.873 [transit:NeedComms:D] Stopped
2025-03-27T01:44:09.874Z,1743039849.874 [transit:NeedComms:E] Running Loop=1
2025-03-27T01:44:10.276Z,1743039850.276 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-27T01:44:11.882Z,1743039851.882 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014411.00,A,3647.82250,N,12150.12347,W,0.855,53.68,270325,,,A*43
2025-03-27T01:44:11.884Z,1743039851.884 [NAL9602](INFO): GPS fix at 20250327T014411: (36.797042, -121.835391)
2025-03-27T01:44:11.910Z,1743039851.910 [transit:NeedComms:E] Stopped
2025-03-27T01:44:11.915Z,1743039851.915 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-03-27T01:44:11.915Z,1743039851.915 [transit:NeedComms] Stopped
2025-03-27T01:44:11.915Z,1743039851.915 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-03-27T01:44:11.915Z,1743039851.915 [transit:NeedComms:B.GoToSurface] Stopped
2025-03-27T01:44:11.915Z,1743039851.915 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-27T01:44:12.355Z,1743039852.355 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-03-27T01:44:12.355Z,1743039852.355 [transit:Transit:PhoneHome] Stopped
2025-03-27T01:44:12.355Z,1743039852.355 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-03-27T01:44:12.356Z,1743039852.356 [transit:Transit](INFO): Completed transit:Transit
2025-03-27T01:44:12.356Z,1743039852.356 [transit:Transit] Stopped
2025-03-27T01:44:12.356Z,1743039852.356 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-27T01:44:12.356Z,1743039852.356 [transit:Transit:A.Pitch] Stopped
2025-03-27T01:44:12.356Z,1743039852.356 [transit:Transit:B.SetSpeed] Stopped
2025-03-27T01:44:12.356Z,1743039852.356 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-27T01:44:12.358Z,1743039852.358 [transit](INFO): Completed transit
2025-03-27T01:44:12.362Z,1743039852.362 [MissionManager](INFO): transit is completed.
2025-03-27T01:44:12.363Z,1743039852.363 [MissionManager](INFO): Uninitializing Mission transit
2025-03-27T01:44:12.363Z,1743039852.363 [transit] Stopped
2025-03-27T01:44:12.363Z,1743039852.363 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-27T01:44:12.363Z,1743039852.363 [transit:StandardEnvelopes] Stopped
2025-03-27T01:44:12.363Z,1743039852.363 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-27T01:44:12.363Z,1743039852.363 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-27T01:44:12.363Z,1743039852.363 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-27T01:44:12.363Z,1743039852.363 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-27T01:44:12.363Z,1743039852.363 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-27T01:44:12.363Z,1743039852.363 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-27T01:44:12.363Z,1743039852.363 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-27T01:44:12.364Z,1743039852.364 [transit:BackseatDriver] Stopped
2025-03-27T01:44:12.364Z,1743039852.364 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-27T01:44:12.364Z,1743039852.364 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-27T01:44:12.364Z,1743039852.364 [transit:PowerOnly] Stopped
2025-03-27T01:44:12.364Z,1743039852.364 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-27T01:44:12.364Z,1743039852.364 [transit:PowerOnly:E.Wait] Stopped
2025-03-27T01:44:12.364Z,1743039852.364 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T01:44:12.364Z,1743039852.364 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-27T01:44:12.364Z,1743039852.364 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-27T01:44:12.364Z,1743039852.364 [transit:MassHold.Pitch] Stopped
2025-03-27T01:44:12.730Z,1743039852.730 [MissionManager](IMPORTANT): Started mission Default
2025-03-27T01:44:12.730Z,1743039852.730 [Default] Running Loop=1
2025-03-27T01:44:12.730Z,1743039852.730 [Default](DEBUG): Aggregate::initialize Default
2025-03-27T01:44:12.730Z,1743039852.730 [Default:B.GoToSurface] Running Loop=1
2025-03-27T01:44:12.730Z,1743039852.730 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-27T01:44:12.735Z,1743039852.735 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-27T01:44:12.735Z,1743039852.735 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-27T01:44:12.735Z,1743039852.735 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-27T01:44:12.735Z,1743039852.736 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-27T01:44:12.736Z,1743039852.736 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-27T01:44:12.736Z,1743039852.736 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-27T01:44:12.736Z,1743039852.736 [Default:A.Wait] Running Loop=1
2025-03-27T01:44:12.736Z,1743039852.736 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-27T01:44:26.035Z,1743039866.035 [Default:A.Wait](INFO): Done Waiting.
2025-03-27T01:44:26.035Z,1743039866.035 [Default:A.Wait] Stopped
2025-03-27T01:44:26.035Z,1743039866.035 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T01:44:26.442Z,1743039866.442 [Default:CheckIn] Running Loop=1
2025-03-27T01:44:26.442Z,1743039866.442 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-27T01:44:26.442Z,1743039866.442 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-27T01:49:14.524Z,1743040154.524 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-27T01:49:15.740Z,1743040155.740 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014915.00,A,3647.82532,N,12150.08735,W,1.108,48.41,270325,,,A*42
2025-03-27T01:49:15.743Z,1743040155.743 [NAL9602](INFO): GPS fix at 20250327T014915: (36.797089, -121.834789)
2025-03-27T01:49:15.754Z,1743040155.754 [Default:CheckIn:Read_GPS] Stopped
2025-03-27T01:49:15.754Z,1743040155.754 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-27T01:49:23.138Z,1743040163.138 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250326T234819/Courier0028.lzma
2025-03-27T01:49:24.140Z,1743040164.140 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0028.lzma.bak
2025-03-27T01:49:24.141Z,1743040164.141 [DataOverHttps](INFO): SBD MOMSN=24463942
2025-03-27T01:49:40.003Z,1743040180.003 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20250326T234819/Express0029.lzma
2025-03-27T01:49:41.004Z,1743040181.004 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0029.lzma.bak
2025-03-27T01:49:41.005Z,1743040181.005 [DataOverHttps](INFO): SBD MOMSN=24463945
2025-03-27T01:49:42.410Z,1743040182.410 [Default:CheckIn:Read_Iridium] Stopped
2025-03-27T01:49:42.410Z,1743040182.410 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-27T01:49:42.410Z,1743040182.410 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-27T01:49:48.492Z,1743040188.492 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-27T01:51:36.180Z,1743040296.180 [DataOverHttps](IMPORTANT): SBD MTMSN=20250327T015135
2025-03-27T01:51:43.615Z,1743040303.615 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;run
2025-03-27T01:51:43.685Z,1743040303.685 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-27T01:51:43.686Z,1743040303.686 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-27T01:51:43.686Z,1743040303.686 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-27T01:51:43.699Z,1743040303.699 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-27T01:51:44.984Z,1743040304.984 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-27T01:51:44.998Z,1743040304.998 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-27T01:51:45.000Z,1743040305.000 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-27T01:51:45.003Z,1743040305.003 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-27T01:51:45.005Z,1743040305.005 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-27T01:51:45.007Z,1743040305.007 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-27T01:51:45.009Z,1743040305.009 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-27T01:51:45.021Z,1743040305.021 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-27T01:51:45.023Z,1743040305.023 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-27T01:51:45.025Z,1743040305.025 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-27T01:51:45.076Z,1743040305.076 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-27T01:51:45.078Z,1743040305.078 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-27T01:51:45.080Z,1743040305.080 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-27T01:51:45.082Z,1743040305.082 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-27T01:51:45.097Z,1743040305.097 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-27T01:51:45.097Z,1743040305.097 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-27T01:51:45.103Z,1743040305.103 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-27T01:51:45.572Z,1743040305.572 [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>

2025-03-27T01:51:45.577Z,1743040305.577 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-27T01:51:45.595Z,1743040305.595 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-27T01:51:45.598Z,1743040305.598 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-27T01:51:45.600Z,1743040305.600 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-27T01:51:45.602Z,1743040305.602 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-27T01:51:45.604Z,1743040305.604 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-27T01:51:45.607Z,1743040305.607 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-27T01:51:45.609Z,1743040305.609 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-27T01:51:45.623Z,1743040305.623 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-27T01:51:45.745Z,1743040305.745 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-27T01:51:45.745Z,1743040305.745 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-27T01:51:45.746Z,1743040305.746 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-27T01:51:45.933Z,1743040305.933 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-27T01:51:45.937Z,1743040305.937 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-27T01:51:45.939Z,1743040305.939 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-27T01:51:45.941Z,1743040305.941 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-27T01:51:45.943Z,1743040305.943 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-27T01:51:45.944Z,1743040305.944 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-27T01:51:45.958Z,1743040305.958 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-27T01:51:45.964Z,1743040305.964 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-27T01:51:46.011Z,1743040306.011 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-27T01:51:46.011Z,1743040306.011 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-27T01:51:46.012Z,1743040306.012 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-27T01:51:46.130Z,1743040306.130 [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>

2025-03-27T01:51:46.137Z,1743040306.137 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-27T01:51:46.151Z,1743040306.151 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-27T01:51:46.153Z,1743040306.153 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-27T01:51:46.153Z,1743040306.153 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-27T01:51:46.171Z,1743040306.171 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-27T01:51:46.374Z,1743040306.374 [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>

2025-03-27T01:51:46.378Z,1743040306.378 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-27T01:51:46.390Z,1743040306.390 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-27T01:51:46.392Z,1743040306.392 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-27T01:51:46.393Z,1743040306.393 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-27T01:51:46.396Z,1743040306.396 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-03-27T01:51:46.411Z,1743040306.411 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-27T01:51:46.412Z,1743040306.412 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-27T01:51:46.415Z,1743040306.415 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-27T01:51:46.421Z,1743040306.421 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-27T01:51:46.493Z,1743040306.493 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-27T01:51:46.512Z,1743040306.512 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-27T01:51:46.582Z,1743040306.582 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-27T01:51:46.582Z,1743040306.582 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-27T01:51:54.334Z,1743040314.334 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-27T01:51:54.355Z,1743040314.355 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-27T01:51:54.356Z,1743040314.356 [CommandExec](IMPORTANT): got command run
2025-03-27T01:51:54.357Z,1743040314.357 [CommandExec](IMPORTANT): Running 
2025-03-27T01:51:54.668Z,1743040314.668 [Default] Stopped
2025-03-27T01:51:54.668Z,1743040314.668 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-27T01:51:54.668Z,1743040314.668 [Default:B.GoToSurface] Stopped
2025-03-27T01:51:54.668Z,1743040314.668 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-27T01:51:54.668Z,1743040314.668 [Default:CheckIn] Stopped
2025-03-27T01:51:54.668Z,1743040314.668 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-27T01:51:54.668Z,1743040314.668 [Default:CheckIn:C.Wait] Stopped
2025-03-27T01:51:54.668Z,1743040314.668 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T01:51:54.669Z,1743040314.669 [MissionManager](IMPORTANT): Started mission transit
2025-03-27T01:51:54.669Z,1743040314.669 [transit] Running Loop=1
2025-03-27T01:51:54.669Z,1743040314.669 [transit](DEBUG): Aggregate::initialize transit
2025-03-27T01:51:54.669Z,1743040314.669 [transit:StandardEnvelopes] Running Loop=1
2025-03-27T01:51:54.669Z,1743040314.669 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-27T01:51:54.669Z,1743040314.669 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-27T01:51:54.669Z,1743040314.669 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-27T01:51:54.670Z,1743040314.670 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-27T01:51:54.670Z,1743040314.670 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-27T01:51:54.670Z,1743040314.670 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-27T01:51:54.670Z,1743040314.670 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-27T01:51:54.670Z,1743040314.670 [transit:BackseatDriver] Running Loop=1
2025-03-27T01:51:54.670Z,1743040314.670 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-27T01:51:54.670Z,1743040314.670 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-27T01:51:54.670Z,1743040314.670 [transit:PowerOnly] Running Loop=1
2025-03-27T01:51:54.675Z,1743040314.675 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-27T01:51:54.675Z,1743040314.675 [transit:PowerOnly:A] Running Loop=1
2025-03-27T01:51:54.676Z,1743040314.676 [transit:PowerOnly:B] Running Loop=1
2025-03-27T01:51:54.676Z,1743040314.676 [transit:PowerOnly:C] Running Loop=1
2025-03-27T01:51:54.676Z,1743040314.676 [transit:PowerOnly:D] Running Loop=1
2025-03-27T01:51:54.677Z,1743040314.677 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-27T01:51:54.677Z,1743040314.677 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-27T01:51:54.678Z,1743040314.678 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-27T01:51:54.678Z,1743040314.678 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-27T01:51:54.691Z,1743040314.691 [transit:MassHold.Pitch] Running Loop=1
2025-03-27T01:51:54.691Z,1743040314.691 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-27T01:51:54.692Z,1743040314.692 [transit:B] Running Loop=1
2025-03-27T01:51:54.692Z,1743040314.692 [transit:MassHold.Pitch] Running Loop=1
2025-03-27T01:51:54.693Z,1743040314.693 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-27T01:51:54.693Z,1743040314.693 [transit:PowerOnly] Running Loop=1
2025-03-27T01:51:54.693Z,1743040314.693 [transit:PowerOnly:D] Stopped
2025-03-27T01:51:54.693Z,1743040314.693 [transit:PowerOnly:C] Stopped
2025-03-27T01:51:54.693Z,1743040314.693 [transit:PowerOnly:B] Stopped
2025-03-27T01:51:54.693Z,1743040314.693 [transit:PowerOnly:A] Stopped
2025-03-27T01:51:54.693Z,1743040314.693 [transit:BackseatDriver] Running Loop=1
2025-03-27T01:51:54.694Z,1743040314.694 [transit:StandardEnvelopes] Running Loop=1
2025-03-27T01:51:54.694Z,1743040314.694 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-27T01:51:54.694Z,1743040314.694 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-27T01:51:54.694Z,1743040314.694 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-27T01:51:54.699Z,1743040314.699 [transit:B] Stopped
2025-03-27T01:51:54.699Z,1743040314.699 [transit:C] Running Loop=1
2025-03-27T01:51:55.057Z,1743040315.057 [transit:C] Stopped
2025-03-27T01:51:55.057Z,1743040315.057 [transit:E] Running Loop=1
2025-03-27T01:51:55.457Z,1743040315.457 [transit:E] Stopped
2025-03-27T01:51:55.457Z,1743040315.457 [transit:F] Running Loop=1
2025-03-27T01:51:55.868Z,1743040315.868 [transit:F] Stopped
2025-03-27T01:51:55.868Z,1743040315.868 [transit:G] Running Loop=1
2025-03-27T01:51:56.288Z,1743040316.288 [transit:G] Stopped
2025-03-27T01:51:56.288Z,1743040316.288 [transit:Transit] Running Loop=1
2025-03-27T01:51:56.288Z,1743040316.288 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-27T01:51:56.288Z,1743040316.288 [transit:Transit:A.Pitch] Running Loop=1
2025-03-27T01:51:56.288Z,1743040316.288 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-27T01:51:56.289Z,1743040316.289 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-27T01:51:56.289Z,1743040316.289 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-27T01:51:56.289Z,1743040316.289 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-27T01:51:56.289Z,1743040316.289 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-27T01:51:56.290Z,1743040316.290 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-27T01:51:56.696Z,1743040316.696 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-27T01:51:56.697Z,1743040316.697 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-27T01:51:56.697Z,1743040316.697 [transit:Transit:A.Pitch] Running Loop=1
2025-03-27T01:53:10.639Z,1743040390.639 [Waterlinked](INFO): Powering down
2025-03-27T01:53:17.927Z,1743040397.927 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:53:20.939Z,1743040400.939 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259239
2025-03-27T01:53:53.075Z,1743040433.075 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:54:14.263Z,1743040454.263 [Radio_Surface](INFO): Powering down
2025-03-27T01:54:28.245Z,1743040468.245 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T01:54:29.248Z,1743040469.248 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-27T01:57:14.488Z,1743040634.488 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD,       +0.00,       +0.00+0,    +0,    +0,V
2025-03-27T02:04:42.512Z,1743041082.512 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-27T02:07:11.107Z,1743041231.107 [Waterlinked](ERROR): No DVL communication! Re-initializing
2025-03-27T02:07:11.107Z,1743041231.107 [Waterlinked] Communications Fault, FailCount= 1
2025-03-27T02:07:11.107Z,1743041231.107 [Waterlinked](ERROR): Communications Fault
2025-03-27T02:07:11.232Z,1743041231.232 [CBIT](ERROR): Communications Fault in component: Waterlinked
2025-03-27T02:07:11.579Z,1743041231.579 [Waterlinked](INFO): Powering down
2025-03-27T02:07:12.378Z,1743041232.378 [CBIT](INFO): Clearing failed state for component Waterlinked
2025-03-27T02:07:12.378Z,1743041232.378 [Waterlinked] No Fault, FailCount= 1
2025-03-27T02:10:23.860Z,1743041423.860 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2025-03-27T02:10:23.865Z,1743041423.865 [BPC1](INFO): Received data from all battery sticks.
2025-03-27T02:12:13.654Z,1743041533.654 [Waterlinked](ERROR): only read 0 of 5 data items. Device response::BI+0,    +0,    +0,V
2025-03-27T02:12:37.667Z,1743041557.667 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-03-27T02:12:37.668Z,1743041557.668 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-27T02:12:37.668Z,1743041557.668 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-27T02:12:37.668Z,1743041557.668 [transit:Transit:PhoneHome] Running Loop=1
2025-03-27T02:12:37.668Z,1743041557.668 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-03-27T02:12:38.019Z,1743041558.019 [transit:NeedComms] Running Loop=1
2025-03-27T02:12:38.019Z,1743041558.019 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-03-27T02:12:38.019Z,1743041558.019 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-03-27T02:12:38.019Z,1743041558.019 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-27T02:12:38.020Z,1743041558.020 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-27T02:12:38.020Z,1743041558.020 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-27T02:12:38.020Z,1743041558.020 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-27T02:12:38.021Z,1743041558.021 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-27T02:12:38.021Z,1743041558.021 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-27T02:12:38.021Z,1743041558.021 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-27T02:12:38.022Z,1743041558.022 [transit:NeedComms:A] Running Loop=1
2025-03-27T02:12:38.023Z,1743041558.023 [transit:NeedComms:A](INFO): last time_fix was:  1743040155.000000 second since 1970/01/01T00:00:00Z 
2025-03-27T02:12:38.023Z,1743041558.023 [transit:NeedComms:A] Stopped
2025-03-27T02:12:57.902Z,1743041577.902 [transit:NeedComms:B.GoToSurface](ERROR): Altitude too low: 0.08
2025-03-27T02:12:58.307Z,1743041578.307 [transit:NeedComms:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.08 too low. Waiting for 600.000000 seconds.
2025-03-27T02:12:58.535Z,1743041578.535 [Radio_Surface](INFO): Powering up
2025-03-27T02:13:03.873Z,1743041583.873 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-27T02:13:33.992Z,1743041613.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T02:14:09.136Z,1743041649.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T02:14:44.279Z,1743041684.279 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T02:15:19.448Z,1743041719.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T02:15:46.112Z,1743041746.112 [transit:NeedComms:C] Running Loop=1
2025-03-27T02:15:46.423Z,1743041746.423 [Waterlinked](INFO): Powering down
2025-03-27T02:15:46.442Z,1743041746.442 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-27T02:15:54.607Z,1743041754.607 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-27T02:16:18.653Z,1743041778.653 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-27T02:16:18.731Z,1743041778.731 [NAL9602](ERROR): received: 
+CSQ:0

OK758, 2, 0, 0, 0

OK
2025-03-27T02:16:27.356Z,1743041787.356 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004420
2025-03-27T02:19:37.893Z,1743041977.893 [NAL9602](INFO): SBD MO Status=2, MOMSN=18758, MT Status=2, MTMSN=0
2025-03-27T02:19:37.894Z,1743041977.894 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-27T02:20:04.153Z,1743042004.153 [NAL9602](INFO): SBD MO Status=2, MOMSN=18758, MT Status=2, MTMSN=0
2025-03-27T02:20:04.153Z,1743042004.153 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-27T02:20:50.220Z,1743042050.220 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-27T02:20:51.425Z,1743042051.425 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022050.00,A,3647.80102,N,12150.59008,W,0.389,154.37,270325,,,A*70
2025-03-27T02:20:51.428Z,1743042051.428 [NAL9602](INFO): GPS fix at 20250327T022050: (36.796684, -121.843168)
2025-03-27T02:20:51.439Z,1743042051.439 [UniversalFixResidualReporter](INFO): Fix residual: 32.1 %DT, over the last 1127.6 m. Residual distance 361.8 m at bearing -84.4 degrees. Fix at (36.7967, -121.8432) with 747.4 m made good.
2025-03-27T02:20:51.443Z,1743042051.443 [transit:NeedComms:C] Stopped
2025-03-27T02:20:51.443Z,1743042051.443 [transit:NeedComms:D] Running Loop=1
2025-03-27T02:20:51.866Z,1743042051.866 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-27T02:20:59.806Z,1743042059.806 [DataOverHttps](INFO): Sending 95 bytes from file Logs/20250326T234819/Courier0031.lzma
2025-03-27T02:21:00.808Z,1743042060.808 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0031.lzma.bak
2025-03-27T02:21:00.809Z,1743042060.809 [DataOverHttps](INFO): SBD MOMSN=24464072
2025-03-27T02:21:16.980Z,1743042076.980 [DataOverHttps](INFO): Sending 549 bytes from file Logs/20250326T234819/Express0032.lzma
2025-03-27T02:21:17.981Z,1743042077.981 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0032.lzma.bak
2025-03-27T02:21:17.981Z,1743042077.981 [DataOverHttps](INFO): SBD MOMSN=24464075
2025-03-27T02:21:23.340Z,1743042083.340 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-27T02:21:33.842Z,1743042093.842 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250326T234819/Express0035.lzma
2025-03-27T02:21:34.845Z,1743042094.845 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Express0035.lzma.bak
2025-03-27T02:21:34.845Z,1743042094.845 [DataOverHttps](INFO): SBD MOMSN=24464089
2025-03-27T02:21:36.292Z,1743042096.292 [transit:NeedComms:D] Stopped
2025-03-27T02:21:36.292Z,1743042096.292 [transit:NeedComms:E] Running Loop=1
2025-03-27T02:21:36.688Z,1743042096.688 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-27T02:21:38.282Z,1743042098.282 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022137.00,A,3647.80157,N,12150.58736,W,0.583,207.64,270325,,,A*74
2025-03-27T02:21:38.284Z,1743042098.284 [NAL9602](INFO): GPS fix at 20250327T022137: (36.796693, -121.843123)
2025-03-27T02:21:38.333Z,1743042098.333 [transit:NeedComms:E] Stopped
2025-03-27T02:21:38.334Z,1743042098.334 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-03-27T02:21:38.339Z,1743042098.339 [transit:NeedComms] Stopped
2025-03-27T02:21:38.339Z,1743042098.339 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-03-27T02:21:38.339Z,1743042098.339 [transit:NeedComms:B.GoToSurface] Stopped
2025-03-27T02:21:38.339Z,1743042098.339 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-27T02:21:38.752Z,1743042098.752 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-03-27T02:21:38.752Z,1743042098.752 [transit:Transit:PhoneHome] Stopped
2025-03-27T02:21:38.752Z,1743042098.752 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-03-27T02:21:38.753Z,1743042098.753 [transit:Transit](INFO): Completed transit:Transit
2025-03-27T02:21:38.753Z,1743042098.753 [transit:Transit] Stopped
2025-03-27T02:21:38.753Z,1743042098.753 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-27T02:21:38.753Z,1743042098.753 [transit:Transit:A.Pitch] Stopped
2025-03-27T02:21:38.753Z,1743042098.753 [transit:Transit:B.SetSpeed] Stopped
2025-03-27T02:21:38.753Z,1743042098.753 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-27T02:21:38.755Z,1743042098.755 [transit](INFO): Completed transit
2025-03-27T02:21:38.755Z,1743042098.755 [MissionManager](INFO): transit is completed.
2025-03-27T02:21:38.755Z,1743042098.755 [MissionManager](INFO): Uninitializing Mission transit
2025-03-27T02:21:38.755Z,1743042098.755 [transit] Stopped
2025-03-27T02:21:38.755Z,1743042098.755 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-27T02:21:38.755Z,1743042098.755 [transit:StandardEnvelopes] Stopped
2025-03-27T02:21:38.755Z,1743042098.755 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-27T02:21:38.756Z,1743042098.756 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-27T02:21:38.756Z,1743042098.756 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-27T02:21:38.756Z,1743042098.756 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-27T02:21:38.756Z,1743042098.756 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-27T02:21:38.756Z,1743042098.756 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-27T02:21:38.756Z,1743042098.756 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-27T02:21:38.756Z,1743042098.756 [transit:BackseatDriver] Stopped
2025-03-27T02:21:38.756Z,1743042098.756 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-27T02:21:38.756Z,1743042098.756 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-27T02:21:38.756Z,1743042098.756 [transit:PowerOnly] Stopped
2025-03-27T02:21:38.756Z,1743042098.756 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-27T02:21:38.756Z,1743042098.756 [transit:PowerOnly:E.Wait] Stopped
2025-03-27T02:21:38.756Z,1743042098.756 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T02:21:38.756Z,1743042098.756 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-27T02:21:38.757Z,1743042098.757 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-27T02:21:38.757Z,1743042098.757 [transit:MassHold.Pitch] Stopped
2025-03-27T02:21:39.116Z,1743042099.116 [MissionManager](IMPORTANT): Started mission Default
2025-03-27T02:21:39.116Z,1743042099.116 [Default] Running Loop=1
2025-03-27T02:21:39.116Z,1743042099.116 [Default](DEBUG): Aggregate::initialize Default
2025-03-27T02:21:39.116Z,1743042099.116 [Default:B.GoToSurface] Running Loop=1
2025-03-27T02:21:39.116Z,1743042099.116 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-27T02:21:39.116Z,1743042099.116 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-27T02:21:39.117Z,1743042099.117 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-27T02:21:39.117Z,1743042099.117 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-27T02:21:39.117Z,1743042099.117 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-27T02:21:39.118Z,1743042099.118 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-27T02:21:39.118Z,1743042099.118 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-27T02:21:39.118Z,1743042099.118 [Default:A.Wait] Running Loop=1
2025-03-27T02:21:39.118Z,1743042099.118 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-27T02:21:52.456Z,1743042112.456 [Default:A.Wait](INFO): Done Waiting.
2025-03-27T02:21:52.456Z,1743042112.456 [Default:A.Wait] Stopped
2025-03-27T02:21:52.456Z,1743042112.456 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-27T02:21:52.844Z,1743042112.844 [Default:CheckIn] Running Loop=1
2025-03-27T02:21:52.844Z,1743042112.844 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-27T02:21:52.844Z,1743042112.844 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-27T02:22:08.987Z,1743042128.987 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-27T02:22:09.063Z,1743042129.063 [NAL9602](ERROR): received: 
+CSQ:1

OK758, 2, 0, 0, 0

OK
2025-03-27T02:23:30.360Z,1743042210.360 [DataOverHttps](IMPORTANT): SBD MTMSN=20250327T022329
2025-03-27T02:23:37.867Z,1743042217.867 [DataOverHttps](INFO): Received command: ibit
2025-03-27T02:23:37.923Z,1743042217.923 [CommandExec](IMPORTANT): got command ibit
2025-03-27T02:23:38.305Z,1743042218.305 [IBIT](IMPORTANT): Beginning Initiated BIT
2025-03-27T02:23:38.306Z,1743042218.306 [IBIT](IMPORTANT): Beginning control surface checks.
2025-03-27T02:23:38.309Z,1743042218.309 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-27T02:23:42.903Z,1743042222.903 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006762
CHAN A1 (24V): 0.001729
CHAN A2 (12V): -0.005335
CHAN A3 (5V): -0.002749
CHAN B0 (3.3V): -0.000893
CHAN B1 (3.15aV): -0.001169
CHAN B2 (3.15bV): -0.001478
CHAN B3 (GND): -0.001018
OPEN: 0.006251
Full Scale: +/- 1 mA
2025-03-27T02:24:59.385Z,1743042299.385 [CommandExec](IMPORTANT): got command show variable sigquality
2025-03-27T02:24:59.588Z,1743042299.588 [CommandExec](IMPORTANT): NAL9602.sigQuality (count)
2025-03-27T02:25:05.794Z,1743042305.794 [CommandExec](IMPORTANT): got command report touch NAL9602.sigQuality
2025-03-27T02:25:09.629Z,1743042309.629 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:12.859Z,1743042312.859 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:13.668Z,1743042313.668 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:17.713Z,1743042317.713 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:18.498Z,1743042318.498 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:22.579Z,1743042322.579 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:24.144Z,1743042324.144 [CommandExec](IMPORTANT): got command show stack
2025-03-27T02:25:24.144Z,1743042324.144 [CommandExec](IMPORTANT): Behavior Stack:

2025-03-27T02:25:24.144Z,1743042324.144 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2025-03-27T02:25:24.145Z,1743042324.145 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2025-03-27T02:25:25.776Z,1743042325.776 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:29.394Z,1743042329.394 [IBIT](FAULT): Error acquiring IBIT communications status. Timeout expired.
2025-03-27T02:25:29.812Z,1743042329.812 [IBIT](IMPORTANT): Battery Status:
Battery Charge (AH): 0.000000
Voltage: 16.452999
2025-03-27T02:25:29.812Z,1743042329.812 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah
2025-03-27T02:25:29.812Z,1743042329.812 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V
2025-03-27T02:25:30.196Z,1743042330.196 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2025-03-27T02:25:30.197Z,1743042330.197 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi
2025-03-27T02:25:30.197Z,1743042330.197 [IBIT](IMPORTANT): Pressure:9.602536 PSI
2025-03-27T02:25:30.197Z,1743042330.197 [IBIT](IMPORTANT): Humidity:12.104749 %
2025-03-27T02:25:30.612Z,1743042330.612 [IBIT](IMPORTANT): Vehicle Pitch:1.145857 degrees
2025-03-27T02:25:30.612Z,1743042330.612 [IBIT](IMPORTANT): Vehicle  Roll:2.577591 degrees
2025-03-27T02:25:30.612Z,1743042330.612 [IBIT](IMPORTANT): Vehicle  Heading:222.410614 degrees
2025-03-27T02:25:31.020Z,1743042331.020 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m
2025-03-27T02:25:31.020Z,1743042331.020 [IBIT](IMPORTANT): buoyancyNeutral: 200.000000 cc
2025-03-27T02:25:31.020Z,1743042331.020 [IBIT](IMPORTANT): massDefault: 2.000000 cm
2025-03-27T02:25:31.021Z,1743042331.021 [IBIT](IMPORTANT): stopDepth: 290.000000 m
2025-03-27T02:25:31.021Z,1743042331.021 [IBIT](IMPORTANT): abortDepth: 300.000000 m
2025-03-27T02:25:31.021Z,1743042331.021 [IBIT](IMPORTANT): IBIT FAILED
2025-03-27T02:25:34.584Z,1743042334.584 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:38.709Z,1743042338.709 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:43.181Z,1743042343.181 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:45.210Z,1743042345.210 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:54.069Z,1743042354.069 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:25:58.521Z,1743042358.521 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:26:06.988Z,1743042366.988 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:26:11.430Z,1743042371.430 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:26:19.924Z,1743042379.924 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:26:24.364Z,1743042384.364 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:26:32.873Z,1743042392.873 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:26:37.072Z,1743042397.072 [DataOverHttps](IMPORTANT): SBD MTMSN=20250327T022636
2025-03-27T02:26:37.311Z,1743042397.311 [Reporter](INFO): NAL9602.sigQuality 0 count
2025-03-27T02:26:40.480Z,1743042400.480 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-27T02:26:41.694Z,1743042401.694 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022640.00,A,3647.80391,N,12150.56052,W,0.486,86.07,270325,,,A*4A
2025-03-27T02:26:41.696Z,1743042401.696 [NAL9602](INFO): GPS fix at 20250327T022640: (36.796732, -121.842675)
2025-03-27T02:26:41.755Z,1743042401.755 [Default:CheckIn:Read_GPS] Stopped
2025-03-27T02:26:41.755Z,1743042401.755 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-27T02:26:44.083Z,1743042404.083 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250326T234819/Courier0037.lzma
2025-03-27T02:26:44.085Z,1743042404.085 [DataOverHttps](INFO): Received command: restart sys
2025-03-27T02:26:44.136Z,1743042404.136 [CommandExec](IMPORTANT): got command restart system
2025-03-27T02:26:45.033Z,1743042405.033 [DataOverHttps](INFO): Moved sent file to Logs/20250326T234819/Courier0037.lzma.bak
2025-03-27T02:26:45.033Z,1743042405.033 [DataOverHttps](INFO): SBD MOMSN=24464100
2025-03-27T02:26:46.195Z,1743042406.195 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-03-27T02:26:46.195Z,1743042406.195 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-27T02:26:46.195Z,1743042406.195 [CommandExec](INFO): Uninitializing the command executive.
2025-03-27T02:26:46.195Z,1743042406.195 [CommandExec](INFO): Uninitializing the command scheduler.
2025-03-27T02:26:46.196Z,1743042406.196 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:46.382Z,1743042406.382 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-03-27T02:26:46.383Z,1743042406.383 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-03-27T02:26:46.383Z,1743042406.383 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:46.383Z,1743042406.383 [NavChartDb](INFO): Join timeout helper Thread ID is 3123
2025-03-27T02:26:46.671Z,1743042406.671 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-27T02:26:46.671Z,1743042406.671 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:46.675Z,1743042406.675 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-03-27T02:26:46.675Z,1743042406.675 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:46.675Z,1743042406.675 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3124
2025-03-27T02:26:47.043Z,1743042407.043 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-27T02:26:47.043Z,1743042407.043 [WetLabsBB2FL](INFO): Powering down
2025-03-27T02:26:47.044Z,1743042407.044 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:47.044Z,1743042407.044 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-03-27T02:26:47.044Z,1743042407.044 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:47.045Z,1743042407.045 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3125
2025-03-27T02:26:47.887Z,1743042407.887 [CTD_Seabird](INFO): Powering down
2025-03-27T02:26:47.899Z,1743042407.899 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-27T02:26:47.899Z,1743042407.899 [CTD_Seabird](INFO): Powering down
2025-03-27T02:26:47.911Z,1743042407.911 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:47.923Z,1743042407.923 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-03-27T02:26:47.923Z,1743042407.923 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:47.923Z,1743042407.923 [Radio_Surface](INFO): Join timeout helper Thread ID is 3126
2025-03-27T02:26:48.279Z,1743042408.279 [Radio_Surface](INFO): Powering down
2025-03-27T02:26:48.280Z,1743042408.280 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-27T02:26:48.280Z,1743042408.280 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-27T02:26:48.299Z,1743042408.299 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-03-27T02:26:48.299Z,1743042408.299 [Onboard ThreadH