2023-08-04T14:31:24.515Z,1691159484.515 [Supervisor](DEBUG): Initializing supervisor.
2023-08-04T14:31:24.519Z,1691159484.519 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-08-04T14:31:24.520Z,1691159484.520 [SyncHandler](INFO): Protected caller Thread ID is 830
2023-08-04T14:31:24.520Z,1691159484.520 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-08-04T14:31:24.521Z,1691159484.521 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-08-04T14:31:24.521Z,1691159484.521 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 831
2023-08-04T14:31:24.525Z,1691159484.525 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-08-04T14:31:24.543Z,1691159484.543 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-08-04T14:31:24.544Z,1691159484.544 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-08-04T14:31:24.544Z,1691159484.544 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 832
2023-08-04T14:31:24.548Z,1691159484.548 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-08-04T14:31:24.549Z,1691159484.549 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-08-04T14:31:24.549Z,1691159484.549 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 833
2023-08-04T14:31:24.551Z,1691159484.551 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-08-04T14:31:24.552Z,1691159484.552 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-08-04T14:31:24.553Z,1691159484.553 [logger ThreadHandler](INFO): Protected caller Thread ID is 834
2023-08-04T14:31:24.556Z,1691159484.556 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-08-04T14:31:24.557Z,1691159484.557 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-08-04T14:31:24.562Z,1691159484.562 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-08-04T14:31:24.660Z,1691159484.660 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-08-04T14:31:24.662Z,1691159484.662 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-08-04T14:31:24.888Z,1691159484.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-08-04T14:31:24.890Z,1691159484.890 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-08-04T14:31:25.157Z,1691159485.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-08-04T14:31:25.158Z,1691159485.158 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-08-04T14:31:25.267Z,1691159485.267 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-08-04T14:31:25.269Z,1691159485.269 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-08-04T14:31:26.014Z,1691159486.014 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-08-04T14:31:26.016Z,1691159486.016 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-08-04T14:31:26.514Z,1691159486.514 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-08-04T14:31:26.516Z,1691159486.516 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-08-04T14:31:27.017Z,1691159487.017 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-08-04T14:31:27.019Z,1691159487.019 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-08-04T14:31:27.452Z,1691159487.452 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-08-04T14:31:27.453Z,1691159487.453 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-08-04T14:31:27.857Z,1691159487.857 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-08-04T14:31:27.857Z,1691159487.857 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-08-04T14:31:28.762Z,1691159488.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-08-04T14:31:28.763Z,1691159488.763 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-08-04T14:31:28.991Z,1691159488.991 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-08-04T14:31:28.991Z,1691159488.991 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-08-04T14:31:29.134Z,1691159489.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-08-04T14:31:29.135Z,1691159489.135 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-08-04T14:31:29.217Z,1691159489.217 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-08-04T14:31:29.297Z,1691159489.297 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-08-04T14:31:29.491Z,1691159489.491 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-08-04T14:31:29.492Z,1691159489.492 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-08-04T14:31:29.726Z,1691159489.726 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-08-04T14:31:29.728Z,1691159489.728 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2023-08-04T14:31:29.730Z,1691159489.730 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2023-08-04T14:31:29.816Z,1691159489.816 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2023-08-04T14:31:30.090Z,1691159490.090 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-08-04T14:31:30.092Z,1691159490.092 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2023-08-04T14:31:30.201Z,1691159490.201 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2023-08-04T14:31:30.364Z,1691159490.364 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2023-08-04T14:31:30.469Z,1691159490.469 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2023-08-04T14:31:30.585Z,1691159490.585 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2023-08-04T14:31:30.697Z,1691159490.697 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2023-08-04T14:31:30.803Z,1691159490.803 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2023-08-04T14:31:30.968Z,1691159490.968 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg
2023-08-04T14:31:31.066Z,1691159491.066 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2023-08-04T14:31:31.208Z,1691159491.208 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2023-08-04T14:31:31.310Z,1691159491.310 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2023-08-04T14:31:31.333Z,1691159491.333 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-08-04T14:31:31.544Z,1691159491.544 [InternalEnvSim] Loaded
2023-08-04T14:31:31.545Z,1691159491.545 [ComponentRegistry](DEBUG): SyncComponent "InternalEnvSim" handled in the control thread.
2023-08-04T14:31:31.545Z,1691159491.545 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-08-04T14:31:31.546Z,1691159491.546 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-08-04T14:31:31.740Z,1691159491.740 [BuoyancyServo] Loaded
2023-08-04T14:31:31.740Z,1691159491.740 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-08-04T14:31:31.762Z,1691159491.762 [ElevatorServo] Loaded
2023-08-04T14:31:31.762Z,1691159491.762 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-08-04T14:31:31.783Z,1691159491.783 [MassServo] Loaded
2023-08-04T14:31:31.783Z,1691159491.783 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-08-04T14:31:31.803Z,1691159491.803 [RudderServo] Loaded
2023-08-04T14:31:31.803Z,1691159491.803 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-08-04T14:31:31.820Z,1691159491.820 [ThrusterHE] Loaded
2023-08-04T14:31:31.820Z,1691159491.820 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-08-04T14:31:31.820Z,1691159491.820 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-08-04T14:31:31.822Z,1691159491.822 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-08-04T14:31:32.010Z,1691159492.010 [SBIT](DEBUG): Construct Startup Built In Test.
2023-08-04T14:31:32.026Z,1691159492.026 [SBIT] Loaded
2023-08-04T14:31:32.026Z,1691159492.026 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-08-04T14:31:32.029Z,1691159492.029 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-08-04T14:31:32.050Z,1691159492.050 [IBIT] Loaded
2023-08-04T14:31:32.050Z,1691159492.050 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-08-04T14:31:32.056Z,1691159492.056 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-08-04T14:31:32.278Z,1691159492.278 [CBIT] Loaded
2023-08-04T14:31:32.279Z,1691159492.279 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-08-04T14:31:32.279Z,1691159492.279 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-08-04T14:31:32.280Z,1691159492.280 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-08-04T14:31:32.509Z,1691159492.509 [CTD_Seabird] Loaded
2023-08-04T14:31:32.509Z,1691159492.509 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2023-08-04T14:31:32.510Z,1691159492.510 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406674E0
2023-08-04T14:31:32.511Z,1691159492.511 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 920
2023-08-04T14:31:32.544Z,1691159492.544 [ESPComponent] Loaded
2023-08-04T14:31:32.544Z,1691159492.544 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2023-08-04T14:31:32.564Z,1691159492.564 [PAR_Licor] Loaded
2023-08-04T14:31:32.564Z,1691159492.564 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-08-04T14:31:32.605Z,1691159492.605 [WetLabsBB2FL] Loaded
2023-08-04T14:31:32.605Z,1691159492.605 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2023-08-04T14:31:32.607Z,1691159492.607 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406974E0
2023-08-04T14:31:32.607Z,1691159492.607 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 921
2023-08-04T14:31:32.638Z,1691159492.638 [WetLabsSeaOWL_UV_A] Loaded
2023-08-04T14:31:32.638Z,1691159492.638 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2023-08-04T14:31:32.639Z,1691159492.639 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 406C74E0
2023-08-04T14:31:32.639Z,1691159492.639 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 922
2023-08-04T14:31:32.640Z,1691159492.640 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-08-04T14:31:32.642Z,1691159492.642 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-08-04T14:31:32.715Z,1691159492.715 [DepthRateCalculator] Loaded
2023-08-04T14:31:32.716Z,1691159492.716 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-08-04T14:31:32.721Z,1691159492.721 [PitchRateCalculator] Loaded
2023-08-04T14:31:32.721Z,1691159492.721 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-08-04T14:31:32.732Z,1691159492.732 [SpeedCalculator] Loaded
2023-08-04T14:31:32.733Z,1691159492.733 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-08-04T14:31:32.737Z,1691159492.737 [YawRateCalculator] Loaded
2023-08-04T14:31:32.738Z,1691159492.738 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-08-04T14:31:32.758Z,1691159492.758 [ElevatorOffsetCalculator] Loaded
2023-08-04T14:31:32.758Z,1691159492.758 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-08-04T14:31:32.775Z,1691159492.775 [ShortestDistanceToPolygonSidesCalculator] Loaded
2023-08-04T14:31:32.775Z,1691159492.775 [ComponentRegistry](DEBUG): SyncComponent "ShortestDistanceToPolygonSidesCalculator" handled in the control thread.
2023-08-04T14:31:32.776Z,1691159492.776 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-08-04T14:31:32.776Z,1691159492.776 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-08-04T14:31:32.911Z,1691159492.911 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-08-04T14:31:32.912Z,1691159492.912 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-08-04T14:31:33.221Z,1691159493.221 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-08-04T14:31:33.221Z,1691159493.221 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-08-04T14:31:33.586Z,1691159493.586 [DeadReckonUsingSpeedCalculator] Loaded
2023-08-04T14:31:33.586Z,1691159493.586 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2023-08-04T14:31:33.601Z,1691159493.601 [NavChart] Loaded
2023-08-04T14:31:33.601Z,1691159493.601 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-08-04T14:31:33.607Z,1691159493.607 [UniversalFixResidualReporter] Loaded
2023-08-04T14:31:33.607Z,1691159493.607 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-08-04T14:31:33.607Z,1691159493.607 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-08-04T14:31:33.608Z,1691159493.608 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-08-04T14:31:34.443Z,1691159494.443 [AHRS_M2] Loaded
2023-08-04T14:31:34.444Z,1691159494.444 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2023-08-04T14:31:34.693Z,1691159494.693 [BackseatComponent] Loaded
2023-08-04T14:31:34.693Z,1691159494.693 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2023-08-04T14:31:34.694Z,1691159494.694 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A5D4E0
2023-08-04T14:31:34.694Z,1691159494.694 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 923
2023-08-04T14:31:34.697Z,1691159494.697 [LcmUniversalReporter] Loaded
2023-08-04T14:31:34.698Z,1691159494.698 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2023-08-04T14:31:35.460Z,1691159495.460 [BPC1] Loaded
2023-08-04T14:31:35.460Z,1691159495.460 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-08-04T14:31:35.602Z,1691159495.602 [DataOverHttps] Loaded
2023-08-04T14:31:35.602Z,1691159495.602 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-08-04T14:31:35.603Z,1691159495.603 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A8D4E0
2023-08-04T14:31:35.604Z,1691159495.604 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 924
2023-08-04T14:31:35.625Z,1691159495.625 [Depth_Keller] Loaded
2023-08-04T14:31:35.625Z,1691159495.625 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-08-04T14:31:35.630Z,1691159495.630 [DropWeight] Loaded
2023-08-04T14:31:35.631Z,1691159495.631 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2023-08-04T14:31:35.693Z,1691159495.693 [NAL9602] Loaded
2023-08-04T14:31:35.693Z,1691159495.693 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-08-04T14:31:35.720Z,1691159495.720 [Onboard] Loaded
2023-08-04T14:31:35.720Z,1691159495.720 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-08-04T14:31:35.721Z,1691159495.721 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40ABD4E0
2023-08-04T14:31:35.722Z,1691159495.722 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 925
2023-08-04T14:31:35.734Z,1691159495.734 [Power24vConverter] Loaded
2023-08-04T14:31:35.735Z,1691159495.735 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-08-04T14:31:35.749Z,1691159495.749 [Radio_Surface] Loaded
2023-08-04T14:31:35.749Z,1691159495.749 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-08-04T14:31:35.750Z,1691159495.750 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AED4E0
2023-08-04T14:31:35.750Z,1691159495.750 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 926
2023-08-04T14:31:35.764Z,1691159495.764 [Sonardyne_Nano] Loaded
2023-08-04T14:31:35.765Z,1691159495.765 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2023-08-04T14:31:35.765Z,1691159495.765 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-08-04T14:31:35.767Z,1691159495.767 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-08-04T14:31:35.856Z,1691159495.856 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-08-04T14:31:35.858Z,1691159495.858 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-08-04T14:31:35.930Z,1691159495.930 [VerticalControl](DEBUG): Construct VerticalControl.
2023-08-04T14:31:35.982Z,1691159495.982 [VerticalControl] Loaded
2023-08-04T14:31:35.982Z,1691159495.982 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-08-04T14:31:35.986Z,1691159495.986 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-08-04T14:31:36.024Z,1691159496.024 [HorizontalControl] Loaded
2023-08-04T14:31:36.024Z,1691159496.024 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-08-04T14:31:36.027Z,1691159496.027 [SpeedControl](DEBUG): Construct SpeedControl.
2023-08-04T14:31:36.028Z,1691159496.028 [SpeedControl] Loaded
2023-08-04T14:31:36.029Z,1691159496.029 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-08-04T14:31:36.032Z,1691159496.032 [LoopControl](DEBUG): Construct LoopControl.
2023-08-04T14:31:36.032Z,1691159496.032 [LoopControl] Loaded
2023-08-04T14:31:36.032Z,1691159496.032 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-08-04T14:31:36.033Z,1691159496.033 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-08-04T14:31:36.033Z,1691159496.033 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-08-04T14:31:36.050Z,1691159496.050 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-08-04T14:31:36.051Z,1691159496.051 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-08-04T14:31:36.441Z,1691159496.441 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-08-04T14:31:36.448Z,1691159496.448 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-08-04T14:31:36.450Z,1691159496.450 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-08-04T14:31:36.462Z,1691159496.462 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-08-04T14:31:36.463Z,1691159496.463 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BF94E0
2023-08-04T14:31:36.463Z,1691159496.463 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 927
2023-08-04T14:31:36.467Z,1691159496.467 [Supervisor](INFO): Main Thread ID is 823
2023-08-04T14:31:36.468Z,1691159496.468 [Supervisor](DEBUG): Running supervisor.
2023-08-04T14:31:36.468Z,1691159496.468 [CommandExec ThreadHandler](INFO): Handler Thread ID is 928
2023-08-04T14:31:36.469Z,1691159496.469 [CommandExec](INFO): Initializing the command executive.
2023-08-04T14:31:36.470Z,1691159496.470 [CommandLine ThreadHandler](INFO): Handler Thread ID is 929
2023-08-04T14:31:36.472Z,1691159496.472 [controlThread ThreadHandler](INFO): Handler Thread ID is 930
2023-08-04T14:31:36.473Z,1691159496.473 [controlThread](DEBUG): Initializing ControlThread
2023-08-04T14:31:36.474Z,1691159496.474 [InternalEnvSim](DEBUG):  InternaEnvlSim initializing...
2023-08-04T14:31:36.477Z,1691159496.477 [logger ThreadHandler](INFO): Handler Thread ID is 931
2023-08-04T14:31:36.508Z,1691159496.508 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 932
2023-08-04T14:31:36.509Z,1691159496.509 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2023-08-04T14:31:36.524Z,1691159496.524 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 934
2023-08-04T14:31:36.532Z,1691159496.532 [WetLabsBB2FL](INFO): Powering up
2023-08-04T14:31:36.540Z,1691159496.540 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 936
2023-08-04T14:31:36.555Z,1691159496.555 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 937
2023-08-04T14:31:36.572Z,1691159496.572 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 938
2023-08-04T14:31:36.573Z,1691159496.573 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-08-04T14:31:36.591Z,1691159496.591 [Onboard ThreadHandler](INFO): Handler Thread ID is 939
2023-08-04T14:31:36.609Z,1691159496.609 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 940
2023-08-04T14:31:36.635Z,1691159496.635 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 941
2023-08-04T14:31:36.650Z,1691159496.650 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2023-08-04T14:31:36.650Z,1691159496.650 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2023-08-04T14:31:36.650Z,1691159496.650 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI80M.000
2023-08-04T14:31:36.651Z,1691159496.651 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI80M.000
2023-08-04T14:31:36.651Z,1691159496.651 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI57M.000
2023-08-04T14:31:36.651Z,1691159496.651 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI57M.000
2023-08-04T14:31:36.651Z,1691159496.651 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI56M.000
2023-08-04T14:31:36.651Z,1691159496.651 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI56M.000
2023-08-04T14:31:36.652Z,1691159496.652 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI90M.000
2023-08-04T14:31:36.652Z,1691159496.652 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI90M.000
2023-08-04T14:31:36.652Z,1691159496.652 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2023-08-04T14:31:36.652Z,1691159496.652 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2023-08-04T14:31:36.652Z,1691159496.652 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4WI03M.000
2023-08-04T14:31:36.652Z,1691159496.652 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4WI03M.000
2023-08-04T14:31:36.653Z,1691159496.653 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4WI06M.000
2023-08-04T14:31:36.653Z,1691159496.653 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4WI06M.000
2023-08-04T14:31:36.653Z,1691159496.653 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH01M.000
2023-08-04T14:31:36.653Z,1691159496.653 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH01M.000
2023-08-04T14:31:36.653Z,1691159496.653 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH04M.000
2023-08-04T14:31:36.653Z,1691159496.653 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH04M.000
2023-08-04T14:31:36.654Z,1691159496.654 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH02M.000
2023-08-04T14:31:36.654Z,1691159496.654 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH02M.000
2023-08-04T14:31:36.654Z,1691159496.654 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4PA20M.000
2023-08-04T14:31:36.654Z,1691159496.654 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4PA20M.000
2023-08-04T14:31:36.654Z,1691159496.654 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4PA21M.000
2023-08-04T14:31:36.654Z,1691159496.654 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4PA21M.000
2023-08-04T14:31:36.662Z,1691159496.662 [SBIT](INFO): Initialize SBIT Component.
2023-08-04T14:31:36.662Z,1691159496.662 [SBIT](IMPORTANT): git: 2023-08-02
2023-08-04T14:31:36.663Z,1691159496.663 [SBIT](INFO): git hash: 04bff54855c04b79675eb3036915d66bd94ee3d9
2023-08-04T14:31:36.683Z,1691159496.683 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-08-04T14:31:36.684Z,1691159496.684 [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
2023-08-04T14:31:36.685Z,1691159496.685 [SBIT](INFO): Beginning SBIT in 54.000000 seconds.
2023-08-04T14:31:36.686Z,1691159496.686 [IBIT](INFO): Initialize IBIT Component.
2023-08-04T14:31:36.687Z,1691159496.687 [CBIT](DEBUG): Initialize CBIT Component.
2023-08-04T14:31:36.699Z,1691159496.699 [CBIT](DEBUG): Initialized mux pins.
2023-08-04T14:31:36.699Z,1691159496.699 [CBIT](DEBUG): Initializing the watchdog timer.
2023-08-04T14:31:36.723Z,1691159496.723 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2023-08-04T14:31:36.723Z,1691159496.723 [CBIT](DEBUG): Initializing heartbeat.
2023-08-04T14:31:36.795Z,1691159496.795 [CBIT](DEBUG): Deactivating GF circuits.
2023-08-04T14:31:36.795Z,1691159496.795 [CBIT](DEBUG): Deactivating emergency mode.
2023-08-04T14:31:36.835Z,1691159496.835 [CBIT](DEBUG): Backplane powered.
2023-08-04T14:31:36.839Z,1691159496.839 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-08-04T14:31:36.840Z,1691159496.840 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-08-04T14:31:36.840Z,1691159496.840 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-08-04T14:31:36.841Z,1691159496.841 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-08-04T14:31:36.841Z,1691159496.841 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-08-04T14:31:36.841Z,1691159496.841 [ShortestDistanceToPolygonSidesCalculator](DEBUG): Initializing.
2023-08-04T14:31:36.842Z,1691159496.842 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2023-08-04T14:31:36.843Z,1691159496.843 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-08-04T14:31:36.843Z,1691159496.843 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-08-04T14:31:36.849Z,1691159496.849 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-08-04T14:31:36.852Z,1691159496.852 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-08-04T14:31:36.852Z,1691159496.852 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-08-04T14:31:36.853Z,1691159496.853 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-08-04T14:31:36.854Z,1691159496.854 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-08-04T14:31:36.890Z,1691159496.890 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-04T14:31:36.925Z,1691159496.925 [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>


2023-08-04T14:31:36.926Z,1691159496.926 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-08-04T14:31:37.013Z,1691159497.013 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-08-04T14:31:37.014Z,1691159497.014 [Default:A.Wait](DEBUG): Construct Wait.
2023-08-04T14:31:37.015Z,1691159497.015 [Radio_Surface](INFO): Powering up
2023-08-04T14:31:37.020Z,1691159497.020 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-04T14:31:37.061Z,1691159497.061 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-08-04T14:31:37.063Z,1691159497.063 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-08-04T14:31:37.081Z,1691159497.081 [Default:E.Execute](DEBUG): Construct Execute.
2023-08-04T14:31:37.085Z,1691159497.085 [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>


2023-08-04T14:31:37.104Z,1691159497.104 [controlThread](DEBUG): Component order: CycleStarter,InternalEnvSim,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,ShortestDistanceToPolygonSidesCalculator,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2023-08-04T14:31:37.112Z,1691159497.112 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-08-04T14:31:37.595Z,1691159497.595 [Power24vConverter](INFO): Powering up.
2023-08-04T14:31:37.600Z,1691159497.600 [Sonardyne_Nano](INFO): Initializing.
2023-08-04T14:31:37.628Z,1691159497.628 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-08-04T14:31:37.635Z,1691159497.635 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-08-04T14:31:37.636Z,1691159497.636 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-08-04T14:31:37.644Z,1691159497.644 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-08-04T14:31:37.644Z,1691159497.644 [MassServo](DEBUG): Initializing EZServoServo.
2023-08-04T14:31:37.651Z,1691159497.651 [MassServo](DEBUG): Initializing MassServo.
2023-08-04T14:31:37.652Z,1691159497.652 [RudderServo](DEBUG): Initializing EZServoServo.
2023-08-04T14:31:37.664Z,1691159497.664 [RudderServo](DEBUG): Initializing RudderServo.
2023-08-04T14:31:37.665Z,1691159497.665 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-08-04T14:31:37.672Z,1691159497.672 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-08-04T14:31:38.640Z,1691159498.640 [WetLabsBB2FL](INFO): Powering down
2023-08-04T14:31:39.713Z,1691159499.713 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2023-08-04T14:31:40.952Z,1691159500.952 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213
2023-08-04T14:31:43.200Z,1691159503.200 [ThrusterHE](ERROR): Zero Speed Commanded.
2023-08-04T14:32:05.977Z,1691159525.977 [NAL9602](INFO): Powering up NAL9602
2023-08-04T14:32:16.882Z,1691159536.882 [NAL9602](INFO): NAL9602 initialized
2023-08-04T14:32:31.444Z,1691159551.444 [SBIT](IMPORTANT): Beginning Startup BIT
2023-08-04T14:32:31.448Z,1691159551.448 [CBIT](IMPORTANT): Beginning ground fault scan
2023-08-04T14:32:33.855Z,1691159553.855 [NAL9602](INFO): SBD MO Status=0, MOMSN=7175, MT Status=0, MTMSN=0
2023-08-04T14:32:33.855Z,1691159553.855 [NAL9602](INFO): No messages in MT queue
2023-08-04T14:32:35.073Z,1691159555.073 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143231.00,A,4518.87066,N,08517.55701,W,0.175,0.00,040823,,,A*7E
2023-08-04T14:32:35.076Z,1691159555.076 [NAL9602](INFO): GPS fix at 20230804T143231: (45.314511, -85.292617)
2023-08-04T14:32:42.419Z,1691159562.419 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.007079
CHAN A1 (24V): 0.002110
CHAN A2 (12V): -0.005829
CHAN A3 (5V): -0.002746
CHAN B0 (3.3V): -0.001002
CHAN B1 (3.15aV): -0.000984
CHAN B2 (3.15bV): -0.001052
CHAN B3 (GND): 0.000109
OPEN: 0.000338
Full Scale: +/- 1 mA
2023-08-04T14:33:06.983Z,1691159586.983 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T14:33:25.608Z,1691159605.608 [SBIT](IMPORTANT): SBIT PASSED
2023-08-04T14:33:25.608Z,1691159605.608 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2023-08-04T14:33:25.609Z,1691159605.609 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2023-08-04T14:33:25.609Z,1691159605.609 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2023-08-04T14:33:25.609Z,1691159605.609 [SBIT](IMPORTANT): DeadReckonUsingMultipleVelocitySources.loadAtStartup=0 bool;

2023-08-04T14:33:25.609Z,1691159605.609 [SBIT](IMPORTANT): DeadReckonUsingSpeedCalculator.loadAtStartup=1 bool;

2023-08-04T14:33:25.609Z,1691159605.609 [SBIT](IMPORTANT): Depth_Keller.offset=-0.35 decibar;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): DropWeight.loadAtStartup=1 bool;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=3 minute;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): ElevatorServo.offsetAngle=1 degree;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 1.000000 kilogram_per_cubic_meter;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=1 bool;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=1 bool;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2023-08-04T14:33:25.610Z,1691159605.610 [SBIT](IMPORTANT): StratificationFrontDetector.threshold_VTHI=0.05 celsius;

2023-08-04T14:33:25.611Z,1691159605.611 [SBIT](IMPORTANT): StratificationFrontDetector.verbosity=1 count;

2023-08-04T14:33:25.611Z,1691159605.611 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=234.769539 cubic_centimeter;

2023-08-04T14:33:25.611Z,1691159605.611 [SBIT](IMPORTANT): VerticalControl.massDefault=8.539099 millimeter;

2023-08-04T14:33:25.611Z,1691159605.611 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.depth3=20 meter;

2023-08-04T14:33:25.611Z,1691159605.611 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.depth4=30 meter;

2023-08-04T14:33:25.611Z,1691159605.611 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2023-08-04T14:33:26.023Z,1691159606.023 [MissionManager](IMPORTANT): Started mission Startup
2023-08-04T14:33:26.024Z,1691159606.024 [Startup] Running Loop=1
2023-08-04T14:33:26.024Z,1691159606.024 [Startup](DEBUG): Aggregate::initialize Startup
2023-08-04T14:33:26.024Z,1691159606.024 [Startup:A.GoToSurface] Running Loop=1
2023-08-04T14:33:26.024Z,1691159606.024 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-08-04T14:33:26.024Z,1691159606.024 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-08-04T14:33:26.025Z,1691159606.025 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-08-04T14:33:26.025Z,1691159606.025 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-08-04T14:33:26.025Z,1691159606.025 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-08-04T14:33:26.026Z,1691159606.026 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-08-04T14:33:26.027Z,1691159606.027 [Startup:StartupSatComms] Running Loop=1
2023-08-04T14:33:26.027Z,1691159606.027 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2023-08-04T14:33:26.027Z,1691159606.027 [Startup:StartupSatComms:A] Running Loop=1
2023-08-04T14:33:26.406Z,1691159606.406 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2023-08-04T14:33:27.999Z,1691159607.999 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143324.00,A,4518.86870,N,08517.55554,W,0.000,0.00,040823,,,A*74
2023-08-04T14:33:28.002Z,1691159608.002 [NAL9602](INFO): GPS fix at 20230804T143324: (45.314478, -85.292592)
2023-08-04T14:33:28.012Z,1691159608.012 [Startup:StartupSatComms:A] Stopped
2023-08-04T14:33:28.012Z,1691159608.012 [Startup:StartupSatComms:B] Running Loop=1
2023-08-04T14:33:28.419Z,1691159608.419 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-08-04T14:33:43.449Z,1691159623.449 [NAL9602](INFO): SBD MO Status=1, MOMSN=7176, MT Status=0, MTMSN=0
2023-08-04T14:33:43.638Z,1691159623.638 [NAL9602](INFO): Sent 18 bytes from file Logs/20230803T161858/Courier0415.lzma
2023-08-04T14:33:43.638Z,1691159623.638 [NAL9602](INFO): Packets left to send: 0
2023-08-04T14:34:03.899Z,1691159643.899 [NAL9602](INFO): SBD MO Status=2, MOMSN=7177, MT Status=2, MTMSN=0
2023-08-04T14:34:03.899Z,1691159643.899 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-08-04T14:34:28.122Z,1691159668.122 [Startup:StartupSatComms:B](INFO): Timed out from 2023-08-04T14:33:28.0Z
2023-08-04T14:34:28.122Z,1691159668.122 [Startup:StartupSatComms:B] Stopped
2023-08-04T14:34:28.122Z,1691159668.122 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2023-08-04T14:34:28.122Z,1691159668.122 [Startup:StartupSatComms] Stopped
2023-08-04T14:34:28.123Z,1691159668.123 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2023-08-04T14:34:28.128Z,1691159668.128 [Startup](INFO): Completed Startup
2023-08-04T14:34:28.128Z,1691159668.128 [MissionManager](INFO): Startup is completed.
2023-08-04T14:34:28.128Z,1691159668.128 [MissionManager](INFO): Uninitializing Mission Startup
2023-08-04T14:34:28.128Z,1691159668.128 [Startup] Stopped
2023-08-04T14:34:28.128Z,1691159668.128 [Startup](DEBUG): Aggregate::uninitialize Startup
2023-08-04T14:34:28.128Z,1691159668.128 [Startup:A.GoToSurface] Stopped
2023-08-04T14:34:28.128Z,1691159668.128 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-08-04T14:34:28.522Z,1691159668.522 [MissionManager](IMPORTANT): Started mission Default
2023-08-04T14:34:28.522Z,1691159668.522 [Default] Running Loop=1
2023-08-04T14:34:28.523Z,1691159668.523 [Default](DEBUG): Aggregate::initialize Default
2023-08-04T14:34:28.523Z,1691159668.523 [Default:B.GoToSurface] Running Loop=1
2023-08-04T14:34:28.523Z,1691159668.523 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-08-04T14:34:28.552Z,1691159668.552 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-08-04T14:34:28.553Z,1691159668.553 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-08-04T14:34:28.553Z,1691159668.553 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-08-04T14:34:28.553Z,1691159668.553 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-08-04T14:34:28.553Z,1691159668.553 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-08-04T14:34:28.554Z,1691159668.554 [Default:A.Wait] Running Loop=1
2023-08-04T14:34:28.554Z,1691159668.554 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-08-04T14:34:41.863Z,1691159681.863 [Default:A.Wait](INFO): Done Waiting.
2023-08-04T14:34:41.863Z,1691159681.863 [Default:A.Wait] Stopped
2023-08-04T14:34:41.864Z,1691159681.864 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T14:34:42.258Z,1691159682.258 [Default:CheckIn] Running Loop=1
2023-08-04T14:34:42.258Z,1691159682.258 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-08-04T14:34:42.258Z,1691159682.258 [Default:CheckIn:Read_GPS] Running Loop=1
2023-08-04T14:34:42.662Z,1691159682.662 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2023-08-04T14:34:49.114Z,1691159689.114 [NAL9602](INFO): SBD MO Status=2, MOMSN=7177, MT Status=2, MTMSN=0
2023-08-04T14:34:49.114Z,1691159689.114 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-08-04T14:34:50.326Z,1691159690.326 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143447.00,A,4518.86909,N,08517.55613,W,0.019,0.00,040823,,,D*74
2023-08-04T14:34:50.328Z,1691159690.328 [NAL9602](INFO): GPS fix at 20230804T143447: (45.314485, -85.292602)
2023-08-04T14:34:50.339Z,1691159690.339 [Default:CheckIn:Read_GPS] Stopped
2023-08-04T14:34:50.339Z,1691159690.339 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-08-04T14:34:50.773Z,1691159690.773 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-08-04T14:35:06.538Z,1691159706.538 [NAL9602](INFO): SBD MO Status=1, MOMSN=7177, MT Status=0, MTMSN=0
2023-08-04T14:35:06.596Z,1691159706.596 [NAL9602](INFO): Sent 273 bytes from file Logs/20230804T143124/Courier0000.lzma
2023-08-04T14:35:06.596Z,1691159706.596 [NAL9602](INFO): Packets left to send: 0
2023-08-04T14:35:17.527Z,1691159717.527 [NAL9602](INFO): SBD MO Status=1, MOMSN=7178, MT Status=0, MTMSN=0
2023-08-04T14:35:17.576Z,1691159717.576 [NAL9602](INFO): Sent 77 bytes from file Logs/20230804T143124/Courier0004.lzma
2023-08-04T14:35:17.577Z,1691159717.577 [NAL9602](INFO): Packets left to send: 0
2023-08-04T14:35:37.298Z,1691159737.298 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004497
2023-08-04T14:35:38.261Z,1691159738.261 [NAL9602](INFO): SBD MO Status=2, MOMSN=7179, MT Status=2, MTMSN=0
2023-08-04T14:35:38.261Z,1691159738.261 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-08-04T14:35:48.326Z,1691159748.326 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20230803T161858/Express0416.lzma
2023-08-04T14:35:49.332Z,1691159749.332 [DataOverHttps](INFO): Moved sent file to Logs/20230803T161858/Express0416.lzma.bak
2023-08-04T14:35:49.332Z,1691159749.332 [DataOverHttps](INFO): SBD MOMSN=18516644
2023-08-04T14:36:06.516Z,1691159766.516 [DataOverHttps](INFO): Sending 1147 bytes from file Logs/20230804T143124/Express0001.lzma
2023-08-04T14:36:07.517Z,1691159767.517 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0001.lzma.bak
2023-08-04T14:36:07.517Z,1691159767.517 [DataOverHttps](INFO): SBD MOMSN=18516648
2023-08-04T14:36:09.004Z,1691159769.004 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T14:36:24.943Z,1691159784.943 [DataOverHttps](INFO): Sending 228 bytes from file Logs/20230804T143124/Express0005.lzma
2023-08-04T14:36:25.953Z,1691159785.953 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0005.lzma.bak
2023-08-04T14:36:25.953Z,1691159785.953 [DataOverHttps](INFO): SBD MOMSN=18516681
2023-08-04T14:36:28.384Z,1691159788.384 [Default:CheckIn:Read_Iridium] Stopped
2023-08-04T14:36:28.384Z,1691159788.384 [Default:CheckIn:C.Wait] Running Loop=1
2023-08-04T14:36:28.384Z,1691159788.384 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-08-04T14:37:42.064Z,1691159862.064 [BPC1](ERROR): BPC1A failed to parse battery stick message.
2023-08-04T14:37:51.288Z,1691159871.288 [CommandExec](IMPORTANT): got command burn on
2023-08-04T14:37:51.288Z,1691159871.288 [CommandExec](IMPORTANT): Activating dropweight wire
2023-08-04T14:37:54.966Z,1691159874.966 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2023-08-04T14:37:54.969Z,1691159874.969 [BPC1](INFO): Received data from all battery sticks.
2023-08-04T14:37:59.628Z,1691159879.628 [CommandExec](IMPORTANT): got command burn off
2023-08-04T14:37:59.628Z,1691159879.628 [CommandExec](IMPORTANT): Deactivating dropweight wire
2023-08-04T14:39:49.812Z,1691159989.812 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T143949
2023-08-04T14:39:57.207Z,1691159997.207 [DataOverHttps](INFO): Received command: ibit
2023-08-04T14:39:57.260Z,1691159997.260 [CommandExec](IMPORTANT): got command ibit
2023-08-04T14:39:57.389Z,1691159997.389 [IBIT](IMPORTANT): Beginning Initiated BIT
2023-08-04T14:39:57.389Z,1691159997.389 [IBIT](IMPORTANT): Beginning control surface checks.
2023-08-04T14:39:57.392Z,1691159997.392 [CBIT](IMPORTANT): Beginning ground fault scan
2023-08-04T14:39:58.985Z,1691159998.985 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143955.00,A,4518.86736,N,08517.55585,W,0.039,129.72,040823,,,D*79
2023-08-04T14:39:58.988Z,1691159998.988 [NAL9602](INFO): GPS fix at 20230804T143955: (45.314456, -85.292597)
2023-08-04T14:40:08.316Z,1691160008.316 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006057
CHAN A1 (24V): 0.001880
CHAN A2 (12V): -0.005682
CHAN A3 (5V): -0.002973
CHAN B0 (3.3V): -0.001223
CHAN B1 (3.15aV): -0.001158
CHAN B2 (3.15bV): -0.001150
CHAN B3 (GND): -0.000272
OPEN: 0.000585
Full Scale: +/- 1 mA
2023-08-04T14:40:22.423Z,1691160022.423 [NAL9602](INFO): SBD MO Status=1, MOMSN=7179, MT Status=0, MTMSN=0
2023-08-04T14:40:22.424Z,1691160022.424 [NAL9602](INFO): No messages in MT queue
2023-08-04T14:40:23.634Z,1691160023.634 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144020.00,A,4518.86711,N,08517.55481,W,0.058,129.72,040823,,,D*72
2023-08-04T14:40:23.636Z,1691160023.636 [NAL9602](INFO): GPS fix at 20230804T144020: (45.314452, -85.292580)
2023-08-04T14:40:26.461Z,1691160026.461 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144023.00,A,4518.86705,N,08517.55465,W,0.019,129.72,040823,,,D*7B
2023-08-04T14:40:26.468Z,1691160026.468 [NAL9602](INFO): GPS fix at 20230804T144023: (45.314451, -85.292577)
2023-08-04T14:40:29.694Z,1691160029.694 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144026.00,A,4518.86692,N,08517.55460,W,0.019,129.72,040823,,,D*74
2023-08-04T14:40:29.696Z,1691160029.696 [NAL9602](INFO): GPS fix at 20230804T144026: (45.314449, -85.292577)
2023-08-04T14:40:32.526Z,1691160032.526 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144029.00,A,4518.86683,N,08517.55455,W,0.058,129.72,040823,,,D*78
2023-08-04T14:40:32.528Z,1691160032.528 [NAL9602](INFO): GPS fix at 20230804T144029: (45.314447, -85.292576)
2023-08-04T14:40:35.750Z,1691160035.750 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144032.00,A,4518.86675,N,08517.55447,W,0.019,129.72,040823,,,D*7D
2023-08-04T14:40:35.772Z,1691160035.772 [NAL9602](INFO): GPS fix at 20230804T144032: (45.314446, -85.292575)
2023-08-04T14:40:38.577Z,1691160038.577 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144035.00,A,4518.86668,N,08517.55443,W,0.039,129.72,040823,,,D*70
2023-08-04T14:40:38.580Z,1691160038.580 [NAL9602](INFO): GPS fix at 20230804T144035: (45.314445, -85.292574)
2023-08-04T14:40:41.414Z,1691160041.414 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144038.00,A,4518.86661,N,08517.55449,W,0.019,129.72,040823,,,D*7C
2023-08-04T14:40:41.417Z,1691160041.417 [NAL9602](INFO): GPS fix at 20230804T144038: (45.314444, -85.292575)
2023-08-04T14:40:43.872Z,1691160043.872 [IBIT](IMPORTANT): Communications Status:
Fix Status: 1
Iridium Signal Strength: 2
Latitude: 45.314442 Longitude: -85.292572
2023-08-04T14:40:44.269Z,1691160044.269 [IBIT](IMPORTANT): Battery Status:
Battery Charge (AH): 0.000000
Voltage: 16.690001
2023-08-04T14:40:44.270Z,1691160044.270 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah
2023-08-04T14:40:44.270Z,1691160044.270 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V
2023-08-04T14:40:44.645Z,1691160044.645 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144041.00,A,4518.86658,N,08517.55456,W,0.019,129.72,040823,,,D*76
2023-08-04T14:40:44.647Z,1691160044.647 [NAL9602](INFO): GPS fix at 20230804T144041: (45.314443, -85.292576)
2023-08-04T14:40:44.663Z,1691160044.663 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2023-08-04T14:40:44.664Z,1691160044.664 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi
2023-08-04T14:40:44.664Z,1691160044.664 [IBIT](IMPORTANT): Pressure:9.826968 PSI
2023-08-04T14:40:44.664Z,1691160044.664 [IBIT](IMPORTANT): Humidity:12.385545 %
2023-08-04T14:40:45.086Z,1691160045.086 [IBIT](IMPORTANT): Vehicle Pitch:-3.051565 degrees
2023-08-04T14:40:45.086Z,1691160045.086 [IBIT](IMPORTANT): Vehicle  Roll:6.127178 degrees
2023-08-04T14:40:45.087Z,1691160045.087 [IBIT](IMPORTANT): Vehicle  Heading:319.837463 degrees
2023-08-04T14:40:45.460Z,1691160045.460 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m
2023-08-04T14:40:45.460Z,1691160045.460 [IBIT](IMPORTANT): buoyancyNeutral: 234.769547 cc
2023-08-04T14:40:45.461Z,1691160045.461 [IBIT](IMPORTANT): massDefault: 0.853910 cm
2023-08-04T14:40:45.461Z,1691160045.461 [IBIT](IMPORTANT): stopDepth: 100.000000 m
2023-08-04T14:40:45.461Z,1691160045.461 [IBIT](IMPORTANT): abortDepth: 120.000000 m
2023-08-04T14:40:45.461Z,1691160045.461 [IBIT](IMPORTANT): IBIT PASSED
2023-08-04T14:41:16.955Z,1691160076.955 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T14:41:29.088Z,1691160089.088 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2023-08-04T14:41:29.089Z,1691160089.089 [Default:CheckIn:C.Wait] Stopped
2023-08-04T14:41:29.089Z,1691160089.089 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T14:41:29.089Z,1691160089.089 [Default:CheckIn:D] Running Loop=1
2023-08-04T14:41:29.497Z,1691160089.497 [Default:CheckIn:D] Stopped
2023-08-04T14:41:29.497Z,1691160089.497 [Default:CheckIn:E] Running Loop=1
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 7.016240 min 
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn:E] Stopped
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn](INFO): Completed Default:CheckIn
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn] Stopped
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn](INFO): Running loop #2
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn] Running Loop=2
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-08-04T14:41:29.894Z,1691160089.894 [Default:CheckIn:Read_GPS] Running Loop=1
2023-08-04T14:41:31.910Z,1691160091.910 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144128.00,A,4518.86678,N,08517.55363,W,0.039,129.72,040823,,,D*79
2023-08-04T14:41:31.917Z,1691160091.917 [NAL9602](INFO): GPS fix at 20230804T144128: (45.314446, -85.292560)
2023-08-04T14:41:31.952Z,1691160091.952 [Default:CheckIn:Read_GPS] Stopped
2023-08-04T14:41:31.952Z,1691160091.952 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-08-04T14:41:38.637Z,1691160098.637 [Power24vConverter](INFO): Powering down.
2023-08-04T14:41:39.038Z,1691160099.038 [Power24vConverter](FAULT):  LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated.
2023-08-04T14:41:39.038Z,1691160099.038 [Power24vConverter] Hardware Fault, FailCount= 1
2023-08-04T14:41:39.039Z,1691160099.039 [Power24vConverter](ERROR): Hardware Fault
2023-08-04T14:41:39.140Z,1691160099.140 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2023-08-04T14:41:39.448Z,1691160099.448 [Power24vConverter](INFO): Powering down.
2023-08-04T14:41:40.334Z,1691160100.334 [CBIT](INFO): Clearing failed state for component Power24vConverter
2023-08-04T14:41:40.334Z,1691160100.334 [Power24vConverter] No Fault, FailCount= 1
2023-08-04T14:41:40.689Z,1691160100.689 [Power24vConverter](INFO): Powering up.
2023-08-04T14:41:43.891Z,1691160103.891 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20230804T143124/Courier0007.lzma
2023-08-04T14:41:44.894Z,1691160104.894 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Courier0007.lzma.bak
2023-08-04T14:41:44.894Z,1691160104.894 [DataOverHttps](INFO): SBD MOMSN=18516734
2023-08-04T14:41:47.937Z,1691160107.937 [NAL9602](INFO): SBD MO Status=1, MOMSN=7180, MT Status=0, MTMSN=0
2023-08-04T14:41:47.938Z,1691160107.938 [NAL9602](INFO): No messages in MT queue
2023-08-04T14:42:03.028Z,1691160123.028 [DataOverHttps](INFO): Sending 893 bytes from file Logs/20230804T143124/Express0008.lzma
2023-08-04T14:42:04.029Z,1691160124.029 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0008.lzma.bak
2023-08-04T14:42:04.029Z,1691160124.029 [DataOverHttps](INFO): SBD MOMSN=18516738
2023-08-04T14:42:18.644Z,1691160138.644 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T14:42:20.958Z,1691160140.958 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20230804T143124/Express0009.lzma
2023-08-04T14:42:21.961Z,1691160141.961 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0009.lzma.bak
2023-08-04T14:42:21.961Z,1691160141.961 [DataOverHttps](INFO): SBD MOMSN=18516770
2023-08-04T14:42:24.323Z,1691160144.323 [Default:CheckIn:Read_Iridium] Stopped
2023-08-04T14:42:24.323Z,1691160144.323 [Default:CheckIn:C.Wait] Running Loop=1
2023-08-04T14:42:24.323Z,1691160144.323 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-08-04T14:47:25.082Z,1691160445.082 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2023-08-04T14:47:25.082Z,1691160445.082 [Default:CheckIn:C.Wait] Stopped
2023-08-04T14:47:25.082Z,1691160445.082 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T14:47:25.082Z,1691160445.082 [Default:CheckIn:D] Running Loop=1
2023-08-04T14:47:25.490Z,1691160445.490 [Default:CheckIn:D] Stopped
2023-08-04T14:47:25.490Z,1691160445.490 [Default:CheckIn:E] Running Loop=1
2023-08-04T14:47:25.896Z,1691160445.896 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 12.949466 min 
2023-08-04T14:47:25.897Z,1691160445.897 [Default:CheckIn:E] Stopped
2023-08-04T14:47:25.897Z,1691160445.897 [Default:CheckIn](INFO): Completed Default:CheckIn
2023-08-04T14:47:25.897Z,1691160445.897 [Default:CheckIn] Stopped
2023-08-04T14:47:25.897Z,1691160445.897 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-08-04T14:47:25.897Z,1691160445.897 [Default:CheckIn](INFO): Running loop #3
2023-08-04T14:47:25.897Z,1691160445.897 [Default:CheckIn] Running Loop=3
2023-08-04T14:47:25.897Z,1691160445.897 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-08-04T14:47:25.897Z,1691160445.897 [Default:CheckIn:Read_GPS] Running Loop=1
2023-08-04T14:47:27.901Z,1691160447.901 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144727.00,A,4518.86806,N,08517.55494,W,0.019,129.72,040823,,,D*7A
2023-08-04T14:47:27.903Z,1691160447.903 [NAL9602](INFO): GPS fix at 20230804T144727: (45.314468, -85.292582)
2023-08-04T14:47:27.934Z,1691160447.934 [Default:CheckIn:Read_GPS] Stopped
2023-08-04T14:47:27.934Z,1691160447.934 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-08-04T14:47:38.267Z,1691160458.267 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20230804T143124/Courier0012.lzma
2023-08-04T14:47:39.269Z,1691160459.269 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Courier0012.lzma.bak
2023-08-04T14:47:39.269Z,1691160459.269 [DataOverHttps](INFO): SBD MOMSN=18516788
2023-08-04T14:47:54.998Z,1691160474.998 [NAL9602](INFO): SBD MO Status=1, MOMSN=7181, MT Status=0, MTMSN=0
2023-08-04T14:47:54.998Z,1691160474.998 [NAL9602](INFO): No messages in MT queue
2023-08-04T14:47:58.926Z,1691160478.926 [DataOverHttps](INFO): Sending 260 bytes from file Logs/20230804T143124/Express0014.lzma
2023-08-04T14:47:59.933Z,1691160479.933 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0014.lzma.bak
2023-08-04T14:47:59.933Z,1691160479.933 [DataOverHttps](INFO): SBD MOMSN=18516791
2023-08-04T14:48:02.303Z,1691160482.303 [Default:CheckIn:Read_Iridium] Stopped
2023-08-04T14:48:02.303Z,1691160482.303 [Default:CheckIn:C.Wait] Running Loop=1
2023-08-04T14:48:02.303Z,1691160482.303 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-08-04T14:48:25.703Z,1691160505.703 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T14:51:41.643Z,1691160701.643 [Power24vConverter](INFO): Powering down.
2023-08-04T14:51:51.877Z,1691160711.877 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T145151
2023-08-04T14:51:59.311Z,1691160719.311 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m" 3sbxv 1 2
2023-08-04T14:51:59.324Z,1691160719.324 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m" 3sbxv 1 2.000000
2023-08-04T14:51:59.324Z,1691160719.324 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3sbxv
2023-08-04T14:51:59.325Z,1691160719.325 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='3sbxv'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m", ASAP
2023-08-04T14:52:00.313Z,1691160720.313 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T145159
2023-08-04T14:52:07.651Z,1691160727.651 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run" 3sbxv 2 2
2023-08-04T14:52:07.750Z,1691160727.750 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run" 3sbxv 2 2.000000
2023-08-04T14:52:07.751Z,1691160727.751 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3sbxv
2023-08-04T14:52:07.752Z,1691160727.752 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='3sbxv'): "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run", ASAP
2023-08-04T14:52:07.865Z,1691160727.865 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2023-08-04T14:52:07.865Z,1691160727.865 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2023-08-04T14:52:07.865Z,1691160727.865 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx
2023-08-04T14:52:08.001Z,1691160728.001 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2023-08-04T14:52:08.003Z,1691160728.003 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2023-08-04T14:52:08.006Z,1691160728.006 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2023-08-04T14:52:08.009Z,1691160728.009 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2023-08-04T14:52:08.012Z,1691160728.012 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2023-08-04T14:52:08.014Z,1691160728.014 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2023-08-04T14:52:08.017Z,1691160728.017 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2023-08-04T14:52:08.020Z,1691160728.020 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2023-08-04T14:52:08.023Z,1691160728.023 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2023-08-04T14:52:08.056Z,1691160728.056 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2023-08-04T14:52:08.059Z,1691160728.059 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2023-08-04T14:52:08.068Z,1691160728.068 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2023-08-04T14:52:08.070Z,1691160728.070 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2023-08-04T14:52:08.091Z,1691160728.091 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2023-08-04T14:52:08.092Z,1691160728.092 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx
2023-08-04T14:52:08.197Z,1691160728.197 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2023-08-04T14:52:08.200Z,1691160728.200 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2023-08-04T14:52:08.202Z,1691160728.202 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2023-08-04T14:52:08.215Z,1691160728.215 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2023-08-04T14:52:08.217Z,1691160728.217 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2023-08-04T14:52:08.220Z,1691160728.220 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2023-08-04T14:52:08.223Z,1691160728.223 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2023-08-04T14:52:08.246Z,1691160728.246 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2023-08-04T14:52:08.252Z,1691160728.252 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-04T14:52:08.339Z,1691160728.339 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2023-08-04T14:52:08.340Z,1691160728.340 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx
2023-08-04T14:52:08.410Z,1691160728.410 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2023-08-04T14:52:08.413Z,1691160728.413 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2023-08-04T14:52:08.416Z,1691160728.416 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2023-08-04T14:52:08.418Z,1691160728.418 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2023-08-04T14:52:08.430Z,1691160728.430 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2023-08-04T14:52:08.438Z,1691160728.438 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2023-08-04T14:52:08.453Z,1691160728.453 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2023-08-04T14:52:08.492Z,1691160728.492 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2023-08-04T14:52:08.508Z,1691160728.508 [transit:MassHold.Pitch](DEBUG): Construct.
2023-08-04T14:52:08.515Z,1691160728.515 [transit:Transit:A.Pitch](DEBUG): Construct.
2023-08-04T14:52:08.530Z,1691160728.530 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2023-08-04T14:52:08.533Z,1691160728.533 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2023-08-04T14:52:08.566Z,1691160728.566 [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.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  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"
  }
}


2023-08-04T14:52:08.567Z,1691160728.567 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl
2023-08-04T14:52:16.796Z,1691160736.796 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2023-08-04T14:52:16.797Z,1691160736.797 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute
2023-08-04T14:52:16.797Z,1691160736.797 [CommandExec](IMPORTANT): got command set transit.Latitude 45.324532 degree
2023-08-04T14:52:16.798Z,1691160736.798 [CommandExec](IMPORTANT): got command set transit.Longitude -85.279485 degree
2023-08-04T14:52:16.799Z,1691160736.799 [CommandExec](IMPORTANT): got command set transit.Depth 0.5 meter
2023-08-04T14:52:16.803Z,1691160736.803 [CommandExec](IMPORTANT): got command set transit.MaxDepth 2 meter
2023-08-04T14:52:19.770Z,1691160739.770 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.000001 kilometer
2023-08-04T14:52:19.771Z,1691160739.771 [CommandExec](IMPORTANT): got command set transit.MinAltitude 3 meter
2023-08-04T14:52:19.772Z,1691160739.772 [CommandExec](IMPORTANT): got command run
2023-08-04T14:52:19.773Z,1691160739.773 [CommandExec](IMPORTANT): Running 
2023-08-04T14:52:20.037Z,1691160740.037 [Default] Stopped
2023-08-04T14:52:20.038Z,1691160740.038 [Default](DEBUG): Aggregate::uninitialize Default
2023-08-04T14:52:20.038Z,1691160740.038 [Default:B.GoToSurface] Stopped
2023-08-04T14:52:20.038Z,1691160740.038 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-08-04T14:52:20.038Z,1691160740.038 [Default:CheckIn] Stopped
2023-08-04T14:52:20.038Z,1691160740.038 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-08-04T14:52:20.038Z,1691160740.038 [Default:CheckIn:C.Wait] Stopped
2023-08-04T14:52:20.038Z,1691160740.038 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T14:52:20.038Z,1691160740.038 [MissionManager](IMPORTANT): Started mission transit
2023-08-04T14:52:20.038Z,1691160740.038 [transit] Running Loop=1
2023-08-04T14:52:20.039Z,1691160740.039 [transit](DEBUG): Aggregate::initialize transit
2023-08-04T14:52:20.039Z,1691160740.039 [transit:StandardEnvelopes] Running Loop=1
2023-08-04T14:52:20.039Z,1691160740.039 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2023-08-04T14:52:20.039Z,1691160740.039 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-08-04T14:52:20.039Z,1691160740.039 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2023-08-04T14:52:20.040Z,1691160740.040 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-08-04T14:52:20.040Z,1691160740.040 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2023-08-04T14:52:20.040Z,1691160740.040 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-08-04T14:52:20.040Z,1691160740.040 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2023-08-04T14:52:20.040Z,1691160740.040 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-08-04T14:52:20.040Z,1691160740.040 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2023-08-04T14:52:20.040Z,1691160740.040 [transit:MassHold.Pitch] Running Loop=1
2023-08-04T14:52:20.040Z,1691160740.040 [transit:MassHold.Pitch](DEBUG): Initialize.
2023-08-04T14:52:20.041Z,1691160740.041 [transit:B] Running Loop=1
2023-08-04T14:52:20.041Z,1691160740.041 [transit:MassHold.Pitch] Running Loop=1
2023-08-04T14:52:20.042Z,1691160740.042 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-08-04T14:52:20.042Z,1691160740.042 [transit:StandardEnvelopes] Running Loop=1
2023-08-04T14:52:20.042Z,1691160740.042 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-08-04T14:52:20.050Z,1691160740.050 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-08-04T14:52:20.051Z,1691160740.051 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-08-04T14:52:20.051Z,1691160740.051 [transit:B] Stopped
2023-08-04T14:52:20.052Z,1691160740.052 [transit:C] Running Loop=1
2023-08-04T14:52:20.453Z,1691160740.453 [transit:C] Stopped
2023-08-04T14:52:20.454Z,1691160740.454 [transit:E] Running Loop=1
2023-08-04T14:52:20.842Z,1691160740.842 [transit:E] Stopped
2023-08-04T14:52:20.842Z,1691160740.842 [transit:F] Running Loop=1
2023-08-04T14:52:21.242Z,1691160741.242 [transit:F] Stopped
2023-08-04T14:52:21.243Z,1691160741.243 [transit:G] Running Loop=1
2023-08-04T14:52:21.651Z,1691160741.651 [transit:G] Stopped
2023-08-04T14:52:21.651Z,1691160741.651 [transit:Transit] Running Loop=1
2023-08-04T14:52:21.652Z,1691160741.652 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2023-08-04T14:52:21.652Z,1691160741.652 [transit:Transit:A.Pitch] Running Loop=1
2023-08-04T14:52:21.652Z,1691160741.652 [transit:Transit:A.Pitch](DEBUG): Initialize.
2023-08-04T14:52:21.652Z,1691160741.652 [transit:Transit:B.SetSpeed] Running Loop=1
2023-08-04T14:52:21.652Z,1691160741.652 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2023-08-04T14:52:21.653Z,1691160741.653 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2023-08-04T14:52:21.653Z,1691160741.653 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2023-08-04T14:52:21.654Z,1691160741.654 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 45.324532,-85.279488
2023-08-04T14:52:21.655Z,1691160741.655 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2023-08-04T14:52:22.065Z,1691160742.065 [transit:Transit:B.SetSpeed] Running Loop=1
2023-08-04T14:52:22.065Z,1691160742.065 [transit:Transit:A.Pitch] Running Loop=1
2023-08-04T14:52:43.053Z,1691160763.053 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T145242
2023-08-04T14:52:52.007Z,1691160772.007 [DataOverHttps](INFO): Received command: strobe off
2023-08-04T14:52:52.069Z,1691160772.069 [CommandExec](IMPORTANT): got command strobe off
2023-08-04T14:52:52.069Z,1691160772.069 [CommandExec](IMPORTANT): Deactivating strobe
2023-08-04T14:54:21.023Z,1691160861.023 [CommandExec](IMPORTANT): got command get platform_orientation degree
2023-08-04T14:54:21.024Z,1691160861.024 [CommandExec](IMPORTANT): platform_orientation 53.534657 arcdeg
2023-08-04T14:54:24.400Z,1691160864.400 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T145423
2023-08-04T14:54:24.769Z,1691160864.769 [CommandExec](IMPORTANT): got command stop
2023-08-04T14:54:24.769Z,1691160864.769 [CommandExec](IMPORTANT): Scheduling is paused
2023-08-04T14:54:24.769Z,1691160864.769 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2023-08-04T14:54:24.926Z,1691160864.926 [MissionManager](INFO): MissionManager is completed.
2023-08-04T14:54:24.926Z,1691160864.926 [MissionManager](INFO): Uninitializing Mission transit
2023-08-04T14:54:24.926Z,1691160864.926 [transit] Stopped
2023-08-04T14:54:24.926Z,1691160864.926 [transit](DEBUG): Aggregate::uninitialize transit
2023-08-04T14:54:24.926Z,1691160864.926 [transit:StandardEnvelopes] Stopped
2023-08-04T14:54:24.926Z,1691160864.926 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2023-08-04T14:54:24.926Z,1691160864.926 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2023-08-04T14:54:24.926Z,1691160864.926 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2023-08-04T14:54:24.926Z,1691160864.926 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2023-08-04T14:54:24.926Z,1691160864.926 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2023-08-04T14:54:24.926Z,1691160864.926 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2023-08-04T14:54:24.927Z,1691160864.927 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2023-08-04T14:54:24.927Z,1691160864.927 [transit:BuoyancyHold.Buoyancy] Stopped
2023-08-04T14:54:24.927Z,1691160864.927 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2023-08-04T14:54:24.927Z,1691160864.927 [transit:MassHold.Pitch] Stopped
2023-08-04T14:54:24.927Z,1691160864.927 [transit:Transit] Stopped
2023-08-04T14:54:24.927Z,1691160864.927 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2023-08-04T14:54:24.927Z,1691160864.927 [transit:Transit:A.Pitch] Stopped
2023-08-04T14:54:24.927Z,1691160864.927 [transit:Transit:B.SetSpeed] Stopped
2023-08-04T14:54:24.927Z,1691160864.927 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2023-08-04T14:54:24.927Z,1691160864.927 [transit:Transit:Wpt1.Waypoint] Stopped
2023-08-04T14:54:24.928Z,1691160864.928 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2023-08-04T14:54:25.336Z,1691160865.336 [MissionManager](IMPORTANT): Started mission Default
2023-08-04T14:54:25.336Z,1691160865.336 [Default] Running Loop=1
2023-08-04T14:54:25.336Z,1691160865.336 [Default](DEBUG): Aggregate::initialize Default
2023-08-04T14:54:25.336Z,1691160865.336 [Default:B.GoToSurface] Running Loop=1
2023-08-04T14:54:25.336Z,1691160865.336 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-08-04T14:54:25.337Z,1691160865.337 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-08-04T14:54:25.337Z,1691160865.337 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-08-04T14:54:25.337Z,1691160865.337 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-08-04T14:54:25.338Z,1691160865.338 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-08-04T14:54:25.338Z,1691160865.338 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-08-04T14:54:25.338Z,1691160865.338 [Default:A.Wait] Running Loop=1
2023-08-04T14:54:25.339Z,1691160865.339 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-08-04T14:54:33.131Z,1691160873.131 [DataOverHttps](INFO): Received command: stop
2023-08-04T14:54:33.224Z,1691160873.224 [CommandExec](IMPORTANT): got command stop
2023-08-04T14:54:38.343Z,1691160878.343 [Default:A.Wait](INFO): Done Waiting.
2023-08-04T14:54:38.343Z,1691160878.343 [Default:A.Wait] Stopped
2023-08-04T14:54:38.347Z,1691160878.347 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T14:54:38.775Z,1691160878.775 [Default:CheckIn] Running Loop=1
2023-08-04T14:54:38.775Z,1691160878.775 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-08-04T14:54:38.776Z,1691160878.776 [Default:CheckIn:Read_GPS] Running Loop=1
2023-08-04T14:54:40.788Z,1691160880.788 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145440.00,A,4518.86986,N,08517.55902,W,0.039,313.11,040823,,,D*7E
2023-08-04T14:54:40.790Z,1691160880.790 [NAL9602](INFO): GPS fix at 20230804T145440: (45.314498, -85.292650)
2023-08-04T14:54:40.809Z,1691160880.809 [Default:CheckIn:Read_GPS] Stopped
2023-08-04T14:54:40.809Z,1691160880.809 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-08-04T14:54:52.870Z,1691160892.870 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20230804T143124/Courier0016.lzma
2023-08-04T14:54:53.873Z,1691160893.873 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Courier0016.lzma.bak
2023-08-04T14:54:53.873Z,1691160893.873 [DataOverHttps](INFO): SBD MOMSN=18516942
2023-08-04T14:54:56.415Z,1691160896.415 [CommandExec](IMPORTANT): got command get platform_orientation degree
2023-08-04T14:54:56.416Z,1691160896.416 [CommandExec](IMPORTANT): platform_orientation 53.543649 arcdeg
2023-08-04T14:55:06.295Z,1691160906.295 [NAL9602](INFO): SBD MO Status=1, MOMSN=7182, MT Status=0, MTMSN=0
2023-08-04T14:55:06.295Z,1691160906.295 [NAL9602](INFO): No messages in MT queue
2023-08-04T14:55:11.704Z,1691160911.704 [DataOverHttps](INFO): Sending 858 bytes from file Logs/20230804T143124/Express0017.lzma
2023-08-04T14:55:12.705Z,1691160912.705 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0017.lzma.bak
2023-08-04T14:55:12.705Z,1691160912.705 [DataOverHttps](INFO): SBD MOMSN=18516945
2023-08-04T14:55:29.671Z,1691160929.671 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20230804T143124/Express0020.lzma
2023-08-04T14:55:30.673Z,1691160930.673 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0020.lzma.bak
2023-08-04T14:55:30.673Z,1691160930.673 [DataOverHttps](INFO): SBD MOMSN=18516985
2023-08-04T14:55:34.687Z,1691160934.687 [Default:CheckIn:Read_Iridium] Stopped
2023-08-04T14:55:34.699Z,1691160934.699 [Default:CheckIn:C.Wait] Running Loop=1
2023-08-04T14:55:34.699Z,1691160934.699 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-08-04T14:55:37.034Z,1691160937.034 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T15:00:35.262Z,1691161235.262 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2023-08-04T15:00:35.262Z,1691161235.262 [Default:CheckIn:C.Wait] Stopped
2023-08-04T15:00:35.262Z,1691161235.262 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T15:00:35.263Z,1691161235.263 [Default:CheckIn:D] Running Loop=1
2023-08-04T15:00:35.671Z,1691161235.671 [Default:CheckIn:D] Stopped
2023-08-04T15:00:35.671Z,1691161235.671 [Default:CheckIn:E] Running Loop=1
2023-08-04T15:00:36.073Z,1691161236.073 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 6.172239 min 
2023-08-04T15:00:36.073Z,1691161236.073 [Default:CheckIn:E] Stopped
2023-08-04T15:00:36.073Z,1691161236.073 [Default:CheckIn](INFO): Completed Default:CheckIn
2023-08-04T15:00:36.073Z,1691161236.073 [Default:CheckIn] Stopped
2023-08-04T15:00:36.073Z,1691161236.073 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-08-04T15:00:36.073Z,1691161236.073 [Default:CheckIn](INFO): Running loop #2
2023-08-04T15:00:36.073Z,1691161236.073 [Default:CheckIn] Running Loop=2
2023-08-04T15:00:36.074Z,1691161236.074 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-08-04T15:00:36.074Z,1691161236.074 [Default:CheckIn:Read_GPS] Running Loop=1
2023-08-04T15:00:38.130Z,1691161238.130 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150037.00,A,4518.86838,N,08517.55829,W,0.019,313.11,040823,,,D*70
2023-08-04T15:00:38.132Z,1691161238.132 [NAL9602](INFO): GPS fix at 20230804T150037: (45.314473, -85.292638)
2023-08-04T15:00:38.142Z,1691161238.142 [Default:CheckIn:Read_GPS] Stopped
2023-08-04T15:00:38.143Z,1691161238.143 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-08-04T15:00:47.570Z,1691161247.570 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20230804T143124/Courier0022.lzma
2023-08-04T15:00:48.573Z,1691161248.573 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Courier0022.lzma.bak
2023-08-04T15:00:48.573Z,1691161248.573 [DataOverHttps](INFO): SBD MOMSN=18516996
2023-08-04T15:01:05.487Z,1691161265.487 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20230804T143124/Express0023.lzma
2023-08-04T15:01:06.489Z,1691161266.489 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0023.lzma.bak
2023-08-04T15:01:06.489Z,1691161266.489 [DataOverHttps](INFO): SBD MOMSN=18517002
2023-08-04T15:01:09.882Z,1691161269.882 [Default:CheckIn:Read_Iridium] Stopped
2023-08-04T15:01:09.882Z,1691161269.882 [Default:CheckIn:C.Wait] Running Loop=1
2023-08-04T15:01:09.882Z,1691161269.882 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-08-04T15:01:52.273Z,1691161312.273 [NAL9602](INFO): SBD MO Status=1, MOMSN=7183, MT Status=0, MTMSN=0
2023-08-04T15:01:52.273Z,1691161312.273 [NAL9602](INFO): No messages in MT queue
2023-08-04T15:02:22.989Z,1691161342.989 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T15:06:10.464Z,1691161570.464 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2023-08-04T15:06:10.464Z,1691161570.464 [Default:CheckIn:C.Wait] Stopped
2023-08-04T15:06:10.464Z,1691161570.464 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T15:06:10.465Z,1691161570.465 [Default:CheckIn:D] Running Loop=1
2023-08-04T15:06:10.882Z,1691161570.882 [Default:CheckIn:D] Stopped
2023-08-04T15:06:10.882Z,1691161570.882 [Default:CheckIn:E] Running Loop=1
2023-08-04T15:06:11.270Z,1691161571.270 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 11.759092 min 
2023-08-04T15:06:11.270Z,1691161571.270 [Default:CheckIn:E] Stopped
2023-08-04T15:06:11.271Z,1691161571.271 [Default:CheckIn](INFO): Completed Default:CheckIn
2023-08-04T15:06:11.271Z,1691161571.271 [Default:CheckIn] Stopped
2023-08-04T15:06:11.271Z,1691161571.271 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-08-04T15:06:11.271Z,1691161571.271 [Default:CheckIn](INFO): Running loop #3
2023-08-04T15:06:11.271Z,1691161571.271 [Default:CheckIn] Running Loop=3
2023-08-04T15:06:11.271Z,1691161571.271 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-08-04T15:06:11.271Z,1691161571.271 [Default:CheckIn:Read_GPS] Running Loop=1
2023-08-04T15:06:13.280Z,1691161573.280 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150612.00,A,4518.86745,N,08517.53171,W,0.019,66.11,040823,,,D*47
2023-08-04T15:06:13.282Z,1691161573.282 [NAL9602](INFO): GPS fix at 20230804T150612: (45.314458, -85.292195)
2023-08-04T15:06:13.293Z,1691161573.293 [Default:CheckIn:Read_GPS] Stopped
2023-08-04T15:06:13.293Z,1691161573.293 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-08-04T15:06:20.246Z,1691161580.246 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20230804T143124/Courier0025.lzma
2023-08-04T15:06:21.249Z,1691161581.249 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Courier0025.lzma.bak
2023-08-04T15:06:21.249Z,1691161581.249 [DataOverHttps](INFO): SBD MOMSN=18517020
2023-08-04T15:06:35.094Z,1691161595.094 [NAL9602](INFO): SBD MO Status=2, MOMSN=7184, MT Status=2, MTMSN=0
2023-08-04T15:06:35.094Z,1691161595.094 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-08-04T15:06:42.431Z,1691161602.431 [DataOverHttps](INFO): Sending 142 bytes from file Logs/20230804T143124/Express0026.lzma
2023-08-04T15:06:43.435Z,1691161603.435 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0026.lzma.bak
2023-08-04T15:06:43.436Z,1691161603.436 [DataOverHttps](INFO): SBD MOMSN=18517026
2023-08-04T15:06:46.910Z,1691161606.910 [Default:CheckIn:Read_Iridium] Stopped
2023-08-04T15:06:46.910Z,1691161606.910 [Default:CheckIn:C.Wait] Running Loop=1
2023-08-04T15:06:46.910Z,1691161606.910 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-08-04T15:06:52.534Z,1691161612.534 [NAL9602](INFO): SBD MO Status=1, MOMSN=7184, MT Status=0, MTMSN=0
2023-08-04T15:06:52.534Z,1691161612.534 [NAL9602](INFO): No messages in MT queue
2023-08-04T15:07:23.235Z,1691161643.235 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T15:07:33.545Z,1691161653.545 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T150733
2023-08-04T15:07:43.911Z,1691161663.911 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m" 3sco2 1 2
2023-08-04T15:07:43.936Z,1691161663.936 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m" 3sco2 1 2.000000
2023-08-04T15:07:43.936Z,1691161663.936 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3sco2
2023-08-04T15:07:43.937Z,1691161663.937 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='3sco2'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m", ASAP
2023-08-04T15:07:44.913Z,1691161664.913 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T150744
2023-08-04T15:07:52.323Z,1691161672.323 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run" 3sco2 2 2
2023-08-04T15:07:52.374Z,1691161672.374 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run" 3sco2 2 2.000000
2023-08-04T15:07:52.374Z,1691161672.374 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3sco2
2023-08-04T15:07:52.375Z,1691161672.375 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='3sco2'): "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run", ASAP
2023-08-04T15:07:52.479Z,1691161672.479 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2023-08-04T15:07:52.480Z,1691161672.480 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2023-08-04T15:07:52.480Z,1691161672.480 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx
2023-08-04T15:07:52.559Z,1691161672.559 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2023-08-04T15:07:52.562Z,1691161672.562 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2023-08-04T15:07:52.564Z,1691161672.564 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2023-08-04T15:07:52.566Z,1691161672.566 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2023-08-04T15:07:52.568Z,1691161672.568 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2023-08-04T15:07:52.570Z,1691161672.570 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2023-08-04T15:07:52.573Z,1691161672.573 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2023-08-04T15:07:52.574Z,1691161672.574 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2023-08-04T15:07:52.577Z,1691161672.577 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2023-08-04T15:07:52.579Z,1691161672.579 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2023-08-04T15:07:52.581Z,1691161672.581 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2023-08-04T15:07:52.583Z,1691161672.583 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2023-08-04T15:07:52.585Z,1691161672.585 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2023-08-04T15:07:52.585Z,1691161672.585 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2023-08-04T15:07:52.585Z,1691161672.585 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx
2023-08-04T15:07:52.711Z,1691161672.711 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2023-08-04T15:07:52.713Z,1691161672.713 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2023-08-04T15:07:52.715Z,1691161672.715 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2023-08-04T15:07:52.717Z,1691161672.717 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2023-08-04T15:07:52.720Z,1691161672.720 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2023-08-04T15:07:52.722Z,1691161672.722 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2023-08-04T15:07:52.724Z,1691161672.724 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2023-08-04T15:07:52.726Z,1691161672.726 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2023-08-04T15:07:52.732Z,1691161672.732 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-04T15:07:52.747Z,1691161672.747 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2023-08-04T15:07:52.759Z,1691161672.759 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx
2023-08-04T15:07:52.855Z,1691161672.855 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2023-08-04T15:07:52.857Z,1691161672.857 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2023-08-04T15:07:52.859Z,1691161672.859 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2023-08-04T15:07:52.861Z,1691161672.861 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2023-08-04T15:07:52.862Z,1691161672.862 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2023-08-04T15:07:52.888Z,1691161672.888 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2023-08-04T15:07:52.893Z,1691161672.893 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2023-08-04T15:07:52.921Z,1691161672.921 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2023-08-04T15:07:52.924Z,1691161672.924 [transit:MassHold.Pitch](DEBUG): Construct.
2023-08-04T15:07:52.930Z,1691161672.930 [transit:Transit:A.Pitch](DEBUG): Construct.
2023-08-04T15:07:52.958Z,1691161672.958 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2023-08-04T15:07:52.960Z,1691161672.960 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2023-08-04T15:07:52.978Z,1691161672.978 [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.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  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"
  }
}


2023-08-04T15:07:52.978Z,1691161672.978 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl
2023-08-04T15:08:01.025Z,1691161681.025 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2023-08-04T15:08:01.026Z,1691161681.026 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute
2023-08-04T15:08:01.027Z,1691161681.027 [CommandExec](IMPORTANT): got command set transit.Latitude 45.324532 degree
2023-08-04T15:08:01.028Z,1691161681.028 [CommandExec](IMPORTANT): got command set transit.Longitude -85.279485 degree
2023-08-04T15:08:01.028Z,1691161681.028 [CommandExec](IMPORTANT): got command set transit.Depth 0.5 meter
2023-08-04T15:08:01.029Z,1691161681.029 [CommandExec](IMPORTANT): got command set transit.MaxDepth 2 meter
2023-08-04T15:08:03.959Z,1691161683.959 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.000001 kilometer
2023-08-04T15:08:03.960Z,1691161683.960 [CommandExec](IMPORTANT): got command set transit.MinAltitude 3 meter
2023-08-04T15:08:03.960Z,1691161683.960 [CommandExec](IMPORTANT): got command run
2023-08-04T15:08:03.962Z,1691161683.962 [CommandExec](IMPORTANT): Running 
2023-08-04T15:08:04.113Z,1691161684.113 [Default] Stopped
2023-08-04T15:08:04.113Z,1691161684.113 [Default](DEBUG): Aggregate::uninitialize Default
2023-08-04T15:08:04.113Z,1691161684.113 [Default:B.GoToSurface] Stopped
2023-08-04T15:08:04.113Z,1691161684.113 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-08-04T15:08:04.113Z,1691161684.113 [Default:CheckIn] Stopped
2023-08-04T15:08:04.114Z,1691161684.114 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-08-04T15:08:04.114Z,1691161684.114 [Default:CheckIn:C.Wait] Stopped
2023-08-04T15:08:04.114Z,1691161684.114 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T15:08:04.114Z,1691161684.114 [MissionManager](IMPORTANT): Started mission transit
2023-08-04T15:08:04.114Z,1691161684.114 [transit] Running Loop=1
2023-08-04T15:08:04.114Z,1691161684.114 [transit](DEBUG): Aggregate::initialize transit
2023-08-04T15:08:04.114Z,1691161684.114 [transit:StandardEnvelopes] Running Loop=1
2023-08-04T15:08:04.114Z,1691161684.114 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2023-08-04T15:08:04.115Z,1691161684.115 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-08-04T15:08:04.115Z,1691161684.115 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2023-08-04T15:08:04.115Z,1691161684.115 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-08-04T15:08:04.115Z,1691161684.115 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2023-08-04T15:08:04.115Z,1691161684.115 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-08-04T15:08:04.115Z,1691161684.115 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2023-08-04T15:08:04.115Z,1691161684.115 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-08-04T15:08:04.116Z,1691161684.116 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2023-08-04T15:08:04.116Z,1691161684.116 [transit:MassHold.Pitch] Running Loop=1
2023-08-04T15:08:04.116Z,1691161684.116 [transit:MassHold.Pitch](DEBUG): Initialize.
2023-08-04T15:08:04.116Z,1691161684.116 [transit:B] Running Loop=1
2023-08-04T15:08:04.117Z,1691161684.117 [transit:MassHold.Pitch] Running Loop=1
2023-08-04T15:08:04.117Z,1691161684.117 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2023-08-04T15:08:04.117Z,1691161684.117 [transit:StandardEnvelopes] Running Loop=1
2023-08-04T15:08:04.117Z,1691161684.117 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2023-08-04T15:08:04.125Z,1691161684.125 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2023-08-04T15:08:04.126Z,1691161684.126 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2023-08-04T15:08:04.126Z,1691161684.126 [transit:B] Stopped
2023-08-04T15:08:04.126Z,1691161684.126 [transit:C] Running Loop=1
2023-08-04T15:08:04.532Z,1691161684.532 [transit:C] Stopped
2023-08-04T15:08:04.532Z,1691161684.532 [transit:E] Running Loop=1
2023-08-04T15:08:04.933Z,1691161684.933 [transit:E] Stopped
2023-08-04T15:08:04.933Z,1691161684.933 [transit:F] Running Loop=1
2023-08-04T15:08:05.321Z,1691161685.321 [transit:F] Stopped
2023-08-04T15:08:05.321Z,1691161685.321 [transit:G] Running Loop=1
2023-08-04T15:08:05.730Z,1691161685.730 [transit:G] Stopped
2023-08-04T15:08:05.730Z,1691161685.730 [transit:Transit] Running Loop=1
2023-08-04T15:08:05.730Z,1691161685.730 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2023-08-04T15:08:05.731Z,1691161685.731 [transit:Transit:A.Pitch] Running Loop=1
2023-08-04T15:08:05.731Z,1691161685.731 [transit:Transit:A.Pitch](DEBUG): Initialize.
2023-08-04T15:08:05.731Z,1691161685.731 [transit:Transit:B.SetSpeed] Running Loop=1
2023-08-04T15:08:05.732Z,1691161685.732 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2023-08-04T15:08:05.732Z,1691161685.732 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2023-08-04T15:08:05.732Z,1691161685.732 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2023-08-04T15:08:05.733Z,1691161685.733 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 45.324532,-85.279488
2023-08-04T15:08:05.734Z,1691161685.734 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2023-08-04T15:08:06.136Z,1691161686.136 [transit:Transit:B.SetSpeed] Running Loop=1
2023-08-04T15:08:06.136Z,1691161686.136 [transit:Transit:A.Pitch] Running Loop=1
2023-08-04T15:08:24.092Z,1691161704.092 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T150823
2023-08-04T15:08:32.219Z,1691161712.219 [DataOverHttps](INFO): Received command: stop
2023-08-04T15:08:32.308Z,1691161712.308 [CommandExec](IMPORTANT): got command stop
2023-08-04T15:08:32.308Z,1691161712.308 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2023-08-04T15:08:32.437Z,1691161712.437 [MissionManager](INFO): MissionManager is completed.
2023-08-04T15:08:32.437Z,1691161712.437 [MissionManager](INFO): Uninitializing Mission transit
2023-08-04T15:08:32.437Z,1691161712.437 [transit] Stopped
2023-08-04T15:08:32.437Z,1691161712.437 [transit](DEBUG): Aggregate::uninitialize transit
2023-08-04T15:08:32.437Z,1691161712.437 [transit:StandardEnvelopes] Stopped
2023-08-04T15:08:32.437Z,1691161712.437 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2023-08-04T15:08:32.437Z,1691161712.437 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2023-08-04T15:08:32.437Z,1691161712.437 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2023-08-04T15:08:32.437Z,1691161712.437 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2023-08-04T15:08:32.437Z,1691161712.437 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2023-08-04T15:08:32.437Z,1691161712.437 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2023-08-04T15:08:32.438Z,1691161712.438 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2023-08-04T15:08:32.438Z,1691161712.438 [transit:BuoyancyHold.Buoyancy] Stopped
2023-08-04T15:08:32.438Z,1691161712.438 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2023-08-04T15:08:32.438Z,1691161712.438 [transit:MassHold.Pitch] Stopped
2023-08-04T15:08:32.438Z,1691161712.438 [transit:Transit] Stopped
2023-08-04T15:08:32.438Z,1691161712.438 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2023-08-04T15:08:32.438Z,1691161712.438 [transit:Transit:A.Pitch] Stopped
2023-08-04T15:08:32.438Z,1691161712.438 [transit:Transit:B.SetSpeed] Stopped
2023-08-04T15:08:32.438Z,1691161712.438 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2023-08-04T15:08:32.438Z,1691161712.438 [transit:Transit:Wpt1.Waypoint] Stopped
2023-08-04T15:08:32.438Z,1691161712.438 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2023-08-04T15:08:32.827Z,1691161712.827 [MissionManager](IMPORTANT): Started mission Default
2023-08-04T15:08:32.828Z,1691161712.828 [Default] Running Loop=1
2023-08-04T15:08:32.828Z,1691161712.828 [Default](DEBUG): Aggregate::initialize Default
2023-08-04T15:08:32.828Z,1691161712.828 [Default:B.GoToSurface] Running Loop=1
2023-08-04T15:08:32.828Z,1691161712.828 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-08-04T15:08:32.828Z,1691161712.828 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-08-04T15:08:32.828Z,1691161712.828 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-08-04T15:08:32.829Z,1691161712.829 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-08-04T15:08:32.829Z,1691161712.829 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-08-04T15:08:32.829Z,1691161712.829 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-08-04T15:08:32.830Z,1691161712.830 [Default:A.Wait] Running Loop=1
2023-08-04T15:08:32.830Z,1691161712.830 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-08-04T15:08:46.133Z,1691161726.133 [Default:A.Wait](INFO): Done Waiting.
2023-08-04T15:08:46.133Z,1691161726.133 [Default:A.Wait] Stopped
2023-08-04T15:08:46.133Z,1691161726.133 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-08-04T15:08:46.531Z,1691161726.531 [Default:CheckIn] Running Loop=1
2023-08-04T15:08:46.531Z,1691161726.531 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-08-04T15:08:46.531Z,1691161726.531 [Default:CheckIn:Read_GPS] Running Loop=1
2023-08-04T15:08:48.551Z,1691161728.551 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150848.00,A,4518.86663,N,08517.53078,W,0.039,66.11,040823,,,D*49
2023-08-04T15:08:48.553Z,1691161728.553 [NAL9602](INFO): GPS fix at 20230804T150848: (45.314444, -85.292180)
2023-08-04T15:08:48.564Z,1691161728.564 [Default:CheckIn:Read_GPS] Stopped
2023-08-04T15:08:48.564Z,1691161728.564 [Default:CheckIn:Read_Iridium] Running Loop=1
2023-08-04T15:08:55.910Z,1691161735.910 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20230804T143124/Courier0028.lzma
2023-08-04T15:08:56.913Z,1691161736.913 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Courier0028.lzma.bak
2023-08-04T15:08:56.913Z,1691161736.913 [DataOverHttps](INFO): SBD MOMSN=18517042
2023-08-04T15:09:09.552Z,1691161749.552 [NAL9602](INFO): SBD MO Status=2, MOMSN=7185, MT Status=2, MTMSN=0
2023-08-04T15:09:09.552Z,1691161749.552 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2023-08-04T15:09:14.936Z,1691161754.936 [DataOverHttps](INFO): Sending 714 bytes from file Logs/20230804T143124/Express0029.lzma
2023-08-04T15:09:15.937Z,1691161755.937 [DataOverHttps](INFO): Moved sent file to Logs/20230804T143124/Express0029.lzma.bak
2023-08-04T15:09:15.937Z,1691161755.937 [DataOverHttps](INFO): SBD MOMSN=18517046
2023-08-04T15:09:18.075Z,1691161758.075 [Default:CheckIn:Read_Iridium] Stopped
2023-08-04T15:09:18.075Z,1691161758.075 [Default:CheckIn:C.Wait] Running Loop=1
2023-08-04T15:09:18.076Z,1691161758.076 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2023-08-04T15:09:36.619Z,1691161776.619 [NAL9602](INFO): SBD MO Status=1, MOMSN=7185, MT Status=0, MTMSN=0
2023-08-04T15:09:36.619Z,1691161776.619 [NAL9602](INFO): No messages in MT queue
2023-08-04T15:10:07.318Z,1691161807.318 [NAL9602](INFO): Not Powering down - fast GPS
2023-08-04T15:11:36.889Z,1691161896.889 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T151136
2023-08-04T15:11:46.315Z,1691161906.315 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m" 3scus 1 2
2023-08-04T15:11:46.387Z,1691161906.387 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m" 3scus 1 2.000000
2023-08-04T15:11:46.388Z,1691161906.388 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3scus
2023-08-04T15:11:46.389Z,1691161906.389 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='3scus'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 45.324532 degree;set transit.Longitude -85.279485 degree;set transit.Depth 0.5 m;set transit.MaxDepth 2 m", ASAP
2023-08-04T15:11:47.317Z,1691161907.317 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T151146
2023-08-04T15:11:54.675Z,1691161914.675 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run" 3scus 2 2
2023-08-04T15:11:54.690Z,1691161914.690 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run" 3scus 2 2.000000
2023-08-04T15:11:54.690Z,1691161914.690 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3scus
2023-08-04T15:11:54.692Z,1691161914.692 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='3scus'): "set transit.MinOffshore 0.000001 km;set transit.MinAltitude 3 m;run", ASAP
2023-08-04T15:11:54.803Z,1691161914.803 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2023-08-04T15:11:54.803Z,1691161914.803 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2023-08-04T15:11:54.803Z,1691161914.803 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx
2023-08-04T15:11:54.917Z,1691161914.917 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2023-08-04T15:11:54.919Z,1691161914.919 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2023-08-04T15:11:54.921Z,1691161914.921 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2023-08-04T15:11:54.944Z,1691161914.944 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2023-08-04T15:11:54.946Z,1691161914.946 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2023-08-04T15:11:54.953Z,1691161914.953 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2023-08-04T15:11:54.955Z,1691161914.955 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2023-08-04T15:11:54.958Z,1691161914.958 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2023-08-04T15:11:54.972Z,1691161914.972 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2023-08-04T15:11:54.974Z,1691161914.974 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2023-08-04T15:11:54.981Z,1691161914.981 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2023-08-04T15:11:54.982Z,1691161914.982 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2023-08-04T15:11:54.996Z,1691161914.996 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2023-08-04T15:11:54.997Z,1691161914.997 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2023-08-04T15:11:54.997Z,1691161914.997 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx
2023-08-04T15:11:55.097Z,1691161915.097 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2023-08-04T15:11:55.099Z,1691161915.099 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2023-08-04T15:11:55.101Z,1691161915.101 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2023-08-04T15:11:55.103Z,1691161915.103 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2023-08-04T15:11:55.105Z,1691161915.105 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2023-08-04T15:11:55.107Z,1691161915.107 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2023-08-04T15:11:55.109Z,1691161915.109 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2023-08-04T15:11:55.112Z,1691161915.112 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2023-08-04T15:11:55.117Z,1691161915.117 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-04T15:11:55.132Z,1691161915.132 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2023-08-04T15:11:55.133Z,1691161915.133 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx
2023-08-04T15:11:55.194Z,1691161915.194 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2023-08-04T15:11:55.200Z,1691161915.200 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2023-08-04T15:11:55.202Z,1691161915.202 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2023-08-04T15:11:55.209Z,1691161915.209 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2023-08-04T15:11:55.210Z,1691161915.210 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2023-08-04T15:11:55.263Z,1691161915.263 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2023-08-04T15:11:55.297Z,1691161915.297 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2023-08-04T15:11:55.321Z,1691161915.321 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2023-08-04T15:11:55.324Z,1691161915.324 [transit:MassHold.Pitch](DEBUG): Construct.
2023-08-04T15:11:55.329Z,1691161915.329 [transit:Transit:A.Pitch](DEBUG): Construct.
2023-08-04T15:11:55.346Z,1691161915.346 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2023-08-04T15:11:55.348Z,1691161915.348 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2023-08-04T15:11:55.368Z,1691161915.368 [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.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  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"
  }
}


2023-08-04T15:11:55.368Z,1691161915.368 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl
2023-08-04T15:11:55.676Z,1691161915.676 [DataOverHttps](IMPORTANT): SBD MTMSN=20230804T151155
2023-08-04T15:12:06.479Z,1691161926.479 [DataOverHttps](INFO): Received command: restart logs