2025-05-15T15:33:35.746Z,1747323215.746 [Supervisor](DEBUG): Initializing supervisor.
2025-05-15T15:33:35.750Z,1747323215.750 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-05-15T15:33:35.751Z,1747323215.751 [SyncHandler](INFO): Protected caller Thread ID is 688
2025-05-15T15:33:35.751Z,1747323215.751 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-05-15T15:33:35.752Z,1747323215.752 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-05-15T15:33:35.753Z,1747323215.753 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 689
2025-05-15T15:33:35.757Z,1747323215.757 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-05-15T15:33:35.777Z,1747323215.777 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-05-15T15:33:35.778Z,1747323215.778 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-05-15T15:33:35.779Z,1747323215.779 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 690
2025-05-15T15:33:35.783Z,1747323215.783 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-05-15T15:33:35.784Z,1747323215.784 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-05-15T15:33:35.784Z,1747323215.784 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 691
2025-05-15T15:33:35.787Z,1747323215.787 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-05-15T15:33:35.788Z,1747323215.788 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-05-15T15:33:35.788Z,1747323215.788 [logger ThreadHandler](INFO): Protected caller Thread ID is 692
2025-05-15T15:33:35.792Z,1747323215.792 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-05-15T15:33:35.792Z,1747323215.792 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-05-15T15:33:35.797Z,1747323215.797 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-05-15T15:33:36.109Z,1747323216.109 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-05-15T15:33:36.110Z,1747323216.110 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-05-15T15:33:36.228Z,1747323216.228 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-05-15T15:33:36.229Z,1747323216.229 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-05-15T15:33:36.335Z,1747323216.335 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-05-15T15:33:36.336Z,1747323216.336 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-05-15T15:33:36.850Z,1747323216.850 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-05-15T15:33:36.852Z,1747323216.852 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-05-15T15:33:37.233Z,1747323217.233 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-05-15T15:33:37.233Z,1747323217.233 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-05-15T15:33:37.604Z,1747323217.604 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-05-15T15:33:37.605Z,1747323217.605 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-05-15T15:33:37.803Z,1747323217.803 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-05-15T15:33:37.804Z,1747323217.804 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-05-15T15:33:37.893Z,1747323217.893 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-05-15T15:33:37.986Z,1747323217.986 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-05-15T15:33:38.417Z,1747323218.417 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-05-15T15:33:38.418Z,1747323218.418 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-05-15T15:33:38.720Z,1747323218.720 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-05-15T15:33:38.721Z,1747323218.721 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-05-15T15:33:40.099Z,1747323220.099 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-05-15T15:33:40.101Z,1747323220.101 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-05-15T15:33:40.353Z,1747323220.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-05-15T15:33:40.355Z,1747323220.355 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-05-15T15:33:40.612Z,1747323220.612 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-05-15T15:33:40.613Z,1747323220.613 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-05-15T15:33:40.767Z,1747323220.767 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-05-15T15:33:40.768Z,1747323220.768 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-05-15T15:33:41.697Z,1747323221.697 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-05-15T15:33:41.699Z,1747323221.699 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2025-05-15T15:33:41.703Z,1747323221.703 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2025-05-15T15:33:41.797Z,1747323221.797 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2025-05-15T15:33:41.940Z,1747323221.940 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2025-05-15T15:33:42.222Z,1747323222.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-05-15T15:33:42.224Z,1747323222.224 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2025-05-15T15:33:42.363Z,1747323222.363 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2025-05-15T15:33:42.473Z,1747323222.473 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2025-05-15T15:33:42.579Z,1747323222.579 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2025-05-15T15:33:42.700Z,1747323222.700 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2025-05-15T15:33:42.796Z,1747323222.796 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2025-05-15T15:33:42.895Z,1747323222.895 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2025-05-15T15:33:42.999Z,1747323222.999 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2025-05-15T15:33:43.185Z,1747323223.185 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-05-15T15:33:43.201Z,1747323223.201 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-05-15T15:33:43.272Z,1747323223.272 [DepthRateCalculator] Loaded
2025-05-15T15:33:43.272Z,1747323223.272 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-05-15T15:33:43.277Z,1747323223.277 [PitchRateCalculator] Loaded
2025-05-15T15:33:43.278Z,1747323223.278 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-05-15T15:33:43.288Z,1747323223.288 [SpeedCalculator] Loaded
2025-05-15T15:33:43.289Z,1747323223.289 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-05-15T15:33:43.294Z,1747323223.294 [YawRateCalculator] Loaded
2025-05-15T15:33:43.294Z,1747323223.294 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-05-15T15:33:43.316Z,1747323223.316 [ElevatorOffsetCalculator] Loaded
2025-05-15T15:33:43.317Z,1747323223.317 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-05-15T15:33:43.317Z,1747323223.317 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-05-15T15:33:43.318Z,1747323223.318 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-05-15T15:33:43.361Z,1747323223.361 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-05-15T15:33:43.362Z,1747323223.362 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-05-15T15:33:43.376Z,1747323223.376 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-05-15T15:33:43.376Z,1747323223.376 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-05-15T15:33:44.044Z,1747323224.044 [AHRS_M2] Loaded
2025-05-15T15:33:44.044Z,1747323224.044 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-05-15T15:33:44.084Z,1747323224.084 [BackseatComponent] Loaded
2025-05-15T15:33:44.084Z,1747323224.084 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-05-15T15:33:44.085Z,1747323224.085 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408754E0
2025-05-15T15:33:44.085Z,1747323224.085 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 775
2025-05-15T15:33:44.088Z,1747323224.088 [LcmUniversalReporter] Loaded
2025-05-15T15:33:44.088Z,1747323224.088 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-05-15T15:33:45.393Z,1747323225.393 [BPC1] Loaded
2025-05-15T15:33:45.394Z,1747323225.394 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-05-15T15:33:45.491Z,1747323225.491 [DAT] Loaded
2025-05-15T15:33:45.491Z,1747323225.491 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-05-15T15:33:45.492Z,1747323225.492 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408A54E0
2025-05-15T15:33:45.493Z,1747323225.493 [DAT ThreadHandler](INFO): Protected caller Thread ID is 776
2025-05-15T15:33:45.569Z,1747323225.569 [DataOverHttps] Loaded
2025-05-15T15:33:45.569Z,1747323225.569 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-05-15T15:33:45.570Z,1747323225.570 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408D54E0
2025-05-15T15:33:45.571Z,1747323225.571 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 778
2025-05-15T15:33:45.594Z,1747323225.594 [Depth_Keller] Loaded
2025-05-15T15:33:45.594Z,1747323225.594 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-05-15T15:33:45.599Z,1747323225.599 [DropWeight] Loaded
2025-05-15T15:33:45.600Z,1747323225.600 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-05-15T15:33:45.621Z,1747323225.621 [MultiRay](INFO): Found secondary power supply at: /dev/loadC7
2025-05-15T15:33:45.621Z,1747323225.621 [MultiRay] Loaded
2025-05-15T15:33:45.622Z,1747323225.622 [ComponentRegistry](DEBUG): SyncComponent "MultiRay" handled in the control thread.
2025-05-15T15:33:45.687Z,1747323225.687 [NAL9602] Loaded
2025-05-15T15:33:45.688Z,1747323225.688 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-05-15T15:33:45.718Z,1747323225.718 [Onboard] Loaded
2025-05-15T15:33:45.718Z,1747323225.718 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-05-15T15:33:45.719Z,1747323225.719 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409054E0
2025-05-15T15:33:45.720Z,1747323225.720 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 780
2025-05-15T15:33:45.726Z,1747323225.726 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2025-05-15T15:33:45.739Z,1747323225.739 [PowerOnly] Loaded
2025-05-15T15:33:45.740Z,1747323225.740 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2025-05-15T15:33:45.754Z,1747323225.754 [Power24vConverter] Loaded
2025-05-15T15:33:45.754Z,1747323225.754 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-05-15T15:33:45.771Z,1747323225.771 [Radio_Surface] Loaded
2025-05-15T15:33:45.772Z,1747323225.772 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-05-15T15:33:45.773Z,1747323225.773 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409354E0
2025-05-15T15:33:45.773Z,1747323225.773 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 781
2025-05-15T15:33:45.774Z,1747323225.774 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-05-15T15:33:45.775Z,1747323225.775 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-05-15T15:33:45.910Z,1747323225.910 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-05-15T15:33:45.910Z,1747323225.910 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-05-15T15:33:45.924Z,1747323225.924 [NavChart] Loaded
2025-05-15T15:33:45.925Z,1747323225.925 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-05-15T15:33:45.931Z,1747323225.931 [UniversalFixResidualReporter] Loaded
2025-05-15T15:33:45.931Z,1747323225.931 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-05-15T15:33:45.931Z,1747323225.931 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-05-15T15:33:45.932Z,1747323225.932 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-05-15T15:33:46.130Z,1747323226.130 [SBIT](DEBUG): Construct Startup Built In Test.
2025-05-15T15:33:46.145Z,1747323226.145 [SBIT] Loaded
2025-05-15T15:33:46.145Z,1747323226.145 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-05-15T15:33:46.148Z,1747323226.148 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-05-15T15:33:46.161Z,1747323226.161 [IBIT] Loaded
2025-05-15T15:33:46.162Z,1747323226.162 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-05-15T15:33:46.168Z,1747323226.168 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-05-15T15:33:46.249Z,1747323226.249 [CBIT] Loaded
2025-05-15T15:33:46.250Z,1747323226.250 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-05-15T15:33:46.282Z,1747323226.282 [GFScanner] Loaded
2025-05-15T15:33:46.282Z,1747323226.282 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-05-15T15:33:46.283Z,1747323226.283 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-05-15T15:33:46.283Z,1747323226.283 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-05-15T15:33:46.499Z,1747323226.499 [CTD_Seabird] Loaded
2025-05-15T15:33:46.499Z,1747323226.499 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-05-15T15:33:46.500Z,1747323226.500 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A474E0
2025-05-15T15:33:46.500Z,1747323226.500 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 782
2025-05-15T15:33:46.521Z,1747323226.521 [PAR_Licor] Loaded
2025-05-15T15:33:46.522Z,1747323226.522 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-05-15T15:33:46.569Z,1747323226.569 [WetLabsBB2FL] Loaded
2025-05-15T15:33:46.569Z,1747323226.569 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-05-15T15:33:46.570Z,1747323226.570 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A774E0
2025-05-15T15:33:46.570Z,1747323226.570 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 783
2025-05-15T15:33:46.571Z,1747323226.571 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-05-15T15:33:46.572Z,1747323226.572 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-05-15T15:33:46.740Z,1747323226.740 [BuoyancyServo] Loaded
2025-05-15T15:33:46.740Z,1747323226.740 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-05-15T15:33:46.765Z,1747323226.765 [ElevatorServo] Loaded
2025-05-15T15:33:46.765Z,1747323226.765 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-05-15T15:33:46.789Z,1747323226.789 [MassServo] Loaded
2025-05-15T15:33:46.789Z,1747323226.789 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-05-15T15:33:46.812Z,1747323226.812 [RudderServo] Loaded
2025-05-15T15:33:46.812Z,1747323226.812 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-05-15T15:33:46.831Z,1747323226.831 [ThrusterHE] Loaded
2025-05-15T15:33:46.832Z,1747323226.832 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-05-15T15:33:46.832Z,1747323226.832 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-05-15T15:33:46.832Z,1747323226.832 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-05-15T15:33:46.900Z,1747323226.900 [VerticalControl](DEBUG): Construct VerticalControl.
2025-05-15T15:33:46.954Z,1747323226.954 [VerticalControl] Loaded
2025-05-15T15:33:46.954Z,1747323226.954 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-05-15T15:33:46.957Z,1747323226.957 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-05-15T15:33:47.003Z,1747323227.003 [HorizontalControl] Loaded
2025-05-15T15:33:47.003Z,1747323227.003 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-05-15T15:33:47.006Z,1747323227.006 [SpeedControl](DEBUG): Construct SpeedControl.
2025-05-15T15:33:47.007Z,1747323227.007 [SpeedControl] Loaded
2025-05-15T15:33:47.008Z,1747323227.008 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-05-15T15:33:47.011Z,1747323227.011 [LoopControl](DEBUG): Construct LoopControl.
2025-05-15T15:33:47.011Z,1747323227.011 [LoopControl] Loaded
2025-05-15T15:33:47.011Z,1747323227.011 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-05-15T15:33:47.012Z,1747323227.012 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-05-15T15:33:47.012Z,1747323227.012 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-05-15T15:33:47.177Z,1747323227.177 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-05-15T15:33:47.178Z,1747323227.178 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-05-15T15:33:47.393Z,1747323227.393 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-05-15T15:33:47.394Z,1747323227.394 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-05-15T15:33:47.804Z,1747323227.804 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-05-15T15:33:47.805Z,1747323227.805 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-05-15T15:33:47.889Z,1747323227.889 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-05-15T15:33:47.895Z,1747323227.895 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-05-15T15:33:47.898Z,1747323227.898 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-05-15T15:33:47.910Z,1747323227.910 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-05-15T15:33:47.911Z,1747323227.911 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-05-15T15:33:47.911Z,1747323227.911 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 784
2025-05-15T15:33:47.916Z,1747323227.916 [Supervisor](INFO): Main Thread ID is 832
2025-05-15T15:33:47.916Z,1747323227.916 [Supervisor](DEBUG): Running supervisor.
2025-05-15T15:33:47.916Z,1747323227.916 [CommandExec ThreadHandler](INFO): Handler Thread ID is 785
2025-05-15T15:33:47.917Z,1747323227.917 [CommandExec](INFO): Initializing the command executive.
2025-05-15T15:33:47.919Z,1747323227.919 [CommandLine ThreadHandler](INFO): Handler Thread ID is 786
2025-05-15T15:33:47.920Z,1747323227.920 [controlThread ThreadHandler](INFO): Handler Thread ID is 787
2025-05-15T15:33:47.921Z,1747323227.921 [controlThread](DEBUG): Initializing ControlThread
2025-05-15T15:33:47.922Z,1747323227.922 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-05-15T15:33:47.922Z,1747323227.922 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-05-15T15:33:47.923Z,1747323227.923 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-05-15T15:33:47.923Z,1747323227.923 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-05-15T15:33:47.923Z,1747323227.923 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-05-15T15:33:47.927Z,1747323227.927 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-05-15T15:33:47.927Z,1747323227.927 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-05-15T15:33:47.928Z,1747323227.928 [SBIT](INFO): Initialize SBIT Component.
2025-05-15T15:33:47.928Z,1747323227.928 [SBIT](IMPORTANT): git: 2025-05-12_B
2025-05-15T15:33:47.928Z,1747323227.928 [SBIT](INFO): git hash: 7c5b1c07405cfe7ca09821eb029d166d25d65d57
2025-05-15T15:33:47.929Z,1747323227.929 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-05-15T15:33:47.930Z,1747323227.930 [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
2025-05-15T15:33:47.931Z,1747323227.931 [SBIT](INFO): Beginning SBIT in 118.000000 seconds.
2025-05-15T15:33:47.931Z,1747323227.931 [IBIT](INFO): Initialize IBIT Component.
2025-05-15T15:33:47.932Z,1747323227.932 [CBIT](DEBUG): Initialize CBIT Component.
2025-05-15T15:33:47.933Z,1747323227.933 [logger ThreadHandler](INFO): Handler Thread ID is 788
2025-05-15T15:33:47.946Z,1747323227.946 [CBIT](DEBUG): Initialized mux pins.
2025-05-15T15:33:47.946Z,1747323227.946 [CBIT](DEBUG): Initializing the watchdog timer.
2025-05-15T15:33:47.958Z,1747323227.958 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 789
2025-05-15T15:33:47.970Z,1747323227.970 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-05-15T15:33:47.970Z,1747323227.970 [CBIT](DEBUG): Initializing heartbeat.
2025-05-15T15:33:47.971Z,1747323227.971 [DAT ThreadHandler](INFO): Handler Thread ID is 790
2025-05-15T15:33:47.972Z,1747323227.972 [DAT](INFO): Powering up
2025-05-15T15:33:47.972Z,1747323227.972 [DAT](DEBUG): Initializing DAT.
2025-05-15T15:33:47.975Z,1747323227.975 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 792
2025-05-15T15:33:47.977Z,1747323227.977 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-05-15T15:33:47.998Z,1747323227.998 [Onboard ThreadHandler](INFO): Handler Thread ID is 794
2025-05-15T15:33:48.015Z,1747323228.015 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 795
2025-05-15T15:33:48.036Z,1747323228.036 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 797
2025-05-15T15:33:48.036Z,1747323228.036 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-05-15T15:33:48.039Z,1747323228.039 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 800
2025-05-15T15:33:48.042Z,1747323228.042 [CBIT](DEBUG): Deactivating emergency mode.
2025-05-15T15:33:48.043Z,1747323228.043 [WetLabsBB2FL](INFO): Powering up
2025-05-15T15:33:48.044Z,1747323228.044 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 802
2025-05-15T15:33:48.051Z,1747323228.051 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-05-15T15:33:48.051Z,1747323228.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-05-15T15:33:48.051Z,1747323228.051 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-05-15T15:33:48.051Z,1747323228.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-05-15T15:33:48.051Z,1747323228.051 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-05-15T15:33:48.052Z,1747323228.052 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-05-15T15:33:48.052Z,1747323228.052 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-05-15T15:33:48.052Z,1747323228.052 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-05-15T15:33:48.082Z,1747323228.082 [CBIT](DEBUG): Backplane powered.
2025-05-15T15:33:48.082Z,1747323228.082 [GFScanner](DEBUG): Initializing GFScanner
2025-05-15T15:33:48.082Z,1747323228.082 [GFScanner](DEBUG): Deactivating GF circuits.
2025-05-15T15:33:48.091Z,1747323228.091 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-05-15T15:33:48.093Z,1747323228.093 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-05-15T15:33:48.094Z,1747323228.094 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-05-15T15:33:48.094Z,1747323228.094 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-05-15T15:33:48.095Z,1747323228.095 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-05-15T15:33:48.096Z,1747323228.096 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-05-15T15:33:48.096Z,1747323228.096 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-05-15T15:33:48.099Z,1747323228.099 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-05-15T15:33:48.140Z,1747323228.140 [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>

2025-05-15T15:33:48.145Z,1747323228.145 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-15T15:33:48.174Z,1747323228.174 [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
    }
  }
}


2025-05-15T15:33:48.175Z,1747323228.175 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-05-15T15:33:48.175Z,1747323228.175 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-05-15T15:33:48.178Z,1747323228.178 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-05-15T15:33:48.386Z,1747323228.386 [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>

2025-05-15T15:33:48.392Z,1747323228.392 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-05-15T15:33:48.393Z,1747323228.393 [Default:A.Wait](DEBUG): Construct Wait.
2025-05-15T15:33:48.403Z,1747323228.403 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-15T15:33:48.422Z,1747323228.422 [Radio_Surface](INFO): Powering up
2025-05-15T15:33:48.428Z,1747323228.428 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-05-15T15:33:48.436Z,1747323228.436 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-05-15T15:33:48.441Z,1747323228.441 [Default:E.Execute](DEBUG): Construct Execute.
2025-05-15T15:33:48.445Z,1747323228.445 [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"
  }
}


2025-05-15T15:33:48.458Z,1747323228.458 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,MultiRay,NAL9602,PowerOnly,Power24vConverter,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,
2025-05-15T15:33:48.466Z,1747323228.466 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-05-15T15:33:48.522Z,1747323228.522 [Depth_Keller](INFO): Initializing.
2025-05-15T15:33:48.523Z,1747323228.523 [MultiRay](INFO): Powering up MultiRay Lights
2025-05-15T15:33:48.524Z,1747323228.524 [MultiRay](INFO): Powering up secondary power supply.
2025-05-15T15:33:48.555Z,1747323228.555 [Power24vConverter](INFO): Powering up.
2025-05-15T15:33:48.575Z,1747323228.575 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-05-15T15:33:48.593Z,1747323228.593 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-05-15T15:33:48.598Z,1747323228.598 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-05-15T15:33:48.599Z,1747323228.599 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-05-15T15:33:48.606Z,1747323228.606 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-05-15T15:33:48.607Z,1747323228.607 [MassServo](DEBUG): Initializing EZServoServo.
2025-05-15T15:33:48.614Z,1747323228.614 [MassServo](DEBUG): Initializing MassServo.
2025-05-15T15:33:48.615Z,1747323228.615 [RudderServo](DEBUG): Initializing EZServoServo.
2025-05-15T15:33:48.622Z,1747323228.622 [RudderServo](DEBUG): Initializing RudderServo.
2025-05-15T15:33:48.623Z,1747323228.623 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T15:33:48.630Z,1747323228.630 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T15:33:48.899Z,1747323228.899 [Depth_Keller](ERROR): Pressure or depth reading out of range: 816.065491 decibar, 0.000000 m
2025-05-15T15:33:48.942Z,1747323228.942 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-05-15T15:33:49.679Z,1747323229.679 [MultiRay](INFO): Powering down
2025-05-15T15:33:49.798Z,1747323229.798 [MultiRay](INFO): Powering down LCB2
2025-05-15T15:33:50.654Z,1747323230.654 [WetLabsBB2FL](INFO): Powering down
2025-05-15T15:33:55.066Z,1747323235.066 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-05-15T15:33:59.567Z,1747323239.567 [DAT](INFO): DAT read: 

2025-05-15T15:33:59.568Z,1747323239.568 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-05-15T15:34:01.079Z,1747323241.079 [DAT](INFO): DAT read: MF Frequency Band

2025-05-15T15:34:01.080Z,1747323241.080 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-05-15T15:34:01.081Z,1747323241.081 [DAT](INFO): DAT read: May 15 2025 15:33:59 

2025-05-15T15:34:02.098Z,1747323242.098 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-05-15T15:34:02.099Z,1747323242.099 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-05-15T15:34:02.099Z,1747323242.099 [DAT](INFO): commRate: 800
2025-05-15T15:34:04.162Z,1747323244.162 [DAT](INFO): entering command mode
2025-05-15T15:34:04.363Z,1747323244.363 [DAT](INFO): DAT read: 

2025-05-15T15:34:04.363Z,1747323244.363 [DAT](INFO): DAT read: user:1>

2025-05-15T15:34:04.364Z,1747323244.364 [DAT](INFO): setting verbose to 3
2025-05-15T15:34:04.615Z,1747323244.615 [DAT](INFO): DAT read: user:1>

2025-05-15T15:34:04.616Z,1747323244.616 [DAT](INFO): DAT read: Verbose         | 3           

2025-05-15T15:34:04.616Z,1747323244.616 [DAT](INFO): set verbose to 3
2025-05-15T15:34:04.616Z,1747323244.616 [DAT](INFO): setting DatVerbose to 27440
2025-05-15T15:34:04.867Z,1747323244.867 [DAT](INFO): DAT read: user:2>

2025-05-15T15:34:04.868Z,1747323244.868 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-05-15T15:34:04.868Z,1747323244.868 [DAT](INFO): set DatVerbose to 27440
2025-05-15T15:34:04.868Z,1747323244.868 [DAT](INFO): setting transmit power to 8
2025-05-15T15:34:05.119Z,1747323245.119 [DAT](INFO): DAT read: user:3>

2025-05-15T15:34:05.119Z,1747323245.119 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-05-15T15:34:05.120Z,1747323245.120 [DAT](INFO): set transmit power to 8
2025-05-15T15:34:05.120Z,1747323245.120 [DAT](INFO): setting local address to 9
2025-05-15T15:34:05.371Z,1747323245.371 [DAT](INFO): DAT read: user:4>

2025-05-15T15:34:05.371Z,1747323245.371 [DAT](INFO): DAT read: LocalAddr       | 9           

2025-05-15T15:34:05.372Z,1747323245.372 [DAT](INFO): set local address to 9
2025-05-15T15:34:05.373Z,1747323245.373 [DAT](INFO): Setting time to: 15:34:5 And date to:5/15/2025
2025-05-15T15:34:05.623Z,1747323245.623 [DAT](INFO): DAT read: user:5>

2025-05-15T15:34:05.624Z,1747323245.624 [DAT](INFO): DAT read: Thu May 15, 2025  15:34:05  

2025-05-15T15:34:05.624Z,1747323245.624 [DAT](INFO): Local DAT time set to Thu May 15, 2025  15:34:05  

2025-05-15T15:34:15.988Z,1747323255.988 [NAL9602](INFO): Powering up NAL9602
2025-05-15T15:34:26.896Z,1747323266.896 [NAL9602](INFO): NAL9602 initialized
2025-05-15T15:34:39.017Z,1747323279.017 [NAL9602](INFO): SBD MO Status=0, MOMSN=19655, MT Status=0, MTMSN=0
2025-05-15T15:34:39.017Z,1747323279.017 [NAL9602](INFO): No messages in MT queue
2025-05-15T15:35:28.713Z,1747323328.713 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153530.00,A,3644.88054,N,12159.23135,W,0.816,93.24,150525,,,A*44
2025-05-15T15:35:28.732Z,1747323328.732 [NAL9602](INFO): GPS fix at 20250515T153530: (36.748009, -121.987189)
2025-05-15T15:35:46.512Z,1747323346.512 [SBIT](IMPORTANT): Beginning Startup BIT
2025-05-15T15:35:46.516Z,1747323346.516 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-05-15T15:35:51.287Z,1747323351.287 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005731
CHAN A1 (24V): 0.000219
CHAN A2 (12V): -0.005720
CHAN A3 (5V): -0.003325
CHAN B0 (3.3V): -0.001522
CHAN B1 (3.15aV): -0.002136
CHAN B2 (3.15bV): -0.001137
CHAN B3 (GND): -0.001118
OPEN: 0.004927
Full Scale: +/- 1 mA
2025-05-15T15:36:01.055Z,1747323361.055 [NAL9602](INFO): Powering down
2025-05-15T15:36:40.735Z,1747323400.735 [SBIT](IMPORTANT): SBIT PASSED
2025-05-15T15:36:40.735Z,1747323400.735 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-05-15T15:36:40.737Z,1747323400.737 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2025-05-15T15:36:40.737Z,1747323400.737 [SBIT](IMPORTANT): Express linearApproximation DATMMP.acoustic_contact_range 15.000000 meter;

2025-05-15T15:36:40.739Z,1747323400.739 [SBIT](IMPORTANT): Express linearApproximation TrackAcousticContact.range_to_contact 15.000000 meter;

2025-05-15T15:36:40.739Z,1747323400.739 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool;

2025-05-15T15:36:40.739Z,1747323400.739 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=-1 ampere_hour;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=10 volt;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): MultiRay.brightnessWhite=88 none;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): MultiRay.loadAtStartup=1 bool;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): NAL9602.fastGPSFix=0 bool;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=0 bool;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=240.190670 cubic_centimeter;

2025-05-15T15:36:40.740Z,1747323400.740 [SBIT](IMPORTANT): VerticalControl.massDefault=24.637597 millimeter;

2025-05-15T15:36:41.139Z,1747323401.139 [MissionManager](IMPORTANT): Started mission Startup
2025-05-15T15:36:41.139Z,1747323401.139 [Startup] Running Loop=1
2025-05-15T15:36:41.139Z,1747323401.139 [Startup](DEBUG): Aggregate::initialize Startup
2025-05-15T15:36:41.139Z,1747323401.139 [Startup:A.GoToSurface] Running Loop=1
2025-05-15T15:36:41.139Z,1747323401.139 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T15:36:41.140Z,1747323401.140 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-15T15:36:41.140Z,1747323401.140 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-15T15:36:41.141Z,1747323401.141 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-15T15:36:41.141Z,1747323401.141 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-15T15:36:41.141Z,1747323401.141 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T15:36:41.142Z,1747323401.142 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T15:36:41.144Z,1747323401.144 [Startup:StartupSatComms] Running Loop=1
2025-05-15T15:36:41.144Z,1747323401.144 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-05-15T15:36:41.144Z,1747323401.144 [Startup:StartupSatComms:A] Running Loop=1
2025-05-15T15:36:41.531Z,1747323401.531 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-05-15T15:36:41.924Z,1747323401.924 [NAL9602](INFO): Powering up
2025-05-15T15:36:52.832Z,1747323412.832 [NAL9602](INFO): NAL9602 initialized
2025-05-15T15:37:12.256Z,1747323432.256 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004617
2025-05-15T15:37:41.341Z,1747323461.341 [Startup:StartupSatComms:A](INFO): Timed out from 2025-05-15T15:36:41.1Z
2025-05-15T15:37:41.341Z,1747323461.341 [Startup:StartupSatComms:A] Stopped
2025-05-15T15:37:41.342Z,1747323461.342 [Startup:StartupSatComms:B] Running Loop=1
2025-05-15T15:37:41.738Z,1747323461.738 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-15T15:37:51.150Z,1747323471.150 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250512T192114/Courier0243.lzma
2025-05-15T15:37:52.152Z,1747323472.152 [DataOverHttps](INFO): Moved sent file to Logs/20250512T192114/Courier0243.lzma.bak
2025-05-15T15:37:52.153Z,1747323472.153 [DataOverHttps](INFO): SBD MOMSN=24884368
2025-05-15T15:38:10.546Z,1747323490.546 [DataOverHttps](INFO): Sending 81 bytes from file Logs/20250512T192114/Courier0246.lzma
2025-05-15T15:38:11.548Z,1747323491.548 [DataOverHttps](INFO): Moved sent file to Logs/20250512T192114/Courier0246.lzma.bak
2025-05-15T15:38:11.549Z,1747323491.549 [DataOverHttps](INFO): SBD MOMSN=24884373
2025-05-15T15:38:27.893Z,1747323507.893 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250512T192114/Courier0249.lzma
2025-05-15T15:38:28.896Z,1747323508.896 [DataOverHttps](INFO): Moved sent file to Logs/20250512T192114/Courier0249.lzma.bak
2025-05-15T15:38:28.896Z,1747323508.896 [DataOverHttps](INFO): SBD MOMSN=24884376
2025-05-15T15:38:41.701Z,1747323521.701 [Startup:StartupSatComms:B](INFO): Timed out from 2025-05-15T15:37:41.3Z
2025-05-15T15:38:41.701Z,1747323521.701 [Startup:StartupSatComms:B] Stopped
2025-05-15T15:38:41.701Z,1747323521.701 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-05-15T15:38:41.701Z,1747323521.701 [Startup:StartupSatComms] Stopped
2025-05-15T15:38:41.702Z,1747323521.702 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-05-15T15:38:41.707Z,1747323521.707 [Startup](INFO): Completed Startup
2025-05-15T15:38:41.707Z,1747323521.707 [MissionManager](INFO): Startup is completed.
2025-05-15T15:38:41.707Z,1747323521.707 [MissionManager](INFO): Uninitializing Mission Startup
2025-05-15T15:38:41.707Z,1747323521.707 [Startup] Stopped
2025-05-15T15:38:41.707Z,1747323521.707 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-05-15T15:38:41.707Z,1747323521.707 [Startup:A.GoToSurface] Stopped
2025-05-15T15:38:41.707Z,1747323521.707 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T15:38:42.105Z,1747323522.105 [MissionManager](IMPORTANT): Started mission Default
2025-05-15T15:38:42.105Z,1747323522.105 [Default] Running Loop=1
2025-05-15T15:38:42.105Z,1747323522.105 [Default](DEBUG): Aggregate::initialize Default
2025-05-15T15:38:42.105Z,1747323522.105 [Default:B.GoToSurface] Running Loop=1
2025-05-15T15:38:42.105Z,1747323522.105 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T15:38:42.105Z,1747323522.105 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-15T15:38:42.110Z,1747323522.110 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-15T15:38:42.110Z,1747323522.110 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-15T15:38:42.111Z,1747323522.111 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-15T15:38:42.111Z,1747323522.111 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T15:38:42.111Z,1747323522.111 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T15:38:42.111Z,1747323522.111 [Default:A.Wait] Running Loop=1
2025-05-15T15:38:42.111Z,1747323522.111 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-15T15:38:44.938Z,1747323524.938 [DataOverHttps](INFO): Sending 270 bytes from file Logs/20250515T153335/Courier0000.lzma
2025-05-15T15:38:45.940Z,1747323525.940 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0000.lzma.bak
2025-05-15T15:38:45.940Z,1747323525.940 [DataOverHttps](INFO): SBD MOMSN=24884378
2025-05-15T15:38:55.439Z,1747323535.439 [Default:A.Wait](INFO): Done Waiting.
2025-05-15T15:38:55.439Z,1747323535.439 [Default:A.Wait] Stopped
2025-05-15T15:38:55.439Z,1747323535.439 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T15:38:55.845Z,1747323535.845 [Default:CheckIn] Running Loop=1
2025-05-15T15:38:55.845Z,1747323535.845 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-15T15:38:55.845Z,1747323535.845 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-15T15:38:56.217Z,1747323536.217 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-15T15:39:30.020Z,1747323570.020 [DataOverHttps](IMPORTANT): SBD MTMSN=20250515T153932
2025-05-15T15:39:37.626Z,1747323577.626 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 4 h;set transit.NeedCommsTime 45 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.3 m/s;run
2025-05-15T15:39:37.651Z,1747323577.651 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-15T15:39:37.652Z,1747323577.652 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-15T15:39:37.652Z,1747323577.652 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-15T15:39:37.653Z,1747323577.653 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-15T15:39:38.947Z,1747323578.947 [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" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-15T15:39:38.953Z,1747323578.953 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-15T15:39:38.965Z,1747323578.965 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-15T15:39:38.968Z,1747323578.968 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-15T15:39:38.971Z,1747323578.971 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-15T15:39:38.974Z,1747323578.974 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-15T15:39:38.977Z,1747323578.977 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-15T15:39:38.988Z,1747323578.988 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-15T15:39:38.991Z,1747323578.991 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-15T15:39:39.023Z,1747323579.023 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-15T15:39:39.086Z,1747323579.086 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-15T15:39:39.089Z,1747323579.089 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-15T15:39:39.112Z,1747323579.112 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-15T15:39:39.120Z,1747323579.120 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-15T15:39:39.120Z,1747323579.120 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-15T15:39:39.120Z,1747323579.120 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-15T15:39:39.138Z,1747323579.138 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-15T15:39:39.755Z,1747323579.755 [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>

2025-05-15T15:39:39.760Z,1747323579.760 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-15T15:39:39.763Z,1747323579.763 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-15T15:39:39.766Z,1747323579.766 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-15T15:39:39.769Z,1747323579.769 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-15T15:39:39.780Z,1747323579.780 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-15T15:39:39.811Z,1747323579.811 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-15T15:39:39.826Z,1747323579.826 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-15T15:39:39.829Z,1747323579.829 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-15T15:39:39.889Z,1747323579.889 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-15T15:39:39.996Z,1747323579.996 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-15T15:39:39.996Z,1747323579.996 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-15T15:39:39.998Z,1747323579.998 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-15T15:39:40.214Z,1747323580.214 [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>

2025-05-15T15:39:40.220Z,1747323580.220 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-15T15:39:40.239Z,1747323580.239 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-15T15:39:40.242Z,1747323580.242 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-15T15:39:40.296Z,1747323580.296 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-15T15:39:40.297Z,1747323580.297 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-15T15:39:40.333Z,1747323580.333 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-15T15:39:40.384Z,1747323580.384 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-15T15:39:40.416Z,1747323580.416 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-15T15:39:40.416Z,1747323580.416 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-15T15:39:40.417Z,1747323580.417 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-15T15:39:40.480Z,1747323580.480 [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>

2025-05-15T15:39:40.504Z,1747323580.504 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-15T15:39:40.525Z,1747323580.525 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-15T15:39:40.532Z,1747323580.532 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-15T15:39:40.533Z,1747323580.533 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-15T15:39:40.546Z,1747323580.546 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-15T15:39:40.916Z,1747323580.916 [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>

2025-05-15T15:39:40.932Z,1747323580.932 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-15T15:39:40.936Z,1747323580.936 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-15T15:39:40.955Z,1747323580.955 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-15T15:39:40.962Z,1747323580.962 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-15T15:39:40.965Z,1747323580.965 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-15T15:39:40.989Z,1747323580.989 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-15T15:39:41.004Z,1747323581.004 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-15T15:39:41.012Z,1747323581.012 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-15T15:39:41.035Z,1747323581.035 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-15T15:39:41.041Z,1747323581.041 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-15T15:39:41.061Z,1747323581.061 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-15T15:39:41.176Z,1747323581.176 [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 dives immediately with no comms/GPS and 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" priorityHere=false refId="NeedComms"
  }
}


2025-05-15T15:39:41.176Z,1747323581.176 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-15T15:39:59.292Z,1747323599.292 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 4 hour
2025-05-15T15:39:59.293Z,1747323599.293 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 45 minute
2025-05-15T15:39:59.294Z,1747323599.294 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-05-15T15:39:59.309Z,1747323599.309 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-05-15T15:39:59.309Z,1747323599.309 [CommandExec](IMPORTANT): got command set transit.Speed 1.3 meter_per_second
2025-05-15T15:39:59.310Z,1747323599.310 [CommandExec](IMPORTANT): got command run
2025-05-15T15:39:59.313Z,1747323599.313 [CommandExec](IMPORTANT): Running 
2025-05-15T15:39:59.468Z,1747323599.468 [Default] Stopped
2025-05-15T15:39:59.468Z,1747323599.468 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-15T15:39:59.468Z,1747323599.468 [Default:B.GoToSurface] Stopped
2025-05-15T15:39:59.468Z,1747323599.468 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T15:39:59.468Z,1747323599.468 [Default:CheckIn] Stopped
2025-05-15T15:39:59.468Z,1747323599.468 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-15T15:39:59.468Z,1747323599.468 [Default:CheckIn:Read_GPS] Stopped
2025-05-15T15:39:59.468Z,1747323599.468 [MissionManager](IMPORTANT): Started mission transit
2025-05-15T15:39:59.469Z,1747323599.469 [transit] Running Loop=1
2025-05-15T15:39:59.469Z,1747323599.469 [transit](DEBUG): Aggregate::initialize transit
2025-05-15T15:39:59.469Z,1747323599.469 [transit:StandardEnvelopes] Running Loop=1
2025-05-15T15:39:59.469Z,1747323599.469 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-15T15:39:59.469Z,1747323599.469 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-15T15:39:59.469Z,1747323599.469 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-15T15:39:59.469Z,1747323599.469 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-15T15:39:59.470Z,1747323599.470 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-15T15:39:59.470Z,1747323599.470 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-15T15:39:59.470Z,1747323599.470 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-15T15:39:59.470Z,1747323599.470 [transit:BackseatDriver] Running Loop=1
2025-05-15T15:39:59.470Z,1747323599.470 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-15T15:39:59.470Z,1747323599.470 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-15T15:39:59.470Z,1747323599.470 [transit:PowerOnly] Running Loop=1
2025-05-15T15:39:59.471Z,1747323599.471 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-15T15:39:59.471Z,1747323599.471 [transit:PowerOnly:A] Running Loop=1
2025-05-15T15:39:59.471Z,1747323599.471 [transit:PowerOnly:B] Running Loop=1
2025-05-15T15:39:59.471Z,1747323599.471 [transit:PowerOnly:C] Running Loop=1
2025-05-15T15:39:59.471Z,1747323599.471 [transit:PowerOnly:D] Running Loop=1
2025-05-15T15:39:59.471Z,1747323599.471 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-15T15:39:59.471Z,1747323599.471 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-15T15:39:59.471Z,1747323599.471 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-15T15:39:59.471Z,1747323599.471 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-15T15:39:59.471Z,1747323599.471 [transit:MassHold.Pitch] Running Loop=1
2025-05-15T15:39:59.471Z,1747323599.471 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-15T15:39:59.472Z,1747323599.472 [transit:B] Running Loop=1
2025-05-15T15:39:59.472Z,1747323599.472 [transit:MassHold.Pitch] Running Loop=1
2025-05-15T15:39:59.473Z,1747323599.473 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-15T15:39:59.473Z,1747323599.473 [transit:PowerOnly] Running Loop=1
2025-05-15T15:39:59.473Z,1747323599.473 [transit:PowerOnly:D] Stopped
2025-05-15T15:39:59.473Z,1747323599.473 [transit:PowerOnly:C] Stopped
2025-05-15T15:39:59.474Z,1747323599.474 [transit:PowerOnly:B] Stopped
2025-05-15T15:39:59.474Z,1747323599.474 [transit:PowerOnly:A] Stopped
2025-05-15T15:39:59.474Z,1747323599.474 [transit:BackseatDriver] Running Loop=1
2025-05-15T15:39:59.474Z,1747323599.474 [transit:StandardEnvelopes] Running Loop=1
2025-05-15T15:39:59.474Z,1747323599.474 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-15T15:39:59.475Z,1747323599.475 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-15T15:39:59.476Z,1747323599.476 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-15T15:39:59.476Z,1747323599.476 [transit:B] Stopped
2025-05-15T15:39:59.476Z,1747323599.476 [transit:C] Running Loop=1
2025-05-15T15:39:59.860Z,1747323599.860 [transit:C] Stopped
2025-05-15T15:39:59.860Z,1747323599.860 [transit:E] Running Loop=1
2025-05-15T15:40:00.256Z,1747323600.256 [transit:E] Stopped
2025-05-15T15:40:00.256Z,1747323600.256 [transit:F] Running Loop=1
2025-05-15T15:40:00.668Z,1747323600.668 [transit:F] Stopped
2025-05-15T15:40:00.668Z,1747323600.668 [transit:G] Running Loop=1
2025-05-15T15:40:01.063Z,1747323601.063 [transit:G] Stopped
2025-05-15T15:40:01.063Z,1747323601.063 [transit:Transit] Running Loop=1
2025-05-15T15:40:01.063Z,1747323601.063 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-15T15:40:01.063Z,1747323601.063 [transit:Transit:A.Pitch] Running Loop=1
2025-05-15T15:40:01.063Z,1747323601.063 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-15T15:40:01.064Z,1747323601.064 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-15T15:40:01.064Z,1747323601.064 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-15T15:40:01.064Z,1747323601.064 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-15T15:40:01.064Z,1747323601.064 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-15T15:40:01.066Z,1747323601.066 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-05-15T15:40:01.087Z,1747323601.087 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-05-15T15:40:01.470Z,1747323601.470 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-05-15T15:40:01.471Z,1747323601.471 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-15T15:40:01.471Z,1747323601.471 [transit:Transit:A.Pitch] Running Loop=1
2025-05-15T15:40:01.480Z,1747323601.480 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-05-15T15:40:01.480Z,1747323601.480 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-05-15T15:40:01.481Z,1747323601.481 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-05-15T15:40:29.450Z,1747323629.450 [NAL9602](INFO): SBD MO Status=2, MOMSN=19656, MT Status=2, MTMSN=0
2025-05-15T15:40:29.450Z,1747323629.450 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T15:41:12.082Z,1747323672.082 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T15:41:15.096Z,1747323675.096 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.260677
2025-05-15T15:41:35.928Z,1747323695.928 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2025-05-15T15:41:35.932Z,1747323695.932 [BPC1](INFO): Received data from all battery sticks.
2025-05-15T15:41:47.222Z,1747323707.222 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T15:41:55.728Z,1747323715.728 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-05-15T15:42:07.176Z,1747323727.176 [Radio_Surface](INFO): Powering down
2025-05-15T15:42:22.362Z,1747323742.362 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T15:42:23.366Z,1747323743.366 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T15:42:26.431Z,1747323746.431 [NAL9602](INFO): Powering down
2025-05-15T16:14:06.263Z,1747325646.263 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T16:20:28.769Z,1747326028.769 [transit:NeedComms] Running Loop=1
2025-05-15T16:20:28.769Z,1747326028.769 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-15T16:20:28.769Z,1747326028.769 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T16:20:28.769Z,1747326028.769 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T16:20:28.769Z,1747326028.769 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T16:20:28.770Z,1747326028.770 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T16:20:28.770Z,1747326028.770 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T16:20:28.771Z,1747326028.771 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T16:20:28.771Z,1747326028.771 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T16:20:28.771Z,1747326028.771 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T16:20:28.772Z,1747326028.772 [transit:NeedComms:A] Running Loop=1
2025-05-15T16:20:28.773Z,1747326028.773 [transit:NeedComms:A](INFO): last time_fix was:  1747323330.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T16:20:28.773Z,1747326028.773 [transit:NeedComms:A] Stopped
2025-05-15T16:20:32.670Z,1747326032.670 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T16:20:32.766Z,1747326032.766 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T16:20:32.766Z,1747326032.766 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T16:20:32.766Z,1747326032.766 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-15T16:20:32.766Z,1747326032.766 [ThrusterHE](ERROR): Communications Fault
2025-05-15T16:20:32.771Z,1747326032.771 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T16:20:33.003Z,1747326033.003 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T16:20:33.003Z,1747326033.003 [ThrusterHE](INFO): Powering down
2025-05-15T16:20:33.663Z,1747326033.663 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T16:20:33.783Z,1747326033.783 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T16:20:33.787Z,1747326033.787 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T16:20:33.787Z,1747326033.787 [ThrusterHE] No Fault, FailCount= 1
2025-05-15T16:21:11.196Z,1747326071.196 [transit:NeedComms:C] Running Loop=1
2025-05-15T16:21:11.598Z,1747326071.598 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-15T16:21:11.672Z,1747326071.672 [Radio_Surface](INFO): Powering up
2025-05-15T16:21:11.989Z,1747326071.989 [NAL9602](INFO): Powering up
2025-05-15T16:21:17.066Z,1747326077.066 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T16:21:22.896Z,1747326082.896 [NAL9602](INFO): NAL9602 initialized
2025-05-15T16:21:23.708Z,1747326083.708 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-05-15T16:21:23.708Z,1747326083.708 [NAL9602] Data Fault, FailCount= 1
2025-05-15T16:21:23.708Z,1747326083.708 [NAL9602](ERROR): Data Fault
2025-05-15T16:21:23.795Z,1747326083.795 [CBIT](ERROR): Data Fault in component: NAL9602
2025-05-15T16:21:24.115Z,1747326084.115 [NAL9602](INFO): Powering down
2025-05-15T16:21:24.987Z,1747326084.987 [CBIT](INFO): Clearing failed state for component NAL9602
2025-05-15T16:21:24.987Z,1747326084.987 [NAL9602] No Fault, FailCount= 1
2025-05-15T16:21:47.191Z,1747326107.191 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T16:21:54.408Z,1747326114.408 [NAL9602](INFO): Powering up NAL9602
2025-05-15T16:22:05.315Z,1747326125.315 [NAL9602](INFO): NAL9602 initialized
2025-05-15T16:22:18.255Z,1747326138.255 [NAL9602](INFO): SBD MO Status=0, MOMSN=19656, MT Status=0, MTMSN=0
2025-05-15T16:22:18.255Z,1747326138.255 [NAL9602](INFO): No messages in MT queue
2025-05-15T16:22:22.330Z,1747326142.330 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T16:22:57.470Z,1747326177.470 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T16:23:32.614Z,1747326212.614 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T16:23:52.385Z,1747326232.385 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162354.00,A,3645.36180,N,12157.27003,W,1.361,25.54,150525,,,A*40
2025-05-15T16:23:52.387Z,1747326232.387 [NAL9602](INFO): GPS fix at 20250515T162354: (36.756030, -121.954500)
2025-05-15T16:23:52.421Z,1747326232.421 [UniversalFixResidualReporter](INFO): Fix residual: 11.1 %DT, over the last 3165.7 m. Residual distance 350.6 m at bearing -10.2 degrees. Fix at (36.7560, -121.9545) with 3045.8 m made good.
2025-05-15T16:23:52.429Z,1747326232.429 [transit:NeedComms:C] Stopped
2025-05-15T16:23:52.435Z,1747326232.435 [transit:NeedComms:D] Running Loop=1
2025-05-15T16:23:52.832Z,1747326232.832 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-15T16:24:07.754Z,1747326247.754 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T16:24:22.345Z,1747326262.345 [NAL9602](INFO): SBD MO Status=2, MOMSN=19657, MT Status=2, MTMSN=0
2025-05-15T16:24:22.345Z,1747326262.345 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T16:24:51.896Z,1747326291.896 [NAL9602](INFO): SBD MO Status=2, MOMSN=19657, MT Status=2, MTMSN=0
2025-05-15T16:24:51.896Z,1747326291.896 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T16:24:58.115Z,1747326298.115 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003490
2025-05-15T16:25:10.634Z,1747326310.634 [DataOverHttps](INFO): Sending 264 bytes from file Logs/20250515T153335/Courier0004.lzma
2025-05-15T16:25:11.636Z,1747326311.636 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0004.lzma.bak
2025-05-15T16:25:11.636Z,1747326311.636 [DataOverHttps](INFO): SBD MOMSN=24884648
2025-05-15T16:25:12.961Z,1747326312.961 [NAL9602](INFO): SBD MO Status=1, MOMSN=19657, MT Status=0, MTMSN=0
2025-05-15T16:25:13.020Z,1747326313.020 [NAL9602](INFO): Sent 264 bytes from file Logs/20250515T153335/Courier0004.lzma
2025-05-15T16:25:13.021Z,1747326313.021 [NAL9602](INFO): Packets left to send: 0
2025-05-15T16:25:13.073Z,1747326313.073 [transit:NeedComms:D] Stopped
2025-05-15T16:25:13.073Z,1747326313.073 [transit:NeedComms:E] Running Loop=1
2025-05-15T16:25:13.381Z,1747326313.381 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-15T16:25:15.377Z,1747326315.377 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162517.00,A,3645.36064,N,12157.26435,W,0.583,177.19,150525,,,A*7E
2025-05-15T16:25:15.380Z,1747326315.380 [NAL9602](INFO): GPS fix at 20250515T162517: (36.756011, -121.954406)
2025-05-15T16:25:15.393Z,1747326315.393 [transit:NeedComms:E] Stopped
2025-05-15T16:25:15.410Z,1747326315.410 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-15T16:25:15.411Z,1747326315.411 [transit:NeedComms] Stopped
2025-05-15T16:25:15.411Z,1747326315.411 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-15T16:25:15.411Z,1747326315.411 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-15T16:25:15.411Z,1747326315.411 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T16:25:38.843Z,1747326338.843 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.30 m/s, pitch 20.00 deg, mass-position 24.64 mm (1 active estimators).
2025-05-15T16:25:48.163Z,1747326348.163 [NAL9602](INFO): Powering down
2025-05-15T16:26:18.746Z,1747326378.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T16:26:25.779Z,1747326385.779 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251465
2025-05-15T16:26:39.346Z,1747326399.346 [Radio_Surface](INFO): Powering down
2025-05-15T16:26:39.834Z,1747326399.834 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T16:48:58.565Z,1747327738.565 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-05-15T16:48:58.568Z,1747327738.568 [BPC1](INFO): Received data from all battery sticks.
2025-05-15T17:10:16.503Z,1747329016.503 [transit:NeedComms] Running Loop=1
2025-05-15T17:10:16.503Z,1747329016.503 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-15T17:10:16.503Z,1747329016.503 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T17:10:16.503Z,1747329016.503 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T17:10:16.504Z,1747329016.504 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T17:10:16.504Z,1747329016.504 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T17:10:16.504Z,1747329016.504 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T17:10:16.505Z,1747329016.505 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T17:10:16.505Z,1747329016.505 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T17:10:16.505Z,1747329016.505 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T17:10:16.506Z,1747329016.506 [transit:NeedComms:A] Running Loop=1
2025-05-15T17:10:16.508Z,1747329016.508 [transit:NeedComms:A](INFO): last time_fix was:  1747326317.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T17:10:16.508Z,1747329016.508 [transit:NeedComms:A] Stopped
2025-05-15T17:10:19.218Z,1747329019.218 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T17:10:19.303Z,1747329019.303 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T17:10:19.303Z,1747329019.303 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T17:10:19.303Z,1747329019.303 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-15T17:10:19.303Z,1747329019.303 [ThrusterHE](ERROR): Communications Fault
2025-05-15T17:10:19.307Z,1747329019.307 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T17:10:19.634Z,1747329019.634 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T17:10:19.635Z,1747329019.635 [ThrusterHE](INFO): Powering down
2025-05-15T17:10:20.315Z,1747329020.315 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T17:10:20.435Z,1747329020.435 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T17:10:20.439Z,1747329020.439 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T17:10:20.439Z,1747329020.439 [ThrusterHE] No Fault, FailCount= 1
2025-05-15T17:10:59.357Z,1747329059.357 [transit:NeedComms:C] Running Loop=1
2025-05-15T17:10:59.826Z,1747329059.826 [Radio_Surface](INFO): Powering up
2025-05-15T17:11:00.129Z,1747329060.129 [NAL9602](INFO): Powering up
2025-05-15T17:11:05.768Z,1747329065.768 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T17:11:11.043Z,1747329071.043 [NAL9602](INFO): NAL9602 initialized
2025-05-15T17:11:35.886Z,1747329095.886 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:12:11.038Z,1747329131.038 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:12:29.419Z,1747329149.419 [NAL9602](INFO): SBD MO Status=0, MOMSN=19658, MT Status=0, MTMSN=0
2025-05-15T17:12:29.419Z,1747329149.419 [NAL9602](INFO): No messages in MT queue
2025-05-15T17:12:30.633Z,1747329150.633 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171232.00,A,3645.97280,N,12155.38436,W,0.641,90.22,150525,,,A*4C
2025-05-15T17:12:30.635Z,1747329150.635 [NAL9602](INFO): GPS fix at 20250515T171232: (36.766213, -121.923073)
2025-05-15T17:12:30.647Z,1747329150.647 [UniversalFixResidualReporter](INFO): Fix residual: 15.7 %DT, over the last 3517.2 m. Residual distance 550.7 m at bearing 16.0 degrees. Fix at (36.7662, -121.9231) with 3013.0 m made good.
2025-05-15T17:12:30.651Z,1747329150.651 [transit:NeedComms:C] Stopped
2025-05-15T17:12:30.651Z,1747329150.651 [transit:NeedComms:D] Running Loop=1
2025-05-15T17:12:46.186Z,1747329166.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:12:48.461Z,1747329168.461 [NAL9602](INFO): SBD MO Status=1, MOMSN=19659, MT Status=0, MTMSN=0
2025-05-15T17:12:48.514Z,1747329168.514 [NAL9602](INFO): Sent 39 bytes from file Logs/20250515T153335/Courier0007.lzma
2025-05-15T17:12:48.514Z,1747329168.514 [NAL9602](INFO): Packets left to send: 0
2025-05-15T17:13:03.065Z,1747329183.065 [NAL9602](INFO): SBD MO Status=2, MOMSN=19660, MT Status=2, MTMSN=0
2025-05-15T17:13:03.065Z,1747329183.065 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T17:13:21.334Z,1747329201.334 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:13:56.482Z,1747329236.482 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:14:31.622Z,1747329271.622 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:15:06.762Z,1747329306.762 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:15:12.801Z,1747329312.801 [NAL9602](INFO): SBD MO Status=2, MOMSN=19660, MT Status=2, MTMSN=0
2025-05-15T17:15:12.801Z,1747329312.801 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T17:15:41.902Z,1747329341.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:16:06.989Z,1747329366.989 [NAL9602](INFO): SBD MO Status=2, MOMSN=19660, MT Status=2, MTMSN=0
2025-05-15T17:16:06.989Z,1747329366.989 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T17:16:17.042Z,1747329377.042 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:16:18.341Z,1747329378.341 [NAL9602](INFO): SBD MO Status=1, MOMSN=19660, MT Status=0, MTMSN=0
2025-05-15T17:16:18.390Z,1747329378.390 [NAL9602](INFO): Sent 93 bytes from file Logs/20250515T153335/Courier0010.lzma
2025-05-15T17:16:18.390Z,1747329378.390 [NAL9602](INFO): Packets left to send: 0
2025-05-15T17:16:31.341Z,1747329391.341 [NAL9602](INFO): SBD MO Status=1, MOMSN=19661, MT Status=0, MTMSN=0
2025-05-15T17:16:31.398Z,1747329391.398 [NAL9602](INFO): Sent 332 bytes from file Logs/20250512T192114/Express0241.lzma
2025-05-15T17:16:31.398Z,1747329391.398 [NAL9602](INFO): Packets left to send: 3
2025-05-15T17:16:42.732Z,1747329402.732 [NAL9602](INFO): SBD MO Status=1, MOMSN=19662, MT Status=0, MTMSN=0
2025-05-15T17:16:42.782Z,1747329402.782 [NAL9602](INFO): Sent 332 bytes from file Logs/20250512T192114/Express0241.lzma
2025-05-15T17:16:42.782Z,1747329402.782 [NAL9602](INFO): Packets left to send: 2
2025-05-15T17:16:52.194Z,1747329412.194 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:16:54.485Z,1747329414.485 [NAL9602](INFO): SBD MO Status=1, MOMSN=19663, MT Status=0, MTMSN=0
2025-05-15T17:16:54.534Z,1747329414.534 [NAL9602](INFO): Sent 332 bytes from file Logs/20250512T192114/Express0241.lzma
2025-05-15T17:16:54.534Z,1747329414.534 [NAL9602](INFO): Packets left to send: 1
2025-05-15T17:17:02.625Z,1747329422.625 [NAL9602](INFO): SBD MO Status=1, MOMSN=19664, MT Status=0, MTMSN=0
2025-05-15T17:17:02.682Z,1747329422.682 [NAL9602](INFO): Sent 13 bytes from file Logs/20250512T192114/Express0241.lzma
2025-05-15T17:17:02.682Z,1747329422.682 [NAL9602](INFO): Packets left to send: 0
2025-05-15T17:17:22.881Z,1747329442.881 [NAL9602](INFO): SBD MO Status=2, MOMSN=19665, MT Status=2, MTMSN=0
2025-05-15T17:17:22.882Z,1747329442.882 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T17:17:27.334Z,1747329447.334 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:17:45.571Z,1747329465.571 [NAL9602](INFO): SBD MO Status=1, MOMSN=19665, MT Status=0, MTMSN=0
2025-05-15T17:17:45.618Z,1747329465.618 [NAL9602](INFO): Sent 328 bytes from file Logs/20250512T192114/Express0244.lzma
2025-05-15T17:17:45.618Z,1747329465.618 [NAL9602](INFO): Packets left to send: 0
2025-05-15T17:17:57.754Z,1747329477.754 [NAL9602](INFO): SBD MO Status=1, MOMSN=19666, MT Status=0, MTMSN=0
2025-05-15T17:17:57.811Z,1747329477.811 [NAL9602](INFO): Sent 332 bytes from file Logs/20250512T192114/Express0247.lzma
2025-05-15T17:17:57.812Z,1747329477.812 [NAL9602](INFO): Packets left to send: 1
2025-05-15T17:18:02.474Z,1747329482.474 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:18:10.699Z,1747329490.699 [DAT](INFO): DAT read: user:6>Rx Time:17:18:09.7137

2025-05-15T17:18:10.700Z,1747329490.700 [DAT](INFO): Rx dataTimestamp_ set to:1747329490.699508
2025-05-15T17:18:10.700Z,1747329490.700 [DAT](INFO): DAT read: 

2025-05-15T17:18:10.701Z,1747329490.701 [DAT](INFO): DAT read: $Packet for address 0

2025-05-15T17:18:10.701Z,1747329490.701 [DAT](INFO): received a packet notification
2025-05-15T17:18:20.441Z,1747329500.441 [NAL9602](INFO): SBD MO Status=1, MOMSN=19667, MT Status=0, MTMSN=0
2025-05-15T17:18:20.498Z,1747329500.498 [NAL9602](INFO): Sent 167 bytes from file Logs/20250512T192114/Express0247.lzma
2025-05-15T17:18:20.498Z,1747329500.498 [NAL9602](INFO): Packets left to send: 0
2025-05-15T17:18:30.985Z,1747329510.985 [NAL9602](INFO): SBD MO Status=1, MOMSN=19668, MT Status=0, MTMSN=0
2025-05-15T17:18:31.038Z,1747329511.038 [NAL9602](INFO): Sent 93 bytes from file Logs/20250512T192114/Express0250.lzma
2025-05-15T17:18:31.038Z,1747329511.038 [NAL9602](INFO): Packets left to send: 0
2025-05-15T17:18:37.614Z,1747329517.614 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:18:52.865Z,1747329532.865 [NAL9602](INFO): SBD MO Status=1, MOMSN=19669, MT Status=0, MTMSN=0
2025-05-15T17:18:52.920Z,1747329532.920 [NAL9602](INFO): Sent 332 bytes from file Logs/20250515T153335/Express0001.lzma
2025-05-15T17:18:52.921Z,1747329532.921 [NAL9602](INFO): Packets left to send: 3
2025-05-15T17:19:03.823Z,1747329543.823 [NAL9602](INFO): SBD MO Status=1, MOMSN=19670, MT Status=0, MTMSN=0
2025-05-15T17:19:03.876Z,1747329543.876 [NAL9602](INFO): Sent 332 bytes from file Logs/20250515T153335/Express0001.lzma
2025-05-15T17:19:03.877Z,1747329543.877 [NAL9602](INFO): Packets left to send: 2
2025-05-15T17:19:12.770Z,1747329552.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:19:20.875Z,1747329560.875 [NAL9602](INFO): SBD MO Status=2, MOMSN=19671, MT Status=2, MTMSN=0
2025-05-15T17:19:20.875Z,1747329560.875 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T17:19:47.910Z,1747329587.910 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:20:00.403Z,1747329600.403 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003521
2025-05-15T17:20:02.530Z,1747329602.530 [NAL9602](INFO): SBD MO Status=2, MOMSN=19671, MT Status=2, MTMSN=0
2025-05-15T17:20:02.530Z,1747329602.530 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T17:20:08.852Z,1747329608.852 [DataOverHttps](INFO): Sending 1124 bytes from file Logs/20250515T153335/Express0001.lzma
2025-05-15T17:20:11.860Z,1747329611.860 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0001.lzma.bak
2025-05-15T17:20:11.860Z,1747329611.860 [DataOverHttps](INFO): SBD MOMSN=24885336
2025-05-15T17:20:33.247Z,1747329633.247 [NAL9602](INFO): Powering down
2025-05-15T17:20:36.867Z,1747329636.867 [DataOverHttps](INFO): Sending 740 bytes from file Logs/20250515T153335/Express0005.lzma
2025-05-15T17:20:37.868Z,1747329637.868 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0005.lzma.bak
2025-05-15T17:20:37.868Z,1747329637.868 [DataOverHttps](INFO): SBD MOMSN=24885362
2025-05-15T17:20:53.865Z,1747329653.865 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250515T153335/Express0008.lzma
2025-05-15T17:20:54.868Z,1747329654.868 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0008.lzma.bak
2025-05-15T17:20:54.868Z,1747329654.868 [DataOverHttps](INFO): SBD MOMSN=24885383
2025-05-15T17:21:13.804Z,1747329673.804 [DataOverHttps](INFO): Sending 311 bytes from file Logs/20250515T153335/Express0011.lzma
2025-05-15T17:21:14.804Z,1747329674.804 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0011.lzma.bak
2025-05-15T17:21:14.804Z,1747329674.804 [DataOverHttps](INFO): SBD MOMSN=24885385
2025-05-15T17:21:16.077Z,1747329676.077 [transit:NeedComms:D] Stopped
2025-05-15T17:21:16.077Z,1747329676.077 [transit:NeedComms:E] Running Loop=1
2025-05-15T17:21:16.872Z,1747329676.872 [NAL9602](INFO): Powering up
2025-05-15T17:21:27.773Z,1747329687.773 [NAL9602](INFO): NAL9602 initialized
2025-05-15T17:21:45.554Z,1747329705.554 [NAL9602](INFO): SBD MO Status=0, MOMSN=19671, MT Status=0, MTMSN=0
2025-05-15T17:21:45.554Z,1747329705.554 [NAL9602](INFO): No messages in MT queue
2025-05-15T17:21:58.890Z,1747329718.890 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172200.00,A,3645.96601,N,12155.33073,W,0.292,0.00,150525,,,A*7F
2025-05-15T17:21:58.893Z,1747329718.893 [NAL9602](INFO): GPS fix at 20250515T172200: (36.766100, -121.922179)
2025-05-15T17:21:58.921Z,1747329718.921 [transit:NeedComms:E] Stopped
2025-05-15T17:21:58.926Z,1747329718.926 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-15T17:21:58.927Z,1747329718.927 [transit:NeedComms] Stopped
2025-05-15T17:21:58.927Z,1747329718.927 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-15T17:21:58.927Z,1747329718.927 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-15T17:21:58.927Z,1747329718.927 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T17:22:30.907Z,1747329750.907 [NAL9602](INFO): Powering down
2025-05-15T17:22:57.403Z,1747329777.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:23:01.421Z,1747329781.421 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.240982
2025-05-15T17:23:20.722Z,1747329800.722 [Radio_Surface](INFO): Powering down
2025-05-15T17:23:32.546Z,1747329812.546 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T17:23:33.550Z,1747329813.550 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T17:56:21.749Z,1747331781.749 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2025-05-15T17:56:21.752Z,1747331781.752 [BPC1](INFO): Received data from all battery sticks.
2025-05-15T18:06:59.278Z,1747332419.278 [transit:NeedComms] Running Loop=1
2025-05-15T18:06:59.278Z,1747332419.278 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-15T18:06:59.278Z,1747332419.278 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T18:06:59.279Z,1747332419.279 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T18:06:59.279Z,1747332419.279 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T18:06:59.279Z,1747332419.279 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T18:06:59.280Z,1747332419.280 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T18:06:59.280Z,1747332419.280 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T18:06:59.280Z,1747332419.280 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T18:06:59.281Z,1747332419.281 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T18:06:59.281Z,1747332419.281 [transit:NeedComms:A] Running Loop=1
2025-05-15T18:06:59.292Z,1747332419.292 [transit:NeedComms:A](INFO): last time_fix was:  1747329720.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T18:06:59.292Z,1747332419.292 [transit:NeedComms:A] Stopped
2025-05-15T18:07:05.498Z,1747332425.498 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T18:07:05.594Z,1747332425.594 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T18:07:05.594Z,1747332425.594 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T18:07:05.594Z,1747332425.594 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-15T18:07:05.594Z,1747332425.594 [ThrusterHE](ERROR): Communications Fault
2025-05-15T18:07:05.599Z,1747332425.599 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T18:07:05.911Z,1747332425.911 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T18:07:05.911Z,1747332425.911 [ThrusterHE](INFO): Powering down
2025-05-15T18:07:06.739Z,1747332426.739 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T18:07:06.860Z,1747332426.860 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T18:07:06.865Z,1747332426.865 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T18:07:06.865Z,1747332426.865 [ThrusterHE] No Fault, FailCount= 1
2025-05-15T18:07:42.505Z,1747332462.505 [transit:NeedComms:C] Running Loop=1
2025-05-15T18:07:43.254Z,1747332463.254 [Radio_Surface](INFO): Powering up
2025-05-15T18:07:43.291Z,1747332463.291 [NAL9602](INFO): Powering up
2025-05-15T18:07:49.438Z,1747332469.438 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T18:07:54.225Z,1747332474.225 [NAL9602](INFO): NAL9602 initialized
2025-05-15T18:08:19.558Z,1747332499.558 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:08:54.706Z,1747332534.706 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:09:29.863Z,1747332569.863 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:10:05.002Z,1747332605.002 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:10:40.162Z,1747332640.162 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:11:15.310Z,1747332675.310 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:11:50.470Z,1747332710.470 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:12:25.610Z,1747332745.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:12:57.226Z,1747332777.226 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-05-15T18:12:58.441Z,1747332778.441 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181300.00,A,3646.47586,N,12153.66666,W,0.505,88.07,150525,,,A*4B
2025-05-15T18:12:58.443Z,1747332778.443 [NAL9602](INFO): GPS fix at 20250515T181300: (36.774598, -121.894444)
2025-05-15T18:12:58.456Z,1747332778.456 [UniversalFixResidualReporter](INFO): Fix residual: 25.5 %DT, over the last 3516.0 m. Residual distance 896.0 m at bearing 25.1 degrees. Fix at (36.7746, -121.8944) with 2644.9 m made good.
2025-05-15T18:12:58.460Z,1747332778.460 [transit:NeedComms:C] Stopped
2025-05-15T18:12:58.460Z,1747332778.460 [transit:NeedComms:D] Running Loop=1
2025-05-15T18:13:00.762Z,1747332780.762 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:13:24.353Z,1747332804.353 [NAL9602](INFO): SBD MO Status=2, MOMSN=19672, MT Status=2, MTMSN=0
2025-05-15T18:13:24.353Z,1747332804.353 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T18:13:35.902Z,1747332815.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:13:41.761Z,1747332821.761 [NAL9602](INFO): SBD MO Status=2, MOMSN=19672, MT Status=2, MTMSN=0
2025-05-15T18:13:41.761Z,1747332821.761 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T18:14:11.054Z,1747332851.054 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:14:14.142Z,1747332854.142 [NAL9602](INFO): SBD MO Status=1, MOMSN=19672, MT Status=0, MTMSN=0
2025-05-15T18:14:14.190Z,1747332854.190 [NAL9602](INFO): Sent 95 bytes from file Logs/20250515T153335/Courier0013.lzma
2025-05-15T18:14:14.190Z,1747332854.190 [NAL9602](INFO): Packets left to send: 0
2025-05-15T18:14:29.133Z,1747332869.133 [NAL9602](INFO): SBD MO Status=2, MOMSN=19673, MT Status=2, MTMSN=0
2025-05-15T18:14:29.133Z,1747332869.133 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T18:14:46.214Z,1747332886.214 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:15:01.097Z,1747332901.097 [NAL9602](INFO): SBD MO Status=2, MOMSN=19673, MT Status=2, MTMSN=0
2025-05-15T18:15:01.097Z,1747332901.097 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T18:15:21.354Z,1747332921.354 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:15:24.982Z,1747332924.982 [NAL9602](INFO): SBD MO Status=2, MOMSN=19673, MT Status=2, MTMSN=0
2025-05-15T18:15:24.982Z,1747332924.982 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T18:15:54.117Z,1747332954.117 [NAL9602](INFO): SBD MO Status=1, MOMSN=19673, MT Status=0, MTMSN=0
2025-05-15T18:15:54.178Z,1747332954.178 [NAL9602](INFO): Sent 332 bytes from file Logs/20250515T153335/Express0014.lzma
2025-05-15T18:15:54.178Z,1747332954.178 [NAL9602](INFO): Packets left to send: 1
2025-05-15T18:15:56.502Z,1747332956.502 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:16:11.131Z,1747332971.131 [NAL9602](INFO): SBD MO Status=2, MOMSN=19674, MT Status=2, MTMSN=0
2025-05-15T18:16:11.131Z,1747332971.131 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T18:16:31.658Z,1747332991.658 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:16:47.539Z,1747333007.539 [NAL9602](INFO): SBD MO Status=1, MOMSN=19674, MT Status=0, MTMSN=0
2025-05-15T18:16:47.586Z,1747333007.586 [NAL9602](INFO): Sent 109 bytes from file Logs/20250515T153335/Express0014.lzma
2025-05-15T18:16:47.586Z,1747333007.586 [NAL9602](INFO): Packets left to send: 0
2025-05-15T18:17:03.698Z,1747333023.698 [NAL9602](INFO): SBD MO Status=2, MOMSN=19675, MT Status=2, MTMSN=0
2025-05-15T18:17:03.698Z,1747333023.698 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T18:17:06.798Z,1747333026.798 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:17:23.904Z,1747333043.904 [NAL9602](INFO): SBD MO Status=0, MOMSN=19675, MT Status=0, MTMSN=0
2025-05-15T18:17:23.989Z,1747333043.989 [transit:NeedComms:D] Stopped
2025-05-15T18:17:23.989Z,1747333043.989 [transit:NeedComms:E] Running Loop=1
2025-05-15T18:17:26.329Z,1747333046.329 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181728.00,A,3646.46569,N,12153.63539,W,1.089,79.47,150525,,,D*46
2025-05-15T18:17:26.331Z,1747333046.331 [NAL9602](INFO): GPS fix at 20250515T181728: (36.774428, -121.893923)
2025-05-15T18:17:26.364Z,1747333046.364 [transit:NeedComms:E] Stopped
2025-05-15T18:17:26.365Z,1747333046.365 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-15T18:17:26.365Z,1747333046.365 [transit:NeedComms] Stopped
2025-05-15T18:17:26.365Z,1747333046.365 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-15T18:17:26.366Z,1747333046.366 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-15T18:17:26.366Z,1747333046.366 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T18:17:41.938Z,1747333061.938 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:17:59.062Z,1747333079.062 [NAL9602](INFO): Powering down
2025-05-15T18:18:17.090Z,1747333097.090 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:18:50.282Z,1747333130.282 [Radio_Surface](INFO): Powering down
2025-05-15T18:18:52.230Z,1747333132.230 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T18:18:53.235Z,1747333133.235 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T19:02:26.710Z,1747335746.710 [transit:NeedComms] Running Loop=1
2025-05-15T19:02:26.710Z,1747335746.710 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-15T19:02:26.710Z,1747335746.710 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T19:02:26.711Z,1747335746.711 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T19:02:26.711Z,1747335746.711 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T19:02:26.711Z,1747335746.711 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T19:02:26.712Z,1747335746.712 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T19:02:26.712Z,1747335746.712 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T19:02:26.712Z,1747335746.712 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T19:02:26.713Z,1747335746.713 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T19:02:26.713Z,1747335746.713 [transit:NeedComms:A] Running Loop=1
2025-05-15T19:02:26.715Z,1747335746.715 [transit:NeedComms:A](INFO): last time_fix was:  1747333048.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T19:02:26.715Z,1747335746.715 [transit:NeedComms:A] Stopped
2025-05-15T19:02:29.126Z,1747335749.126 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T19:02:29.222Z,1747335749.222 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T19:02:29.222Z,1747335749.222 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T19:02:29.222Z,1747335749.222 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-15T19:02:29.222Z,1747335749.222 [ThrusterHE](ERROR): Communications Fault
2025-05-15T19:02:29.226Z,1747335749.226 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T19:02:29.483Z,1747335749.483 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T19:02:29.483Z,1747335749.483 [ThrusterHE](INFO): Powering down
2025-05-15T19:02:30.231Z,1747335750.231 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T19:02:30.351Z,1747335750.351 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T19:02:30.356Z,1747335750.356 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T19:02:30.356Z,1747335750.356 [ThrusterHE] No Fault, FailCount= 1
2025-05-15T19:03:13.379Z,1747335793.379 [transit:NeedComms:C] Running Loop=1
2025-05-15T19:03:13.958Z,1747335793.958 [Radio_Surface](INFO): Powering up
2025-05-15T19:03:14.206Z,1747335794.206 [NAL9602](INFO): Powering up
2025-05-15T19:03:20.206Z,1747335800.206 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T19:03:25.119Z,1747335805.119 [NAL9602](INFO): NAL9602 initialized
2025-05-15T19:03:46.938Z,1747335826.938 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2025-05-15T19:03:46.941Z,1747335826.941 [BPC1](INFO): Received data from all battery sticks.
2025-05-15T19:03:50.326Z,1747335830.326 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:03:53.435Z,1747335833.435 [NAL9602](INFO): SBD MO Status=2, MOMSN=19676, MT Status=2, MTMSN=0
2025-05-15T19:03:53.435Z,1747335833.435 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T19:04:25.467Z,1747335865.467 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:04:32.582Z,1747335872.582 [NAL9602](INFO): SBD MO Status=2, MOMSN=19676, MT Status=2, MTMSN=0
2025-05-15T19:04:32.583Z,1747335872.583 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T19:04:52.785Z,1747335892.785 [NAL9602](INFO): SBD MO Status=0, MOMSN=19676, MT Status=0, MTMSN=0
2025-05-15T19:04:52.785Z,1747335892.785 [NAL9602](INFO): No messages in MT queue
2025-05-15T19:05:00.615Z,1747335900.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:05:35.755Z,1747335935.755 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:06:10.894Z,1747335970.894 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:06:46.034Z,1747336006.034 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:07:21.174Z,1747336041.174 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:07:56.326Z,1747336076.326 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:07:58.637Z,1747336078.637 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190800.00,A,3647.12778,N,12152.16854,W,1.788,134.68,150525,,,A*72
2025-05-15T19:07:58.640Z,1747336078.640 [NAL9602](INFO): GPS fix at 20250515T190800: (36.785463, -121.869476)
2025-05-15T19:07:58.651Z,1747336078.651 [UniversalFixResidualReporter](INFO): Fix residual: 23.5 %DT, over the last 3518.7 m. Residual distance 827.0 m at bearing 39.5 degrees. Fix at (36.7855, -121.8695) with 2499.2 m made good.
2025-05-15T19:07:58.655Z,1747336078.655 [transit:NeedComms:C] Stopped
2025-05-15T19:07:58.655Z,1747336078.655 [transit:NeedComms:D] Running Loop=1
2025-05-15T19:08:31.466Z,1747336111.466 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:09:06.610Z,1747336146.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:09:41.750Z,1747336181.750 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:09:44.113Z,1747336184.113 [NAL9602](INFO): SBD MO Status=2, MOMSN=19677, MT Status=2, MTMSN=0
2025-05-15T19:09:44.113Z,1747336184.113 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T19:10:03.161Z,1747336203.161 [NAL9602](INFO): SBD MO Status=2, MOMSN=19677, MT Status=2, MTMSN=0
2025-05-15T19:10:03.161Z,1747336203.161 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T19:10:16.902Z,1747336216.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:10:30.269Z,1747336230.269 [NAL9602](INFO): SBD MO Status=1, MOMSN=19677, MT Status=0, MTMSN=0
2025-05-15T19:10:30.314Z,1747336230.314 [NAL9602](INFO): Sent 92 bytes from file Logs/20250515T153335/Courier0016.lzma
2025-05-15T19:10:30.314Z,1747336230.314 [NAL9602](INFO): Packets left to send: 0
2025-05-15T19:10:44.502Z,1747336244.502 [NAL9602](INFO): SBD MO Status=2, MOMSN=19678, MT Status=2, MTMSN=0
2025-05-15T19:10:44.502Z,1747336244.502 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T19:10:52.046Z,1747336252.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:11:07.978Z,1747336267.978 [NAL9602](INFO): SBD MO Status=1, MOMSN=19678, MT Status=0, MTMSN=0
2025-05-15T19:11:08.027Z,1747336268.027 [NAL9602](INFO): Sent 332 bytes from file Logs/20250515T153335/Express0017.lzma
2025-05-15T19:11:08.027Z,1747336268.027 [NAL9602](INFO): Packets left to send: 1
2025-05-15T19:11:18.139Z,1747336278.139 [NAL9602](INFO): SBD MO Status=1, MOMSN=19679, MT Status=0, MTMSN=0
2025-05-15T19:11:18.186Z,1747336278.186 [NAL9602](INFO): Sent 46 bytes from file Logs/20250515T153335/Express0017.lzma
2025-05-15T19:11:18.186Z,1747336278.186 [NAL9602](INFO): Packets left to send: 0
2025-05-15T19:11:27.186Z,1747336287.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:11:36.725Z,1747336296.725 [NAL9602](INFO): SBD MO Status=2, MOMSN=19680, MT Status=2, MTMSN=0
2025-05-15T19:11:36.725Z,1747336296.725 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T19:11:48.033Z,1747336308.033 [NAL9602](INFO): SBD MO Status=0, MOMSN=19680, MT Status=0, MTMSN=0
2025-05-15T19:11:48.126Z,1747336308.126 [transit:NeedComms:D] Stopped
2025-05-15T19:11:48.127Z,1747336308.127 [transit:NeedComms:E] Running Loop=1
2025-05-15T19:11:50.459Z,1747336310.459 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191153.00,A,3647.11083,N,12152.13479,W,1.108,130.74,150525,,,A*7D
2025-05-15T19:11:50.461Z,1747336310.461 [NAL9602](INFO): GPS fix at 20250515T191153: (36.785181, -121.868913)
2025-05-15T19:11:50.498Z,1747336310.498 [transit:NeedComms:E] Stopped
2025-05-15T19:11:50.499Z,1747336310.499 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-15T19:11:50.499Z,1747336310.499 [transit:NeedComms] Stopped
2025-05-15T19:11:50.499Z,1747336310.499 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-15T19:11:50.499Z,1747336310.499 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-15T19:11:50.499Z,1747336310.499 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T19:12:02.326Z,1747336322.326 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:12:22.787Z,1747336342.787 [NAL9602](INFO): Powering down
2025-05-15T19:13:11.906Z,1747336391.906 [Radio_Surface](INFO): Powering down
2025-05-15T19:13:12.606Z,1747336392.606 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:13:13.610Z,1747336393.610 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T19:39:59.673Z,1747337999.673 [transit](INFO): Timed out from 2025-05-15T15:39:59.5Z
2025-05-15T19:39:59.673Z,1747337999.673 [MissionManager](INFO): transit is completed.
2025-05-15T19:39:59.673Z,1747337999.673 [MissionManager](INFO): Uninitializing Mission transit
2025-05-15T19:39:59.673Z,1747337999.673 [transit] Stopped
2025-05-15T19:39:59.673Z,1747337999.673 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-15T19:39:59.674Z,1747337999.674 [transit:StandardEnvelopes] Stopped
2025-05-15T19:39:59.674Z,1747337999.674 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-15T19:39:59.674Z,1747337999.674 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-15T19:39:59.674Z,1747337999.674 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-15T19:39:59.674Z,1747337999.674 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-15T19:39:59.674Z,1747337999.674 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-15T19:39:59.674Z,1747337999.674 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-15T19:39:59.674Z,1747337999.674 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-15T19:39:59.674Z,1747337999.674 [transit:BackseatDriver] Stopped
2025-05-15T19:39:59.674Z,1747337999.674 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-15T19:39:59.675Z,1747337999.675 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-15T19:39:59.675Z,1747337999.675 [transit:PowerOnly] Stopped
2025-05-15T19:39:59.675Z,1747337999.675 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-15T19:39:59.675Z,1747337999.675 [transit:PowerOnly:E.Wait] Stopped
2025-05-15T19:39:59.675Z,1747337999.675 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T19:39:59.675Z,1747337999.675 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-15T19:39:59.675Z,1747337999.675 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-15T19:39:59.675Z,1747337999.675 [transit:MassHold.Pitch] Stopped
2025-05-15T19:39:59.675Z,1747337999.675 [transit:Transit] Stopped
2025-05-15T19:39:59.675Z,1747337999.675 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-15T19:39:59.675Z,1747337999.675 [transit:Transit:A.Pitch] Stopped
2025-05-15T19:39:59.675Z,1747337999.675 [transit:Transit:B.SetSpeed] Stopped
2025-05-15T19:39:59.675Z,1747337999.675 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-15T19:39:59.676Z,1747337999.676 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-15T19:39:59.676Z,1747337999.676 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-15T19:40:00.072Z,1747338000.072 [MissionManager](IMPORTANT): Started mission Default
2025-05-15T19:40:00.073Z,1747338000.073 [Default] Running Loop=1
2025-05-15T19:40:00.073Z,1747338000.073 [Default](DEBUG): Aggregate::initialize Default
2025-05-15T19:40:00.073Z,1747338000.073 [Default:B.GoToSurface] Running Loop=1
2025-05-15T19:40:00.073Z,1747338000.073 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T19:40:00.073Z,1747338000.073 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-15T19:40:00.074Z,1747338000.074 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-15T19:40:00.090Z,1747338000.090 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-15T19:40:00.090Z,1747338000.090 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-15T19:40:00.091Z,1747338000.091 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T19:40:00.091Z,1747338000.091 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T19:40:00.092Z,1747338000.092 [Default:A.Wait] Running Loop=1
2025-05-15T19:40:00.092Z,1747338000.092 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-15T19:40:00.474Z,1747338000.474 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -25.00 mm (2 active estimators).
2025-05-15T19:40:00.662Z,1747338000.662 [Radio_Surface](INFO): Powering up
2025-05-15T19:40:06.216Z,1747338006.216 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T19:40:13.441Z,1747338013.441 [Default:A.Wait](INFO): Done Waiting.
2025-05-15T19:40:13.441Z,1747338013.441 [Default:A.Wait] Stopped
2025-05-15T19:40:13.441Z,1747338013.441 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T19:40:33.630Z,1747338033.630 [Default:CheckIn] Running Loop=1
2025-05-15T19:40:33.630Z,1747338033.630 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-15T19:40:33.631Z,1747338033.631 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-15T19:40:34.435Z,1747338034.435 [NAL9602](INFO): Powering up
2025-05-15T19:40:36.334Z,1747338036.334 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:40:45.340Z,1747338045.340 [NAL9602](INFO): NAL9602 initialized
2025-05-15T19:41:11.486Z,1747338071.486 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:41:46.630Z,1747338106.630 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:42:21.770Z,1747338141.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:42:56.910Z,1747338176.910 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:43:30.491Z,1747338210.491 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003584
2025-05-15T19:45:33.855Z,1747338333.855 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-05-15T19:40:33.6Z
2025-05-15T19:45:33.855Z,1747338333.855 [Default:CheckIn:Read_GPS] Stopped
2025-05-15T19:45:33.856Z,1747338333.856 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-15T19:45:34.253Z,1747338334.253 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-15T19:45:43.269Z,1747338343.269 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250515T153335/Courier0019.lzma
2025-05-15T19:45:44.272Z,1747338344.272 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0019.lzma.bak
2025-05-15T19:45:44.272Z,1747338344.272 [DataOverHttps](INFO): SBD MOMSN=24886807
2025-05-15T19:45:48.839Z,1747338348.839 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-05-15T19:46:01.314Z,1747338361.314 [DataOverHttps](INFO): Sending 247 bytes from file Logs/20250515T153335/Express0020.lzma
2025-05-15T19:46:02.316Z,1747338362.316 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0020.lzma.bak
2025-05-15T19:46:02.316Z,1747338362.316 [DataOverHttps](INFO): SBD MOMSN=24886810
2025-05-15T19:46:03.795Z,1747338363.795 [Default:CheckIn:Read_Iridium] Stopped
2025-05-15T19:46:03.795Z,1747338363.795 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-15T19:46:03.795Z,1747338363.795 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-15T19:46:19.543Z,1747338379.543 [NAL9602](INFO): Powering down
2025-05-15T19:47:21.860Z,1747338441.860 [DataOverHttps](IMPORTANT): SBD MTMSN=20250515T194724
2025-05-15T19:47:29.318Z,1747338449.318 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 2.5 h;set transit.NeedCommsTime 45 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Depth 7 m;set transit.Speed 1.3 m/s" 184aa 1 2
2025-05-15T19:47:29.383Z,1747338449.383 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 2.5 h;set transit.NeedCommsTime 45 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Depth 7 m;set transit.Speed 1.3 m/s" 184aa 1 2.000000
2025-05-15T19:47:29.383Z,1747338449.383 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=184aa
2025-05-15T19:47:29.384Z,1747338449.384 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='184aa'): "load Transport/transit.tl;set transit.MissionTimeout 2.5 h;set transit.NeedCommsTime 45 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Depth 7 m;set transit.Speed 1.3 m/s", ASAP
2025-05-15T19:47:30.319Z,1747338450.319 [DataOverHttps](IMPORTANT): SBD MTMSN=20250515T194732
2025-05-15T19:47:37.766Z,1747338457.766 [DataOverHttps](INFO): Received command: sched asap "set transit.MaxDepth 15 m;run" 184aa 2 2
2025-05-15T19:47:37.837Z,1747338457.837 [CommandExec](IMPORTANT): got command schedule asap "set transit.MaxDepth 15 m;run" 184aa 2 2.000000
2025-05-15T19:47:37.837Z,1747338457.837 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=184aa
2025-05-15T19:47:37.838Z,1747338457.838 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='184aa'): "set transit.MaxDepth 15 m;run", ASAP
2025-05-15T19:47:37.951Z,1747338457.951 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-15T19:47:37.952Z,1747338457.952 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-15T19:47:37.952Z,1747338457.952 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-15T19:47:37.953Z,1747338457.953 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-15T19:47:39.264Z,1747338459.264 [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" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-15T19:47:39.269Z,1747338459.269 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-15T19:47:39.271Z,1747338459.271 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-15T19:47:39.274Z,1747338459.274 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-15T19:47:39.284Z,1747338459.284 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-15T19:47:39.287Z,1747338459.287 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-15T19:47:39.289Z,1747338459.289 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-15T19:47:39.291Z,1747338459.291 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-15T19:47:39.293Z,1747338459.293 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-15T19:47:39.341Z,1747338459.341 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-15T19:47:39.344Z,1747338459.344 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-15T19:47:39.362Z,1747338459.362 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-15T19:47:39.364Z,1747338459.364 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-15T19:47:39.378Z,1747338459.378 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-15T19:47:39.379Z,1747338459.379 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-15T19:47:39.379Z,1747338459.379 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-15T19:47:39.380Z,1747338459.380 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-15T19:47:39.860Z,1747338459.860 [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>

2025-05-15T19:47:39.865Z,1747338459.865 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-15T19:47:39.884Z,1747338459.884 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-15T19:47:39.887Z,1747338459.887 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-15T19:47:39.889Z,1747338459.889 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-15T19:47:39.891Z,1747338459.891 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-15T19:47:39.893Z,1747338459.893 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-15T19:47:39.895Z,1747338459.895 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-15T19:47:39.897Z,1747338459.897 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-15T19:47:39.911Z,1747338459.911 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-15T19:47:40.034Z,1747338460.034 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-15T19:47:40.034Z,1747338460.034 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-15T19:47:40.035Z,1747338460.035 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-15T19:47:40.209Z,1747338460.209 [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>

2025-05-15T19:47:40.224Z,1747338460.224 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-15T19:47:40.226Z,1747338460.226 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-15T19:47:40.229Z,1747338460.229 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-15T19:47:40.231Z,1747338460.231 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-15T19:47:40.232Z,1747338460.232 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-15T19:47:40.248Z,1747338460.248 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-15T19:47:40.255Z,1747338460.255 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-15T19:47:40.303Z,1747338460.303 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-15T19:47:40.304Z,1747338460.304 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-15T19:47:40.305Z,1747338460.305 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-15T19:47:40.437Z,1747338460.437 [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>

2025-05-15T19:47:40.444Z,1747338460.444 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-15T19:47:40.458Z,1747338460.458 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-15T19:47:40.461Z,1747338460.461 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-15T19:47:40.461Z,1747338460.461 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-15T19:47:40.466Z,1747338460.466 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-15T19:47:40.700Z,1747338460.700 [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>

2025-05-15T19:47:40.704Z,1747338460.704 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-15T19:47:40.706Z,1747338460.706 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-15T19:47:40.708Z,1747338460.708 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-15T19:47:40.709Z,1747338460.709 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-15T19:47:40.712Z,1747338460.712 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-15T19:47:40.819Z,1747338460.819 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-15T19:47:40.821Z,1747338460.821 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-15T19:47:40.832Z,1747338460.832 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-15T19:47:40.867Z,1747338460.867 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-15T19:47:40.872Z,1747338460.872 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-15T19:47:40.890Z,1747338460.890 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-15T19:47:40.923Z,1747338460.923 [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 dives immediately with no comms/GPS and 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" priorityHere=false refId="NeedComms"
  }
}


2025-05-15T19:47:40.923Z,1747338460.923 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-15T19:47:59.973Z,1747338479.973 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 2.5 hour
2025-05-15T19:47:59.974Z,1747338479.974 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 45 minute
2025-05-15T19:47:59.975Z,1747338479.975 [CommandExec](IMPORTANT): got command set transit.Latitude 36.806966 degree
2025-05-15T19:47:59.975Z,1747338479.975 [CommandExec](IMPORTANT): got command set transit.Longitude -121.824326 degree
2025-05-15T19:47:59.976Z,1747338479.976 [CommandExec](IMPORTANT): got command set transit.Depth 7 meter
2025-05-15T19:47:59.977Z,1747338479.977 [CommandExec](IMPORTANT): got command set transit.Speed 1.3 meter_per_second
2025-05-15T19:48:02.065Z,1747338482.065 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2025-05-15T19:48:02.066Z,1747338482.066 [CommandExec](IMPORTANT): got command run
2025-05-15T19:48:02.068Z,1747338482.068 [CommandExec](IMPORTANT): Running 
2025-05-15T19:48:02.305Z,1747338482.305 [Default] Stopped
2025-05-15T19:48:02.306Z,1747338482.306 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-15T19:48:02.306Z,1747338482.306 [Default:B.GoToSurface] Stopped
2025-05-15T19:48:02.306Z,1747338482.306 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T19:48:02.306Z,1747338482.306 [Default:CheckIn] Stopped
2025-05-15T19:48:02.306Z,1747338482.306 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-15T19:48:02.306Z,1747338482.306 [Default:CheckIn:C.Wait] Stopped
2025-05-15T19:48:02.306Z,1747338482.306 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T19:48:02.306Z,1747338482.306 [MissionManager](IMPORTANT): Started mission transit
2025-05-15T19:48:02.307Z,1747338482.307 [transit] Running Loop=1
2025-05-15T19:48:02.307Z,1747338482.307 [transit](DEBUG): Aggregate::initialize transit
2025-05-15T19:48:02.307Z,1747338482.307 [transit:StandardEnvelopes] Running Loop=1
2025-05-15T19:48:02.307Z,1747338482.307 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-15T19:48:02.307Z,1747338482.307 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-15T19:48:02.307Z,1747338482.307 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-15T19:48:02.307Z,1747338482.307 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-15T19:48:02.307Z,1747338482.307 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-15T19:48:02.308Z,1747338482.308 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-15T19:48:02.308Z,1747338482.308 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-15T19:48:02.308Z,1747338482.308 [transit:BackseatDriver] Running Loop=1
2025-05-15T19:48:02.308Z,1747338482.308 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-15T19:48:02.308Z,1747338482.308 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-15T19:48:02.308Z,1747338482.308 [transit:PowerOnly] Running Loop=1
2025-05-15T19:48:02.308Z,1747338482.308 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-15T19:48:02.308Z,1747338482.308 [transit:PowerOnly:A] Running Loop=1
2025-05-15T19:48:02.308Z,1747338482.308 [transit:PowerOnly:B] Running Loop=1
2025-05-15T19:48:02.308Z,1747338482.308 [transit:PowerOnly:C] Running Loop=1
2025-05-15T19:48:02.308Z,1747338482.308 [transit:PowerOnly:D] Running Loop=1
2025-05-15T19:48:02.309Z,1747338482.309 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-15T19:48:02.309Z,1747338482.309 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-15T19:48:02.309Z,1747338482.309 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-15T19:48:02.309Z,1747338482.309 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-15T19:48:02.309Z,1747338482.309 [transit:MassHold.Pitch] Running Loop=1
2025-05-15T19:48:02.309Z,1747338482.309 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-15T19:48:02.309Z,1747338482.309 [transit:B] Running Loop=1
2025-05-15T19:48:02.326Z,1747338482.326 [transit:MassHold.Pitch] Running Loop=1
2025-05-15T19:48:02.326Z,1747338482.326 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-15T19:48:02.327Z,1747338482.327 [transit:PowerOnly] Running Loop=1
2025-05-15T19:48:02.327Z,1747338482.327 [transit:PowerOnly:D] Stopped
2025-05-15T19:48:02.327Z,1747338482.327 [transit:PowerOnly:C] Stopped
2025-05-15T19:48:02.327Z,1747338482.327 [transit:PowerOnly:B] Stopped
2025-05-15T19:48:02.327Z,1747338482.327 [transit:PowerOnly:A] Stopped
2025-05-15T19:48:02.327Z,1747338482.327 [transit:BackseatDriver] Running Loop=1
2025-05-15T19:48:02.327Z,1747338482.327 [transit:StandardEnvelopes] Running Loop=1
2025-05-15T19:48:02.327Z,1747338482.327 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-15T19:48:02.328Z,1747338482.328 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-15T19:48:02.328Z,1747338482.328 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-15T19:48:02.329Z,1747338482.329 [transit:B] Stopped
2025-05-15T19:48:02.329Z,1747338482.329 [transit:C] Running Loop=1
2025-05-15T19:48:02.712Z,1747338482.712 [transit:C] Stopped
2025-05-15T19:48:02.712Z,1747338482.712 [transit:E] Running Loop=1
2025-05-15T19:48:03.114Z,1747338483.114 [transit:E] Stopped
2025-05-15T19:48:03.114Z,1747338483.114 [transit:F] Running Loop=1
2025-05-15T19:48:03.527Z,1747338483.527 [transit:F] Stopped
2025-05-15T19:48:03.527Z,1747338483.527 [transit:G] Running Loop=1
2025-05-15T19:48:03.915Z,1747338483.915 [transit:G] Stopped
2025-05-15T19:48:03.915Z,1747338483.915 [transit:Transit] Running Loop=1
2025-05-15T19:48:03.915Z,1747338483.915 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-15T19:48:03.915Z,1747338483.915 [transit:Transit:A.Pitch] Running Loop=1
2025-05-15T19:48:03.915Z,1747338483.915 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-15T19:48:03.916Z,1747338483.916 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-15T19:48:03.916Z,1747338483.916 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-15T19:48:03.916Z,1747338483.916 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-15T19:48:03.916Z,1747338483.916 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-15T19:48:03.917Z,1747338483.917 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-05-15T19:48:03.918Z,1747338483.918 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-05-15T19:48:04.321Z,1747338484.321 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-05-15T19:48:04.321Z,1747338484.321 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-15T19:48:04.321Z,1747338484.321 [transit:Transit:A.Pitch] Running Loop=1
2025-05-15T19:48:42.734Z,1747338522.734 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.30 m/s, pitch 30.00 deg, mass-position 24.64 mm (3 active estimators).
2025-05-15T19:49:12.110Z,1747338552.110 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:49:16.127Z,1747338556.127 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239441
2025-05-15T19:49:43.062Z,1747338583.062 [Radio_Surface](INFO): Powering down
2025-05-15T19:49:47.250Z,1747338587.250 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:49:48.275Z,1747338588.275 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T19:56:50.489Z,1747339010.489 [transit:NeedComms] Running Loop=1
2025-05-15T19:56:50.489Z,1747339010.489 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-15T19:56:50.489Z,1747339010.489 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T19:56:50.489Z,1747339010.489 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T19:56:50.490Z,1747339010.490 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T19:56:50.506Z,1747339010.506 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T19:56:50.506Z,1747339010.506 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T19:56:50.507Z,1747339010.507 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T19:56:50.507Z,1747339010.507 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T19:56:50.507Z,1747339010.507 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T19:56:50.508Z,1747339010.508 [transit:NeedComms:A] Running Loop=1
2025-05-15T19:56:50.509Z,1747339010.509 [transit:NeedComms:A](INFO): last time_fix was:  1747336313.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T19:56:50.514Z,1747339010.514 [transit:NeedComms:A] Stopped
2025-05-15T19:56:53.974Z,1747339013.974 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T19:56:54.074Z,1747339014.074 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T19:56:54.074Z,1747339014.074 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T19:56:54.074Z,1747339014.074 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-15T19:56:54.074Z,1747339014.074 [ThrusterHE](ERROR): Communications Fault
2025-05-15T19:56:54.078Z,1747339014.078 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T19:56:54.395Z,1747339014.395 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T19:56:54.395Z,1747339014.395 [ThrusterHE](INFO): Powering down
2025-05-15T19:56:55.223Z,1747339015.223 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T19:56:55.344Z,1747339015.344 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T19:56:55.348Z,1747339015.348 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T19:56:55.348Z,1747339015.348 [ThrusterHE] No Fault, FailCount= 1
2025-05-15T19:57:26.549Z,1747339046.549 [transit:NeedComms:C] Running Loop=1
2025-05-15T19:57:26.951Z,1747339046.951 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-15T19:57:27.006Z,1747339047.006 [Radio_Surface](INFO): Powering up
2025-05-15T19:57:27.341Z,1747339047.341 [NAL9602](INFO): Powering up
2025-05-15T19:57:33.154Z,1747339053.154 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T19:57:38.248Z,1747339058.248 [NAL9602](INFO): NAL9602 initialized
2025-05-15T19:57:39.056Z,1747339059.056 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-05-15T19:57:39.056Z,1747339059.056 [NAL9602] Data Fault, FailCount= 1
2025-05-15T19:57:39.056Z,1747339059.056 [NAL9602](ERROR): Data Fault
2025-05-15T19:57:39.135Z,1747339059.135 [CBIT](ERROR): Data Fault in component: NAL9602
2025-05-15T19:57:39.459Z,1747339059.459 [NAL9602](INFO): Powering down
2025-05-15T19:57:40.339Z,1747339060.339 [CBIT](INFO): Clearing failed state for component NAL9602
2025-05-15T19:57:40.339Z,1747339060.339 [NAL9602] No Fault, FailCount= 1
2025-05-15T19:58:03.274Z,1747339083.274 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:58:09.773Z,1747339089.773 [NAL9602](INFO): Powering up NAL9602
2025-05-15T19:58:20.670Z,1747339100.670 [NAL9602](INFO): NAL9602 initialized
2025-05-15T19:58:38.434Z,1747339118.434 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:59:13.585Z,1747339153.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T19:59:48.722Z,1747339188.722 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:00:23.862Z,1747339223.862 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:00:53.068Z,1747339253.068 [DAT](INFO): DAT read: 20:00:52.1759 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX=  30, 0.06,-1.533,-3.017,-0.731,-1.972, PHS= 0.407,-1.073, 1.237, RAW= 170.8,  -5.7, CAL= 171.6,  -9.9, ROT= 338.4,   9.9

2025-05-15T20:00:53.071Z,1747339253.071 [DAT](INFO): got valid direction response:
 20:00:52.1759 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX=  30, 0.06,-1.533,-3.017,-0.731,-1.972, PHS= 0.407,-1.073, 1.237, RAW= 170.8,  -5.7, CAL= 171.6,  -9.9, ROT= 338.4,   9.9

2025-05-15T20:00:53.071Z,1747339253.071 [DAT](INFO): DAT read: Rx Time:20:00:52.1759

2025-05-15T20:00:53.072Z,1747339253.072 [DAT](INFO): Rx dataTimestamp_ set to:1747339253.071446
2025-05-15T20:00:53.072Z,1747339253.072 [DAT](INFO): DAT read: $Low SNR acquisition

2025-05-15T20:00:53.073Z,1747339253.073 [DAT](INFO): Received low SNR in chirp
2025-05-15T20:00:53.086Z,1747339253.086 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-05-15T20:00:53.087Z,1747339253.087 [DAT](INFO): direction in FSK: [0.915931,-0.362643,-0.171929]
2025-05-15T20:00:56.579Z,1747339256.579 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003669
2025-05-15T20:00:57.430Z,1747339257.430 [NAL9602](INFO): SBD MO Status=2, MOMSN=19681, MT Status=2, MTMSN=0
2025-05-15T20:00:57.430Z,1747339257.430 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T20:03:23.711Z,1747339403.711 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-05-15T20:03:29.369Z,1747339409.369 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200331.00,A,3647.51371,N,12150.83961,W,0.894,148.43,150525,,,A*73
2025-05-15T20:03:29.371Z,1747339409.371 [NAL9602](INFO): GPS fix at 20250515T200331: (36.791895, -121.847327)
2025-05-15T20:03:29.419Z,1747339409.419 [UniversalFixResidualReporter](INFO): Fix residual: 28.0 %DT, over the last 2896.0 m. Residual distance 811.6 m at bearing 22.8 degrees. Fix at (36.7919, -121.8473) with 2062.2 m made good.
2025-05-15T20:03:29.426Z,1747339409.426 [transit:NeedComms:C] Stopped
2025-05-15T20:03:29.427Z,1747339409.427 [transit:NeedComms:D] Running Loop=1
2025-05-15T20:03:29.829Z,1747339409.829 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-15T20:03:33.367Z,1747339413.367 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250515T153335/Courier0022.lzma
2025-05-15T20:03:33.988Z,1747339413.988 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0022.lzma.bak
2025-05-15T20:03:33.988Z,1747339413.988 [DataOverHttps](INFO): SBD MOMSN=24886931
2025-05-15T20:03:53.677Z,1747339433.677 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250515T153335/Courier0025.lzma
2025-05-15T20:03:54.680Z,1747339434.680 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0025.lzma.bak
2025-05-15T20:03:54.680Z,1747339434.680 [DataOverHttps](INFO): SBD MOMSN=24886939
2025-05-15T20:04:01.867Z,1747339441.867 [NAL9602](INFO): Powering down
2025-05-15T20:04:10.700Z,1747339450.700 [DataOverHttps](INFO): Sending 841 bytes from file Logs/20250515T153335/Express0023.lzma
2025-05-15T20:04:11.700Z,1747339451.700 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0023.lzma.bak
2025-05-15T20:04:11.700Z,1747339451.700 [DataOverHttps](INFO): SBD MOMSN=24886943
2025-05-15T20:04:28.038Z,1747339468.038 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250515T153335/Express0026.lzma
2025-05-15T20:04:29.040Z,1747339469.040 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0026.lzma.bak
2025-05-15T20:04:29.040Z,1747339469.040 [DataOverHttps](INFO): SBD MOMSN=24886972
2025-05-15T20:04:30.565Z,1747339470.565 [transit:NeedComms:D] Stopped
2025-05-15T20:04:30.565Z,1747339470.565 [transit:NeedComms:E] Running Loop=1
2025-05-15T20:04:30.969Z,1747339470.969 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-15T20:04:31.367Z,1747339471.367 [NAL9602](INFO): Powering up
2025-05-15T20:04:42.273Z,1747339482.273 [NAL9602](INFO): NAL9602 initialized
2025-05-15T20:05:14.191Z,1747339514.191 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-05-15T20:05:14.270Z,1747339514.270 [NAL9602](ERROR): received: 
+CSQ:0

OK681, 2, 0, 0, 0

OK
2025-05-15T20:05:41.260Z,1747339541.260 [NAL9602](INFO): SBD MO Status=0, MOMSN=19681, MT Status=0, MTMSN=0
2025-05-15T20:05:41.260Z,1747339541.260 [NAL9602](INFO): No messages in MT queue
2025-05-15T20:07:41.321Z,1747339661.321 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200743.00,A,3647.49677,N,12150.81392,W,0.758,0.00,150525,,,A*79
2025-05-15T20:07:41.332Z,1747339661.332 [NAL9602](INFO): GPS fix at 20250515T200743: (36.791613, -121.846899)
2025-05-15T20:07:41.369Z,1747339661.369 [transit:NeedComms:E] Stopped
2025-05-15T20:07:41.382Z,1747339661.382 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-15T20:07:41.382Z,1747339661.382 [transit:NeedComms] Stopped
2025-05-15T20:07:41.382Z,1747339661.382 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-15T20:07:41.383Z,1747339661.383 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-15T20:07:41.383Z,1747339661.383 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T20:07:45.986Z,1747339665.986 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T20:07:46.082Z,1747339666.082 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T20:07:46.082Z,1747339666.082 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T20:07:46.082Z,1747339666.082 [ThrusterHE] Communications Fault, FailCount= 2
2025-05-15T20:07:46.082Z,1747339666.082 [ThrusterHE](ERROR): Communications Fault
2025-05-15T20:07:46.086Z,1747339666.086 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T20:07:46.427Z,1747339666.427 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T20:07:46.427Z,1747339666.427 [ThrusterHE](INFO): Powering down
2025-05-15T20:07:47.112Z,1747339667.112 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T20:07:47.232Z,1747339667.232 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T20:07:47.235Z,1747339667.235 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T20:07:47.236Z,1747339667.236 [ThrusterHE] No Fault, FailCount= 2
2025-05-15T20:07:55.202Z,1747339675.202 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T20:07:55.298Z,1747339675.298 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T20:07:55.298Z,1747339675.298 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T20:07:55.298Z,1747339675.298 [ThrusterHE] Communications Fault, FailCount= 3
2025-05-15T20:07:55.298Z,1747339675.298 [ThrusterHE](ERROR): Communications Fault
2025-05-15T20:07:55.302Z,1747339675.302 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T20:07:55.519Z,1747339675.519 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T20:07:55.520Z,1747339675.520 [ThrusterHE](INFO): Powering down
2025-05-15T20:07:56.339Z,1747339676.339 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T20:07:56.459Z,1747339676.459 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T20:07:56.463Z,1747339676.463 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T20:07:56.463Z,1747339676.463 [ThrusterHE] No Fault, FailCount= 3
2025-05-15T20:08:14.040Z,1747339694.040 [NAL9602](INFO): Powering down
2025-05-15T20:09:10.626Z,1747339750.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:09:13.638Z,1747339753.638 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239124
2025-05-15T20:09:22.050Z,1747339762.050 [Radio_Surface](INFO): Powering down
2025-05-15T20:09:45.778Z,1747339785.778 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:09:46.782Z,1747339786.782 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T20:11:10.381Z,1747339870.381 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2025-05-15T20:11:10.384Z,1747339870.384 [BPC1](INFO): Received data from all battery sticks.
2025-05-15T20:44:45.638Z,1747341885.638 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.806965,-121.824326
2025-05-15T20:44:45.639Z,1747341885.639 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-15T20:44:45.639Z,1747341885.639 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-15T20:44:45.639Z,1747341885.639 [transit:Transit:PhoneHome] Running Loop=1
2025-05-15T20:44:45.639Z,1747341885.639 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-05-15T20:44:46.053Z,1747341886.053 [transit:NeedComms] Running Loop=1
2025-05-15T20:44:46.054Z,1747341886.054 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-15T20:44:46.054Z,1747341886.054 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T20:44:46.054Z,1747341886.054 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T20:44:46.054Z,1747341886.054 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T20:44:46.055Z,1747341886.055 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T20:44:46.055Z,1747341886.055 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T20:44:46.055Z,1747341886.055 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T20:44:46.056Z,1747341886.056 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T20:44:46.056Z,1747341886.056 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T20:44:46.056Z,1747341886.056 [transit:NeedComms:A] Running Loop=1
2025-05-15T20:44:46.058Z,1747341886.058 [transit:NeedComms:A](INFO): last time_fix was:  1747339663.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T20:44:46.058Z,1747341886.058 [transit:NeedComms:A] Stopped
2025-05-15T20:44:55.994Z,1747341895.994 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T20:44:56.091Z,1747341896.091 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T20:44:56.091Z,1747341896.091 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T20:44:56.091Z,1747341896.091 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-15T20:44:56.091Z,1747341896.091 [ThrusterHE](ERROR): Communications Fault
2025-05-15T20:44:56.095Z,1747341896.095 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T20:44:56.411Z,1747341896.411 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T20:44:56.411Z,1747341896.411 [ThrusterHE](INFO): Powering down
2025-05-15T20:44:57.127Z,1747341897.127 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T20:44:57.247Z,1747341897.247 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T20:44:57.251Z,1747341897.251 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T20:44:57.251Z,1747341897.251 [ThrusterHE] No Fault, FailCount= 1
2025-05-15T20:45:15.541Z,1747341915.541 [transit:NeedComms:C] Running Loop=1
2025-05-15T20:45:16.190Z,1747341916.190 [Radio_Surface](INFO): Powering up
2025-05-15T20:45:16.327Z,1747341916.327 [NAL9602](INFO): Powering up
2025-05-15T20:45:21.642Z,1747341921.642 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T20:45:27.236Z,1747341927.236 [NAL9602](INFO): NAL9602 initialized
2025-05-15T20:45:51.779Z,1747341951.779 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:46:26.922Z,1747341986.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:47:02.062Z,1747342022.062 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:47:07.847Z,1747342027.847 [NAL9602](INFO): SBD MO Status=2, MOMSN=19682, MT Status=2, MTMSN=0
2025-05-15T20:47:07.847Z,1747342027.847 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T20:47:30.066Z,1747342050.066 [NAL9602](INFO): SBD MO Status=2, MOMSN=19682, MT Status=2, MTMSN=0
2025-05-15T20:47:30.066Z,1747342050.066 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T20:47:37.202Z,1747342057.202 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:47:51.883Z,1747342071.883 [NAL9602](INFO): SBD MO Status=0, MOMSN=19682, MT Status=0, MTMSN=0
2025-05-15T20:47:51.883Z,1747342071.883 [NAL9602](INFO): No messages in MT queue
2025-05-15T20:48:12.342Z,1747342092.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:48:44.987Z,1747342124.987 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003578
2025-05-15T20:49:49.461Z,1747342189.461 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,204952.00,A,3648.10058,N,12149.90996,W,0.408,302.53,150525,,,A*7C
2025-05-15T20:49:49.463Z,1747342189.463 [NAL9602](INFO): GPS fix at 20250515T204952: (36.801676, -121.831833)
2025-05-15T20:49:49.498Z,1747342189.498 [UniversalFixResidualReporter](INFO): Fix residual: 32.4 %DT, over the last 2885.6 m. Residual distance 936.3 m at bearing 49.4 degrees. Fix at (36.8017, -121.8318) with 1746.9 m made good.
2025-05-15T20:49:49.501Z,1747342189.501 [transit:NeedComms:C] Stopped
2025-05-15T20:49:49.501Z,1747342189.501 [transit:NeedComms:D] Running Loop=1
2025-05-15T20:49:56.645Z,1747342196.645 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20250515T153335/Courier0028.lzma
2025-05-15T20:49:57.648Z,1747342197.648 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0028.lzma.bak
2025-05-15T20:49:57.648Z,1747342197.648 [DataOverHttps](INFO): SBD MOMSN=24887280
2025-05-15T20:50:14.619Z,1747342214.619 [DataOverHttps](INFO): Sending 393 bytes from file Logs/20250515T153335/Express0029.lzma
2025-05-15T20:50:15.621Z,1747342215.621 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0029.lzma.bak
2025-05-15T20:50:15.621Z,1747342215.621 [DataOverHttps](IMPORTANT): SBD MOMSN=24887284, MTMSN=20250515T205018
2025-05-15T20:50:16.944Z,1747342216.944 [transit:NeedComms:D] Stopped
2025-05-15T20:50:16.944Z,1747342216.944 [transit:NeedComms:E] Running Loop=1
2025-05-15T20:50:18.950Z,1747342218.950 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205021.00,A,3648.09869,N,12149.91123,W,1.050,162.58,150525,,,A*72
2025-05-15T20:50:18.952Z,1747342218.952 [NAL9602](INFO): GPS fix at 20250515T205021: (36.801645, -121.831854)
2025-05-15T20:50:18.965Z,1747342218.965 [transit:NeedComms:E] Stopped
2025-05-15T20:50:18.966Z,1747342218.966 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-15T20:50:18.966Z,1747342218.966 [transit:NeedComms] Stopped
2025-05-15T20:50:18.966Z,1747342218.966 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-15T20:50:18.966Z,1747342218.966 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-15T20:50:18.967Z,1747342218.967 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T20:50:19.425Z,1747342219.425 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-05-15T20:50:19.426Z,1747342219.426 [transit:Transit:PhoneHome] Stopped
2025-05-15T20:50:19.426Z,1747342219.426 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-05-15T20:50:19.427Z,1747342219.427 [transit:Transit](INFO): Completed transit:Transit
2025-05-15T20:50:19.427Z,1747342219.427 [transit:Transit] Stopped
2025-05-15T20:50:19.427Z,1747342219.427 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-15T20:50:19.427Z,1747342219.427 [transit:Transit:A.Pitch] Stopped
2025-05-15T20:50:19.427Z,1747342219.427 [transit:Transit:B.SetSpeed] Stopped
2025-05-15T20:50:19.427Z,1747342219.427 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-15T20:50:19.429Z,1747342219.429 [transit](INFO): Completed transit
2025-05-15T20:50:19.429Z,1747342219.429 [MissionManager](INFO): transit is completed.
2025-05-15T20:50:19.429Z,1747342219.429 [MissionManager](INFO): Uninitializing Mission transit
2025-05-15T20:50:19.429Z,1747342219.429 [transit] Stopped
2025-05-15T20:50:19.429Z,1747342219.429 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-15T20:50:19.429Z,1747342219.429 [transit:StandardEnvelopes] Stopped
2025-05-15T20:50:19.429Z,1747342219.429 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-15T20:50:19.430Z,1747342219.430 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-15T20:50:19.430Z,1747342219.430 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-15T20:50:19.430Z,1747342219.430 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-15T20:50:19.430Z,1747342219.430 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-15T20:50:19.430Z,1747342219.430 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-15T20:50:19.430Z,1747342219.430 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-15T20:50:19.430Z,1747342219.430 [transit:BackseatDriver] Stopped
2025-05-15T20:50:19.430Z,1747342219.430 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-15T20:50:19.430Z,1747342219.430 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-15T20:50:19.430Z,1747342219.430 [transit:PowerOnly] Stopped
2025-05-15T20:50:19.431Z,1747342219.431 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-15T20:50:19.431Z,1747342219.431 [transit:PowerOnly:E.Wait] Stopped
2025-05-15T20:50:19.431Z,1747342219.431 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T20:50:19.431Z,1747342219.431 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-15T20:50:19.431Z,1747342219.431 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-15T20:50:19.431Z,1747342219.431 [transit:MassHold.Pitch] Stopped
2025-05-15T20:50:19.775Z,1747342219.775 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.30 m/s, pitch 20.00 deg, mass-position 24.64 mm.
2025-05-15T20:50:19.778Z,1747342219.778 [MissionManager](IMPORTANT): Started mission Default
2025-05-15T20:50:19.779Z,1747342219.779 [Default] Running Loop=1
2025-05-15T20:50:19.779Z,1747342219.779 [Default](DEBUG): Aggregate::initialize Default
2025-05-15T20:50:19.779Z,1747342219.779 [Default:B.GoToSurface] Running Loop=1
2025-05-15T20:50:19.779Z,1747342219.779 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T20:50:19.779Z,1747342219.779 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-15T20:50:19.780Z,1747342219.780 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-15T20:50:19.780Z,1747342219.780 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-15T20:50:19.780Z,1747342219.780 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-15T20:50:19.780Z,1747342219.780 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T20:50:19.781Z,1747342219.781 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T20:50:19.781Z,1747342219.781 [Default:A.Wait] Running Loop=1
2025-05-15T20:50:19.781Z,1747342219.781 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-15T20:50:26.130Z,1747342226.130 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 15 m;set keepstation.Speed 1.1 m/s" 1877q 1 2
2025-05-15T20:50:26.209Z,1747342226.209 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 15 m;set keepstation.Speed 1.1 m/s" 1877q 1 2.000000
2025-05-15T20:50:26.209Z,1747342226.209 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1877q
2025-05-15T20:50:26.210Z,1747342226.210 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='1877q'): "load Transport/keepstation.tl;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 15 m;set keepstation.Speed 1.1 m/s", ASAP
2025-05-15T20:50:27.131Z,1747342227.131 [DataOverHttps](IMPORTANT): SBD MTMSN=20250515T205029
2025-05-15T20:50:33.111Z,1747342233.111 [Default:A.Wait](INFO): Done Waiting.
2025-05-15T20:50:33.111Z,1747342233.111 [Default:A.Wait] Stopped
2025-05-15T20:50:33.111Z,1747342233.111 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T20:50:33.516Z,1747342233.516 [Default:CheckIn] Running Loop=1
2025-05-15T20:50:33.516Z,1747342233.516 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-15T20:50:33.516Z,1747342233.516 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-15T20:50:34.622Z,1747342234.622 [DataOverHttps](INFO): Received command: sched asap "set keepstation.MaxDepth 30 m;run" 1877q 2 2
2025-05-15T20:50:34.645Z,1747342234.645 [CommandExec](IMPORTANT): got command schedule asap "set keepstation.MaxDepth 30 m;run" 1877q 2 2.000000
2025-05-15T20:50:34.646Z,1747342234.646 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1877q
2025-05-15T20:50:34.647Z,1747342234.647 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='1877q'): "set keepstation.MaxDepth 30 m;run", ASAP
2025-05-15T20:50:34.770Z,1747342234.770 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-05-15T20:50:34.771Z,1747342234.771 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-05-15T20:50:34.771Z,1747342234.771 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-05-15T20:50:34.783Z,1747342234.783 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-05-15T20:50:35.517Z,1747342235.517 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205038.00,A,3648.09766,N,12149.91027,W,0.311,183.81,150525,,,A*73
2025-05-15T20:50:35.527Z,1747342235.527 [NAL9602](INFO): GPS fix at 20250515T205038: (36.801628, -121.831838)
2025-05-15T20:50:35.853Z,1747342235.853 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <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:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-05-15T20:50:35.861Z,1747342235.861 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-05-15T20:50:35.864Z,1747342235.864 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-05-15T20:50:35.867Z,1747342235.867 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-05-15T20:50:35.870Z,1747342235.870 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-05-15T20:50:35.873Z,1747342235.873 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-05-15T20:50:35.876Z,1747342235.876 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-05-15T20:50:35.879Z,1747342235.879 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-05-15T20:50:35.946Z,1747342235.946 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-05-15T20:50:35.949Z,1747342235.949 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-05-15T20:50:35.960Z,1747342235.960 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2025-05-15T20:50:35.971Z,1747342235.971 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2025-05-15T20:50:35.991Z,1747342235.991 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2025-05-15T20:50:35.994Z,1747342235.994 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-05-15T20:50:35.997Z,1747342235.997 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-05-15T20:50:36.004Z,1747342236.004 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2025-05-15T20:50:36.008Z,1747342236.008 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2025-05-15T20:50:36.019Z,1747342236.019 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2025-05-15T20:50:36.027Z,1747342236.027 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2025-05-15T20:50:36.043Z,1747342236.043 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2025-05-15T20:50:36.046Z,1747342236.046 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2025-05-15T20:50:36.050Z,1747342236.050 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-15T20:50:36.050Z,1747342236.050 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-15T20:50:36.052Z,1747342236.052 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-15T20:50:36.456Z,1747342236.456 [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>

2025-05-15T20:50:36.461Z,1747342236.461 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-05-15T20:50:36.465Z,1747342236.465 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-15T20:50:36.468Z,1747342236.468 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-15T20:50:36.471Z,1747342236.471 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-05-15T20:50:36.474Z,1747342236.474 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-15T20:50:36.477Z,1747342236.477 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-15T20:50:36.487Z,1747342236.487 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-05-15T20:50:36.523Z,1747342236.523 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-05-15T20:50:36.538Z,1747342236.538 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-15T20:50:36.579Z,1747342236.579 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-15T20:50:36.579Z,1747342236.579 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-15T20:50:36.580Z,1747342236.580 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-15T20:50:36.760Z,1747342236.760 [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>

2025-05-15T20:50:36.777Z,1747342236.777 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-15T20:50:36.791Z,1747342236.791 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-15T20:50:36.796Z,1747342236.796 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-15T20:50:36.800Z,1747342236.800 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-15T20:50:36.801Z,1747342236.801 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-15T20:50:36.825Z,1747342236.825 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-15T20:50:36.851Z,1747342236.851 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-15T20:50:36.871Z,1747342236.871 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-15T20:50:36.871Z,1747342236.871 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-15T20:50:36.872Z,1747342236.872 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-15T20:50:36.915Z,1747342236.915 [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>

2025-05-15T20:50:36.920Z,1747342236.920 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-05-15T20:50:36.931Z,1747342236.931 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-15T20:50:36.933Z,1747342236.933 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-15T20:50:36.938Z,1747342236.938 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-15T20:50:36.939Z,1747342236.939 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-15T20:50:37.207Z,1747342237.207 [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>

2025-05-15T20:50:37.236Z,1747342237.236 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-05-15T20:50:37.243Z,1747342237.243 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-05-15T20:50:37.250Z,1747342237.250 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-05-15T20:50:37.253Z,1747342237.253 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-05-15T20:50:37.257Z,1747342237.257 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-15T20:50:37.276Z,1747342237.276 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-15T20:50:37.282Z,1747342237.282 [keepstation:H.Pitch](DEBUG): Construct.
2025-05-15T20:50:37.336Z,1747342237.336 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-15T20:50:37.341Z,1747342237.341 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-05-15T20:50:37.354Z,1747342237.354 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-05-15T20:50:37.388Z,1747342237.388 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-15T20:50:37.393Z,1747342237.393 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2025-05-15T20:50:37.410Z,1747342237.410 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2025-05-15T20:50:37.421Z,1747342237.421 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2025-05-15T20:50:37.442Z,1747342237.442 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2025-05-15T20:50:37.460Z,1747342237.460 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-15T20:50:37.490Z,1747342237.490 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2025-05-15T20:50:37.549Z,1747342237.549 [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 keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=SinkDepthTimeout {
            syslog important "Timed out while trying to reach target sink depth at current depth of "
                 + Universal:depth~meter
          }

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

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

  aggregate KeepStation {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-05-15T20:50:37.550Z,1747342237.550 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-05-15T20:50:37.557Z,1747342237.557 [Default:CheckIn:Read_GPS] Stopped
2025-05-15T20:50:37.557Z,1747342237.557 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-15T20:50:38.521Z,1747342238.521 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205041.00,A,3648.09739,N,12149.91126,W,0.641,209.01,150525,,,A*7E
2025-05-15T20:50:38.528Z,1747342238.528 [NAL9602](INFO): GPS fix at 20250515T205041: (36.801623, -121.831854)
2025-05-15T20:50:48.565Z,1747342248.565 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250515T153335/Courier0031.lzma
2025-05-15T20:50:49.568Z,1747342249.568 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0031.lzma.bak
2025-05-15T20:50:49.568Z,1747342249.568 [DataOverHttps](INFO): SBD MOMSN=24887300
2025-05-15T20:50:55.672Z,1747342255.672 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 20 minute
2025-05-15T20:50:55.673Z,1747342255.673 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.806966 degree
2025-05-15T20:50:55.674Z,1747342255.674 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.824326 degree
2025-05-15T20:50:55.675Z,1747342255.675 [CommandExec](IMPORTANT): got command set keepstation.Depth 15 meter
2025-05-15T20:50:55.675Z,1747342255.675 [CommandExec](IMPORTANT): got command set keepstation.Speed 1.1 meter_per_second
2025-05-15T20:50:58.404Z,1747342258.404 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 30 meter
2025-05-15T20:50:58.404Z,1747342258.404 [CommandExec](IMPORTANT): got command run
2025-05-15T20:50:58.407Z,1747342258.407 [CommandExec](IMPORTANT): Running 
2025-05-15T20:50:58.740Z,1747342258.740 [Default] Stopped
2025-05-15T20:50:58.740Z,1747342258.740 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-15T20:50:58.740Z,1747342258.740 [Default:B.GoToSurface] Stopped
2025-05-15T20:50:58.740Z,1747342258.740 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T20:50:58.740Z,1747342258.740 [Default:CheckIn] Stopped
2025-05-15T20:50:58.741Z,1747342258.741 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-15T20:50:58.741Z,1747342258.741 [Default:CheckIn:Read_Iridium] Stopped
2025-05-15T20:50:58.741Z,1747342258.741 [MissionManager](IMPORTANT): Started mission keepstation
2025-05-15T20:50:58.741Z,1747342258.741 [keepstation] Running Loop=1
2025-05-15T20:50:58.741Z,1747342258.741 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-05-15T20:50:58.741Z,1747342258.741 [keepstation:StandardEnvelopes] Running Loop=1
2025-05-15T20:50:58.741Z,1747342258.741 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-05-15T20:50:58.741Z,1747342258.741 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-15T20:50:58.741Z,1747342258.741 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-15T20:50:58.742Z,1747342258.742 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-15T20:50:58.742Z,1747342258.742 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-15T20:50:58.742Z,1747342258.742 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-15T20:50:58.742Z,1747342258.742 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-15T20:50:58.742Z,1747342258.742 [keepstation:BackseatDriver] Running Loop=1
2025-05-15T20:50:58.742Z,1747342258.742 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:PowerOnly] Running Loop=1
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:PowerOnly:A] Running Loop=1
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:PowerOnly:B] Running Loop=1
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:PowerOnly:C] Running Loop=1
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:PowerOnly:D] Running Loop=1
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:H.Pitch] Running Loop=1
2025-05-15T20:50:58.743Z,1747342258.743 [keepstation:H.Pitch](DEBUG): Initialize.
2025-05-15T20:50:58.744Z,1747342258.744 [keepstation:B] Running Loop=1
2025-05-15T20:50:58.744Z,1747342258.744 [keepstation:H.Pitch] Running Loop=1
2025-05-15T20:50:58.745Z,1747342258.745 [keepstation:PowerOnly] Running Loop=1
2025-05-15T20:50:58.745Z,1747342258.745 [keepstation:PowerOnly:D] Stopped
2025-05-15T20:50:58.745Z,1747342258.745 [keepstation:PowerOnly:C] Stopped
2025-05-15T20:50:58.745Z,1747342258.745 [keepstation:PowerOnly:B] Stopped
2025-05-15T20:50:58.745Z,1747342258.745 [keepstation:PowerOnly:A] Stopped
2025-05-15T20:50:58.745Z,1747342258.745 [keepstation:BackseatDriver] Running Loop=1
2025-05-15T20:50:58.745Z,1747342258.745 [keepstation:StandardEnvelopes] Running Loop=1
2025-05-15T20:50:58.745Z,1747342258.745 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-15T20:50:58.746Z,1747342258.746 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-15T20:50:58.746Z,1747342258.746 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-15T20:50:58.747Z,1747342258.747 [keepstation:B] Stopped
2025-05-15T20:50:58.747Z,1747342258.747 [keepstation:D] Running Loop=1
2025-05-15T20:50:59.109Z,1747342259.109 [keepstation:D] Stopped
2025-05-15T20:50:59.109Z,1747342259.109 [keepstation:E] Running Loop=1
2025-05-15T20:50:59.619Z,1747342259.619 [keepstation:E] Stopped
2025-05-15T20:50:59.619Z,1747342259.619 [keepstation:StartingMission] Running Loop=1
2025-05-15T20:50:59.619Z,1747342259.619 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-05-15T20:50:59.913Z,1747342259.913 [keepstation:SurfaceComms] Running Loop=1
2025-05-15T20:50:59.933Z,1747342259.933 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2025-05-15T20:50:59.933Z,1747342259.933 [keepstation:SurfaceComms:A] Running Loop=1
2025-05-15T20:50:59.934Z,1747342259.934 [keepstation:SurfaceComms:A] Stopped
2025-05-15T20:50:59.934Z,1747342259.934 [keepstation:SurfaceComms:B] Running Loop=1
2025-05-15T20:50:59.934Z,1747342259.934 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2025-05-15T20:51:00.322Z,1747342260.322 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-05-15T20:51:00.322Z,1747342260.322 [keepstation:NeedComms] Running Loop=1
2025-05-15T20:51:00.322Z,1747342260.322 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-05-15T20:51:00.322Z,1747342260.322 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T20:51:00.322Z,1747342260.322 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T20:51:00.323Z,1747342260.323 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T20:51:00.323Z,1747342260.323 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T20:51:00.324Z,1747342260.324 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T20:51:00.324Z,1747342260.324 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T20:51:00.324Z,1747342260.324 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T20:51:00.324Z,1747342260.324 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T20:51:00.325Z,1747342260.325 [keepstation:NeedComms:A] Running Loop=1
2025-05-15T20:51:00.326Z,1747342260.326 [keepstation:NeedComms:A](INFO): last time_fix was:  1747342241.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T20:51:00.326Z,1747342260.326 [keepstation:NeedComms:A] Stopped
2025-05-15T20:51:00.728Z,1747342260.728 [keepstation:NeedComms:C] Running Loop=1
2025-05-15T20:51:01.135Z,1747342261.135 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-15T20:51:02.733Z,1747342262.733 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205105.00,A,3648.09524,N,12149.91116,W,0.486,129.53,150525,,,A*7D
2025-05-15T20:51:02.745Z,1747342262.745 [NAL9602](INFO): GPS fix at 20250515T205105: (36.801587, -121.831853)
2025-05-15T20:51:02.757Z,1747342262.757 [keepstation:NeedComms:C] Stopped
2025-05-15T20:51:02.757Z,1747342262.757 [keepstation:NeedComms:D] Running Loop=1
2025-05-15T20:51:03.172Z,1747342263.172 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-15T20:51:16.597Z,1747342276.597 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250515T153335/Courier0034.lzma
2025-05-15T20:51:17.600Z,1747342277.600 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0034.lzma.bak
2025-05-15T20:51:17.600Z,1747342277.600 [DataOverHttps](INFO): SBD MOMSN=24887303
2025-05-15T20:51:33.433Z,1747342293.433 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250515T153335/Courier0037.lzma
2025-05-15T20:51:35.056Z,1747342295.056 [NAL9602](INFO): Powering down
2025-05-15T20:51:35.440Z,1747342295.440 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0037.lzma.bak
2025-05-15T20:51:35.440Z,1747342295.440 [DataOverHttps](INFO): SBD MOMSN=24887306
2025-05-15T20:51:58.195Z,1747342318.195 [DataOverHttps](INFO): Sending 502 bytes from file Logs/20250515T153335/Express0032.lzma
2025-05-15T20:52:19.288Z,1747342339.288 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0032.lzma.bak
2025-05-15T20:52:19.288Z,1747342339.288 [DataOverHttps](INFO): SBD MOMSN=24887316
2025-05-15T20:52:35.282Z,1747342355.282 [DataOverHttps](INFO): Sending 81 bytes from file Logs/20250515T153335/Express0035.lzma
2025-05-15T20:52:36.284Z,1747342356.284 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0035.lzma.bak
2025-05-15T20:52:36.284Z,1747342356.284 [DataOverHttps](INFO): SBD MOMSN=24887331
2025-05-15T20:52:52.590Z,1747342372.590 [DataOverHttps](INFO): Sending 298 bytes from file Logs/20250515T153335/Express0038.lzma
2025-05-15T20:52:53.592Z,1747342373.592 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0038.lzma.bak
2025-05-15T20:52:53.592Z,1747342373.592 [DataOverHttps](INFO): SBD MOMSN=24887333
2025-05-15T20:52:54.706Z,1747342374.706 [keepstation:NeedComms:D] Stopped
2025-05-15T20:52:54.707Z,1747342374.707 [keepstation:NeedComms:E] Running Loop=1
2025-05-15T20:52:55.103Z,1747342375.103 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-15T20:52:55.491Z,1747342375.491 [NAL9602](INFO): Powering up
2025-05-15T20:53:06.407Z,1747342386.407 [NAL9602](INFO): NAL9602 initialized
2025-05-15T20:55:08.816Z,1747342508.816 [NAL9602](INFO): SBD MO Status=0, MOMSN=19683, MT Status=0, MTMSN=0
2025-05-15T20:55:08.816Z,1747342508.816 [NAL9602](INFO): No messages in MT queue
2025-05-15T20:55:10.033Z,1747342510.033 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205511.00,A,3648.08364,N,12149.92034,W,1.225,258.09,150525,,,A*79
2025-05-15T20:55:10.036Z,1747342510.036 [NAL9602](INFO): GPS fix at 20250515T205511: (36.801394, -121.832006)
2025-05-15T20:55:10.047Z,1747342510.047 [keepstation:NeedComms:E] Stopped
2025-05-15T20:55:10.049Z,1747342510.049 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-05-15T20:55:10.049Z,1747342510.049 [keepstation:NeedComms] Stopped
2025-05-15T20:55:10.049Z,1747342510.049 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-05-15T20:55:10.049Z,1747342510.049 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-05-15T20:55:10.049Z,1747342510.049 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T20:55:10.458Z,1747342510.458 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2025-05-15T20:55:10.459Z,1747342510.459 [keepstation:SurfaceComms:B] Stopped
2025-05-15T20:55:10.459Z,1747342510.459 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2025-05-15T20:55:10.459Z,1747342510.459 [keepstation:SurfaceComms:setTransit] Running Loop=1
2025-05-15T20:55:10.459Z,1747342510.459 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2025-05-15T20:55:10.459Z,1747342510.459 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2025-05-15T20:55:10.852Z,1747342510.852 [keepstation:SurfaceComms:setTransit:A] Stopped
2025-05-15T20:55:10.852Z,1747342510.852 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit
2025-05-15T20:55:10.852Z,1747342510.852 [keepstation:SurfaceComms:setTransit] Stopped
2025-05-15T20:55:10.852Z,1747342510.852 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2025-05-15T20:55:10.852Z,1747342510.852 [keepstation:SurfaceComms:setStation] Running Loop=1
2025-05-15T20:55:10.853Z,1747342510.853 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2025-05-15T20:55:10.853Z,1747342510.853 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2025-05-15T20:55:11.273Z,1747342511.273 [keepstation:SurfaceComms:setStation] Stopped
2025-05-15T20:55:11.273Z,1747342511.273 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2025-05-15T20:55:11.273Z,1747342511.273 [keepstation:SurfaceComms:setStation:A] Stopped
2025-05-15T20:55:11.273Z,1747342511.273 [keepstation:SurfaceComms:setSink] Running Loop=1
2025-05-15T20:55:11.274Z,1747342511.274 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2025-05-15T20:55:11.278Z,1747342511.278 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2025-05-15T20:55:11.653Z,1747342511.653 [keepstation:SurfaceComms:setSink] Stopped
2025-05-15T20:55:11.653Z,1747342511.653 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2025-05-15T20:55:11.653Z,1747342511.653 [keepstation:SurfaceComms:setSink:A] Stopped
2025-05-15T20:55:11.653Z,1747342511.653 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2025-05-15T20:55:11.654Z,1747342511.654 [keepstation:SurfaceComms] Stopped
2025-05-15T20:55:11.654Z,1747342511.654 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2025-05-15T20:55:12.061Z,1747342512.061 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-05-15T20:55:12.061Z,1747342512.061 [keepstation:StartingMission] Stopped
2025-05-15T20:55:12.061Z,1747342512.061 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-05-15T20:55:12.061Z,1747342512.061 [keepstation:TransitToStation] Running Loop=1
2025-05-15T20:55:12.062Z,1747342512.062 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-05-15T20:55:12.062Z,1747342512.062 [keepstation:TransitToStation:Dive] Running Loop=1
2025-05-15T20:55:12.062Z,1747342512.062 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2025-05-15T20:55:12.062Z,1747342512.062 [keepstation:TransitToStation:Dive:A] Running Loop=1
2025-05-15T20:55:12.062Z,1747342512.062 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2025-05-15T20:55:12.062Z,1747342512.062 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-05-15T20:55:12.062Z,1747342512.062 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-15T20:55:12.063Z,1747342512.063 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-05-15T20:55:12.476Z,1747342512.476 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-05-15T20:55:12.477Z,1747342512.477 [keepstation:TransitToStation:Dive] Running Loop=1
2025-05-15T20:55:12.477Z,1747342512.477 [keepstation:DiveCmd] Running Loop=1
2025-05-15T20:55:12.477Z,1747342512.477 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2025-05-15T20:55:12.477Z,1747342512.477 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2025-05-15T20:55:12.477Z,1747342512.477 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2025-05-15T20:55:12.477Z,1747342512.477 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-05-15T20:55:12.478Z,1747342512.478 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2025-05-15T20:55:12.478Z,1747342512.478 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-15T20:55:12.478Z,1747342512.478 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-15T20:55:12.478Z,1747342512.478 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-05-15T20:55:12.478Z,1747342512.478 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-05-15T20:55:12.478Z,1747342512.478 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-05-15T20:55:12.478Z,1747342512.478 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2025-05-15T20:55:12.478Z,1747342512.478 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2025-05-15T20:55:12.479Z,1747342512.479 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-05-15T20:55:12.480Z,1747342512.480 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2025-05-15T20:55:12.480Z,1747342512.480 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-05-15T20:55:12.480Z,1747342512.480 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-05-15T20:55:12.480Z,1747342512.480 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2025-05-15T20:55:12.480Z,1747342512.480 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-05-15T20:55:12.480Z,1747342512.480 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-05-15T20:55:12.481Z,1747342512.481 [keepstation:DiveCmd:StationKeep] Stopped
2025-05-15T20:55:12.481Z,1747342512.481 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2025-05-15T20:55:12.481Z,1747342512.481 [keepstation:DiveCmd:StationKeep:A] Stopped
2025-05-15T20:55:12.481Z,1747342512.481 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2025-05-15T20:55:12.481Z,1747342512.481 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2025-05-15T20:55:12.481Z,1747342512.481 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-05-15T20:55:12.481Z,1747342512.481 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2025-05-15T20:55:12.481Z,1747342512.481 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2025-05-15T20:55:12.482Z,1747342512.482 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2025-05-15T20:55:12.482Z,1747342512.482 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2025-05-15T20:55:12.482Z,1747342512.482 [keepstation:DiveCmd:SurfaceSink] Stopped
2025-05-15T20:55:12.483Z,1747342512.483 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2025-05-15T20:55:12.483Z,1747342512.483 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2025-05-15T20:55:12.483Z,1747342512.483 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2025-05-15T20:55:12.483Z,1747342512.483 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-05-15T20:55:12.483Z,1747342512.483 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-15T20:55:12.483Z,1747342512.483 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-05-15T20:55:12.483Z,1747342512.483 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-05-15T20:55:12.483Z,1747342512.483 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2025-05-15T20:55:16.766Z,1747342516.766 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T20:55:16.851Z,1747342516.851 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T20:55:16.852Z,1747342516.852 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T20:55:16.852Z,1747342516.852 [ThrusterHE] Communications Fault, FailCount= 2
2025-05-15T20:55:16.852Z,1747342516.852 [ThrusterHE](ERROR): Communications Fault
2025-05-15T20:55:16.859Z,1747342516.859 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T20:55:17.011Z,1747342517.011 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T20:55:17.011Z,1747342517.011 [ThrusterHE](INFO): Powering down
2025-05-15T20:55:17.791Z,1747342517.791 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T20:55:17.911Z,1747342517.911 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T20:55:17.915Z,1747342517.915 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T20:55:17.915Z,1747342517.915 [ThrusterHE] No Fault, FailCount= 2
2025-05-15T20:55:42.748Z,1747342542.748 [NAL9602](INFO): Powering down
2025-05-15T20:55:52.047Z,1747342552.047 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.10 m/s, pitch 20.00 deg, mass-position 24.64 mm (3 active estimators).
2025-05-15T20:56:23.362Z,1747342583.362 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:56:25.370Z,1747342585.370 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255302
2025-05-15T20:56:58.509Z,1747342618.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:57:14.186Z,1747342634.186 [Radio_Surface](INFO): Powering down
2025-05-15T20:57:33.659Z,1747342653.659 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T20:57:34.662Z,1747342654.662 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T21:10:27.252Z,1747343427.252 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.806965,-121.824326
2025-05-15T21:10:27.252Z,1747343427.252 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-05-15T21:10:27.252Z,1747343427.252 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-15T21:10:27.252Z,1747343427.252 [keepstation:TransitToStation:C] Running Loop=1
2025-05-15T21:10:27.645Z,1747343427.645 [keepstation:TransitToStation:C] Stopped
2025-05-15T21:10:27.645Z,1747343427.645 [keepstation:TransitToStation:D] Running Loop=1
2025-05-15T21:10:27.646Z,1747343427.646 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-05-15T21:10:27.646Z,1747343427.646 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2025-05-15T21:10:27.646Z,1747343427.646 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-05-15T21:10:27.646Z,1747343427.646 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-05-15T21:10:27.646Z,1747343427.646 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2025-05-15T21:10:27.647Z,1747343427.647 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-05-15T21:10:27.647Z,1747343427.647 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-05-15T21:10:27.647Z,1747343427.647 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-05-15T21:10:27.647Z,1747343427.647 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-05-15T21:10:27.648Z,1747343427.648 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-05-15T21:10:27.648Z,1747343427.648 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-05-15T21:10:27.648Z,1747343427.648 [keepstation:DiveCmd:TransitToStation] Stopped
2025-05-15T21:10:27.649Z,1747343427.649 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2025-05-15T21:10:27.649Z,1747343427.649 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2025-05-15T21:10:27.649Z,1747343427.649 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2025-05-15T21:10:27.649Z,1747343427.649 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2025-05-15T21:10:27.649Z,1747343427.649 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-15T21:10:27.649Z,1747343427.649 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2025-05-15T21:10:27.649Z,1747343427.649 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2025-05-15T21:10:27.649Z,1747343427.649 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-05-15T21:10:28.043Z,1747343428.043 [keepstation:TransitToStation:D] Stopped
2025-05-15T21:10:28.043Z,1747343428.043 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-05-15T21:10:28.043Z,1747343428.043 [keepstation:TransitToStation] Stopped
2025-05-15T21:10:28.043Z,1747343428.043 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-05-15T21:10:28.043Z,1747343428.043 [keepstation:TransitToStation:Dive] Stopped
2025-05-15T21:10:28.043Z,1747343428.043 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2025-05-15T21:10:28.044Z,1747343428.044 [keepstation:TransitToStation:Dive:A] Stopped
2025-05-15T21:10:28.044Z,1747343428.044 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2025-05-15T21:10:28.044Z,1747343428.044 [keepstation:OnStation] Running Loop=1
2025-05-15T21:10:28.044Z,1747343428.044 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-05-15T21:10:28.456Z,1747343428.456 [keepstation:NeedComms] Running Loop=1
2025-05-15T21:10:28.456Z,1747343428.456 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-05-15T21:10:28.456Z,1747343428.456 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T21:10:28.457Z,1747343428.457 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T21:10:28.457Z,1747343428.457 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T21:10:28.457Z,1747343428.457 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T21:10:28.458Z,1747343428.458 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T21:10:28.458Z,1747343428.458 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T21:10:28.458Z,1747343428.458 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T21:10:28.459Z,1747343428.459 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T21:10:28.459Z,1747343428.459 [keepstation:NeedComms:A] Running Loop=1
2025-05-15T21:10:28.460Z,1747343428.460 [keepstation:NeedComms:A](INFO): last time_fix was:  1747342511.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T21:10:28.460Z,1747343428.460 [keepstation:NeedComms:A] Stopped
2025-05-15T21:11:31.225Z,1747343491.225 [keepstation:NeedComms:C] Running Loop=1
2025-05-15T21:11:31.962Z,1747343491.962 [Radio_Surface](INFO): Powering up
2025-05-15T21:11:32.020Z,1747343492.020 [NAL9602](INFO): Powering up
2025-05-15T21:11:38.122Z,1747343498.122 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T21:11:42.931Z,1747343502.931 [NAL9602](INFO): NAL9602 initialized
2025-05-15T21:12:08.250Z,1747343528.250 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:12:43.406Z,1747343563.406 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:13:18.546Z,1747343598.546 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:13:53.694Z,1747343633.694 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:13:55.847Z,1747343635.847 [NAL9602](INFO): SBD MO Status=2, MOMSN=19684, MT Status=2, MTMSN=0
2025-05-15T21:13:55.847Z,1747343635.847 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T21:14:07.978Z,1747343647.978 [NAL9602](INFO): SBD MO Status=0, MOMSN=19684, MT Status=0, MTMSN=0
2025-05-15T21:14:07.978Z,1747343647.978 [NAL9602](INFO): No messages in MT queue
2025-05-15T21:14:28.842Z,1747343668.842 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:15:02.715Z,1747343702.715 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004047
2025-05-15T21:15:03.317Z,1747343703.317 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211506.00,A,3648.33536,N,12149.59061,W,0.816,1.87,150525,,,A*77
2025-05-15T21:15:03.319Z,1747343703.319 [NAL9602](INFO): GPS fix at 20250515T211506: (36.805589, -121.826510)
2025-05-15T21:15:03.331Z,1747343703.331 [UniversalFixResidualReporter](INFO): Fix residual: 29.1 %DT, over the last 1035.9 m. Residual distance 301.7 m at bearing 49.6 degrees. Fix at (36.8056, -121.8265) with 676.0 m made good.
2025-05-15T21:15:03.333Z,1747343703.333 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2025-05-15T21:15:03.336Z,1747343703.336 [keepstation:NeedComms:C] Stopped
2025-05-15T21:15:03.336Z,1747343703.336 [keepstation:NeedComms:D] Running Loop=1
2025-05-15T21:15:11.317Z,1747343711.317 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250515T153335/Courier0040.lzma
2025-05-15T21:15:12.321Z,1747343712.321 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0040.lzma.bak
2025-05-15T21:15:12.321Z,1747343712.321 [DataOverHttps](INFO): SBD MOMSN=24887608
2025-05-15T21:15:28.475Z,1747343728.475 [DataOverHttps](INFO): Sending 390 bytes from file Logs/20250515T153335/Express0041.lzma
2025-05-15T21:15:29.476Z,1747343729.476 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Express0041.lzma.bak
2025-05-15T21:15:29.476Z,1747343729.476 [DataOverHttps](INFO): SBD MOMSN=24887611
2025-05-15T21:15:30.801Z,1747343730.801 [keepstation:NeedComms:D] Stopped
2025-05-15T21:15:30.801Z,1747343730.801 [keepstation:NeedComms:E] Running Loop=1
2025-05-15T21:15:32.809Z,1747343732.809 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211535.00,A,3648.33443,N,12149.59112,W,0.369,54.74,150525,,,A*4E
2025-05-15T21:15:32.812Z,1747343732.812 [NAL9602](INFO): GPS fix at 20250515T211535: (36.805574, -121.826519)
2025-05-15T21:15:32.866Z,1747343732.866 [keepstation:NeedComms:E] Stopped
2025-05-15T21:15:32.874Z,1747343732.874 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-05-15T21:15:32.874Z,1747343732.874 [keepstation:NeedComms] Stopped
2025-05-15T21:15:32.875Z,1747343732.875 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-05-15T21:15:32.875Z,1747343732.875 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-05-15T21:15:32.875Z,1747343732.875 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:OnStation] Stopped
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:KeepStation] Running Loop=1
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:KeepStation:Dive] Running Loop=1
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:KeepStation:Dive:A] Running Loop=1
2025-05-15T21:15:33.251Z,1747343733.251 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2025-05-15T21:15:33.252Z,1747343733.252 [keepstation:KeepStation:B.Wait] Running Loop=1
2025-05-15T21:15:33.252Z,1747343733.252 [keepstation:KeepStation:B.Wait](DEBUG): Initialize Wait Component.
2025-05-15T21:15:33.650Z,1747343733.650 [keepstation:KeepStation:Dive] Running Loop=1
2025-05-15T21:15:37.618Z,1747343737.618 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T21:15:37.706Z,1747343737.706 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T21:15:37.706Z,1747343737.706 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T21:15:37.706Z,1747343737.706 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-15T21:15:37.706Z,1747343737.706 [ThrusterHE](ERROR): Communications Fault
2025-05-15T21:15:37.711Z,1747343737.711 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T21:15:37.983Z,1747343737.983 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T21:15:37.983Z,1747343737.983 [ThrusterHE](INFO): Powering down
2025-05-15T21:15:38.608Z,1747343738.608 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T21:15:38.727Z,1747343738.727 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T21:15:38.731Z,1747343738.731 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T21:15:38.731Z,1747343738.731 [ThrusterHE] No Fault, FailCount= 1
2025-05-15T21:15:44.334Z,1747343744.334 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-05-15T21:15:46.202Z,1747343746.202 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-15T21:15:46.298Z,1747343746.298 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-15T21:15:46.298Z,1747343746.298 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-15T21:15:46.298Z,1747343746.298 [ThrusterHE] Communications Fault, FailCount= 2
2025-05-15T21:15:46.298Z,1747343746.298 [ThrusterHE](ERROR): Communications Fault
2025-05-15T21:15:46.303Z,1747343746.303 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-15T21:15:46.636Z,1747343746.636 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-15T21:15:46.636Z,1747343746.636 [ThrusterHE](INFO): Powering down
2025-05-15T21:15:47.470Z,1747343747.470 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-15T21:15:47.591Z,1747343747.591 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-15T21:15:47.595Z,1747343747.595 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-15T21:15:47.595Z,1747343747.595 [ThrusterHE] No Fault, FailCount= 2
2025-05-15T21:16:04.620Z,1747343764.620 [NAL9602](INFO): Powering down
2025-05-15T21:16:38.538Z,1747343798.538 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.238003
2025-05-15T21:17:10.982Z,1747343830.982 [Radio_Surface](INFO): Powering down
2025-05-15T21:17:11.670Z,1747343831.670 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:17:12.674Z,1747343832.674 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-15T21:18:34.466Z,1747343914.466 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2025-05-15T21:18:34.469Z,1747343914.469 [BPC1](INFO): Received data from all battery sticks.
2025-05-15T21:22:04.956Z,1747344124.956 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2025-05-15T21:33:48.071Z,1747344828.071 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-05-15T21:33:52.402Z,1747344832.402 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006175
CHAN A1 (24V): 0.000109
CHAN A2 (12V): -0.005246
CHAN A3 (5V): -0.003037
CHAN B0 (3.3V): -0.000873
CHAN B1 (3.15aV): -0.001317
CHAN B2 (3.15bV): -0.000972
CHAN B3 (GND): -0.001127
OPEN: 0.004800
Full Scale: +/- 1 mA
2025-05-15T21:35:32.959Z,1747344932.959 [keepstation:SurfaceComms] Running Loop=1
2025-05-15T21:35:32.959Z,1747344932.959 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2025-05-15T21:35:32.959Z,1747344932.959 [keepstation:SurfaceComms:A] Running Loop=1
2025-05-15T21:35:32.960Z,1747344932.960 [keepstation:SurfaceComms:A] Stopped
2025-05-15T21:35:32.960Z,1747344932.960 [keepstation:SurfaceComms:B] Running Loop=1
2025-05-15T21:35:32.960Z,1747344932.960 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2025-05-15T21:35:33.360Z,1747344933.360 [keepstation:KeepStation:Dive] Stopped
2025-05-15T21:35:33.360Z,1747344933.360 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2025-05-15T21:35:33.360Z,1747344933.360 [keepstation:KeepStation:Dive:A] Stopped
2025-05-15T21:35:33.360Z,1747344933.360 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2025-05-15T21:35:33.361Z,1747344933.361 [keepstation:DiveCmd:StationKeep] Stopped
2025-05-15T21:35:33.361Z,1747344933.361 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2025-05-15T21:35:33.361Z,1747344933.361 [keepstation:DiveCmd:StationKeep:A] Stopped
2025-05-15T21:35:33.361Z,1747344933.361 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2025-05-15T21:35:33.361Z,1747344933.361 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2025-05-15T21:35:33.361Z,1747344933.361 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-05-15T21:35:33.363Z,1747344933.363 [keepstation:NeedComms] Running Loop=1
2025-05-15T21:35:33.363Z,1747344933.363 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-05-15T21:35:33.363Z,1747344933.363 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-05-15T21:35:33.363Z,1747344933.363 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T21:35:33.363Z,1747344933.363 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-15T21:35:33.364Z,1747344933.364 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-15T21:35:33.364Z,1747344933.364 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-15T21:35:33.364Z,1747344933.364 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-15T21:35:33.365Z,1747344933.365 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T21:35:33.365Z,1747344933.365 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T21:35:33.365Z,1747344933.365 [keepstation:NeedComms:A] Running Loop=1
2025-05-15T21:35:33.367Z,1747344933.367 [keepstation:NeedComms:A](INFO): last time_fix was:  1747343735.000000 second since 1970/01/01T00:00:00Z 
2025-05-15T21:35:33.367Z,1747344933.367 [keepstation:NeedComms:A] Stopped
2025-05-15T21:37:03.136Z,1747345023.136 [keepstation:NeedComms:C] Running Loop=1
2025-05-15T21:37:03.594Z,1747345023.594 [Radio_Surface](INFO): Powering up
2025-05-15T21:37:03.928Z,1747345023.928 [NAL9602](INFO): Powering up
2025-05-15T21:37:09.582Z,1747345029.582 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-15T21:37:14.846Z,1747345034.846 [NAL9602](INFO): NAL9602 initialized
2025-05-15T21:37:39.702Z,1747345059.702 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:37:45.541Z,1747345065.541 [NAL9602](INFO): SBD MO Status=2, MOMSN=19685, MT Status=2, MTMSN=0
2025-05-15T21:37:45.541Z,1747345065.541 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T21:38:02.110Z,1747345082.110 [NAL9602](INFO): SBD MO Status=2, MOMSN=19685, MT Status=2, MTMSN=0
2025-05-15T21:38:02.110Z,1747345082.110 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T21:38:14.854Z,1747345094.854 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:38:20.293Z,1747345100.293 [NAL9602](INFO): SBD MO Status=2, MOMSN=19685, MT Status=2, MTMSN=0
2025-05-15T21:38:20.293Z,1747345100.293 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T21:38:36.853Z,1747345116.853 [NAL9602](INFO): SBD MO Status=2, MOMSN=19685, MT Status=2, MTMSN=0
2025-05-15T21:38:36.853Z,1747345116.853 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-15T21:38:50.002Z,1747345130.002 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:39:25.142Z,1747345165.142 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:40:00.283Z,1747345200.283 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-15T21:40:33.859Z,1747345233.859 [DataOverHttps](IMPORTANT): SBD MTMSN=20250515T214036
2025-05-15T21:40:33.863Z,1747345233.863 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003797
2025-05-15T21:40:41.334Z,1747345241.334 [DataOverHttps](INFO): Received command: stop
2025-05-15T21:40:41.411Z,1747345241.411 [CommandExec](IMPORTANT): got command stop
2025-05-15T21:40:41.411Z,1747345241.411 [CommandExec](IMPORTANT): Scheduling is paused
2025-05-15T21:40:41.411Z,1747345241.411 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-05-15T21:40:41.735Z,1747345241.735 [MissionManager](INFO): MissionManager is completed.
2025-05-15T21:40:41.735Z,1747345241.735 [MissionManager](INFO): Uninitializing Mission keepstation
2025-05-15T21:40:41.735Z,1747345241.735 [keepstation] Stopped
2025-05-15T21:40:41.735Z,1747345241.735 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-05-15T21:40:41.735Z,1747345241.735 [keepstation:NeedComms] Stopped
2025-05-15T21:40:41.735Z,1747345241.735 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-05-15T21:40:41.735Z,1747345241.735 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-05-15T21:40:41.735Z,1747345241.735 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-15T21:40:41.735Z,1747345241.735 [keepstation:NeedComms:C] Stopped
2025-05-15T21:40:41.735Z,1747345241.735 [keepstation:StandardEnvelopes] Stopped
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:BackseatDriver] Stopped
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:PowerOnly] Stopped
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:PowerOnly:E.Wait] Stopped
2025-05-15T21:40:41.736Z,1747345241.736 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:H.Pitch] Stopped
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:SurfaceComms] Stopped
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:SurfaceComms:B] Stopped
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:DiveCmd] Stopped
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:KeepStation] Stopped
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:KeepStation:B.Wait] Stopped
2025-05-15T21:40:41.737Z,1747345241.737 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T21:40:42.113Z,1747345242.113 [MissionManager](IMPORTANT): Started mission Default
2025-05-15T21:40:42.113Z,1747345242.113 [Default] Running Loop=1
2025-05-15T21:40:42.113Z,1747345242.113 [Default](DEBUG): Aggregate::initialize Default
2025-05-15T21:40:42.114Z,1747345242.114 [Default:B.GoToSurface] Running Loop=1
2025-05-15T21:40:42.118Z,1747345242.118 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-15T21:40:42.118Z,1747345242.118 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-15T21:40:42.118Z,1747345242.118 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-15T21:40:42.119Z,1747345242.119 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-15T21:40:42.119Z,1747345242.119 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-15T21:40:42.119Z,1747345242.119 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-15T21:40:42.120Z,1747345242.120 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-15T21:40:42.120Z,1747345242.120 [Default:A.Wait] Running Loop=1
2025-05-15T21:40:42.120Z,1747345242.120 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-15T21:40:55.438Z,1747345255.438 [Default:A.Wait](INFO): Done Waiting.
2025-05-15T21:40:55.438Z,1747345255.438 [Default:A.Wait] Stopped
2025-05-15T21:40:55.438Z,1747345255.438 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-15T21:40:55.835Z,1747345255.835 [Default:CheckIn] Running Loop=1
2025-05-15T21:40:55.835Z,1747345255.835 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-15T21:40:55.835Z,1747345255.835 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-15T21:42:17.839Z,1747345337.839 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-05-15T21:45:56.013Z,1747345556.013 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-05-15T21:40:55.8Z
2025-05-15T21:45:56.013Z,1747345556.013 [Default:CheckIn:Read_GPS] Stopped
2025-05-15T21:45:56.014Z,1747345556.014 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-15T21:46:05.845Z,1747345565.845 [DataOverHttps](INFO): Sending 86 bytes from file Logs/20250515T153335/Courier0043.lzma
2025-05-15T21:46:06.848Z,1747345566.848 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0043.lzma.bak
2025-05-15T21:46:06.848Z,1747345566.848 [DataOverHttps](INFO): SBD MOMSN=24887892
2025-05-15T21:46:23.713Z,1747345583.713 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250515T153335/Courier0046.lzma
2025-05-15T21:46:24.717Z,1747345584.717 [DataOverHttps](INFO): Moved sent file to Logs/20250515T153335/Courier0046.lzma.bak
2025-05-15T21:46:24.717Z,1747345584.717 [DataOverHttps](INFO): SBD MOMSN=24887935
2025-05-15T21:46:27.919Z,1747345587.919 [NAL9602](INFO): Powering down
2025-05-15T21:46:44.119Z,1747345604.119 [DataOverHttps](IMPORTANT): SBD MTMSN=20250515T214647
2025-05-15T21:46:51.635Z,1747345611.635 [DataOverHttps](INFO): Sending 688 bytes from file Logs/20250515T153335/Express0044.lzma
2025-05-15T21:46:51.639Z,1747345611.639 [DataOverHttps](INFO): Received command: restart logs