2023-06-25T02:32:13.854Z,1687660333.854 [Supervisor](DEBUG): Initializing supervisor.
2023-06-25T02:32:13.858Z,1687660333.858 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-06-25T02:32:13.859Z,1687660333.859 [SyncHandler](INFO): Protected caller Thread ID is 829
2023-06-25T02:32:13.859Z,1687660333.859 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-06-25T02:32:13.860Z,1687660333.860 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-06-25T02:32:13.861Z,1687660333.861 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 830
2023-06-25T02:32:13.865Z,1687660333.865 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-06-25T02:32:13.882Z,1687660333.882 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-06-25T02:32:13.884Z,1687660333.884 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-06-25T02:32:13.884Z,1687660333.884 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 831
2023-06-25T02:32:13.888Z,1687660333.888 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-06-25T02:32:13.889Z,1687660333.889 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-06-25T02:32:13.889Z,1687660333.889 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 832
2023-06-25T02:32:13.892Z,1687660333.892 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-06-25T02:32:13.892Z,1687660333.892 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-06-25T02:32:13.893Z,1687660333.893 [logger ThreadHandler](INFO): Protected caller Thread ID is 833
2023-06-25T02:32:13.896Z,1687660333.896 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-06-25T02:32:13.897Z,1687660333.897 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-06-25T02:32:13.902Z,1687660333.902 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-06-25T02:32:14.001Z,1687660334.001 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-06-25T02:32:14.003Z,1687660334.003 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-06-25T02:32:14.229Z,1687660334.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-06-25T02:32:14.230Z,1687660334.230 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-06-25T02:32:14.491Z,1687660334.491 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-06-25T02:32:14.493Z,1687660334.493 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-06-25T02:32:14.601Z,1687660334.601 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-06-25T02:32:14.603Z,1687660334.603 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-06-25T02:32:15.341Z,1687660335.341 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-06-25T02:32:15.342Z,1687660335.342 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-06-25T02:32:15.834Z,1687660335.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-06-25T02:32:15.834Z,1687660335.834 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-06-25T02:32:16.333Z,1687660336.333 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-06-25T02:32:16.333Z,1687660336.333 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-06-25T02:32:16.759Z,1687660336.759 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-06-25T02:32:16.760Z,1687660336.760 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-06-25T02:32:17.275Z,1687660337.275 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-06-25T02:32:17.674Z,1687660337.674 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-06-25T02:32:18.103Z,1687660338.103 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-06-25T02:32:18.104Z,1687660338.104 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-06-25T02:32:18.329Z,1687660338.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-06-25T02:32:18.330Z,1687660338.330 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-06-25T02:32:18.472Z,1687660338.472 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-06-25T02:32:18.472Z,1687660338.472 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-06-25T02:32:18.554Z,1687660338.554 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-06-25T02:32:18.663Z,1687660338.663 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-06-25T02:32:18.852Z,1687660338.852 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-06-25T02:32:18.854Z,1687660338.854 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-06-25T02:32:19.082Z,1687660339.082 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-06-25T02:32:19.084Z,1687660339.084 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2023-06-25T02:32:19.088Z,1687660339.088 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2023-06-25T02:32:19.172Z,1687660339.172 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2023-06-25T02:32:19.438Z,1687660339.438 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-06-25T02:32:19.439Z,1687660339.439 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2023-06-25T02:32:19.539Z,1687660339.539 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2023-06-25T02:32:19.700Z,1687660339.700 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2023-06-25T02:32:19.802Z,1687660339.802 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2023-06-25T02:32:19.887Z,1687660339.887 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2023-06-25T02:32:19.998Z,1687660339.998 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2023-06-25T02:32:20.104Z,1687660340.104 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2023-06-25T02:32:20.265Z,1687660340.265 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2023-06-25T02:32:20.361Z,1687660340.361 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2023-06-25T02:32:20.464Z,1687660340.464 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2023-06-25T02:32:20.484Z,1687660340.484 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-06-25T02:32:20.680Z,1687660340.680 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-06-25T02:32:20.681Z,1687660340.681 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-06-25T02:32:20.877Z,1687660340.877 [BuoyancyServo] Loaded
2023-06-25T02:32:20.878Z,1687660340.878 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-06-25T02:32:20.899Z,1687660340.899 [ElevatorServo] Loaded
2023-06-25T02:32:20.899Z,1687660340.899 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-06-25T02:32:20.920Z,1687660340.920 [MassServo] Loaded
2023-06-25T02:32:20.920Z,1687660340.920 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-06-25T02:32:20.941Z,1687660340.941 [RudderServo] Loaded
2023-06-25T02:32:20.941Z,1687660340.941 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-06-25T02:32:20.957Z,1687660340.957 [ThrusterHE] Loaded
2023-06-25T02:32:20.958Z,1687660340.958 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-06-25T02:32:20.958Z,1687660340.958 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-06-25T02:32:20.960Z,1687660340.960 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-06-25T02:32:21.140Z,1687660341.140 [SBIT](DEBUG): Construct Startup Built In Test.
2023-06-25T02:32:21.156Z,1687660341.156 [SBIT] Loaded
2023-06-25T02:32:21.156Z,1687660341.156 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-06-25T02:32:21.159Z,1687660341.159 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-06-25T02:32:21.180Z,1687660341.180 [IBIT] Loaded
2023-06-25T02:32:21.180Z,1687660341.180 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-06-25T02:32:21.186Z,1687660341.186 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-06-25T02:32:21.410Z,1687660341.410 [CBIT] Loaded
2023-06-25T02:32:21.410Z,1687660341.410 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-06-25T02:32:21.410Z,1687660341.410 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-06-25T02:32:21.412Z,1687660341.412 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-06-25T02:32:21.630Z,1687660341.630 [CTD_Seabird] Loaded
2023-06-25T02:32:21.630Z,1687660341.630 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2023-06-25T02:32:21.631Z,1687660341.631 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406644E0
2023-06-25T02:32:21.632Z,1687660341.632 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 915
2023-06-25T02:32:21.664Z,1687660341.664 [ESPComponent] Loaded
2023-06-25T02:32:21.665Z,1687660341.665 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2023-06-25T02:32:21.685Z,1687660341.685 [PAR_Licor] Loaded
2023-06-25T02:32:21.685Z,1687660341.685 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-06-25T02:32:21.716Z,1687660341.716 [WetLabsBB2FL] Loaded
2023-06-25T02:32:21.717Z,1687660341.717 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2023-06-25T02:32:21.718Z,1687660341.718 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406944E0
2023-06-25T02:32:21.718Z,1687660341.718 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 916
2023-06-25T02:32:21.719Z,1687660341.719 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-06-25T02:32:21.721Z,1687660341.721 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-06-25T02:32:21.793Z,1687660341.793 [DepthRateCalculator] Loaded
2023-06-25T02:32:21.793Z,1687660341.793 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-06-25T02:32:21.799Z,1687660341.799 [PitchRateCalculator] Loaded
2023-06-25T02:32:21.799Z,1687660341.799 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-06-25T02:32:21.809Z,1687660341.809 [SpeedCalculator] Loaded
2023-06-25T02:32:21.810Z,1687660341.810 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-06-25T02:32:21.815Z,1687660341.815 [YawRateCalculator] Loaded
2023-06-25T02:32:21.815Z,1687660341.815 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-06-25T02:32:21.834Z,1687660341.834 [ElevatorOffsetCalculator] Loaded
2023-06-25T02:32:21.835Z,1687660341.835 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-06-25T02:32:21.835Z,1687660341.835 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-06-25T02:32:21.836Z,1687660341.836 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-06-25T02:32:21.965Z,1687660341.965 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-06-25T02:32:21.966Z,1687660341.966 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-06-25T02:32:22.011Z,1687660342.011 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-06-25T02:32:22.012Z,1687660342.012 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-06-25T02:32:22.153Z,1687660342.153 [DeadReckonUsingMultipleVelocitySources] Loaded
2023-06-25T02:32:22.153Z,1687660342.153 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2023-06-25T02:32:22.167Z,1687660342.167 [NavChart] Loaded
2023-06-25T02:32:22.168Z,1687660342.168 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-06-25T02:32:22.173Z,1687660342.173 [UniversalFixResidualReporter] Loaded
2023-06-25T02:32:22.174Z,1687660342.174 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-06-25T02:32:22.174Z,1687660342.174 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-06-25T02:32:22.175Z,1687660342.175 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-06-25T02:32:22.997Z,1687660342.997 [AHRS_M2] Loaded
2023-06-25T02:32:22.998Z,1687660342.998 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2023-06-25T02:32:23.246Z,1687660343.246 [BackseatComponent] Loaded
2023-06-25T02:32:23.246Z,1687660343.246 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2023-06-25T02:32:23.248Z,1687660343.248 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A294E0
2023-06-25T02:32:23.248Z,1687660343.248 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 917
2023-06-25T02:32:23.251Z,1687660343.251 [LcmUniversalReporter] Loaded
2023-06-25T02:32:23.251Z,1687660343.251 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2023-06-25T02:32:24.004Z,1687660344.004 [BPC1] Loaded
2023-06-25T02:32:24.004Z,1687660344.004 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-06-25T02:32:24.150Z,1687660344.150 [DataOverHttps] Loaded
2023-06-25T02:32:24.151Z,1687660344.151 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-06-25T02:32:24.152Z,1687660344.152 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A594E0
2023-06-25T02:32:24.152Z,1687660344.152 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 918
2023-06-25T02:32:24.173Z,1687660344.173 [Depth_Keller] Loaded
2023-06-25T02:32:24.173Z,1687660344.173 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-06-25T02:32:24.178Z,1687660344.178 [DropWeight] Loaded
2023-06-25T02:32:24.178Z,1687660344.178 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2023-06-25T02:32:24.217Z,1687660344.217 [DVL_micro] Loaded
2023-06-25T02:32:24.218Z,1687660344.218 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2023-06-25T02:32:24.279Z,1687660344.279 [NAL9602] Loaded
2023-06-25T02:32:24.279Z,1687660344.279 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-06-25T02:32:24.307Z,1687660344.307 [Onboard] Loaded
2023-06-25T02:32:24.307Z,1687660344.307 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-06-25T02:32:24.308Z,1687660344.308 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A894E0
2023-06-25T02:32:24.308Z,1687660344.308 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 919
2023-06-25T02:32:24.321Z,1687660344.321 [Power24vConverter] Loaded
2023-06-25T02:32:24.321Z,1687660344.321 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-06-25T02:32:24.334Z,1687660344.334 [Radio_Surface] Loaded
2023-06-25T02:32:24.335Z,1687660344.335 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-06-25T02:32:24.336Z,1687660344.336 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AB94E0
2023-06-25T02:32:24.336Z,1687660344.336 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 920
2023-06-25T02:32:24.350Z,1687660344.350 [Sonardyne_Nano] Loaded
2023-06-25T02:32:24.350Z,1687660344.350 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2023-06-25T02:32:24.351Z,1687660344.351 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-06-25T02:32:24.351Z,1687660344.351 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-06-25T02:32:24.679Z,1687660344.679 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-06-25T02:32:25.093Z,1687660345.093 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-06-25T02:32:25.167Z,1687660345.167 [VerticalControl](DEBUG): Construct VerticalControl.
2023-06-25T02:32:25.219Z,1687660345.219 [VerticalControl] Loaded
2023-06-25T02:32:25.219Z,1687660345.219 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-06-25T02:32:25.222Z,1687660345.222 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-06-25T02:32:25.334Z,1687660345.334 [HorizontalControl] Loaded
2023-06-25T02:32:25.334Z,1687660345.334 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-06-25T02:32:25.337Z,1687660345.337 [SpeedControl](DEBUG): Construct SpeedControl.
2023-06-25T02:32:25.338Z,1687660345.338 [SpeedControl] Loaded
2023-06-25T02:32:25.339Z,1687660345.339 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-06-25T02:32:25.342Z,1687660345.342 [LoopControl](DEBUG): Construct LoopControl.
2023-06-25T02:32:25.342Z,1687660345.342 [LoopControl] Loaded
2023-06-25T02:32:25.342Z,1687660345.342 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-06-25T02:32:25.343Z,1687660345.343 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-06-25T02:32:25.344Z,1687660345.344 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-06-25T02:32:25.359Z,1687660345.359 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-06-25T02:32:25.360Z,1687660345.360 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-06-25T02:32:25.740Z,1687660345.740 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-06-25T02:32:25.747Z,1687660345.747 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-06-25T02:32:25.749Z,1687660345.749 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-06-25T02:32:25.761Z,1687660345.761 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-06-25T02:32:25.762Z,1687660345.762 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BC44E0
2023-06-25T02:32:25.762Z,1687660345.762 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 921
2023-06-25T02:32:25.767Z,1687660345.767 [Supervisor](INFO): Main Thread ID is 822
2023-06-25T02:32:25.767Z,1687660345.767 [Supervisor](DEBUG): Running supervisor.
2023-06-25T02:32:25.767Z,1687660345.767 [CommandExec ThreadHandler](INFO): Handler Thread ID is 922
2023-06-25T02:32:25.768Z,1687660345.768 [CommandExec](INFO): Initializing the command executive.
2023-06-25T02:32:25.769Z,1687660345.769 [CommandLine ThreadHandler](INFO): Handler Thread ID is 923
2023-06-25T02:32:25.771Z,1687660345.771 [controlThread ThreadHandler](INFO): Handler Thread ID is 924
2023-06-25T02:32:25.772Z,1687660345.772 [controlThread](DEBUG): Initializing ControlThread
2023-06-25T02:32:25.774Z,1687660345.774 [SBIT](INFO): Initialize SBIT Component.
2023-06-25T02:32:25.774Z,1687660345.774 [SBIT](IMPORTANT): git: 2023-06-23
2023-06-25T02:32:25.774Z,1687660345.774 [SBIT](INFO): git hash: 7a60da20fabe8c9ff022aa19d24605a06cff26a2
2023-06-25T02:32:25.775Z,1687660345.775 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-06-25T02:32:25.776Z,1687660345.776 [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
2023-06-25T02:32:25.777Z,1687660345.777 [SBIT](INFO): Beginning SBIT in 75.000000 seconds.
2023-06-25T02:32:25.778Z,1687660345.778 [IBIT](INFO): Initialize IBIT Component.
2023-06-25T02:32:25.778Z,1687660345.778 [CBIT](DEBUG): Initialize CBIT Component.
2023-06-25T02:32:25.779Z,1687660345.779 [logger ThreadHandler](INFO): Handler Thread ID is 925
2023-06-25T02:32:25.792Z,1687660345.792 [CBIT](DEBUG): Initialized mux pins.
2023-06-25T02:32:25.792Z,1687660345.792 [CBIT](DEBUG): Initializing the watchdog timer.
2023-06-25T02:32:25.800Z,1687660345.800 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 926
2023-06-25T02:32:25.801Z,1687660345.801 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2023-06-25T02:32:25.805Z,1687660345.805 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 928
2023-06-25T02:32:25.808Z,1687660345.808 [WetLabsBB2FL](INFO): Powering up
2023-06-25T02:32:25.809Z,1687660345.809 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 930
2023-06-25T02:32:25.816Z,1687660345.816 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2023-06-25T02:32:25.816Z,1687660345.816 [CBIT](DEBUG): Initializing heartbeat.
2023-06-25T02:32:25.817Z,1687660345.817 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 931
2023-06-25T02:32:25.818Z,1687660345.818 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-06-25T02:32:25.824Z,1687660345.824 [Onboard ThreadHandler](INFO): Handler Thread ID is 932
2023-06-25T02:32:25.841Z,1687660345.841 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 933
2023-06-25T02:32:25.861Z,1687660345.861 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 934
2023-06-25T02:32:25.869Z,1687660345.869 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2023-06-25T02:32:25.869Z,1687660345.869 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2023-06-25T02:32:25.869Z,1687660345.869 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2023-06-25T02:32:25.869Z,1687660345.869 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2023-06-25T02:32:25.869Z,1687660345.869 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2023-06-25T02:32:25.870Z,1687660345.870 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2023-06-25T02:32:25.870Z,1687660345.870 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2023-06-25T02:32:25.870Z,1687660345.870 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2023-06-25T02:32:25.870Z,1687660345.870 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2023-06-25T02:32:25.870Z,1687660345.870 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2023-06-25T02:32:25.870Z,1687660345.870 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2023-06-25T02:32:25.871Z,1687660345.871 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2023-06-25T02:32:25.888Z,1687660345.888 [CBIT](DEBUG): Deactivating GF circuits.
2023-06-25T02:32:25.888Z,1687660345.888 [CBIT](DEBUG): Deactivating emergency mode.
2023-06-25T02:32:25.928Z,1687660345.928 [CBIT](DEBUG): Backplane powered.
2023-06-25T02:32:25.932Z,1687660345.932 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-06-25T02:32:25.932Z,1687660345.932 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-06-25T02:32:25.933Z,1687660345.933 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-06-25T02:32:25.933Z,1687660345.933 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-06-25T02:32:25.933Z,1687660345.933 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-06-25T02:32:25.935Z,1687660345.935 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-06-25T02:32:25.935Z,1687660345.935 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-06-25T02:32:25.946Z,1687660345.946 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-06-25T02:32:25.948Z,1687660345.948 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-06-25T02:32:25.949Z,1687660345.949 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-06-25T02:32:25.949Z,1687660345.949 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-06-25T02:32:25.950Z,1687660345.950 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-06-25T02:32:25.997Z,1687660345.997 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-06-25T02:32:26.033Z,1687660346.033 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       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>


2023-06-25T02:32:26.034Z,1687660346.034 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-06-25T02:32:26.112Z,1687660346.112 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-06-25T02:32:26.113Z,1687660346.113 [Default:A.Wait](DEBUG): Construct Wait.
2023-06-25T02:32:26.115Z,1687660346.115 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-06-25T02:32:26.159Z,1687660346.159 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-06-25T02:32:26.161Z,1687660346.161 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-06-25T02:32:26.188Z,1687660346.188 [Default:E.Execute](DEBUG): Construct Execute.
2023-06-25T02:32:26.191Z,1687660346.191 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <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>


2023-06-25T02:32:26.208Z,1687660346.208 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2023-06-25T02:32:26.218Z,1687660346.218 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-06-25T02:32:26.264Z,1687660346.264 [Radio_Surface](INFO): Powering up
2023-06-25T02:32:26.345Z,1687660346.345 [Depth_Keller](ERROR): Pressure or depth reading out of range: 1895.894409 decibar, 0.000000 m
2023-06-25T02:32:26.353Z,1687660346.353 [Power24vConverter](INFO): Powering up.
2023-06-25T02:32:26.354Z,1687660346.354 [Sonardyne_Nano](INFO): Initializing.
2023-06-25T02:32:26.380Z,1687660346.380 [DepthRateCalculator](ERROR): Depth measurement is not active
2023-06-25T02:32:26.442Z,1687660346.442 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-06-25T02:32:26.448Z,1687660346.448 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-06-25T02:32:26.449Z,1687660346.449 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-06-25T02:32:26.456Z,1687660346.456 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-06-25T02:32:26.457Z,1687660346.457 [MassServo](DEBUG): Initializing EZServoServo.
2023-06-25T02:32:26.464Z,1687660346.464 [MassServo](DEBUG): Initializing MassServo.
2023-06-25T02:32:26.465Z,1687660346.465 [RudderServo](DEBUG): Initializing EZServoServo.
2023-06-25T02:32:26.472Z,1687660346.472 [RudderServo](DEBUG): Initializing RudderServo.
2023-06-25T02:32:26.473Z,1687660346.473 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-06-25T02:32:26.484Z,1687660346.484 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-06-25T02:32:27.912Z,1687660347.912 [WetLabsBB2FL](INFO): Powering down
2023-06-25T02:32:28.646Z,1687660348.646 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2023-06-25T02:32:31.977Z,1687660351.977 [ThrusterHE](ERROR): Zero Speed Commanded.
2023-06-25T02:32:54.506Z,1687660374.506 [NAL9602](INFO): Powering up NAL9602
2023-06-25T02:33:05.415Z,1687660385.415 [NAL9602](INFO): NAL9602 initialized
2023-06-25T02:33:21.980Z,1687660401.980 [NAL9602](INFO): SBD MO Status=0, MOMSN=6230, MT Status=0, MTMSN=0
2023-06-25T02:33:21.980Z,1687660401.980 [NAL9602](INFO): No messages in MT queue
2023-06-25T02:33:31.688Z,1687660411.688 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,023329.00,A,4313.40799,N,08620.26462,W,0.019,0.00,250623,,,A*73
2023-06-25T02:33:31.692Z,1687660411.692 [NAL9602](INFO): GPS fix at 20230625T023329: (43.223467, -86.337744)
2023-06-25T02:33:41.394Z,1687660421.394 [SBIT](IMPORTANT): Beginning Startup BIT
2023-06-25T02:33:41.398Z,1687660421.398 [CBIT](IMPORTANT): Beginning ground fault scan
2023-06-25T02:33:52.348Z,1687660432.348 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006622
CHAN A1 (24V): 0.001622
CHAN A2 (12V): -0.005440
CHAN A3 (5V): -0.003396
CHAN B0 (3.3V): -0.001558
CHAN B1 (3.15aV): -0.001481
CHAN B2 (3.15bV): -0.001900
CHAN B3 (GND): -0.000388
OPEN: 0.000604
Full Scale: +/- 1 mA
2023-06-25T02:34:04.409Z,1687660444.409 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T02:34:35.533Z,1687660475.533 [SBIT](IMPORTANT): SBIT PASSED
2023-06-25T02:34:35.533Z,1687660475.533 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2023-06-25T02:34:35.534Z,1687660475.534 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2023-06-25T02:34:35.534Z,1687660475.534 [SBIT](IMPORTANT): Depth_Keller.offset=-0.35 decibar;

2023-06-25T02:34:35.534Z,1687660475.534 [SBIT](IMPORTANT): DropWeight.loadAtStartup=1 bool;

2023-06-25T02:34:35.534Z,1687660475.534 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=3 minute;

2023-06-25T02:34:35.534Z,1687660475.534 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2023-06-25T02:34:35.534Z,1687660475.534 [SBIT](IMPORTANT): ElevatorServo.offsetAngle=1 degree;

2023-06-25T02:34:35.534Z,1687660475.534 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=1 bool;

2023-06-25T02:34:35.535Z,1687660475.535 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2023-06-25T02:34:35.535Z,1687660475.535 [SBIT](IMPORTANT): StratificationFrontDetector.threshold_VTHI=0.05 celsius;

2023-06-25T02:34:35.535Z,1687660475.535 [SBIT](IMPORTANT): StratificationFrontDetector.verbosity=1 count;

2023-06-25T02:34:35.535Z,1687660475.535 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=200 cubic_centimeter;

2023-06-25T02:34:35.535Z,1687660475.535 [SBIT](IMPORTANT): VerticalControl.massDefault=1.4 centimeter;

2023-06-25T02:34:35.535Z,1687660475.535 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.depth3=20 meter;

2023-06-25T02:34:35.535Z,1687660475.535 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.depth4=30 meter;

2023-06-25T02:34:35.535Z,1687660475.535 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2023-06-25T02:34:35.931Z,1687660475.931 [MissionManager](IMPORTANT): Started mission Startup
2023-06-25T02:34:35.931Z,1687660475.931 [Startup] Running Loop=1
2023-06-25T02:34:35.931Z,1687660475.931 [Startup](DEBUG): Aggregate::initialize Startup
2023-06-25T02:34:35.931Z,1687660475.931 [Startup:A.GoToSurface] Running Loop=1
2023-06-25T02:34:35.931Z,1687660475.931 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T02:34:35.964Z,1687660475.964 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-06-25T02:34:35.965Z,1687660475.965 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-06-25T02:34:35.965Z,1687660475.965 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-06-25T02:34:35.965Z,1687660475.965 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-06-25T02:34:35.966Z,1687660475.966 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T02:34:35.967Z,1687660475.967 [Startup:StartupSatComms] Running Loop=1
2023-06-25T02:34:35.967Z,1687660475.967 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2023-06-25T02:34:35.967Z,1687660475.967 [Startup:StartupSatComms:A] Running Loop=1
2023-06-25T02:34:36.332Z,1687660476.332 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2023-06-25T02:34:37.937Z,1687660477.937 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,023435.00,A,4313.40714,N,08620.26475,W,0.000,0.00,250623,,,A*72
2023-06-25T02:34:37.940Z,1687660477.940 [NAL9602](INFO): GPS fix at 20230625T023435: (43.223452, -86.337746)
2023-06-25T02:34:37.950Z,1687660477.950 [Startup:StartupSatComms:A] Stopped
2023-06-25T02:34:37.950Z,1687660477.950 [Startup:StartupSatComms:B] Running Loop=1
2023-06-25T02:34:38.380Z,1687660478.380 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-06-25T02:34:54.901Z,1687660494.901 [NAL9602](INFO): SBD MO Status=1, MOMSN=6231, MT Status=0, MTMSN=0
2023-06-25T02:34:55.064Z,1687660495.064 [NAL9602](INFO): Sent 18 bytes from file Logs/20230625T012528/Courier0046.lzma
2023-06-25T02:34:55.064Z,1687660495.064 [NAL9602](INFO): Packets left to send: 0
2023-06-25T02:35:02.586Z,1687660502.586 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T02:35:02.587Z,1687660502.587 [DVL_micro](ERROR): Failed to parse:
:BI,+00044,+0455,+00000,I
2023-06-25T02:35:11.874Z,1687660511.874 [NAL9602](INFO): SBD MO Status=2, MOMSN=6232, MT Status=2, MTMSN=0
2023-06-25T02:35:11.874Z,1687660511.874 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-06-25T02:35:38.242Z,1687660538.242 [Startup:StartupSatComms:B](INFO): Timed out from 2023-06-25T02:34:37.0Z
2023-06-25T02:35:38.243Z,1687660538.243 [Startup:StartupSatComms:B] Stopped
2023-06-25T02:35:38.243Z,1687660538.243 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2023-06-25T02:35:38.243Z,1687660538.243 [Startup:StartupSatComms] Stopped
2023-06-25T02:35:38.243Z,1687660538.243 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2023-06-25T02:35:38.244Z,1687660538.244 [Startup](INFO): Completed Startup
2023-06-25T02:35:38.244Z,1687660538.244 [MissionManager](INFO): Startup is completed.
2023-06-25T02:35:38.244Z,1687660538.244 [MissionManager](INFO): Uninitializing Mission Startup
2023-06-25T02:35:38.244Z,1687660538.244 [Startup] Stopped
2023-06-25T02:35:38.244Z,1687660538.244 [Startup](DEBUG): Aggregate::uninitialize Startup
2023-06-25T02:35:38.244Z,1687660538.244 [Startup:A.GoToSurface] Stopped
2023-06-25T02:35:38.245Z,1687660538.245 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T02:35:38.653Z,1687660538.653 [MissionManager](IMPORTANT): Started mission Default
2023-06-25T02:35:38.653Z,1687660538.653 [Default] Running Loop=1
2023-06-25T02:35:38.653Z,1687660538.653 [Default](DEBUG): Aggregate::initialize Default
2023-06-25T02:35:38.653Z,1687660538.653 [Default:B.GoToSurface] Running Loop=1
2023-06-25T02:35:38.654Z,1687660538.654 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T02:35:38.654Z,1687660538.654 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-06-25T02:35:38.654Z,1687660538.654 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-06-25T02:35:38.654Z,1687660538.654 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-06-25T02:35:38.655Z,1687660538.655 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-06-25T02:35:38.655Z,1687660538.655 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T02:35:38.656Z,1687660538.656 [Default:A.Wait] Running Loop=1
2023-06-25T02:35:38.656Z,1687660538.656 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-06-25T02:35:42.293Z,1687660542.293 [NAL9602](INFO): SBD MO Status=1, MOMSN=6232, MT Status=0, MTMSN=0
2023-06-25T02:35:42.344Z,1687660542.344 [NAL9602](INFO): Sent 269 bytes from file Logs/20230625T023213/Courier0000.lzma
2023-06-25T02:35:42.344Z,1687660542.344 [NAL9602](INFO): Packets left to send: 0
2023-06-25T02:35:51.986Z,1687660551.986 [Default:A.Wait](INFO): Done Waiting.
2023-06-25T02:35:51.986Z,1687660551.986 [Default:A.Wait] Stopped
2023-06-25T02:35:51.986Z,1687660551.986 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-06-25T02:35:52.404Z,1687660552.404 [Default:CheckIn] Running Loop=1
2023-06-25T02:35:52.404Z,1687660552.404 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-06-25T02:35:52.404Z,1687660552.404 [Default:CheckIn:Read_GPS] Running Loop=1
2023-06-25T02:35:52.800Z,1687660552.800 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2023-06-25T02:35:54.399Z,1687660554.399 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,023551.00,A,4313.40742,N,08620.26449,W,0.019,0.00,250623,,,A*75
2023-06-25T02:35:54.401Z,1687660554.401 [NAL9602](INFO): GPS fix at 20230625T023551: (43.223457, -86.337742)
2023-06-25T02:35:54.411Z,1687660554.411 [Default:CheckIn:Read_GPS] Stopped
2023-06-25T02:35:54.411Z,1687660554.411 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-06-25T02:35:54.828Z,1687660554.828 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-06-25T02:36:11.263Z,1687660571.263 [NAL9602](INFO): SBD MO Status=1, MOMSN=6233, MT Status=0, MTMSN=0
2023-06-25T02:36:11.312Z,1687660571.312 [NAL9602](INFO): Sent 73 bytes from file Logs/20230625T023213/Courier0004.lzma
2023-06-25T02:36:11.312Z,1687660571.312 [NAL9602](INFO): Packets left to send: 0
2023-06-25T02:36:27.351Z,1687660587.351 [NAL9602](INFO): SBD MO Status=1, MOMSN=6234, MT Status=0, MTMSN=0
2023-06-25T02:36:27.408Z,1687660587.408 [NAL9602](INFO): Sent 18 bytes from file Logs/20230625T012528/Express0047.lzma
2023-06-25T02:36:27.408Z,1687660587.408 [NAL9602](INFO): Packets left to send: 0
2023-06-25T02:36:28.298Z,1687660588.298 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005073
2023-06-25T02:36:38.777Z,1687660598.777 [DataOverHttps](INFO): Sending 981 bytes from file Logs/20230625T023213/Express0001.lzma
2023-06-25T02:36:39.778Z,1687660599.778 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0001.lzma.bak
2023-06-25T02:36:39.778Z,1687660599.778 [DataOverHttps](INFO): SBD MOMSN=18425514
2023-06-25T02:36:39.900Z,1687660599.900 [NAL9602](INFO): SBD MO Status=1, MOMSN=6235, MT Status=0, MTMSN=0
2023-06-25T02:36:39.953Z,1687660599.953 [NAL9602](INFO): Sent 332 bytes from file Logs/20230625T023213/Express0001.lzma
2023-06-25T02:36:39.953Z,1687660599.953 [NAL9602](INFO): Packets left to send: 2
2023-06-25T02:36:39.983Z,1687660599.983 [Default:CheckIn:Read_Iridium] Stopped
2023-06-25T02:36:39.983Z,1687660599.983 [Default:CheckIn:C.Wait] Running Loop=1
2023-06-25T02:36:39.983Z,1687660599.983 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-06-25T02:37:10.616Z,1687660630.616 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T02:37:50.988Z,1687660670.988 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2023-06-25T02:37:56.242Z,1687660676.242 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:37:56.242Z,1687660676.242 [DVL_micro](ERROR): Failed to parse:
:TS,000000005.0,+27.5,0000.0,1489.0,000
2023-06-25T02:38:19.985Z,1687660699.985 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T023820
2023-06-25T02:38:27.488Z,1687660707.488 [DataOverHttps](INFO): Received command: strobe off
2023-06-25T02:38:27.493Z,1687660707.493 [CommandExec](IMPORTANT): got command strobe off
2023-06-25T02:38:27.493Z,1687660707.493 [CommandExec](IMPORTANT): Deactivating strobe
2023-06-25T02:38:56.868Z,1687660736.868 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2023-06-25T02:38:56.871Z,1687660736.871 [BPC1](INFO): Received data from all battery sticks.
2023-06-25T02:38:59.586Z,1687660739.586 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T023859
2023-06-25T02:39:07.027Z,1687660747.027 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 43.20017 degree;set transit.Longitude -86.3649 degree;set transit.Depth 1 m;set transit.MaxDepth 2 m" 1pbct 1 2
2023-06-25T02:39:07.124Z,1687660747.124 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 43.20017 degree;set transit.Longitude -86.3649 degree;set transit.Depth 1 m;set transit.MaxDepth 2 m" 1pbct 1 2.000000
2023-06-25T02:39:07.125Z,1687660747.125 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1pbct
2023-06-25T02:39:07.126Z,1687660747.126 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='1pbct'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 43.20017 degree;set transit.Longitude -86.3649 degree;set transit.Depth 1 m;set transit.MaxDepth 2 m", ASAP
2023-06-25T02:39:08.029Z,1687660748.029 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T023908
2023-06-25T02:39:15.707Z,1687660755.707 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run" 1pbct 2 2
2023-06-25T02:39:15.759Z,1687660755.759 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run" 1pbct 2 2.000000
2023-06-25T02:39:15.759Z,1687660755.759 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1pbct
2023-06-25T02:39:15.760Z,1687660755.760 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='1pbct'): "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run", ASAP
2023-06-25T02:39:15.873Z,1687660755.873 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2023-06-25T02:39:15.874Z,1687660755.874 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2023-06-25T02:39:15.874Z,1687660755.874 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx
2023-06-25T02:39:15.962Z,1687660755.962 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2023-06-25T02:39:15.965Z,1687660755.965 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2023-06-25T02:39:15.968Z,1687660755.968 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2023-06-25T02:39:15.970Z,1687660755.970 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2023-06-25T02:39:15.973Z,1687660755.973 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2023-06-25T02:39:15.976Z,1687660755.976 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2023-06-25T02:39:15.979Z,1687660755.979 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2023-06-25T02:39:15.982Z,1687660755.982 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2023-06-25T02:39:15.985Z,1687660755.985 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2023-06-25T02:39:15.987Z,1687660755.987 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2023-06-25T02:39:16.010Z,1687660756.010 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2023-06-25T02:39:16.029Z,1687660756.029 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2023-06-25T02:39:16.031Z,1687660756.031 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2023-06-25T02:39:16.036Z,1687660756.036 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2023-06-25T02:39:16.133Z,1687660756.133 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h
2023-06-25T02:39:16.148Z,1687660756.148 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2023-06-25T02:39:16.151Z,1687660756.151 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2023-06-25T02:39:16.158Z,1687660756.158 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2023-06-25T02:39:16.161Z,1687660756.161 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2023-06-25T02:39:16.176Z,1687660756.176 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2023-06-25T02:39:16.179Z,1687660756.179 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2023-06-25T02:39:16.190Z,1687660756.190 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2023-06-25T02:39:16.260Z,1687660756.260 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-06-25T02:39:16.338Z,1687660756.338 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml
2023-06-25T02:39:16.389Z,1687660756.389 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2023-06-25T02:39:16.412Z,1687660756.412 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2023-06-25T02:39:16.416Z,1687660756.416 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2023-06-25T02:39:16.419Z,1687660756.419 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2023-06-25T02:39:16.421Z,1687660756.421 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2023-06-25T02:39:16.437Z,1687660756.437 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2023-06-25T02:39:16.454Z,1687660756.454 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2023-06-25T02:39:16.478Z,1687660756.478 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2023-06-25T02:39:16.483Z,1687660756.483 [transit:MassHold.Pitch](DEBUG): Construct.
2023-06-25T02:39:16.502Z,1687660756.502 [transit:Transit:A.Pitch](DEBUG): Construct.
2023-06-25T02:39:16.517Z,1687660756.517 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2023-06-25T02:39:16.525Z,1687660756.525 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2023-06-25T02:39:16.557Z,1687660756.557 [MissionManager](DEBUG): 
mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.xml

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.xml

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2023-06-25T02:39:16.558Z,1687660756.558 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl
2023-06-25T02:39:24.902Z,1687660764.902 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2023-06-25T02:39:24.903Z,1687660764.903 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute
2023-06-25T02:39:24.904Z,1687660764.904 [CommandExec](IMPORTANT): got command set transit.Latitude 43.20017 degree
2023-06-25T02:39:24.905Z,1687660764.905 [CommandExec](IMPORTANT): got command set transit.Longitude -86.3649 degree
2023-06-25T02:39:24.905Z,1687660764.905 [CommandExec](IMPORTANT): got command set transit.Depth 1 meter
2023-06-25T02:39:24.906Z,1687660764.906 [CommandExec](IMPORTANT): got command set transit.MaxDepth 2 meter
2023-06-25T02:39:27.186Z,1687660767.186 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2023-06-25T02:39:27.833Z,1687660767.833 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.00001 kilometer
2023-06-25T02:39:27.833Z,1687660767.833 [CommandExec](IMPORTANT): got command set transit.MinAltitude 2 meter
2023-06-25T02:39:27.834Z,1687660767.834 [CommandExec](IMPORTANT): got command run
2023-06-25T02:39:27.836Z,1687660767.836 [CommandExec](IMPORTANT): Running 
2023-06-25T02:39:27.963Z,1687660767.963 [Default] Stopped
2023-06-25T02:39:27.963Z,1687660767.963 [Default](DEBUG): Aggregate::uninitialize Default
2023-06-25T02:39:27.964Z,1687660767.964 [Default:B.GoToSurface] Stopped
2023-06-25T02:39:27.964Z,1687660767.964 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T02:39:27.964Z,1687660767.964 [Default:CheckIn] Stopped
2023-06-25T02:39:27.964Z,1687660767.964 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-06-25T02:39:27.964Z,1687660767.964 [Default:CheckIn:C.Wait] Stopped
2023-06-25T02:39:27.964Z,1687660767.964 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-06-25T02:39:27.964Z,1687660767.964 [MissionManager](IMPORTANT): Started mission transit
2023-06-25T02:39:27.964Z,1687660767.964 [transit] Running Loop=1
2023-06-25T02:39:27.965Z,1687660767.965 [transit](DEBUG): Aggregate::initialize transit
2023-06-25T02:39:27.965Z,1687660767.965 [transit:StandardEnvelopes] Running Loop=1
2023-06-25T02:39:27.965Z,1687660767.965 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2023-06-25T02:39:27.965Z,1687660767.965 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-06-25T02:39:27.965Z,1687660767.965 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2023-06-25T02:39:27.965Z,1687660767.965 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-06-25T02:39:27.965Z,1687660767.965 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2023-06-25T02:39:27.966Z,1687660767.966 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-06-25T02:39:27.966Z,1687660767.966 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2023-06-25T02:39:27.966Z,1687660767.966 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-06-25T02:39:27.966Z,1687660767.966 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2023-06-25T02:39:27.966Z,1687660767.966 [transit:MassHold.Pitch] Running Loop=1
2023-06-25T02:39:27.966Z,1687660767.966 [transit:MassHold.Pitch](DEBUG): Initialize.
2023-06-25T02:39:27.966Z,1687660767.966 [transit:B] Running Loop=1
2023-06-25T02:39:27.967Z,1687660767.967 [transit:MassHold.Pitch] Running Loop=1
2023-06-25T02:39:27.967Z,1687660767.967 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-06-25T02:39:27.984Z,1687660767.984 [transit:StandardEnvelopes] Running Loop=1
2023-06-25T02:39:27.984Z,1687660767.984 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-06-25T02:39:28.001Z,1687660768.001 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-06-25T02:39:28.001Z,1687660768.001 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-06-25T02:39:28.002Z,1687660768.002 [transit:B] Stopped
2023-06-25T02:39:28.002Z,1687660768.002 [transit:C] Running Loop=1
2023-06-25T02:39:28.376Z,1687660768.376 [transit:C] Stopped
2023-06-25T02:39:28.376Z,1687660768.376 [transit:E] Running Loop=1
2023-06-25T02:39:28.776Z,1687660768.776 [transit:E] Stopped
2023-06-25T02:39:28.776Z,1687660768.776 [transit:F] Running Loop=1
2023-06-25T02:39:29.181Z,1687660769.181 [transit:F] Stopped
2023-06-25T02:39:29.181Z,1687660769.181 [transit:G] Running Loop=1
2023-06-25T02:39:29.616Z,1687660769.616 [transit:G] Stopped
2023-06-25T02:39:29.616Z,1687660769.616 [transit:Transit] Running Loop=1
2023-06-25T02:39:29.616Z,1687660769.616 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2023-06-25T02:39:29.617Z,1687660769.617 [transit:Transit:A.Pitch] Running Loop=1
2023-06-25T02:39:29.617Z,1687660769.617 [transit:Transit:A.Pitch](DEBUG): Initialize.
2023-06-25T02:39:29.617Z,1687660769.617 [transit:Transit:B.SetSpeed] Running Loop=1
2023-06-25T02:39:29.617Z,1687660769.617 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2023-06-25T02:39:29.617Z,1687660769.617 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2023-06-25T02:39:29.617Z,1687660769.617 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2023-06-25T02:39:29.619Z,1687660769.619 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 43.200169,-86.364899
2023-06-25T02:39:29.620Z,1687660769.620 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2023-06-25T02:39:29.978Z,1687660769.978 [transit:Transit:B.SetSpeed] Running Loop=1
2023-06-25T02:39:29.979Z,1687660769.979 [transit:Transit:A.Pitch] Running Loop=1
2023-06-25T02:39:44.582Z,1687660784.582 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T02:39:44.582Z,1687660784.582 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.999
2023-06-25T02:41:19.873Z,1687660879.873 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T024119
2023-06-25T02:41:27.671Z,1687660887.671 [DataOverHttps](INFO): Received command: stop
2023-06-25T02:41:27.696Z,1687660887.696 [CommandExec](IMPORTANT): got command stop
2023-06-25T02:41:27.697Z,1687660887.697 [CommandExec](IMPORTANT): Scheduling is paused
2023-06-25T02:41:27.697Z,1687660887.697 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2023-06-25T02:41:27.702Z,1687660887.702 [MissionManager](INFO): MissionManager is completed.
2023-06-25T02:41:27.702Z,1687660887.702 [MissionManager](INFO): Uninitializing Mission transit
2023-06-25T02:41:27.703Z,1687660887.703 [transit] Stopped
2023-06-25T02:41:27.703Z,1687660887.703 [transit](DEBUG): Aggregate::uninitialize transit
2023-06-25T02:41:27.703Z,1687660887.703 [transit:StandardEnvelopes] Stopped
2023-06-25T02:41:27.703Z,1687660887.703 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2023-06-25T02:41:27.703Z,1687660887.703 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2023-06-25T02:41:27.703Z,1687660887.703 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2023-06-25T02:41:27.703Z,1687660887.703 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2023-06-25T02:41:27.703Z,1687660887.703 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2023-06-25T02:41:27.703Z,1687660887.703 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2023-06-25T02:41:27.703Z,1687660887.703 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2023-06-25T02:41:27.703Z,1687660887.703 [transit:BuoyancyHold.Buoyancy] Stopped
2023-06-25T02:41:27.704Z,1687660887.704 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2023-06-25T02:41:27.704Z,1687660887.704 [transit:MassHold.Pitch] Stopped
2023-06-25T02:41:27.704Z,1687660887.704 [transit:Transit] Stopped
2023-06-25T02:41:27.704Z,1687660887.704 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2023-06-25T02:41:27.704Z,1687660887.704 [transit:Transit:A.Pitch] Stopped
2023-06-25T02:41:27.704Z,1687660887.704 [transit:Transit:B.SetSpeed] Stopped
2023-06-25T02:41:27.704Z,1687660887.704 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2023-06-25T02:41:27.704Z,1687660887.704 [transit:Transit:Wpt1.Waypoint] Stopped
2023-06-25T02:41:27.704Z,1687660887.704 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2023-06-25T02:41:28.109Z,1687660888.109 [MissionManager](IMPORTANT): Started mission Default
2023-06-25T02:41:28.109Z,1687660888.109 [Default] Running Loop=1
2023-06-25T02:41:28.110Z,1687660888.110 [Default](DEBUG): Aggregate::initialize Default
2023-06-25T02:41:28.110Z,1687660888.110 [Default:B.GoToSurface] Running Loop=1
2023-06-25T02:41:28.110Z,1687660888.110 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T02:41:28.110Z,1687660888.110 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-06-25T02:41:28.110Z,1687660888.110 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-06-25T02:41:28.111Z,1687660888.111 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-06-25T02:41:28.111Z,1687660888.111 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-06-25T02:41:28.111Z,1687660888.111 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T02:41:28.112Z,1687660888.112 [Default:A.Wait] Running Loop=1
2023-06-25T02:41:28.112Z,1687660888.112 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-06-25T02:41:41.422Z,1687660901.422 [Default:A.Wait](INFO): Done Waiting.
2023-06-25T02:41:41.422Z,1687660901.422 [Default:A.Wait] Stopped
2023-06-25T02:41:41.422Z,1687660901.422 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-06-25T02:41:41.831Z,1687660901.831 [Default:CheckIn] Running Loop=1
2023-06-25T02:41:41.831Z,1687660901.831 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-06-25T02:41:41.831Z,1687660901.831 [Default:CheckIn:Read_GPS] Running Loop=1
2023-06-25T02:41:43.849Z,1687660903.849 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,024144.00,A,4313.40776,N,08620.26408,W,0.019,138.44,250623,,,D*7F
2023-06-25T02:41:43.852Z,1687660903.852 [NAL9602](INFO): GPS fix at 20230625T024144: (43.223463, -86.337735)
2023-06-25T02:41:43.861Z,1687660903.861 [Default:CheckIn:Read_GPS] Stopped
2023-06-25T02:41:43.861Z,1687660903.861 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-06-25T02:41:51.164Z,1687660911.164 [DataOverHttps](INFO): Sending 200 bytes from file Logs/20230625T023213/Courier0007.lzma
2023-06-25T02:41:52.166Z,1687660912.166 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Courier0007.lzma.bak
2023-06-25T02:41:52.166Z,1687660912.166 [DataOverHttps](IMPORTANT): SBD MOMSN=18425605, MTMSN=20230625T024152
2023-06-25T02:41:59.718Z,1687660919.718 [DataOverHttps](INFO): Received command: strobe on
2023-06-25T02:41:59.777Z,1687660919.777 [CommandExec](IMPORTANT): got command strobe on
2023-06-25T02:41:59.777Z,1687660919.777 [CommandExec](IMPORTANT): Activating strobe
2023-06-25T02:42:05.251Z,1687660925.251 [NAL9602](INFO): SBD MO Status=2, MOMSN=6236, MT Status=2, MTMSN=0
2023-06-25T02:42:05.251Z,1687660925.251 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-06-25T02:42:08.811Z,1687660928.811 [DataOverHttps](INFO): Sending 103 bytes from file Logs/20230625T023213/Express0005.lzma
2023-06-25T02:42:09.814Z,1687660929.814 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0005.lzma.bak
2023-06-25T02:42:09.814Z,1687660929.814 [DataOverHttps](INFO): SBD MOMSN=18425609
2023-06-25T02:42:18.197Z,1687660938.197 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:42:18.197Z,1687660938.197 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0000.0,1489.0,000
2023-06-25T02:42:25.903Z,1687660945.903 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20230625T023213/Courier0013.lzma
2023-06-25T02:42:26.906Z,1687660946.906 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Courier0013.lzma.bak
2023-06-25T02:42:26.906Z,1687660946.906 [DataOverHttps](INFO): SBD MOMSN=18425612
2023-06-25T02:42:39.630Z,1687660959.630 [NAL9602](INFO): SBD MO Status=2, MOMSN=6236, MT Status=2, MTMSN=0
2023-06-25T02:42:39.630Z,1687660959.630 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-06-25T02:42:46.730Z,1687660966.730 [DataOverHttps](INFO): Sending 802 bytes from file Logs/20230625T023213/Express0008.lzma
2023-06-25T02:42:47.722Z,1687660967.722 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0008.lzma.bak
2023-06-25T02:42:47.722Z,1687660967.722 [DataOverHttps](INFO): SBD MOMSN=18425614
2023-06-25T02:42:49.733Z,1687660969.733 [NAL9602](INFO): SBD MO Status=0, MOMSN=6236, MT Status=0, MTMSN=0
2023-06-25T02:42:49.733Z,1687660969.733 [NAL9602](INFO): No messages in MT queue
2023-06-25T02:43:03.635Z,1687660983.635 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20230625T023213/Express0011.lzma
2023-06-25T02:43:04.637Z,1687660984.637 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0011.lzma.bak
2023-06-25T02:43:04.638Z,1687660984.638 [DataOverHttps](INFO): SBD MOMSN=18425646
2023-06-25T02:43:20.419Z,1687661000.419 [DataOverHttps](INFO): Sending 150 bytes from file Logs/20230625T023213/Express0014.lzma
2023-06-25T02:43:20.436Z,1687661000.436 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T02:43:22.172Z,1687661002.172 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0014.lzma.bak
2023-06-25T02:43:22.172Z,1687661002.172 [DataOverHttps](INFO): SBD MOMSN=18425648
2023-06-25T02:43:23.274Z,1687661003.274 [Default:CheckIn:Read_Iridium] Stopped
2023-06-25T02:43:23.274Z,1687661003.274 [Default:CheckIn:C.Wait] Running Loop=1
2023-06-25T02:43:23.274Z,1687661003.274 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-06-25T02:43:56.795Z,1687661036.795 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:43:56.795Z,1687661036.795 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35,0000.0,1489.0,000
2023-06-25T02:46:02.438Z,1687661162.438 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:46:02.438Z,1687661162.438 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+21.7,0000.0000
2023-06-25T02:46:58.000Z,1687661219.000 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:46:58.000Z,1687661219.000 [DVL_micro](ERROR): Failed to parse:
:TS,000000000000+20.1,0000.0,1489.0,000
2023-06-25T02:47:06.673Z,1687661226.673 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:47:06.674Z,1687661226.674 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+20.0,0000.0000
2023-06-25T02:47:36.486Z,1687661256.486 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T024736
2023-06-25T02:47:36.601Z,1687661256.601 [DVL_micro](ERROR): only read 2 of 4 data items
2023-06-25T02:47:36.601Z,1687661256.601 [DVL_micro](ERROR): Failed to parse:
:BI,-00043,+00056+00000,A
2023-06-25T02:47:46.024Z,1687661266.024 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 43.20017 degree;set transit.Longitude -86.3649 degree;set transit.Depth 1 m;set transit.MaxDepth 2 m" 1pbql 1 2
2023-06-25T02:47:46.037Z,1687661266.037 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 43.20017 degree;set transit.Longitude -86.3649 degree;set transit.Depth 1 m;set transit.MaxDepth 2 m" 1pbql 1 2.000000
2023-06-25T02:47:46.037Z,1687661266.037 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1pbql
2023-06-25T02:47:46.038Z,1687661266.038 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='1pbql'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 43.20017 degree;set transit.Longitude -86.3649 degree;set transit.Depth 1 m;set transit.MaxDepth 2 m", ASAP
2023-06-25T02:47:47.025Z,1687661267.025 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T024747
2023-06-25T02:47:54.503Z,1687661274.503 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run" 1pbql 2 2
2023-06-25T02:47:54.575Z,1687661274.575 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run" 1pbql 2 2.000000
2023-06-25T02:47:54.575Z,1687661274.575 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1pbql
2023-06-25T02:47:54.576Z,1687661274.576 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='1pbql'): "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run", ASAP
2023-06-25T02:47:54.688Z,1687661274.688 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2023-06-25T02:47:54.689Z,1687661274.689 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2023-06-25T02:47:54.689Z,1687661274.689 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx
2023-06-25T02:47:54.786Z,1687661274.786 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2023-06-25T02:47:54.792Z,1687661274.792 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2023-06-25T02:47:54.794Z,1687661274.794 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2023-06-25T02:47:54.820Z,1687661274.820 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2023-06-25T02:47:54.823Z,1687661274.823 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2023-06-25T02:47:54.833Z,1687661274.833 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2023-06-25T02:47:54.845Z,1687661274.845 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2023-06-25T02:47:54.847Z,1687661274.847 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2023-06-25T02:47:54.869Z,1687661274.869 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2023-06-25T02:47:54.871Z,1687661274.871 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2023-06-25T02:47:54.878Z,1687661274.878 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2023-06-25T02:47:54.880Z,1687661274.880 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2023-06-25T02:47:54.882Z,1687661274.882 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2023-06-25T02:47:54.883Z,1687661274.883 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2023-06-25T02:47:54.964Z,1687661274.964 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h
2023-06-25T02:47:54.966Z,1687661274.966 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2023-06-25T02:47:54.968Z,1687661274.968 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2023-06-25T02:47:54.970Z,1687661274.970 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2023-06-25T02:47:54.972Z,1687661274.972 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2023-06-25T02:47:54.974Z,1687661274.974 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2023-06-25T02:47:54.976Z,1687661274.976 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2023-06-25T02:47:54.978Z,1687661274.978 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2023-06-25T02:47:54.983Z,1687661274.983 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-06-25T02:47:54.998Z,1687661274.998 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml
2023-06-25T02:47:55.070Z,1687661275.070 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2023-06-25T02:47:55.072Z,1687661275.072 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2023-06-25T02:47:55.074Z,1687661275.074 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2023-06-25T02:47:55.076Z,1687661275.076 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2023-06-25T02:47:55.077Z,1687661275.077 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2023-06-25T02:47:55.083Z,1687661275.083 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2023-06-25T02:47:55.089Z,1687661275.089 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2023-06-25T02:47:55.097Z,1687661275.097 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2023-06-25T02:47:55.100Z,1687661275.100 [transit:MassHold.Pitch](DEBUG): Construct.
2023-06-25T02:47:55.106Z,1687661275.106 [transit:Transit:A.Pitch](DEBUG): Construct.
2023-06-25T02:47:55.136Z,1687661275.136 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2023-06-25T02:47:55.138Z,1687661275.138 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2023-06-25T02:47:55.151Z,1687661275.151 [MissionManager](DEBUG): 
mission transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.xml

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.xml

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2023-06-25T02:47:55.188Z,1687661275.188 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl
2023-06-25T02:47:55.586Z,1687661275.586 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T02:47:55.586Z,1687661275.586 [DVL_micro](ERROR): Failed to parse:
:BI,-00139,+00333,-0002,A
2023-06-25T02:48:03.419Z,1687661283.419 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2023-06-25T02:48:03.420Z,1687661283.420 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute
2023-06-25T02:48:03.420Z,1687661283.420 [CommandExec](IMPORTANT): got command set transit.Latitude 43.20017 degree
2023-06-25T02:48:03.421Z,1687661283.421 [CommandExec](IMPORTANT): got command set transit.Longitude -86.3649 degree
2023-06-25T02:48:03.422Z,1687661283.422 [CommandExec](IMPORTANT): got command set transit.Depth 1 meter
2023-06-25T02:48:03.422Z,1687661283.422 [CommandExec](IMPORTANT): got command set transit.MaxDepth 2 meter
2023-06-25T02:48:06.353Z,1687661286.353 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.00001 kilometer
2023-06-25T02:48:06.354Z,1687661286.353 [CommandExec](IMPORTANT): got command set transit.MinAltitude 2 meter
2023-06-25T02:48:06.354Z,1687661286.354 [CommandExec](IMPORTANT): got command run
2023-06-25T02:48:06.359Z,1687661286.359 [CommandExec](IMPORTANT): Running 
2023-06-25T02:48:06.526Z,1687661286.526 [Default] Stopped
2023-06-25T02:48:06.526Z,1687661286.526 [Default](DEBUG): Aggregate::uninitialize Default
2023-06-25T02:48:06.527Z,1687661286.527 [Default:B.GoToSurface] Stopped
2023-06-25T02:48:06.527Z,1687661286.527 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T02:48:06.527Z,1687661286.527 [Default:CheckIn] Stopped
2023-06-25T02:48:06.527Z,1687661286.527 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-06-25T02:48:06.527Z,1687661286.527 [Default:CheckIn:C.Wait] Stopped
2023-06-25T02:48:06.527Z,1687661286.527 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-06-25T02:48:06.527Z,1687661286.527 [MissionManager](IMPORTANT): Started mission transit
2023-06-25T02:48:06.528Z,1687661286.528 [transit] Running Loop=1
2023-06-25T02:48:06.528Z,1687661286.528 [transit](DEBUG): Aggregate::initialize transit
2023-06-25T02:48:06.528Z,1687661286.528 [transit:StandardEnvelopes] Running Loop=1
2023-06-25T02:48:06.528Z,1687661286.528 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2023-06-25T02:48:06.528Z,1687661286.528 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-06-25T02:48:06.528Z,1687661286.528 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2023-06-25T02:48:06.528Z,1687661286.528 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-06-25T02:48:06.528Z,1687661286.528 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2023-06-25T02:48:06.528Z,1687661286.528 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-06-25T02:48:06.529Z,1687661286.529 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2023-06-25T02:48:06.529Z,1687661286.529 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-06-25T02:48:06.529Z,1687661286.529 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2023-06-25T02:48:06.529Z,1687661286.529 [transit:MassHold.Pitch] Running Loop=1
2023-06-25T02:48:06.529Z,1687661286.529 [transit:MassHold.Pitch](DEBUG): Initialize.
2023-06-25T02:48:06.529Z,1687661286.529 [transit:B] Running Loop=1
2023-06-25T02:48:06.530Z,1687661286.530 [transit:MassHold.Pitch] Running Loop=1
2023-06-25T02:48:06.530Z,1687661286.530 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-06-25T02:48:06.530Z,1687661286.530 [transit:StandardEnvelopes] Running Loop=1
2023-06-25T02:48:06.530Z,1687661286.530 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-06-25T02:48:06.538Z,1687661286.538 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-06-25T02:48:06.538Z,1687661286.538 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-06-25T02:48:06.540Z,1687661286.540 [transit:B] Stopped
2023-06-25T02:48:06.540Z,1687661286.540 [transit:C] Running Loop=1
2023-06-25T02:48:06.914Z,1687661286.914 [transit:C] Stopped
2023-06-25T02:48:06.914Z,1687661286.914 [transit:E] Running Loop=1
2023-06-25T02:48:07.327Z,1687661287.327 [transit:E] Stopped
2023-06-25T02:48:07.327Z,1687661287.327 [transit:F] Running Loop=1
2023-06-25T02:48:07.710Z,1687661287.710 [transit:F] Stopped
2023-06-25T02:48:07.710Z,1687661287.710 [transit:G] Running Loop=1
2023-06-25T02:48:08.118Z,1687661288.118 [transit:G] Stopped
2023-06-25T02:48:08.118Z,1687661288.118 [transit:Transit] Running Loop=1
2023-06-25T02:48:08.118Z,1687661288.118 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2023-06-25T02:48:08.118Z,1687661288.118 [transit:Transit:A.Pitch] Running Loop=1
2023-06-25T02:48:08.118Z,1687661288.118 [transit:Transit:A.Pitch](DEBUG): Initialize.
2023-06-25T02:48:08.119Z,1687661288.119 [transit:Transit:B.SetSpeed] Running Loop=1
2023-06-25T02:48:08.119Z,1687661288.119 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2023-06-25T02:48:08.119Z,1687661288.119 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2023-06-25T02:48:08.119Z,1687661288.119 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2023-06-25T02:48:08.120Z,1687661288.120 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 43.200169,-86.364899
2023-06-25T02:48:08.520Z,1687661288.520 [transit:Transit:B.SetSpeed] Running Loop=1
2023-06-25T02:48:08.520Z,1687661288.520 [transit:Transit:A.Pitch] Running Loop=1
2023-06-25T02:48:09.324Z,1687661289.324 [DVL_micro](ERROR): Failed to parse:
:SA,-04.21,-01.78,216.4
2023-06-25T02:48:51.867Z,1687661331.867 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:48:51.867Z,1687661331.867 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+19.5,0000.0,10
2023-06-25T02:49:06.809Z,1687661346.809 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T02:49:06.809Z,1687661346.809 [DVL_micro](ERROR): Failed to parse:
:BI,+00000,+0000,+00000+00000000.0000.00,+.00,0000.30,000.00
2023-06-25T02:49:19.168Z,1687661359.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T02:49:30.654Z,1687661370.654 [DVL_micro](ERROR): Failed to parse:
0.24,+0002.48,+0000.45,+0002.68
2023-06-25T02:49:46.431Z,1687661386.431 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:49:46.431Z,1687661386.431 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,00.0,1489.0,000
2023-06-25T02:49:50.296Z,1687661390.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T02:50:21.420Z,1687661421.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T02:50:35.284Z,1687661435.284 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T02:50:35.284Z,1687661435.284 [DVL_micro](ERROR): Failed to parse:
:BI,+00000,+0000,+00000,I
2023-06-25T02:50:51.853Z,1687661451.853 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00764,+00000,+00000,I
2023-06-25T02:50:52.548Z,1687661452.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T02:51:23.684Z,1687661483.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T02:51:27.700Z,1687661487.700 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743118
2023-06-25T02:51:40.725Z,1687661500.725 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:51:40.725Z,1687661500.725 [DVL_micro](ERROR): Failed to parse:
:TS00,+00000,+00000,I
2023-06-25T02:52:02.773Z,1687661522.773 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003502
2023-06-25T02:52:32.105Z,1687661552.105 [DVL_micro](ERROR): DVL uart error: serial timeout
2023-06-25T02:52:32.105Z,1687661552.105 [DVL_micro] Communications Fault, FailCount= 1
2023-06-25T02:52:32.105Z,1687661552.105 [DVL_micro](ERROR): Communications Fault
2023-06-25T02:52:32.108Z,1687661552.108 [DVL_micro](ERROR): Failed to parse:
2023-06-25T02:52:32.363Z,1687661552.363 [CBIT](ERROR): Communications Fault in component: DVL_micro
2023-06-25T02:52:32.512Z,1687661552.512 [DVL_micro](INFO): Powering down
2023-06-25T02:52:33.395Z,1687661553.395 [CBIT](INFO): Clearing failed state for component DVL_micro
2023-06-25T02:52:33.395Z,1687661553.395 [DVL_micro] No Fault, FailCount= 1
2023-06-25T02:53:43.967Z,1687661623.967 [transit:NeedComms] Running Loop=1
2023-06-25T02:53:43.967Z,1687661623.967 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2023-06-25T02:53:43.967Z,1687661623.967 [transit:NeedComms:B.GoToSurface] Running Loop=1
2023-06-25T02:53:43.967Z,1687661623.967 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T02:53:43.968Z,1687661623.968 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2023-06-25T02:53:43.968Z,1687661623.968 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2023-06-25T02:53:43.969Z,1687661623.969 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2023-06-25T02:53:43.969Z,1687661623.969 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2023-06-25T02:53:43.969Z,1687661623.969 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T02:53:43.970Z,1687661623.970 [transit:NeedComms:A] Running Loop=1
2023-06-25T02:53:43.971Z,1687661623.971 [transit:NeedComms:A](INFO): last time_fix was: 1687660904.000000 second since 1970/01/01T00:00:00Z 
2023-06-25T02:53:43.971Z,1687661623.971 [transit:NeedComms:A] Stopped
2023-06-25T02:53:44.381Z,1687661624.381 [transit:NeedComms:C] Running Loop=1
2023-06-25T02:53:44.805Z,1687661624.805 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2023-06-25T02:53:46.606Z,1687661626.606 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,025346.00,A,4313.25825,N,08620.38283,W,1.536,193.70,250623,,,D*71
2023-06-25T02:53:46.608Z,1687661626.608 [NAL9602](INFO): GPS fix at 20230625T025346: (43.220971, -86.339714)
2023-06-25T02:53:46.620Z,1687661626.620 [UniversalFixResidualReporter](INFO): Fix residual: 37.3 %DT, over the last 522.6 m. Residual distance 194.9 m at bearing 23.6 degrees. Fix at (43.2210, -86.3397) with 320.1 m made good.
2023-06-25T02:53:46.624Z,1687661626.624 [transit:NeedComms:C] Stopped
2023-06-25T02:53:46.624Z,1687661626.624 [transit:NeedComms:D] Running Loop=1
2023-06-25T02:53:46.831Z,1687661626.831 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-06-25T02:53:54.492Z,1687661634.492 [DataOverHttps](INFO): Sending 205 bytes from file Logs/20230625T023213/Courier0016.lzma
2023-06-25T02:53:55.493Z,1687661635.493 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Courier0016.lzma.bak
2023-06-25T02:53:55.494Z,1687661635.494 [DataOverHttps](INFO): SBD MOMSN=18425658
2023-06-25T02:53:58.565Z,1687661638.565 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T02:53:58.565Z,1687661638.565 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.32,+0004.70,+00005.15
2023-06-25T02:54:12.047Z,1687661652.047 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20230625T023213/Courier0019.lzma
2023-06-25T02:54:13.050Z,1687661653.050 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Courier0019.lzma.bak
2023-06-25T02:54:13.050Z,1687661653.050 [DataOverHttps](INFO): SBD MOMSN=18425661
2023-06-25T02:54:23.159Z,1687661663.159 [NAL9602](INFO): SBD MO Status=0, MOMSN=6237, MT Status=0, MTMSN=0
2023-06-25T02:54:23.161Z,1687661663.161 [NAL9602](INFO): No messages in MT queue
2023-06-25T02:54:29.694Z,1687661669.694 [DataOverHttps](INFO): Sending 698 bytes from file Logs/20230625T023213/Express0017.lzma
2023-06-25T02:54:30.440Z,1687661670.440 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T02:54:30.440Z,1687661670.440 [DVL_micro](ERROR): Failed to parse:
:BI,+00091,-0152,+00000,A
2023-06-25T02:54:30.694Z,1687661670.694 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0017.lzma.bak
2023-06-25T02:54:30.694Z,1687661670.694 [DataOverHttps](INFO): SBD MOMSN=18425663
2023-06-25T02:54:37.337Z,1687661677.337 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:54:37.337Z,1687661677.337 [DVL_micro](ERROR): Failed to parse:
:TS,0000000.1,009.0,000
2023-06-25T02:54:52.339Z,1687661692.339 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20230625T023213/Express0020.lzma
2023-06-25T02:54:53.341Z,1687661693.341 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0020.lzma.bak
2023-06-25T02:54:53.342Z,1687661693.342 [DataOverHttps](INFO): SBD MOMSN=18425688
2023-06-25T02:54:53.924Z,1687661693.924 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T02:54:55.158Z,1687661695.158 [transit:NeedComms:D] Stopped
2023-06-25T02:54:55.158Z,1687661695.158 [transit:NeedComms:E] Running Loop=1
2023-06-25T02:54:55.546Z,1687661695.546 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2023-06-25T02:54:57.159Z,1687661697.159 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,025457.00,A,4313.25119,N,08620.39349,W,0.311,237.38,250623,,,D*75
2023-06-25T02:54:57.178Z,1687661697.178 [NAL9602](INFO): GPS fix at 20230625T025457: (43.220853, -86.339891)
2023-06-25T02:54:57.212Z,1687661697.212 [transit:NeedComms:E] Stopped
2023-06-25T02:54:57.212Z,1687661697.212 [transit:NeedComms](INFO): Completed transit:NeedComms
2023-06-25T02:54:57.212Z,1687661697.212 [transit:NeedComms] Stopped
2023-06-25T02:54:57.213Z,1687661697.213 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2023-06-25T02:54:57.213Z,1687661697.213 [transit:NeedComms:B.GoToSurface] Stopped
2023-06-25T02:54:57.213Z,1687661697.213 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T02:55:08.461Z,1687661708.461 [NAL9602](INFO): SBD MO Status=0, MOMSN=6238, MT Status=0, MTMSN=0
2023-06-25T02:55:08.461Z,1687661708.461 [NAL9602](INFO): No messages in MT queue
2023-06-25T02:55:14.236Z,1687661714.236 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2023-06-25T02:55:14.236Z,1687661714.236 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2023-06-25T02:55:14.236Z,1687661714.236 [BuoyancyServo] Communications Fault, FailCount= 1
2023-06-25T02:55:14.236Z,1687661714.236 [BuoyancyServo](ERROR): Communications Fault
2023-06-25T02:55:14.423Z,1687661714.423 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2023-06-25T02:55:14.927Z,1687661714.927 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:55:14.927Z,1687661714.927 [DVL_micro](ERROR): Failed to parse:
:TS0000000,35.0,+18.0,0000.0,1489.0,000
2023-06-25T02:55:16.154Z,1687661716.154 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2023-06-25T02:55:16.155Z,1687661716.155 [BuoyancyServo](INFO): Powering down
2023-06-25T02:55:17.059Z,1687661717.059 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2023-06-25T02:55:17.059Z,1687661717.059 [BuoyancyServo] No Fault, FailCount= 1
2023-06-25T02:55:17.382Z,1687661717.382 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-06-25T02:55:17.383Z,1687661717.383 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-06-25T02:55:39.224Z,1687661739.224 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T02:56:16.405Z,1687661776.405 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T02:56:16.405Z,1687661776.405 [DVL_micro](ERROR): Failed to parse:
:BI,-0000,-00067,+00000,A
2023-06-25T02:56:32.971Z,1687661792.971 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:56:32.971Z,1687661792.971 [DVL_micro](ERROR): Failed to parse:
:TS,000000000000007.5,0000.0,1489.0,000
2023-06-25T02:58:02.039Z,1687661882.039 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:58:02.039Z,1687661882.039 [DVL_micro](ERROR): Failed to parse:
:TS,000000000.0,+17.0,0000.0,1489.0,000
2023-06-25T02:58:33.980Z,1687661913.980 [DVL_micro](ERROR): only read 2 of 4 data items
2023-06-25T02:58:33.981Z,1687661913.981 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.35,+9999.99,,+0004.07
2023-06-25T02:59:12.334Z,1687661952.334 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T02:59:12.334Z,1687661952.334 [DVL_micro](ERROR): Failed to parse:
:TS,000000000000+16.9,0000.0,1489.0,000
2023-06-25T03:00:04.922Z,1687662004.922 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T03:00:04.922Z,1687662004.922 [DVL_micro](ERROR): Failed to parse:
:BI,+00114,-00857,-00264,+00BD,+00000000.00,+00000000.00,+00000000.00,0000.20,000.00
2023-06-25T03:00:43.426Z,1687662043.426 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T03:00:43.426Z,1687662043.426 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000,+17.1,0000.0,1489.0,000
2023-06-25T03:00:51.505Z,1687662051.505 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T03:00:51.505Z,1687662051.505 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+17.1,0000.0,1489.WI,+00000+00000,+00000,I
2023-06-25T03:01:38.009Z,1687662098.009 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T03:01:38.009Z,1687662098.009 [DVL_micro](ERROR): Failed to parse:
:TS,000000000000007.3,0000.0,1489.0,000
2023-06-25T03:02:17.616Z,1687662137.616 [DVL_micro](ERROR): only read 2 of 4 data items
2023-06-25T03:02:17.616Z,1687662137.616 [DVL_micro](ERROR): Failed to parse:
:BI,-0001,-0040,A
2023-06-25T03:03:09.044Z,1687662189.044 [DVL_micro](ERROR): DVL uart error: serial timeout
2023-06-25T03:03:09.044Z,1687662189.044 [DVL_micro] Communications Fault, FailCount= 1
2023-06-25T03:03:09.044Z,1687662189.044 [DVL_micro](ERROR): Communications Fault
2023-06-25T03:03:09.044Z,1687662189.044 [DVL_micro](ERROR): Failed to parse:
2023-06-25T03:03:09.203Z,1687662189.203 [CBIT](ERROR): Communications Fault in component: DVL_micro
2023-06-25T03:03:09.460Z,1687662189.460 [DVL_micro](INFO): Powering down
2023-06-25T03:03:09.786Z,1687662189.786 [Power24vConverter](INFO): Powering down.
2023-06-25T03:03:10.315Z,1687662190.315 [CBIT](INFO): Clearing failed state for component DVL_micro
2023-06-25T03:03:10.315Z,1687662190.315 [DVL_micro] No Fault, FailCount= 1
2023-06-25T03:03:10.597Z,1687662190.597 [Power24vConverter](INFO): Powering up.
2023-06-25T03:04:19.685Z,1687662259.685 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T03:04:19.685Z,1687662259.685 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+17.7,0000.0,00
2023-06-25T03:05:07.142Z,1687662307.142 [DVL_micro](ERROR): Failed to parse:
0.32,+0005.52,+0000.39,+0005.82
2023-06-25T03:05:39.885Z,1687662339.885 [CommandExec](IMPORTANT): got command show stack
2023-06-25T03:05:39.885Z,1687662339.885 [CommandExec](IMPORTANT): Behavior Stack:

2023-06-25T03:05:39.886Z,1687662339.886 [transit:StandardEnvelopes](IMPORTANT): Priority 0: transit:StandardEnvelopes:A.AltitudeEnvelope
2023-06-25T03:05:39.886Z,1687662339.886 [transit:StandardEnvelopes](IMPORTANT): Priority 1: transit:StandardEnvelopes:B.DepthEnvelope
2023-06-25T03:05:39.886Z,1687662339.886 [transit:StandardEnvelopes](IMPORTANT): Priority 2: transit:StandardEnvelopes:C.OffshoreEnvelope
2023-06-25T03:05:39.887Z,1687662339.887 [transit](IMPORTANT): Priority 3: transit:BuoyancyHold.Buoyancy
2023-06-25T03:05:39.887Z,1687662339.887 [transit](IMPORTANT): Priority 4: transit:MassHold.Pitch
2023-06-25T03:05:39.887Z,1687662339.887 [transit:Transit](IMPORTANT): Priority 5: transit:Transit:A.Pitch
2023-06-25T03:05:39.888Z,1687662339.888 [transit:Transit](IMPORTANT): Priority 6: transit:Transit:B.SetSpeed
2023-06-25T03:05:39.888Z,1687662339.888 [transit:Transit](IMPORTANT): Priority 7: transit:Transit:Wpt1.Waypoint
2023-06-25T03:05:47.950Z,1687662347.950 [DVL_micro](ERROR): only read 3 of 4 data items
2023-06-25T03:05:47.950Z,1687662347.950 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.38,+00060.30,+0006.58
2023-06-25T03:05:55.234Z,1687662355.234 [CommandExec](IMPORTANT): got command get SpeedControl.propOmegaAction
2023-06-25T03:05:55.235Z,1687662355.235 [CommandExec](IMPORTANT): SpeedControl.propOmegaAction 31.416014 rad/s
2023-06-25T03:06:05.731Z,1687662365.731 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T03:06:05.731Z,1687662365.731 [DVL_micro](ERROR): Failed to parse:
:TS,000000005.0,+17.7,0000.0,1489.0,000
2023-06-25T03:06:20.283Z,1687662380.283 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-06-25T03:06:20.283Z,1687662380.283 [DVL_micro](ERROR): Failed to parse:
:TS,000000,35.0,+17.61489.0,000
2023-06-25T03:06:23.679Z,1687662383.679 [CommandExec](IMPORTANT): got command get SpeedControl.propOmegaAction
2023-06-25T03:06:23.679Z,1687662383.679 [CommandExec](IMPORTANT): SpeedControl.propOmegaAction 31.416014 rad/s
2023-06-25T03:06:36.012Z,1687662396.012 [CommandExec](IMPORTANT): got command failComponent
2023-06-25T03:06:36.012Z,1687662396.012 [CommandExec](IMPORTANT): Failed components:
2023-06-25T03:06:36.013Z,1687662396.013 [CommandExec](IMPORTANT): No failed Components.
2023-06-25T03:06:45.153Z,1687662405.153 [CommandExec](IMPORTANT): got command get height_above_sea_floor
2023-06-25T03:06:45.153Z,1687662405.153 [CommandExec](IMPORTANT): height_above_sea_floor 7.990000 m
2023-06-25T03:06:54.225Z,1687662414.225 [CommandExec](IMPORTANT): got command show best height_above_sea_floor
2023-06-25T03:06:54.226Z,1687662414.226 [CommandExec](IMPORTANT): height_above_sea_floor best is DVL_micro.height_above_sea_floor
2023-06-25T03:06:57.244Z,1687662417.244 [CommandExec](IMPORTANT): got command get depth
2023-06-25T03:06:57.245Z,1687662417.245 [CommandExec](IMPORTANT): depth 0.271719 m
2023-06-25T03:06:57.450Z,1687662417.450 [transit:NeedComms] Running Loop=1
2023-06-25T03:06:57.450Z,1687662417.450 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2023-06-25T03:06:57.450Z,1687662417.450 [transit:NeedComms:B.GoToSurface] Running Loop=1
2023-06-25T03:06:57.450Z,1687662417.450 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T03:06:57.450Z,1687662417.450 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2023-06-25T03:06:57.451Z,1687662417.451 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2023-06-25T03:06:57.451Z,1687662417.451 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2023-06-25T03:06:57.452Z,1687662417.452 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2023-06-25T03:06:57.453Z,1687662417.453 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T03:06:57.453Z,1687662417.453 [transit:NeedComms:A] Running Loop=1
2023-06-25T03:06:57.454Z,1687662417.454 [transit:NeedComms:A](INFO): last time_fix was: 1687661697.000000 second since 1970/01/01T00:00:00Z 
2023-06-25T03:06:57.454Z,1687662417.454 [transit:NeedComms:A] Stopped
2023-06-25T03:06:57.884Z,1687662417.884 [transit:NeedComms:C] Running Loop=1
2023-06-25T03:06:59.871Z,1687662419.871 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030700.00,A,4313.30664,N,08620.83867,W,1.594,278.23,250623,,,D*74
2023-06-25T03:06:59.873Z,1687662419.873 [NAL9602](INFO): GPS fix at 20230625T030700: (43.221777, -86.347311)
2023-06-25T03:06:59.885Z,1687662419.885 [UniversalFixResidualReporter](INFO): Fix residual: 97.6 %DT, over the last 592.3 m. Residual distance 578.2 m at bearing 99.4 degrees. Fix at (43.2218, -86.3473) with 609.9 m made good.
2023-06-25T03:06:59.904Z,1687662419.904 [transit:NeedComms:C] Stopped
2023-06-25T03:06:59.904Z,1687662419.904 [transit:NeedComms:D] Running Loop=1
2023-06-25T03:07:01.711Z,1687662421.711 [CommandExec](IMPORTANT): got command get depth
2023-06-25T03:07:01.712Z,1687662421.712 [CommandExec](IMPORTANT): depth 0.272168 m
2023-06-25T03:07:07.768Z,1687662427.768 [DataOverHttps](INFO): Sending 81 bytes from file Logs/20230625T023213/Courier0022.lzma
2023-06-25T03:07:08.770Z,1687662428.770 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Courier0022.lzma.bak
2023-06-25T03:07:08.770Z,1687662428.770 [DataOverHttps](INFO): SBD MOMSN=18425695
2023-06-25T03:07:15.007Z,1687662435.007 [NAL9602](INFO): SBD MO Status=0, MOMSN=6239, MT Status=0, MTMSN=0
2023-06-25T03:07:15.012Z,1687662435.012 [NAL9602](INFO): No messages in MT queue
2023-06-25T03:07:25.421Z,1687662445.421 [DataOverHttps](INFO): Sending 644 bytes from file Logs/20230625T023213/Express0023.lzma
2023-06-25T03:07:26.549Z,1687662446.549 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0023.lzma.bak
2023-06-25T03:07:26.549Z,1687662446.549 [DataOverHttps](INFO): SBD MOMSN=18425698
2023-06-25T03:07:28.329Z,1687662448.329 [transit:NeedComms:D] Stopped
2023-06-25T03:07:28.329Z,1687662448.329 [transit:NeedComms:E] Running Loop=1
2023-06-25T03:07:30.327Z,1687662450.327 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030730.00,A,4313.30688,N,08620.84995,W,0.622,254.94,250623,,,D*73
2023-06-25T03:07:30.329Z,1687662450.329 [NAL9602](INFO): GPS fix at 20230625T030730: (43.221781, -86.347499)
2023-06-25T03:07:30.379Z,1687662450.379 [transit:NeedComms:E] Stopped
2023-06-25T03:07:30.379Z,1687662450.379 [transit:NeedComms](INFO): Completed transit:NeedComms
2023-06-25T03:07:30.384Z,1687662450.384 [transit:NeedComms] Stopped
2023-06-25T03:07:30.384Z,1687662450.384 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2023-06-25T03:07:30.384Z,1687662450.384 [transit:NeedComms:B.GoToSurface] Stopped
2023-06-25T03:07:30.384Z,1687662450.384 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T03:07:45.358Z,1687662465.358 [CommandExec](IMPORTANT): got command show variable speed_wrt
2023-06-25T03:07:45.364Z,1687662465.364 [CommandExec](IMPORTANT): platform_speed_wrt_ground (meter_per_second)
2023-06-25T03:07:45.364Z,1687662465.364 [CommandExec](IMPORTANT): platform_speed_wrt_sea_water (meter_per_second)
2023-06-25T03:07:45.545Z,1687662465.545 [CommandExec](IMPORTANT): SpeedCalculator.platform_speed_wrt_sea_water (meter_per_second)
2023-06-25T03:07:45.547Z,1687662465.547 [CommandExec](IMPORTANT): DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground (meter_per_second)
2023-06-25T03:07:54.257Z,1687662474.257 [CommandExec](IMPORTANT): got command show variable wrt_ground
2023-06-25T03:07:54.261Z,1687662474.261 [CommandExec](IMPORTANT): platform_distance_wrt_ground (unknown)
2023-06-25T03:07:54.262Z,1687662474.262 [CommandExec](IMPORTANT): platform_speed_wrt_ground (meter_per_second)
2023-06-25T03:07:54.262Z,1687662474.262 [CommandExec](IMPORTANT): platform_velocity_wrt_ground (meter_per_second)
2023-06-25T03:07:54.263Z,1687662474.263 [CommandExec](IMPORTANT): platform_x_velocity_wrt_ground (meter_per_second)
2023-06-25T03:07:54.264Z,1687662474.264 [CommandExec](IMPORTANT): platform_y_velocity_wrt_ground (meter_per_second)
2023-06-25T03:07:54.264Z,1687662474.264 [CommandExec](IMPORTANT): platform_z_velocity_wrt_ground (meter_per_second)
2023-06-25T03:07:54.415Z,1687662474.415 [CommandExec](IMPORTANT): DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground (meter_per_second)
2023-06-25T03:07:54.437Z,1687662474.437 [CommandExec](IMPORTANT): DVL_micro.platform_velocity_wrt_ground (meter_per_second)
2023-06-25T03:07:54.437Z,1687662474.437 [CommandExec](IMPORTANT): DVL_micro.platform_x_velocity_wrt_ground (meter_per_second)
2023-06-25T03:07:54.437Z,1687662474.437 [CommandExec](IMPORTANT): DVL_micro.platform_y_velocity_wrt_ground (meter_per_second)
2023-06-25T03:07:54.438Z,1687662474.438 [CommandExec](IMPORTANT): DVL_micro.platform_z_velocity_wrt_ground (meter_per_second)
2023-06-25T03:08:02.287Z,1687662482.287 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T03:08:08.455Z,1687662488.455 [CommandExec](IMPORTANT): got command get DVL_micro.platform_x_velocity_wrt_ground
2023-06-25T03:08:08.456Z,1687662488.456 [CommandExec](IMPORTANT): DVL_micro.platform_x_velocity_wrt_ground -0.909000 m/s
2023-06-25T03:08:21.258Z,1687662501.258 [DVL_micro](ERROR): only read 1 of 4 data items
2023-06-25T03:08:21.259Z,1687662501.259 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.32,,+0000.30,+0009.15
2023-06-25T03:08:22.582Z,1687662502.582 [CommandExec](IMPORTANT): got command configSet DVL_micro.loadAtStartup 0 bool persist
2023-06-25T03:08:22.582Z,1687662502.582 [CommandExec](IMPORTANT): configSet DVL_micro.loadAtStartup requires a restart to take effect.
2023-06-25T03:08:26.543Z,1687662506.543 [CommandExec](IMPORTANT): got command restart application
2023-06-25T03:08:27.548Z,1687662507.548 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2023-06-25T03:08:27.548Z,1687662507.548 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:27.548Z,1687662507.548 [CommandExec](INFO): Uninitializing the command executive.
2023-06-25T03:08:27.548Z,1687662507.548 [CommandExec](INFO): Uninitializing the command scheduler.
2023-06-25T03:08:27.549Z,1687662507.549 [CommandExec ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:27.552Z,1687662507.552 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2023-06-25T03:08:27.552Z,1687662507.552 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2023-06-25T03:08:27.552Z,1687662507.552 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:27.553Z,1687662507.553 [NavChartDb](INFO): Join timeout helper Thread ID is 1595
2023-06-25T03:08:27.753Z,1687662507.753 [MissionManager](INFO): MissionManager is completed.
2023-06-25T03:08:27.753Z,1687662507.753 [MissionManager](INFO): Uninitializing Mission transit
2023-06-25T03:08:27.753Z,1687662507.753 [transit] Stopped
2023-06-25T03:08:27.753Z,1687662507.753 [transit](DEBUG): Aggregate::uninitialize transit
2023-06-25T03:08:27.754Z,1687662507.754 [transit:StandardEnvelopes] Stopped
2023-06-25T03:08:27.754Z,1687662507.754 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2023-06-25T03:08:27.754Z,1687662507.754 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2023-06-25T03:08:27.754Z,1687662507.754 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2023-06-25T03:08:27.754Z,1687662507.754 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2023-06-25T03:08:27.754Z,1687662507.754 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2023-06-25T03:08:27.754Z,1687662507.754 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2023-06-25T03:08:27.754Z,1687662507.754 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2023-06-25T03:08:27.754Z,1687662507.754 [transit:BuoyancyHold.Buoyancy] Stopped
2023-06-25T03:08:27.754Z,1687662507.754 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2023-06-25T03:08:27.754Z,1687662507.754 [transit:MassHold.Pitch] Stopped
2023-06-25T03:08:27.754Z,1687662507.754 [transit:Transit] Stopped
2023-06-25T03:08:27.754Z,1687662507.754 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2023-06-25T03:08:27.755Z,1687662507.755 [transit:Transit:A.Pitch] Stopped
2023-06-25T03:08:27.755Z,1687662507.755 [transit:Transit:B.SetSpeed] Stopped
2023-06-25T03:08:27.755Z,1687662507.755 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2023-06-25T03:08:27.755Z,1687662507.755 [transit:Transit:Wpt1.Waypoint] Stopped
2023-06-25T03:08:27.755Z,1687662507.755 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2023-06-25T03:08:27.936Z,1687662507.936 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:27.936Z,1687662507.936 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:27.952Z,1687662507.952 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2023-06-25T03:08:27.952Z,1687662507.952 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:27.952Z,1687662507.952 [Radio_Surface](INFO): Join timeout helper Thread ID is 1596
2023-06-25T03:08:28.151Z,1687662508.151 [MissionManager](IMPORTANT): Started mission Default
2023-06-25T03:08:28.151Z,1687662508.151 [Default] Running Loop=1
2023-06-25T03:08:28.151Z,1687662508.151 [Default](DEBUG): Aggregate::initialize Default
2023-06-25T03:08:28.151Z,1687662508.151 [Default:B.GoToSurface] Running Loop=1
2023-06-25T03:08:28.151Z,1687662508.151 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T03:08:28.152Z,1687662508.152 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-06-25T03:08:28.152Z,1687662508.152 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-06-25T03:08:28.152Z,1687662508.152 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-06-25T03:08:28.153Z,1687662508.153 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-06-25T03:08:28.153Z,1687662508.153 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T03:08:28.154Z,1687662508.154 [Default:A.Wait] Running Loop=1
2023-06-25T03:08:28.154Z,1687662508.154 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-06-25T03:08:28.320Z,1687662508.320 [Radio_Surface](INFO): Powering down
2023-06-25T03:08:28.321Z,1687662508.321 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:28.321Z,1687662508.321 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:28.336Z,1687662508.336 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2023-06-25T03:08:28.336Z,1687662508.336 [Onboard ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:28.336Z,1687662508.336 [Onboard](INFO): Join timeout helper Thread ID is 1599
2023-06-25T03:08:28.684Z,1687662508.684 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2023-06-25T03:08:32.720Z,1687662512.720 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:32.720Z,1687662512.720 [Onboard ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:32.749Z,1687662512.749 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2023-06-25T03:08:32.749Z,1687662512.749 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:32.749Z,1687662512.749 [DataOverHttps](INFO): Join timeout helper Thread ID is 1601
2023-06-25T03:08:33.704Z,1687662513.704 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:33.704Z,1687662513.704 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:33.720Z,1687662513.720 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2023-06-25T03:08:33.720Z,1687662513.720 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:33.720Z,1687662513.720 [BackseatComponent](INFO): Join timeout helper Thread ID is 1602
2023-06-25T03:08:33.813Z,1687662513.813 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:33.815Z,1687662513.815 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:33.823Z,1687662513.823 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2023-06-25T03:08:33.823Z,1687662513.823 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:33.824Z,1687662513.824 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:33.824Z,1687662513.824 [WetLabsBB2FL](INFO): Powering down
2023-06-25T03:08:33.825Z,1687662513.825 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:33.825Z,1687662513.825 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1603
2023-06-25T03:08:33.841Z,1687662513.841 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2023-06-25T03:08:33.841Z,1687662513.841 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:33.841Z,1687662513.841 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1604
2023-06-25T03:08:34.296Z,1687662514.296 [CTD_Seabird](INFO): Powering down
2023-06-25T03:08:34.311Z,1687662514.311 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:34.312Z,1687662514.312 [CTD_Seabird](INFO): Powering down
2023-06-25T03:08:34.324Z,1687662514.324 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:34.332Z,1687662514.332 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2023-06-25T03:08:34.333Z,1687662514.333 [logger ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:34.333Z,1687662514.333 [logger](INFO): Join timeout helper Thread ID is 1605
2023-06-25T03:08:34.357Z,1687662514.357 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:34.357Z,1687662514.357 [logger ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:34.376Z,1687662514.376 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2023-06-25T03:08:34.376Z,1687662514.376 [CommandLine ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:34.377Z,1687662514.377 [CommandLine](INFO): Join timeout helper Thread ID is 1606
2023-06-25T03:08:34.392Z,1687662514.392 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:34.392Z,1687662514.392 [CommandLine ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:34.396Z,1687662514.396 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2023-06-25T03:08:34.397Z,1687662514.397 [CommandExec ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:34.397Z,1687662514.397 [CommandExec](INFO): Join timeout helper Thread ID is 1607
2023-06-25T03:08:34.398Z,1687662514.398 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2023-06-25T03:08:34.398Z,1687662514.398 [controlThread ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:34.399Z,1687662514.399 [controlThread](INFO): Join timeout helper Thread ID is 1608
2023-06-25T03:08:34.560Z,1687662514.560 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2023-06-25T03:08:34.560Z,1687662514.560 [controlThread](DEBUG): Uninitializing ControlThread
2023-06-25T03:08:34.562Z,1687662514.562 [AHRS_M2](INFO): Powering down
2023-06-25T03:08:34.704Z,1687662514.704 [DVL_micro](INFO): Powering down
2023-06-25T03:08:34.705Z,1687662514.705 [NAL9602](INFO): Powering down
2023-06-25T03:08:34.706Z,1687662514.706 [Sonardyne_Nano](INFO): Powering down
2023-06-25T03:08:34.824Z,1687662514.824 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2023-06-25T03:08:34.825Z,1687662514.825 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2023-06-25T03:08:34.826Z,1687662514.826 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2023-06-25T03:08:34.826Z,1687662514.826 [MissionManager](INFO): Uninitializing Mission Default
2023-06-25T03:08:34.826Z,1687662514.826 [Default] Stopped
2023-06-25T03:08:34.826Z,1687662514.826 [Default](DEBUG): Aggregate::uninitialize Default
2023-06-25T03:08:34.826Z,1687662514.826 [Default:A.Wait] Stopped
2023-06-25T03:08:34.826Z,1687662514.826 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-06-25T03:08:34.826Z,1687662514.826 [Default:B.GoToSurface] Stopped
2023-06-25T03:08:34.827Z,1687662514.827 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T03:08:34.829Z,1687662514.829 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2023-06-25T03:08:34.830Z,1687662514.830 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2023-06-25T03:08:34.830Z,1687662514.830 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2023-06-25T03:08:34.830Z,1687662514.830 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2023-06-25T03:08:34.830Z,1687662514.830 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2023-06-25T03:08:34.831Z,1687662514.831 [BuoyancyServo](INFO): Powering down
2023-06-25T03:08:34.960Z,1687662514.960 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2023-06-25T03:08:34.960Z,1687662514.960 [ElevatorServo](INFO): Powering down
2023-06-25T03:08:34.961Z,1687662514.961 [MassServo](DEBUG): Uninitialize Mass Servo.
2023-06-25T03:08:34.961Z,1687662514.961 [MassServo](INFO): Powering down
2023-06-25T03:08:34.962Z,1687662514.962 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2023-06-25T03:08:34.962Z,1687662514.962 [RudderServo](INFO): Powering down
2023-06-25T03:08:34.963Z,1687662514.963 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2023-06-25T03:08:34.963Z,1687662514.963 [ThrusterHE](INFO): Powering down
2023-06-25T03:08:34.964Z,1687662514.964 [SBIT](DEBUG): Uninitialize SBIT Component.
2023-06-25T03:08:34.964Z,1687662514.964 [IBIT](DEBUG): Uninitialize IBIT Component.
2023-06-25T03:08:34.964Z,1687662514.964 [CBIT](DEBUG): Uninitialize CBIT Component.
2023-06-25T03:08:34.964Z,1687662514.964 [CBIT](DEBUG): Powering off loads.
2023-06-25T03:08:34.976Z,1687662514.976 [CBIT](DEBUG): Disabling WDT.
2023-06-25T03:08:34.987Z,1687662514.987 [CBIT](DEBUG): Opening all GF detection circuits.
2023-06-25T03:08:34.989Z,1687662514.989 [controlThread ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:35.027Z,1687662515.027 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:35.033Z,1687662515.033 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:35.063Z,1687662515.063 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:35.065Z,1687662515.065 [Onboard ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:35.073Z,1687662515.073 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:35.118Z,1687662515.118 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:35.167Z,1687662515.167 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-06-25T03:08:35.216Z,1687662515.216 [logger ThreadHandler](INFO): Thread cancelled.