2023-06-25T03:08:36.148Z,1687662516.148 [Supervisor](DEBUG): Initializing supervisor.
2023-06-25T03:08:36.152Z,1687662516.152 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-06-25T03:08:36.153Z,1687662516.153 [SyncHandler](INFO): Protected caller Thread ID is 1609
2023-06-25T03:08:36.153Z,1687662516.153 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-06-25T03:08:36.154Z,1687662516.154 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-06-25T03:08:36.154Z,1687662516.154 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1610
2023-06-25T03:08:36.158Z,1687662516.158 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-06-25T03:08:36.176Z,1687662516.176 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-06-25T03:08:36.177Z,1687662516.177 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-06-25T03:08:36.177Z,1687662516.177 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1611
2023-06-25T03:08:36.181Z,1687662516.181 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-06-25T03:08:36.182Z,1687662516.182 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-06-25T03:08:36.182Z,1687662516.182 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1612
2023-06-25T03:08:36.184Z,1687662516.184 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-06-25T03:08:36.185Z,1687662516.185 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-06-25T03:08:36.186Z,1687662516.186 [logger ThreadHandler](INFO): Protected caller Thread ID is 1613
2023-06-25T03:08:36.189Z,1687662516.189 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-06-25T03:08:36.190Z,1687662516.190 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-06-25T03:08:36.191Z,1687662516.191 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-06-25T03:08:36.288Z,1687662516.288 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-06-25T03:08:36.288Z,1687662516.288 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-06-25T03:08:36.550Z,1687662516.550 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-06-25T03:08:36.550Z,1687662516.550 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-06-25T03:08:37.020Z,1687662517.020 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-06-25T03:08:37.020Z,1687662517.020 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-06-25T03:08:37.128Z,1687662517.128 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-06-25T03:08:37.128Z,1687662517.128 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-06-25T03:08:37.836Z,1687662517.836 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-06-25T03:08:37.837Z,1687662517.837 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-06-25T03:08:38.314Z,1687662518.314 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-06-25T03:08:38.315Z,1687662518.315 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-06-25T03:08:38.793Z,1687662518.793 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-06-25T03:08:38.794Z,1687662518.794 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-06-25T03:08:39.204Z,1687662519.204 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-06-25T03:08:39.204Z,1687662519.204 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-06-25T03:08:39.539Z,1687662519.539 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-06-25T03:08:39.540Z,1687662519.540 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-06-25T03:08:39.897Z,1687662519.897 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-06-25T03:08:39.898Z,1687662519.898 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-06-25T03:08:40.115Z,1687662520.115 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-06-25T03:08:40.116Z,1687662520.116 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-06-25T03:08:40.255Z,1687662520.255 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-06-25T03:08:40.256Z,1687662520.256 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-06-25T03:08:40.337Z,1687662520.337 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-06-25T03:08:40.416Z,1687662520.416 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-06-25T03:08:40.596Z,1687662520.596 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-06-25T03:08:40.597Z,1687662520.597 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-06-25T03:08:40.818Z,1687662520.818 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-06-25T03:08:40.820Z,1687662520.820 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2023-06-25T03:08:40.820Z,1687662520.820 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2023-06-25T03:08:40.903Z,1687662520.903 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2023-06-25T03:08:41.170Z,1687662521.170 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-06-25T03:08:41.171Z,1687662521.171 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2023-06-25T03:08:41.268Z,1687662521.268 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2023-06-25T03:08:41.424Z,1687662521.424 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2023-06-25T03:08:41.524Z,1687662521.524 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2023-06-25T03:08:41.622Z,1687662521.622 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2023-06-25T03:08:41.985Z,1687662521.985 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2023-06-25T03:08:42.115Z,1687662522.115 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2023-06-25T03:08:42.443Z,1687662522.443 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2023-06-25T03:08:42.542Z,1687662522.542 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2023-06-25T03:08:42.644Z,1687662522.644 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2023-06-25T03:08:42.644Z,1687662522.644 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2023-06-25T03:08:42.658Z,1687662522.658 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-06-25T03:08:42.821Z,1687662522.821 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-06-25T03:08:42.821Z,1687662522.821 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-06-25T03:08:42.989Z,1687662522.989 [BuoyancyServo] Loaded
2023-06-25T03:08:42.990Z,1687662522.990 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-06-25T03:08:43.011Z,1687662523.011 [ElevatorServo] Loaded
2023-06-25T03:08:43.011Z,1687662523.011 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-06-25T03:08:43.032Z,1687662523.032 [MassServo] Loaded
2023-06-25T03:08:43.032Z,1687662523.032 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-06-25T03:08:43.052Z,1687662523.052 [RudderServo] Loaded
2023-06-25T03:08:43.053Z,1687662523.053 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-06-25T03:08:43.069Z,1687662523.069 [ThrusterHE] Loaded
2023-06-25T03:08:43.069Z,1687662523.069 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-06-25T03:08:43.069Z,1687662523.069 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-06-25T03:08:43.070Z,1687662523.070 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-06-25T03:08:43.228Z,1687662523.228 [SBIT](DEBUG): Construct Startup Built In Test.
2023-06-25T03:08:43.243Z,1687662523.243 [SBIT] Loaded
2023-06-25T03:08:43.243Z,1687662523.243 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-06-25T03:08:43.246Z,1687662523.246 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-06-25T03:08:43.268Z,1687662523.268 [IBIT] Loaded
2023-06-25T03:08:43.268Z,1687662523.268 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-06-25T03:08:43.274Z,1687662523.274 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-06-25T03:08:43.497Z,1687662523.497 [CBIT] Loaded
2023-06-25T03:08:43.497Z,1687662523.497 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-06-25T03:08:43.498Z,1687662523.498 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-06-25T03:08:43.498Z,1687662523.498 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-06-25T03:08:43.673Z,1687662523.673 [CTD_Seabird] Loaded
2023-06-25T03:08:43.673Z,1687662523.673 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2023-06-25T03:08:43.674Z,1687662523.674 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406644E0
2023-06-25T03:08:43.675Z,1687662523.675 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1695
2023-06-25T03:08:43.707Z,1687662523.707 [ESPComponent] Loaded
2023-06-25T03:08:43.707Z,1687662523.707 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2023-06-25T03:08:43.728Z,1687662523.728 [PAR_Licor] Loaded
2023-06-25T03:08:43.728Z,1687662523.728 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-06-25T03:08:43.759Z,1687662523.759 [WetLabsBB2FL] Loaded
2023-06-25T03:08:43.760Z,1687662523.760 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2023-06-25T03:08:43.761Z,1687662523.761 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406944E0
2023-06-25T03:08:43.761Z,1687662523.761 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1696
2023-06-25T03:08:43.762Z,1687662523.762 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-06-25T03:08:43.762Z,1687662523.762 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-06-25T03:08:43.816Z,1687662523.816 [DepthRateCalculator] Loaded
2023-06-25T03:08:43.817Z,1687662523.817 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-06-25T03:08:43.822Z,1687662523.822 [PitchRateCalculator] Loaded
2023-06-25T03:08:43.822Z,1687662523.822 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-06-25T03:08:43.833Z,1687662523.833 [SpeedCalculator] Loaded
2023-06-25T03:08:43.833Z,1687662523.833 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-06-25T03:08:43.838Z,1687662523.838 [YawRateCalculator] Loaded
2023-06-25T03:08:43.838Z,1687662523.838 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-06-25T03:08:43.857Z,1687662523.857 [ElevatorOffsetCalculator] Loaded
2023-06-25T03:08:43.858Z,1687662523.858 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-06-25T03:08:43.858Z,1687662523.858 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-06-25T03:08:43.859Z,1687662523.859 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-06-25T03:08:43.968Z,1687662523.968 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-06-25T03:08:43.969Z,1687662523.969 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-06-25T03:08:43.997Z,1687662523.997 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-06-25T03:08:43.998Z,1687662523.998 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-06-25T03:08:44.124Z,1687662524.124 [DeadReckonUsingMultipleVelocitySources] Loaded
2023-06-25T03:08:44.125Z,1687662524.125 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2023-06-25T03:08:44.139Z,1687662524.139 [NavChart] Loaded
2023-06-25T03:08:44.139Z,1687662524.139 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-06-25T03:08:44.145Z,1687662524.145 [UniversalFixResidualReporter] Loaded
2023-06-25T03:08:44.145Z,1687662524.145 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-06-25T03:08:44.145Z,1687662524.145 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-06-25T03:08:44.146Z,1687662524.146 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-06-25T03:08:44.599Z,1687662524.599 [AHRS_M2] Loaded
2023-06-25T03:08:44.599Z,1687662524.599 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2023-06-25T03:08:44.634Z,1687662524.634 [BackseatComponent] Loaded
2023-06-25T03:08:44.634Z,1687662524.634 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2023-06-25T03:08:44.635Z,1687662524.635 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A294E0
2023-06-25T03:08:44.636Z,1687662524.636 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1697
2023-06-25T03:08:44.639Z,1687662524.639 [LcmUniversalReporter] Loaded
2023-06-25T03:08:44.639Z,1687662524.639 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2023-06-25T03:08:45.400Z,1687662525.400 [BPC1] Loaded
2023-06-25T03:08:45.400Z,1687662525.400 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-06-25T03:08:45.489Z,1687662525.489 [DataOverHttps] Loaded
2023-06-25T03:08:45.489Z,1687662525.489 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-06-25T03:08:45.490Z,1687662525.490 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A594E0
2023-06-25T03:08:45.490Z,1687662525.490 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1698
2023-06-25T03:08:45.511Z,1687662525.511 [Depth_Keller] Loaded
2023-06-25T03:08:45.511Z,1687662525.511 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-06-25T03:08:45.516Z,1687662525.516 [DropWeight] Loaded
2023-06-25T03:08:45.517Z,1687662525.517 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2023-06-25T03:08:45.578Z,1687662525.578 [NAL9602] Loaded
2023-06-25T03:08:45.578Z,1687662525.578 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-06-25T03:08:45.604Z,1687662525.604 [Onboard] Loaded
2023-06-25T03:08:45.605Z,1687662525.605 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-06-25T03:08:45.606Z,1687662525.606 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A894E0
2023-06-25T03:08:45.606Z,1687662525.606 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1699
2023-06-25T03:08:45.619Z,1687662525.619 [Power24vConverter] Loaded
2023-06-25T03:08:45.619Z,1687662525.619 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-06-25T03:08:45.634Z,1687662525.634 [Radio_Surface] Loaded
2023-06-25T03:08:45.634Z,1687662525.634 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-06-25T03:08:45.635Z,1687662525.635 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AB94E0
2023-06-25T03:08:45.635Z,1687662525.635 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1700
2023-06-25T03:08:45.649Z,1687662525.649 [Sonardyne_Nano] Loaded
2023-06-25T03:08:45.650Z,1687662525.650 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2023-06-25T03:08:45.650Z,1687662525.650 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-06-25T03:08:45.651Z,1687662525.651 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-06-25T03:08:45.711Z,1687662525.711 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-06-25T03:08:45.712Z,1687662525.712 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-06-25T03:08:45.766Z,1687662525.766 [VerticalControl](DEBUG): Construct VerticalControl.
2023-06-25T03:08:45.817Z,1687662525.817 [VerticalControl] Loaded
2023-06-25T03:08:45.817Z,1687662525.817 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-06-25T03:08:45.820Z,1687662525.820 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-06-25T03:08:45.858Z,1687662525.858 [HorizontalControl] Loaded
2023-06-25T03:08:45.858Z,1687662525.858 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-06-25T03:08:45.861Z,1687662525.861 [SpeedControl](DEBUG): Construct SpeedControl.
2023-06-25T03:08:45.863Z,1687662525.863 [SpeedControl] Loaded
2023-06-25T03:08:45.863Z,1687662525.863 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-06-25T03:08:45.866Z,1687662525.866 [LoopControl](DEBUG): Construct LoopControl.
2023-06-25T03:08:45.866Z,1687662525.866 [LoopControl] Loaded
2023-06-25T03:08:45.866Z,1687662525.866 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-06-25T03:08:45.867Z,1687662525.867 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-06-25T03:08:45.867Z,1687662525.867 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-06-25T03:08:45.878Z,1687662525.878 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-06-25T03:08:45.878Z,1687662525.878 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-06-25T03:08:46.218Z,1687662526.218 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-06-25T03:08:46.224Z,1687662526.224 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-06-25T03:08:46.227Z,1687662526.227 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-06-25T03:08:46.238Z,1687662526.238 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-06-25T03:08:46.239Z,1687662526.239 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BC44E0
2023-06-25T03:08:46.239Z,1687662526.239 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1701
2023-06-25T03:08:46.244Z,1687662526.244 [Supervisor](INFO): Main Thread ID is 822
2023-06-25T03:08:46.244Z,1687662526.244 [Supervisor](DEBUG): Running supervisor.
2023-06-25T03:08:46.244Z,1687662526.244 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1702
2023-06-25T03:08:46.245Z,1687662526.245 [CommandExec](INFO): Initializing the command executive.
2023-06-25T03:08:46.246Z,1687662526.246 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1703
2023-06-25T03:08:46.250Z,1687662526.250 [controlThread ThreadHandler](INFO): Handler Thread ID is 1704
2023-06-25T03:08:46.250Z,1687662526.250 [controlThread](DEBUG): Initializing ControlThread
2023-06-25T03:08:46.252Z,1687662526.252 [SBIT](INFO): Initialize SBIT Component.
2023-06-25T03:08:46.252Z,1687662526.252 [SBIT](IMPORTANT): git: 2023-06-23
2023-06-25T03:08:46.253Z,1687662526.253 [SBIT](INFO): git hash: 7a60da20fabe8c9ff022aa19d24605a06cff26a2
2023-06-25T03:08:46.253Z,1687662526.253 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-06-25T03:08:46.254Z,1687662526.254 [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
2023-06-25T03:08:46.256Z,1687662526.256 [SBIT](INFO): Beginning SBIT in 75.000000 seconds.
2023-06-25T03:08:46.256Z,1687662526.256 [IBIT](INFO): Initialize IBIT Component.
2023-06-25T03:08:46.257Z,1687662526.257 [CBIT](DEBUG): Initialize CBIT Component.
2023-06-25T03:08:46.258Z,1687662526.258 [logger ThreadHandler](INFO): Handler Thread ID is 1705
2023-06-25T03:08:46.268Z,1687662526.268 [CBIT](DEBUG): Initialized mux pins.
2023-06-25T03:08:46.268Z,1687662526.268 [CBIT](DEBUG): Initializing the watchdog timer.
2023-06-25T03:08:46.276Z,1687662526.276 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1706
2023-06-25T03:08:46.277Z,1687662526.277 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2023-06-25T03:08:46.281Z,1687662526.281 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1708
2023-06-25T03:08:46.284Z,1687662526.284 [WetLabsBB2FL](INFO): Powering up
2023-06-25T03:08:46.285Z,1687662526.285 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1710
2023-06-25T03:08:46.292Z,1687662526.292 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2023-06-25T03:08:46.292Z,1687662526.292 [CBIT](DEBUG): Initializing heartbeat.
2023-06-25T03:08:46.294Z,1687662526.294 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1711
2023-06-25T03:08:46.295Z,1687662526.295 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-06-25T03:08:46.308Z,1687662526.308 [Onboard ThreadHandler](INFO): Handler Thread ID is 1712
2023-06-25T03:08:46.325Z,1687662526.325 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1713
2023-06-25T03:08:46.349Z,1687662526.349 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1714
2023-06-25T03:08:46.352Z,1687662526.352 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2023-06-25T03:08:46.352Z,1687662526.352 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2023-06-25T03:08:46.352Z,1687662526.352 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2023-06-25T03:08:46.352Z,1687662526.352 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2023-06-25T03:08:46.353Z,1687662526.353 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2023-06-25T03:08:46.353Z,1687662526.353 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2023-06-25T03:08:46.353Z,1687662526.353 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2023-06-25T03:08:46.353Z,1687662526.353 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2023-06-25T03:08:46.353Z,1687662526.353 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2023-06-25T03:08:46.353Z,1687662526.353 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2023-06-25T03:08:46.354Z,1687662526.354 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2023-06-25T03:08:46.354Z,1687662526.354 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2023-06-25T03:08:46.364Z,1687662526.364 [CBIT](DEBUG): Deactivating GF circuits.
2023-06-25T03:08:46.364Z,1687662526.364 [CBIT](DEBUG): Deactivating emergency mode.
2023-06-25T03:08:46.404Z,1687662526.404 [CBIT](DEBUG): Backplane powered.
2023-06-25T03:08:46.408Z,1687662526.408 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-06-25T03:08:46.408Z,1687662526.408 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-06-25T03:08:46.409Z,1687662526.409 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-06-25T03:08:46.409Z,1687662526.409 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-06-25T03:08:46.409Z,1687662526.409 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-06-25T03:08:46.411Z,1687662526.411 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-06-25T03:08:46.411Z,1687662526.411 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-06-25T03:08:46.418Z,1687662526.418 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-06-25T03:08:46.420Z,1687662526.420 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-06-25T03:08:46.421Z,1687662526.421 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-06-25T03:08:46.421Z,1687662526.421 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-06-25T03:08:46.422Z,1687662526.422 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-06-25T03:08:46.500Z,1687662526.500 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-06-25T03:08:46.535Z,1687662526.535 [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>


2023-06-25T03:08:46.536Z,1687662526.536 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-06-25T03:08:46.618Z,1687662526.618 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-06-25T03:08:46.633Z,1687662526.633 [Default:A.Wait](DEBUG): Construct Wait.
2023-06-25T03:08:46.636Z,1687662526.636 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-06-25T03:08:46.679Z,1687662526.679 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-06-25T03:08:46.682Z,1687662526.682 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-06-25T03:08:46.724Z,1687662526.724 [Default:E.Execute](DEBUG): Construct Execute.
2023-06-25T03:08:46.727Z,1687662526.727 [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>


2023-06-25T03:08:46.732Z,1687662526.732 [Radio_Surface](INFO): Powering up
2023-06-25T03:08:46.740Z,1687662526.740 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,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,
2023-06-25T03:08:46.773Z,1687662526.773 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-06-25T03:08:46.893Z,1687662526.893 [Depth_Keller](ERROR): Pressure or depth reading out of range: 1895.894409 decibar, 0.000000 m
2023-06-25T03:08:46.895Z,1687662526.895 [Power24vConverter](INFO): Powering up.
2023-06-25T03:08:46.895Z,1687662526.895 [Sonardyne_Nano](INFO): Initializing.
2023-06-25T03:08:46.948Z,1687662526.948 [DepthRateCalculator](ERROR): Depth measurement is not active
2023-06-25T03:08:46.974Z,1687662526.974 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-06-25T03:08:46.980Z,1687662526.980 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-06-25T03:08:46.981Z,1687662526.981 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-06-25T03:08:46.000Z,1687662527.000 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-06-25T03:08:47.001Z,1687662527.001 [MassServo](DEBUG): Initializing EZServoServo.
2023-06-25T03:08:47.016Z,1687662527.016 [MassServo](DEBUG): Initializing MassServo.
2023-06-25T03:08:47.017Z,1687662527.017 [RudderServo](DEBUG): Initializing EZServoServo.
2023-06-25T03:08:47.024Z,1687662527.024 [RudderServo](DEBUG): Initializing RudderServo.
2023-06-25T03:08:47.025Z,1687662527.025 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-06-25T03:08:47.032Z,1687662527.032 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-06-25T03:08:48.392Z,1687662528.392 [WetLabsBB2FL](INFO): Powering down
2023-06-25T03:08:49.178Z,1687662529.178 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2023-06-25T03:08:52.533Z,1687662532.533 [ThrusterHE](ERROR): Zero Speed Commanded.
2023-06-25T03:09:15.846Z,1687662555.846 [NAL9602](INFO): Powering up NAL9602
2023-06-25T03:09:26.754Z,1687662566.754 [NAL9602](INFO): NAL9602 initialized
2023-06-25T03:09:39.684Z,1687662579.684 [NAL9602](INFO): SBD MO Status=0, MOMSN=6240, MT Status=0, MTMSN=0
2023-06-25T03:09:39.684Z,1687662579.684 [NAL9602](INFO): No messages in MT queue
2023-06-25T03:09:55.848Z,1687662595.848 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030953.00,A,4313.27528,N,08620.86957,W,0.467,0.00,250623,,,A*73
2023-06-25T03:09:55.852Z,1687662595.852 [NAL9602](INFO): GPS fix at 20230625T030953: (43.221255, -86.347826)
2023-06-25T03:10:01.919Z,1687662601.919 [SBIT](IMPORTANT): Beginning Startup BIT
2023-06-25T03:10:01.924Z,1687662601.924 [CBIT](IMPORTANT): Beginning ground fault scan
2023-06-25T03:10:12.888Z,1687662612.888 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005042
CHAN A1 (24V): 0.002246
CHAN A2 (12V): -0.006480
CHAN A3 (5V): -0.006363
CHAN B0 (3.3V): -0.002859
CHAN B1 (3.15aV): -0.001897
CHAN B2 (3.15bV): -0.001232
CHAN B3 (GND): -0.001733
OPEN: 0.012038
Full Scale: +/- 1 mA
2023-06-25T03:10:28.573Z,1687662628.573 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T03:10:55.659Z,1687662655.659 [SBIT](IMPORTANT): SBIT PASSED
2023-06-25T03:10:55.659Z,1687662655.659 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2023-06-25T03:10:55.660Z,1687662655.660 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2023-06-25T03:10:55.660Z,1687662655.660 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2023-06-25T03:10:55.660Z,1687662655.660 [SBIT](IMPORTANT): Depth_Keller.offset=-0.35 decibar;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): DropWeight.loadAtStartup=1 bool;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=3 minute;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): ElevatorServo.offsetAngle=1 degree;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=1 bool;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): StratificationFrontDetector.threshold_VTHI=0.05 celsius;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): StratificationFrontDetector.verbosity=1 count;

2023-06-25T03:10:55.661Z,1687662655.661 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=200 cubic_centimeter;

2023-06-25T03:10:55.662Z,1687662655.662 [SBIT](IMPORTANT): VerticalControl.massDefault=1.4 centimeter;

2023-06-25T03:10:55.662Z,1687662655.662 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.depth3=20 meter;

2023-06-25T03:10:55.662Z,1687662655.662 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.depth4=30 meter;

2023-06-25T03:10:55.662Z,1687662655.662 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2023-06-25T03:10:56.050Z,1687662656.050 [MissionManager](IMPORTANT): Started mission Startup
2023-06-25T03:10:56.050Z,1687662656.050 [Startup] Running Loop=1
2023-06-25T03:10:56.051Z,1687662656.051 [Startup](DEBUG): Aggregate::initialize Startup
2023-06-25T03:10:56.051Z,1687662656.051 [Startup:A.GoToSurface] Running Loop=1
2023-06-25T03:10:56.051Z,1687662656.051 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T03:10:56.051Z,1687662656.051 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-06-25T03:10:56.052Z,1687662656.052 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-06-25T03:10:56.052Z,1687662656.052 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-06-25T03:10:56.053Z,1687662656.053 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-06-25T03:10:56.053Z,1687662656.053 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T03:10:56.054Z,1687662656.054 [Startup:StartupSatComms] Running Loop=1
2023-06-25T03:10:56.054Z,1687662656.054 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2023-06-25T03:10:56.054Z,1687662656.054 [Startup:StartupSatComms:A] Running Loop=1
2023-06-25T03:10:56.466Z,1687662656.466 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2023-06-25T03:10:58.066Z,1687662658.066 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031055.00,A,4313.27382,N,08620.87827,W,0.272,265.70,250623,,,A*78
2023-06-25T03:10:58.068Z,1687662658.068 [NAL9602](INFO): GPS fix at 20230625T031055: (43.221230, -86.347971)
2023-06-25T03:10:58.078Z,1687662658.078 [Startup:StartupSatComms:A] Stopped
2023-06-25T03:10:58.078Z,1687662658.078 [Startup:StartupSatComms:B] Running Loop=1
2023-06-25T03:10:58.496Z,1687662658.496 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-06-25T03:11:28.854Z,1687662688.854 [NAL9602](INFO): SBD MO Status=2, MOMSN=6241, MT Status=2, MTMSN=0
2023-06-25T03:11:28.855Z,1687662688.855 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-06-25T03:11:47.073Z,1687662707.073 [NAL9602](INFO): SBD MO Status=1, MOMSN=6241, MT Status=0, MTMSN=0
2023-06-25T03:11:47.120Z,1687662707.120 [NAL9602](INFO): Sent 74 bytes from file Logs/20230625T023213/Courier0025.lzma
2023-06-25T03:11:47.120Z,1687662707.120 [NAL9602](INFO): Packets left to send: 0
2023-06-25T03:11:55.695Z,1687662715.695 [NAL9602](INFO): SBD MO Status=1, MOMSN=6242, MT Status=0, MTMSN=0
2023-06-25T03:11:55.749Z,1687662715.749 [NAL9602](INFO): Sent 270 bytes from file Logs/20230625T030836/Courier0000.lzma
2023-06-25T03:11:55.749Z,1687662715.749 [NAL9602](INFO): Packets left to send: 0
2023-06-25T03:11:59.161Z,1687662719.161 [Startup:StartupSatComms:B](INFO): Timed out from 2023-06-25T03:10:58.1Z
2023-06-25T03:11:59.161Z,1687662719.161 [Startup:StartupSatComms:B] Stopped
2023-06-25T03:11:59.161Z,1687662719.161 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2023-06-25T03:11:59.161Z,1687662719.161 [Startup:StartupSatComms] Stopped
2023-06-25T03:11:59.161Z,1687662719.161 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2023-06-25T03:11:59.162Z,1687662719.162 [Startup](INFO): Completed Startup
2023-06-25T03:11:59.162Z,1687662719.162 [MissionManager](INFO): Startup is completed.
2023-06-25T03:11:59.162Z,1687662719.162 [MissionManager](INFO): Uninitializing Mission Startup
2023-06-25T03:11:59.162Z,1687662719.162 [Startup] Stopped
2023-06-25T03:11:59.162Z,1687662719.162 [Startup](DEBUG): Aggregate::uninitialize Startup
2023-06-25T03:11:59.162Z,1687662719.162 [Startup:A.GoToSurface] Stopped
2023-06-25T03:11:59.162Z,1687662719.162 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T03:11:59.311Z,1687662719.311 [MissionManager](IMPORTANT): Started mission Default
2023-06-25T03:11:59.312Z,1687662719.312 [Default] Running Loop=1
2023-06-25T03:11:59.312Z,1687662719.312 [Default](DEBUG): Aggregate::initialize Default
2023-06-25T03:11:59.312Z,1687662719.312 [Default:B.GoToSurface] Running Loop=1
2023-06-25T03:11:59.312Z,1687662719.312 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T03:11:59.312Z,1687662719.312 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-06-25T03:11:59.312Z,1687662719.312 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-06-25T03:11:59.313Z,1687662719.313 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-06-25T03:11:59.313Z,1687662719.313 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-06-25T03:11:59.313Z,1687662719.313 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T03:11:59.314Z,1687662719.314 [Default:A.Wait] Running Loop=1
2023-06-25T03:11:59.314Z,1687662719.314 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-06-25T03:12:05.666Z,1687662725.666 [NAL9602](INFO): SBD MO Status=1, MOMSN=6243, MT Status=0, MTMSN=0
2023-06-25T03:12:05.728Z,1687662725.728 [NAL9602](INFO): Sent 332 bytes from file Logs/20230625T023213/Express0026.lzma
2023-06-25T03:12:05.728Z,1687662725.728 [NAL9602](INFO): Packets left to send: 1
2023-06-25T03:12:12.554Z,1687662732.554 [Default:A.Wait](INFO): Done Waiting.
2023-06-25T03:12:12.554Z,1687662732.554 [Default:A.Wait] Stopped
2023-06-25T03:12:12.554Z,1687662732.554 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-06-25T03:12:12.958Z,1687662732.958 [Default:CheckIn] Running Loop=1
2023-06-25T03:12:12.958Z,1687662732.958 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-06-25T03:12:12.958Z,1687662732.958 [Default:CheckIn:Read_GPS] Running Loop=1
2023-06-25T03:12:13.346Z,1687662733.346 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2023-06-25T03:12:14.950Z,1687662734.950 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031212.00,A,4313.27333,N,08620.88485,W,0.214,265.70,250623,,,A*78
2023-06-25T03:12:14.952Z,1687662734.952 [NAL9602](INFO): GPS fix at 20230625T031212: (43.221222, -86.348081)
2023-06-25T03:12:14.962Z,1687662734.962 [Default:CheckIn:Read_GPS] Stopped
2023-06-25T03:12:14.962Z,1687662734.962 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-06-25T03:12:15.381Z,1687662735.381 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-06-25T03:12:21.638Z,1687662741.638 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T031221
2023-06-25T03:12:21.643Z,1687662741.643 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004900
2023-06-25T03:12:28.995Z,1687662748.995 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20230625T030836/Courier0004.lzma
2023-06-25T03:12:28.998Z,1687662748.998 [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" 1pcwi 1 2
2023-06-25T03:12:29.056Z,1687662749.056 [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" 1pcwi 1 2.000000
2023-06-25T03:12:29.057Z,1687662749.057 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1pcwi
2023-06-25T03:12:29.058Z,1687662749.058 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='1pcwi'): "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
2023-06-25T03:12:30.395Z,1687662750.395 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Courier0004.lzma.bak
2023-06-25T03:12:30.395Z,1687662750.395 [DataOverHttps](IMPORTANT): SBD MOMSN=18425727, MTMSN=20230625T031230
2023-06-25T03:12:30.483Z,1687662750.483 [NAL9602](INFO): SBD MO Status=1, MOMSN=6244, MT Status=0, MTMSN=0
2023-06-25T03:12:30.536Z,1687662750.536 [NAL9602](INFO): Sent 73 bytes from file Logs/20230625T030836/Courier0004.lzma
2023-06-25T03:12:30.536Z,1687662750.536 [NAL9602](INFO): Packets left to send: 0
2023-06-25T03:12:30.594Z,1687662750.594 [Default:CheckIn:Read_Iridium] Stopped
2023-06-25T03:12:30.594Z,1687662750.594 [Default:CheckIn:C.Wait] Running Loop=1
2023-06-25T03:12:30.594Z,1687662750.594 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-06-25T03:12:40.440Z,1687662760.440 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run" 1pcwi 2 2
2023-06-25T03:12:40.479Z,1687662760.479 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run" 1pcwi 2 2.000000
2023-06-25T03:12:40.479Z,1687662760.479 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1pcwi
2023-06-25T03:12:40.480Z,1687662760.480 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='1pcwi'): "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run", ASAP
2023-06-25T03:12:40.601Z,1687662760.601 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2023-06-25T03:12:40.602Z,1687662760.602 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2023-06-25T03:12:40.602Z,1687662760.602 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx
2023-06-25T03:12:40.838Z,1687662760.838 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2023-06-25T03:12:40.853Z,1687662760.853 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2023-06-25T03:12:40.856Z,1687662760.856 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2023-06-25T03:12:40.858Z,1687662760.858 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2023-06-25T03:12:40.874Z,1687662760.874 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2023-06-25T03:12:40.876Z,1687662760.876 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2023-06-25T03:12:40.879Z,1687662760.879 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2023-06-25T03:12:40.946Z,1687662760.946 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2023-06-25T03:12:40.958Z,1687662760.958 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2023-06-25T03:12:40.993Z,1687662760.993 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2023-06-25T03:12:41.004Z,1687662761.004 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2023-06-25T03:12:41.006Z,1687662761.006 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2023-06-25T03:12:41.053Z,1687662761.053 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2023-06-25T03:12:41.054Z,1687662761.054 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2023-06-25T03:12:41.308Z,1687662761.308 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h
2023-06-25T03:12:41.311Z,1687662761.311 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2023-06-25T03:12:41.333Z,1687662761.333 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2023-06-25T03:12:41.340Z,1687662761.340 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2023-06-25T03:12:41.343Z,1687662761.343 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2023-06-25T03:12:41.354Z,1687662761.354 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2023-06-25T03:12:41.357Z,1687662761.357 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2023-06-25T03:12:41.380Z,1687662761.380 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2023-06-25T03:12:41.395Z,1687662761.395 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-06-25T03:12:41.605Z,1687662761.605 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml
2023-06-25T03:12:41.681Z,1687662761.681 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2023-06-25T03:12:41.692Z,1687662761.692 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2023-06-25T03:12:41.695Z,1687662761.695 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2023-06-25T03:12:41.706Z,1687662761.706 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2023-06-25T03:12:41.707Z,1687662761.707 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2023-06-25T03:12:41.731Z,1687662761.731 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2023-06-25T03:12:41.765Z,1687662761.765 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2023-06-25T03:12:41.802Z,1687662761.802 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2023-06-25T03:12:41.823Z,1687662761.823 [transit:MassHold.Pitch](DEBUG): Construct.
2023-06-25T03:12:41.847Z,1687662761.847 [transit:Transit:A.Pitch](DEBUG): Construct.
2023-06-25T03:12:41.909Z,1687662761.909 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2023-06-25T03:12:41.932Z,1687662761.932 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2023-06-25T03:12:42.006Z,1687662762.006 [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"
  }
}


2023-06-25T03:12:42.007Z,1687662762.007 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl
2023-06-25T03:13:00.499Z,1687662780.499 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2023-06-25T03:13:00.500Z,1687662780.500 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute
2023-06-25T03:13:00.500Z,1687662780.500 [CommandExec](IMPORTANT): got command set transit.Latitude 43.20017 degree
2023-06-25T03:13:00.501Z,1687662780.501 [CommandExec](IMPORTANT): got command set transit.Longitude -86.3649 degree
2023-06-25T03:13:00.502Z,1687662780.502 [CommandExec](IMPORTANT): got command set transit.Depth 1 meter
2023-06-25T03:13:00.502Z,1687662780.502 [CommandExec](IMPORTANT): got command set transit.MaxDepth 2 meter
2023-06-25T03:13:01.082Z,1687662781.082 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T03:13:03.731Z,1687662783.731 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.00001 kilometer
2023-06-25T03:13:03.736Z,1687662783.736 [CommandExec](IMPORTANT): got command set transit.MinAltitude 2 meter
2023-06-25T03:13:03.737Z,1687662783.737 [CommandExec](IMPORTANT): got command run
2023-06-25T03:13:03.738Z,1687662783.738 [CommandExec](IMPORTANT): Running 
2023-06-25T03:13:03.931Z,1687662783.931 [Default] Stopped
2023-06-25T03:13:03.931Z,1687662783.931 [Default](DEBUG): Aggregate::uninitialize Default
2023-06-25T03:13:03.932Z,1687662783.932 [Default:B.GoToSurface] Stopped
2023-06-25T03:13:03.932Z,1687662783.932 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T03:13:03.932Z,1687662783.932 [Default:CheckIn] Stopped
2023-06-25T03:13:03.932Z,1687662783.932 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-06-25T03:13:03.932Z,1687662783.932 [Default:CheckIn:C.Wait] Stopped
2023-06-25T03:13:03.932Z,1687662783.932 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-06-25T03:13:03.932Z,1687662783.932 [MissionManager](IMPORTANT): Started mission transit
2023-06-25T03:13:03.932Z,1687662783.932 [transit] Running Loop=1
2023-06-25T03:13:03.933Z,1687662783.933 [transit](DEBUG): Aggregate::initialize transit
2023-06-25T03:13:03.933Z,1687662783.933 [transit:StandardEnvelopes] Running Loop=1
2023-06-25T03:13:03.933Z,1687662783.933 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2023-06-25T03:13:03.933Z,1687662783.933 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-06-25T03:13:03.933Z,1687662783.933 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2023-06-25T03:13:03.933Z,1687662783.933 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-06-25T03:13:03.933Z,1687662783.933 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2023-06-25T03:13:03.933Z,1687662783.933 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-06-25T03:13:03.934Z,1687662783.934 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2023-06-25T03:13:03.934Z,1687662783.934 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-06-25T03:13:03.934Z,1687662783.934 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2023-06-25T03:13:03.934Z,1687662783.934 [transit:MassHold.Pitch] Running Loop=1
2023-06-25T03:13:03.934Z,1687662783.934 [transit:MassHold.Pitch](DEBUG): Initialize.
2023-06-25T03:13:03.934Z,1687662783.934 [transit:B] Running Loop=1
2023-06-25T03:13:03.935Z,1687662783.935 [transit:MassHold.Pitch] Running Loop=1
2023-06-25T03:13:03.935Z,1687662783.935 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-06-25T03:13:03.988Z,1687662783.988 [transit:StandardEnvelopes] Running Loop=1
2023-06-25T03:13:03.988Z,1687662783.988 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-06-25T03:13:04.032Z,1687662784.032 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-06-25T03:13:04.033Z,1687662784.033 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-06-25T03:13:04.033Z,1687662784.033 [transit:B] Stopped
2023-06-25T03:13:04.033Z,1687662784.033 [transit:C] Running Loop=1
2023-06-25T03:13:04.411Z,1687662784.411 [transit:C] Stopped
2023-06-25T03:13:04.411Z,1687662784.411 [transit:E] Running Loop=1
2023-06-25T03:13:04.774Z,1687662784.774 [transit:E] Stopped
2023-06-25T03:13:04.774Z,1687662784.774 [transit:F] Running Loop=1
2023-06-25T03:13:05.150Z,1687662785.150 [transit:F] Stopped
2023-06-25T03:13:05.150Z,1687662785.150 [transit:G] Running Loop=1
2023-06-25T03:13:05.560Z,1687662785.560 [transit:G] Stopped
2023-06-25T03:13:05.560Z,1687662785.560 [transit:Transit] Running Loop=1
2023-06-25T03:13:05.560Z,1687662785.560 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2023-06-25T03:13:05.561Z,1687662785.561 [transit:Transit:A.Pitch] Running Loop=1
2023-06-25T03:13:05.561Z,1687662785.561 [transit:Transit:A.Pitch](DEBUG): Initialize.
2023-06-25T03:13:05.561Z,1687662785.561 [transit:Transit:B.SetSpeed] Running Loop=1
2023-06-25T03:13:05.561Z,1687662785.561 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2023-06-25T03:13:05.561Z,1687662785.561 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2023-06-25T03:13:05.561Z,1687662785.561 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2023-06-25T03:13:05.563Z,1687662785.563 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 43.200169,-86.364899
2023-06-25T03:13:05.568Z,1687662785.568 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2023-06-25T03:13:05.956Z,1687662785.956 [transit:Transit:B.SetSpeed] Running Loop=1
2023-06-25T03:13:05.956Z,1687662785.956 [transit:Transit:A.Pitch] Running Loop=1
2023-06-25T03:13:12.303Z,1687662792.303 [CommandExec](IMPORTANT): got command get latitude
2023-06-25T03:13:12.303Z,1687662792.303 [CommandExec](IMPORTANT): latitude 43.221204 arcdeg
2023-06-25T03:13:38.969Z,1687662818.969 [CommandExec](IMPORTANT): got command get SpeedControl.propOmegaAction revolution_per_minute
2023-06-25T03:13:38.970Z,1687662818.970 [CommandExec](IMPORTANT): SpeedControl.propOmegaAction 300.000824 rpm
2023-06-25T03:13:55.118Z,1687662835.118 [CommandExec](IMPORTANT): got command get platform_orientation degree
2023-06-25T03:13:55.118Z,1687662835.118 [CommandExec](IMPORTANT): platform_orientation 262.252217 arcdeg
2023-06-25T03:14:11.489Z,1687662851.489 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T031411
2023-06-25T03:14:19.323Z,1687662859.323 [DataOverHttps](INFO): Received command: stobe on
2023-06-25T03:14:19.401Z,1687662859.401 [CommandExec](IMPORTANT): got command stop 
2023-06-25T03:14:19.401Z,1687662859.401 [CommandExec](IMPORTANT): Scheduling is paused
2023-06-25T03:14:19.402Z,1687662859.402 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2023-06-25T03:14:19.786Z,1687662859.786 [MissionManager](INFO): MissionManager is completed.
2023-06-25T03:14:19.786Z,1687662859.786 [MissionManager](INFO): Uninitializing Mission transit
2023-06-25T03:14:19.786Z,1687662859.786 [transit] Stopped
2023-06-25T03:14:19.786Z,1687662859.786 [transit](DEBUG): Aggregate::uninitialize transit
2023-06-25T03:14:19.786Z,1687662859.786 [transit:StandardEnvelopes] Stopped
2023-06-25T03:14:19.786Z,1687662859.786 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2023-06-25T03:14:19.786Z,1687662859.786 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2023-06-25T03:14:19.786Z,1687662859.786 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2023-06-25T03:14:19.786Z,1687662859.786 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2023-06-25T03:14:19.786Z,1687662859.786 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2023-06-25T03:14:19.787Z,1687662859.787 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2023-06-25T03:14:19.787Z,1687662859.787 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2023-06-25T03:14:19.787Z,1687662859.787 [transit:BuoyancyHold.Buoyancy] Stopped
2023-06-25T03:14:19.787Z,1687662859.787 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2023-06-25T03:14:19.787Z,1687662859.787 [transit:MassHold.Pitch] Stopped
2023-06-25T03:14:19.787Z,1687662859.787 [transit:Transit] Stopped
2023-06-25T03:14:19.787Z,1687662859.787 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2023-06-25T03:14:19.787Z,1687662859.787 [transit:Transit:A.Pitch] Stopped
2023-06-25T03:14:19.787Z,1687662859.787 [transit:Transit:B.SetSpeed] Stopped
2023-06-25T03:14:19.787Z,1687662859.787 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2023-06-25T03:14:19.787Z,1687662859.787 [transit:Transit:Wpt1.Waypoint] Stopped
2023-06-25T03:14:19.787Z,1687662859.787 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2023-06-25T03:14:20.175Z,1687662860.175 [MissionManager](IMPORTANT): Started mission Default
2023-06-25T03:14:20.175Z,1687662860.175 [Default] Running Loop=1
2023-06-25T03:14:20.175Z,1687662860.175 [Default](DEBUG): Aggregate::initialize Default
2023-06-25T03:14:20.175Z,1687662860.175 [Default:B.GoToSurface] Running Loop=1
2023-06-25T03:14:20.175Z,1687662860.175 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T03:14:20.175Z,1687662860.175 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-06-25T03:14:20.176Z,1687662860.176 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-06-25T03:14:20.176Z,1687662860.176 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-06-25T03:14:20.177Z,1687662860.177 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-06-25T03:14:20.177Z,1687662860.177 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T03:14:20.177Z,1687662860.177 [Default:A.Wait] Running Loop=1
2023-06-25T03:14:20.178Z,1687662860.178 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-06-25T03:14:20.325Z,1687662860.325 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T031420
2023-06-25T03:14:27.827Z,1687662867.827 [DataOverHttps](INFO): Received command: strobe on
2023-06-25T03:14:27.847Z,1687662867.847 [CommandExec](IMPORTANT): got command strobe on
2023-06-25T03:14:27.847Z,1687662867.847 [CommandExec](IMPORTANT): Activating strobe
2023-06-25T03:14:33.509Z,1687662873.509 [Default:A.Wait](INFO): Done Waiting.
2023-06-25T03:14:33.509Z,1687662873.509 [Default:A.Wait] Stopped
2023-06-25T03:14:33.510Z,1687662873.510 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-06-25T03:14:33.917Z,1687662873.917 [Default:CheckIn] Running Loop=1
2023-06-25T03:14:33.917Z,1687662873.917 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-06-25T03:14:33.917Z,1687662873.917 [Default:CheckIn:Read_GPS] Running Loop=1
2023-06-25T03:14:35.941Z,1687662875.941 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031433.00,A,4313.25650,N,08620.92164,W,0.836,223.19,250623,,,D*7C
2023-06-25T03:14:35.943Z,1687662875.943 [NAL9602](INFO): GPS fix at 20230625T031433: (43.220942, -86.348694)
2023-06-25T03:14:35.961Z,1687662875.961 [Default:CheckIn:Read_GPS] Stopped
2023-06-25T03:14:35.961Z,1687662875.961 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-06-25T03:14:46.086Z,1687662886.086 [CommandExec](IMPORTANT): got command get height_above_sea_floor
2023-06-25T03:14:46.086Z,1687662886.086 [CommandExec](FAULT): Element has no value
2023-06-25T03:14:47.987Z,1687662887.987 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20230625T030836/Courier0007.lzma
2023-06-25T03:14:48.991Z,1687662888.991 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Courier0007.lzma.bak
2023-06-25T03:14:48.991Z,1687662888.991 [DataOverHttps](IMPORTANT): SBD MOMSN=18425747, MTMSN=20230625T031449
2023-06-25T03:14:52.590Z,1687662892.590 [NAL9602](INFO): SBD MO Status=0, MOMSN=6245, MT Status=0, MTMSN=0
2023-06-25T03:14:52.591Z,1687662892.591 [NAL9602](INFO): No messages in MT queue
2023-06-25T03:14:56.544Z,1687662896.544 [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" 1pd0o 1 2
2023-06-25T03:14:56.600Z,1687662896.600 [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" 1pd0o 1 2.000000
2023-06-25T03:14:56.600Z,1687662896.600 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1pd0o
2023-06-25T03:14:56.601Z,1687662896.601 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='1pd0o'): "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
2023-06-25T03:14:57.725Z,1687662897.725 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T031457
2023-06-25T03:15:05.171Z,1687662905.171 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20230625T030836/Courier0010.lzma
2023-06-25T03:15:05.174Z,1687662905.174 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run" 1pd0o 2 2
2023-06-25T03:15:05.255Z,1687662905.255 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run" 1pd0o 2 2.000000
2023-06-25T03:15:05.255Z,1687662905.255 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1pd0o
2023-06-25T03:15:05.256Z,1687662905.256 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='1pd0o'): "set transit.MinOffshore 0.00001 km;set transit.MinAltitude 2 m;run", ASAP
2023-06-25T03:15:05.369Z,1687662905.369 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2023-06-25T03:15:05.370Z,1687662905.370 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2023-06-25T03:15:05.370Z,1687662905.370 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx
2023-06-25T03:15:05.457Z,1687662905.457 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2023-06-25T03:15:05.459Z,1687662905.459 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2023-06-25T03:15:05.461Z,1687662905.461 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2023-06-25T03:15:05.463Z,1687662905.463 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2023-06-25T03:15:05.465Z,1687662905.465 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2023-06-25T03:15:05.468Z,1687662905.468 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2023-06-25T03:15:05.470Z,1687662905.470 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2023-06-25T03:15:05.472Z,1687662905.472 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2023-06-25T03:15:05.474Z,1687662905.474 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2023-06-25T03:15:05.476Z,1687662905.476 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2023-06-25T03:15:05.478Z,1687662905.478 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2023-06-25T03:15:05.480Z,1687662905.480 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2023-06-25T03:15:05.482Z,1687662905.482 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2023-06-25T03:15:05.483Z,1687662905.483 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2023-06-25T03:15:05.713Z,1687662905.713 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h
2023-06-25T03:15:05.715Z,1687662905.715 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2023-06-25T03:15:05.717Z,1687662905.717 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2023-06-25T03:15:05.728Z,1687662905.728 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2023-06-25T03:15:05.730Z,1687662905.730 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2023-06-25T03:15:05.739Z,1687662905.739 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2023-06-25T03:15:05.741Z,1687662905.741 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2023-06-25T03:15:05.743Z,1687662905.743 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2023-06-25T03:15:05.764Z,1687662905.764 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-06-25T03:15:05.830Z,1687662905.830 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml
2023-06-25T03:15:05.870Z,1687662905.870 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2023-06-25T03:15:05.871Z,1687662905.871 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2023-06-25T03:15:05.873Z,1687662905.873 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2023-06-25T03:15:05.876Z,1687662905.876 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2023-06-25T03:15:05.876Z,1687662905.876 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2023-06-25T03:15:05.882Z,1687662905.882 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2023-06-25T03:15:05.888Z,1687662905.888 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2023-06-25T03:15:05.896Z,1687662905.896 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2023-06-25T03:15:05.899Z,1687662905.899 [transit:MassHold.Pitch](DEBUG): Construct.
2023-06-25T03:15:05.957Z,1687662905.957 [transit:Transit:A.Pitch](DEBUG): Construct.
2023-06-25T03:15:05.977Z,1687662905.977 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2023-06-25T03:15:05.980Z,1687662905.980 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2023-06-25T03:15:06.031Z,1687662906.031 [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"
  }
}


2023-06-25T03:15:06.031Z,1687662906.031 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl
2023-06-25T03:15:06.601Z,1687662906.601 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Courier0010.lzma.bak
2023-06-25T03:15:06.601Z,1687662906.601 [DataOverHttps](INFO): SBD MOMSN=18425750
2023-06-25T03:15:18.511Z,1687662918.511 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2023-06-25T03:15:18.512Z,1687662918.512 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute
2023-06-25T03:15:18.513Z,1687662918.513 [CommandExec](IMPORTANT): got command set transit.Latitude 43.20017 degree
2023-06-25T03:15:18.514Z,1687662918.514 [CommandExec](IMPORTANT): got command set transit.Longitude -86.3649 degree
2023-06-25T03:15:18.514Z,1687662918.514 [CommandExec](IMPORTANT): got command set transit.Depth 1 meter
2023-06-25T03:15:18.515Z,1687662918.515 [CommandExec](IMPORTANT): got command set transit.MaxDepth 2 meter
2023-06-25T03:15:21.896Z,1687662921.896 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.00001 kilometer
2023-06-25T03:15:21.897Z,1687662921.897 [CommandExec](IMPORTANT): got command set transit.MinAltitude 2 meter
2023-06-25T03:15:21.897Z,1687662921.897 [CommandExec](IMPORTANT): got command run
2023-06-25T03:15:21.899Z,1687662921.899 [CommandExec](IMPORTANT): Running 
2023-06-25T03:15:22.119Z,1687662922.119 [Default] Stopped
2023-06-25T03:15:22.124Z,1687662922.124 [Default](DEBUG): Aggregate::uninitialize Default
2023-06-25T03:15:22.124Z,1687662922.124 [Default:B.GoToSurface] Stopped
2023-06-25T03:15:22.124Z,1687662922.124 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-06-25T03:15:22.124Z,1687662922.124 [Default:CheckIn] Stopped
2023-06-25T03:15:22.124Z,1687662922.124 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-06-25T03:15:22.124Z,1687662922.124 [Default:CheckIn:Read_Iridium] Stopped
2023-06-25T03:15:22.124Z,1687662922.124 [MissionManager](IMPORTANT): Started mission transit
2023-06-25T03:15:22.124Z,1687662922.124 [transit] Running Loop=1
2023-06-25T03:15:22.125Z,1687662922.125 [transit](DEBUG): Aggregate::initialize transit
2023-06-25T03:15:22.125Z,1687662922.125 [transit:StandardEnvelopes] Running Loop=1
2023-06-25T03:15:22.125Z,1687662922.125 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2023-06-25T03:15:22.125Z,1687662922.125 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-06-25T03:15:22.125Z,1687662922.125 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2023-06-25T03:15:22.125Z,1687662922.125 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-06-25T03:15:22.125Z,1687662922.125 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2023-06-25T03:15:22.125Z,1687662922.125 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-06-25T03:15:22.125Z,1687662922.125 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2023-06-25T03:15:22.126Z,1687662922.126 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-06-25T03:15:22.126Z,1687662922.126 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2023-06-25T03:15:22.126Z,1687662922.126 [transit:MassHold.Pitch] Running Loop=1
2023-06-25T03:15:22.126Z,1687662922.126 [transit:MassHold.Pitch](DEBUG): Initialize.
2023-06-25T03:15:22.126Z,1687662922.126 [transit:B] Running Loop=1
2023-06-25T03:15:22.127Z,1687662922.127 [transit:MassHold.Pitch] Running Loop=1
2023-06-25T03:15:22.127Z,1687662922.127 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-06-25T03:15:22.127Z,1687662922.127 [transit:StandardEnvelopes] Running Loop=1
2023-06-25T03:15:22.127Z,1687662922.127 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-06-25T03:15:22.163Z,1687662922.163 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-06-25T03:15:22.172Z,1687662922.172 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-06-25T03:15:22.172Z,1687662922.172 [transit:B] Stopped
2023-06-25T03:15:22.172Z,1687662922.172 [transit:C] Running Loop=1
2023-06-25T03:15:22.543Z,1687662922.543 [transit:C] Stopped
2023-06-25T03:15:22.543Z,1687662922.543 [transit:E] Running Loop=1
2023-06-25T03:15:22.916Z,1687662922.916 [transit:E] Stopped
2023-06-25T03:15:22.916Z,1687662922.916 [transit:F] Running Loop=1
2023-06-25T03:15:23.297Z,1687662923.297 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T03:15:23.317Z,1687662923.317 [transit:F] Stopped
2023-06-25T03:15:23.317Z,1687662923.317 [transit:G] Running Loop=1
2023-06-25T03:15:23.726Z,1687662923.726 [transit:G] Stopped
2023-06-25T03:15:23.726Z,1687662923.726 [transit:Transit] Running Loop=1
2023-06-25T03:15:23.727Z,1687662923.727 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2023-06-25T03:15:23.727Z,1687662923.727 [transit:Transit:A.Pitch] Running Loop=1
2023-06-25T03:15:23.727Z,1687662923.727 [transit:Transit:A.Pitch](DEBUG): Initialize.
2023-06-25T03:15:23.727Z,1687662923.727 [transit:Transit:B.SetSpeed] Running Loop=1
2023-06-25T03:15:23.727Z,1687662923.727 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2023-06-25T03:15:23.727Z,1687662923.727 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2023-06-25T03:15:23.727Z,1687662923.727 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2023-06-25T03:15:23.733Z,1687662923.733 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 43.200169,-86.364899
2023-06-25T03:15:23.733Z,1687662923.733 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2023-06-25T03:15:24.151Z,1687662924.151 [transit:Transit:B.SetSpeed] Running Loop=1
2023-06-25T03:15:24.151Z,1687662924.151 [transit:Transit:A.Pitch] Running Loop=1
2023-06-25T03:15:26.411Z,1687662926.411 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20230625T030836/Courier0013.lzma
2023-06-25T03:15:27.417Z,1687662927.417 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Courier0013.lzma.bak
2023-06-25T03:15:27.418Z,1687662927.418 [DataOverHttps](INFO): SBD MOMSN=18425754
2023-06-25T03:16:09.803Z,1687662969.803 [CommandExec](IMPORTANT): got command get SpeedControl.propOmegaAction revolution_per_minute
2023-06-25T03:16:09.804Z,1687662969.804 [CommandExec](IMPORTANT): SpeedControl.propOmegaAction 300.000824 rpm
2023-06-25T03:16:19.927Z,1687662979.927 [CommandExec](IMPORTANT): got command get 
2023-06-25T03:16:19.927Z,1687662979.927 [CommandExec](FAULT): Incomplete syntax. Try: help get
2023-06-25T03:16:26.867Z,1687662986.867 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2023-06-25T03:16:26.870Z,1687662986.870 [BPC1](INFO): Received data from all battery sticks.
2023-06-25T03:16:27.176Z,1687662987.176 [CommandExec](IMPORTANT): got command get platform_orientation degree
2023-06-25T03:16:27.177Z,1687662987.177 [CommandExec](IMPORTANT): platform_orientation 205.042921 arcdeg
2023-06-25T03:16:53.304Z,1687663013.304 [CommandExec](IMPORTANT): got command get platform_orientation degree
2023-06-25T03:16:53.304Z,1687663013.304 [CommandExec](IMPORTANT): platform_orientation 202.883352 arcdeg
2023-06-25T03:18:00.432Z,1687663080.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:18:31.556Z,1687663111.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:18:47.908Z,1687663127.908 [Power24vConverter](INFO): Powering down.
2023-06-25T03:19:02.688Z,1687663142.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:19:33.812Z,1687663173.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:20:07.708Z,1687663207.708 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.495544
2023-06-25T03:21:01.584Z,1687663261.584 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003079
2023-06-25T03:23:11.432Z,1687663391.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:23:42.556Z,1687663422.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:24:13.684Z,1687663453.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:24:44.808Z,1687663484.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:25:15.948Z,1687663515.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:25:21.976Z,1687663521.976 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.782471
2023-06-25T03:26:17.208Z,1687663577.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2023-06-25T03:26:36.248Z,1687663596.248 [transit:NeedComms] Running Loop=1
2023-06-25T03:26:36.248Z,1687663596.248 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2023-06-25T03:26:36.248Z,1687663596.248 [transit:NeedComms:B.GoToSurface] Running Loop=1
2023-06-25T03:26:36.248Z,1687663596.248 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-06-25T03:26:36.248Z,1687663596.248 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2023-06-25T03:26:36.249Z,1687663596.249 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2023-06-25T03:26:36.249Z,1687663596.249 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2023-06-25T03:26:36.249Z,1687663596.249 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2023-06-25T03:26:36.250Z,1687663596.250 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-06-25T03:26:36.250Z,1687663596.250 [transit:NeedComms:A] Running Loop=1
2023-06-25T03:26:36.252Z,1687663596.252 [transit:NeedComms:A](INFO): last time_fix was: 1687662873.000000 second since 1970/01/01T00:00:00Z 
2023-06-25T03:26:36.252Z,1687663596.252 [transit:NeedComms:A] Stopped
2023-06-25T03:26:36.653Z,1687663596.653 [transit:NeedComms:C] Running Loop=1
2023-06-25T03:26:37.062Z,1687663597.062 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2023-06-25T03:26:38.659Z,1687663598.659 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,032639.00,A,4313.04407,N,08621.18094,W,1.400,244.17,250623,,,A*7B
2023-06-25T03:26:38.673Z,1687663598.673 [NAL9602](INFO): GPS fix at 20230625T032639: (43.217401, -86.353016)
2023-06-25T03:26:38.689Z,1687663598.689 [UniversalFixResidualReporter](INFO): Fix residual: 25.9 %DT, over the last 643.6 m. Residual distance 166.4 m at bearing 168.2 degrees. Fix at (43.2174, -86.3530) with 526.9 m made good.
2023-06-25T03:26:38.697Z,1687663598.697 [transit:NeedComms:C] Stopped
2023-06-25T03:26:38.697Z,1687663598.697 [transit:NeedComms:D] Running Loop=1
2023-06-25T03:26:39.106Z,1687663599.106 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-06-25T03:26:44.636Z,1687663604.636 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003077
2023-06-25T03:26:57.690Z,1687663617.690 [NAL9602](INFO): SBD MO Status=2, MOMSN=6246, MT Status=2, MTMSN=0
2023-06-25T03:26:57.690Z,1687663617.690 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-06-25T03:27:28.389Z,1687663648.389 [NAL9602](INFO): Not Powering down - fast GPS
2023-06-25T03:27:33.491Z,1687663653.491 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20230625T030836/Courier0016.lzma
2023-06-25T03:27:34.494Z,1687663654.494 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Courier0016.lzma.bak
2023-06-25T03:27:34.494Z,1687663654.494 [DataOverHttps](IMPORTANT): SBD MOMSN=18425763, MTMSN=20230625T032734
2023-06-25T03:27:44.612Z,1687663664.612 [DataOverHttps](INFO): Received command: strobe on
2023-06-25T03:27:44.633Z,1687663664.633 [CommandExec](IMPORTANT): got command strobe on
2023-06-25T03:27:44.633Z,1687663664.633 [CommandExec](IMPORTANT): Activating strobe
2023-06-25T03:27:53.055Z,1687663673.055 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20230625T030836/Courier0019.lzma
2023-06-25T03:27:54.057Z,1687663674.057 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Courier0019.lzma.bak
2023-06-25T03:27:54.058Z,1687663674.058 [DataOverHttps](INFO): SBD MOMSN=18425767
2023-06-25T03:28:10.608Z,1687663690.608 [DataOverHttps](INFO): Sending 263 bytes from file Logs/20230625T030836/Courier0022.lzma
2023-06-25T03:28:11.609Z,1687663691.609 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Courier0022.lzma.bak
2023-06-25T03:28:11.610Z,1687663691.610 [DataOverHttps](INFO): SBD MOMSN=18425769
2023-06-25T03:28:27.467Z,1687663707.467 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20230625T030836/Courier0025.lzma
2023-06-25T03:28:28.469Z,1687663708.469 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Courier0025.lzma.bak
2023-06-25T03:28:28.470Z,1687663708.470 [DataOverHttps](INFO): SBD MOMSN=18425772
2023-06-25T03:28:48.572Z,1687663728.572 [DataOverHttps](INFO): Sending 527 bytes from file Logs/20230625T023213/Express0026.lzma
2023-06-25T03:28:49.574Z,1687663729.574 [DataOverHttps](INFO): Moved sent file to Logs/20230625T023213/Express0026.lzma.bak
2023-06-25T03:28:49.574Z,1687663729.574 [DataOverHttps](INFO): SBD MOMSN=18425774
2023-06-25T03:29:05.437Z,1687663745.437 [DataOverHttps](INFO): Sending 992 bytes from file Logs/20230625T030836/Express0001.lzma
2023-06-25T03:29:06.437Z,1687663746.437 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Express0001.lzma.bak
2023-06-25T03:29:06.438Z,1687663746.438 [DataOverHttps](INFO): SBD MOMSN=18425801
2023-06-25T03:29:22.365Z,1687663762.365 [DataOverHttps](INFO): Sending 102 bytes from file Logs/20230625T030836/Express0005.lzma
2023-06-25T03:29:23.365Z,1687663763.365 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Express0005.lzma.bak
2023-06-25T03:29:23.366Z,1687663763.366 [DataOverHttps](INFO): SBD MOMSN=18425828
2023-06-25T03:29:42.196Z,1687663782.196 [DataOverHttps](INFO): Sending 358 bytes from file Logs/20230625T030836/Express0008.lzma
2023-06-25T03:29:43.197Z,1687663783.197 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Express0008.lzma.bak
2023-06-25T03:29:43.198Z,1687663783.198 [DataOverHttps](INFO): SBD MOMSN=18425834
2023-06-25T03:29:59.312Z,1687663799.312 [DataOverHttps](INFO): Sending 795 bytes from file Logs/20230625T030836/Express0011.lzma
2023-06-25T03:30:00.313Z,1687663800.313 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Express0011.lzma.bak
2023-06-25T03:30:00.314Z,1687663800.314 [DataOverHttps](INFO): SBD MOMSN=18425842
2023-06-25T03:30:17.787Z,1687663817.787 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20230625T030836/Express0014.lzma
2023-06-25T03:30:18.790Z,1687663818.790 [DataOverHttps](INFO): Moved sent file to Logs/20230625T030836/Express0014.lzma.bak
2023-06-25T03:30:18.790Z,1687663818.790 [DataOverHttps](INFO): SBD MOMSN=18425879
2023-06-25T03:30:27.341Z,1687663827.341 [DataOverHttps](IMPORTANT): SBD MTMSN=20230625T033027