2025-03-11T23:34:47.240Z,1741736087.240 [CommandExec](IMPORTANT): got command restart logs
2025-03-11T23:35:49.687Z,1741736149.687 [DataOverHttps](IMPORTANT): SBD MTMSN=20250311T233545
2025-03-11T23:35:57.229Z,1741736157.229 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.4 m/s;set transit.MinOffshore 0.1 km;run
2025-03-11T23:35:57.323Z,1741736157.323 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-11T23:35:57.324Z,1741736157.324 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-11T23:35:57.324Z,1741736157.324 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-11T23:35:57.326Z,1741736157.326 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-11T23:35:58.134Z,1741736158.134 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-11T23:35:58.139Z,1741736158.139 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-11T23:35:58.141Z,1741736158.141 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-11T23:35:58.143Z,1741736158.143 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-11T23:35:58.147Z,1741736158.147 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-11T23:35:58.149Z,1741736158.149 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-11T23:35:58.151Z,1741736158.151 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-11T23:35:58.153Z,1741736158.153 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-11T23:35:58.156Z,1741736158.156 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-11T23:35:58.158Z,1741736158.158 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-11T23:35:58.160Z,1741736158.160 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-11T23:35:58.162Z,1741736158.162 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-11T23:35:58.164Z,1741736158.164 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-11T23:35:58.166Z,1741736158.166 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-11T23:35:58.167Z,1741736158.167 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-11T23:35:58.167Z,1741736158.167 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-11T23:35:58.168Z,1741736158.168 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-11T23:35:58.493Z,1741736158.493 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-03-11T23:35:58.498Z,1741736158.498 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-11T23:35:58.500Z,1741736158.500 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-11T23:35:58.503Z,1741736158.503 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-11T23:35:58.505Z,1741736158.505 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-11T23:35:58.507Z,1741736158.507 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-11T23:35:58.509Z,1741736158.509 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-11T23:35:58.511Z,1741736158.511 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-11T23:35:58.514Z,1741736158.514 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-11T23:35:58.519Z,1741736158.519 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-11T23:35:58.539Z,1741736158.539 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:35:58.539Z,1741736158.539 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:35:58.540Z,1741736158.540 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:35:58.705Z,1741736158.705 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-11T23:35:58.709Z,1741736158.709 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-11T23:35:58.711Z,1741736158.711 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-11T23:35:58.714Z,1741736158.714 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-11T23:35:58.716Z,1741736158.716 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-11T23:35:58.717Z,1741736158.717 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-11T23:35:58.723Z,1741736158.723 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-11T23:35:58.729Z,1741736158.729 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-11T23:35:58.737Z,1741736158.737 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-11T23:35:58.738Z,1741736158.738 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-11T23:35:58.739Z,1741736158.739 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-11T23:35:58.847Z,1741736158.847 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-11T23:35:58.862Z,1741736158.862 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-11T23:35:58.864Z,1741736158.864 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-11T23:35:58.871Z,1741736158.871 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-11T23:35:58.871Z,1741736158.871 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-11T23:35:58.877Z,1741736158.877 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-11T23:35:59.017Z,1741736159.017 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-11T23:35:59.026Z,1741736159.026 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-11T23:35:59.028Z,1741736159.028 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-11T23:35:59.030Z,1741736159.030 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-11T23:35:59.032Z,1741736159.032 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-11T23:35:59.035Z,1741736159.035 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-11T23:35:59.041Z,1741736159.041 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-11T23:35:59.043Z,1741736159.043 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-11T23:35:59.046Z,1741736159.046 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-11T23:35:59.051Z,1741736159.051 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-11T23:35:59.056Z,1741736159.056 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-11T23:35:59.058Z,1741736159.058 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-11T23:35:59.105Z,1741736159.105 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-11T23:35:59.106Z,1741736159.106 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-11T23:35:59.997Z,1741736159.997 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0052.90,000.00
2025-03-11T23:36:11.420Z,1741736171.420 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 15 minute
2025-03-11T23:36:11.421Z,1741736171.421 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-11T23:36:11.422Z,1741736171.422 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-11T23:36:11.422Z,1741736171.422 [CommandExec](IMPORTANT): got command set transit.Speed 1.4 meter_per_second
2025-03-11T23:36:11.423Z,1741736171.423 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-11T23:36:11.424Z,1741736171.424 [CommandExec](IMPORTANT): got command run
2025-03-11T23:36:11.442Z,1741736171.442 [CommandExec](IMPORTANT): Running 
2025-03-11T23:36:11.717Z,1741736171.717 [Default] Stopped
2025-03-11T23:36:11.717Z,1741736171.717 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-11T23:36:11.717Z,1741736171.717 [Default:B.GoToSurface] Stopped
2025-03-11T23:36:11.717Z,1741736171.717 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-11T23:36:11.717Z,1741736171.717 [Default:CheckIn] Stopped
2025-03-11T23:36:11.717Z,1741736171.717 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-11T23:36:11.717Z,1741736171.717 [Default:CheckIn:C.Wait] Stopped
2025-03-11T23:36:11.717Z,1741736171.717 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:36:11.717Z,1741736171.717 [MissionManager](IMPORTANT): Started mission transit
2025-03-11T23:36:11.718Z,1741736171.718 [transit] Running Loop=1
2025-03-11T23:36:11.718Z,1741736171.718 [transit](DEBUG): Aggregate::initialize transit
2025-03-11T23:36:11.718Z,1741736171.718 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:36:11.718Z,1741736171.718 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-11T23:36:11.718Z,1741736171.718 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:36:11.718Z,1741736171.718 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-11T23:36:11.718Z,1741736171.718 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:36:11.718Z,1741736171.718 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-11T23:36:11.719Z,1741736171.719 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:36:11.719Z,1741736171.719 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-11T23:36:11.719Z,1741736171.719 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:36:11.719Z,1741736171.719 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-11T23:36:11.719Z,1741736171.719 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-11T23:36:11.719Z,1741736171.719 [transit:PowerOnly] Running Loop=1
2025-03-11T23:36:11.719Z,1741736171.719 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-11T23:36:11.719Z,1741736171.719 [transit:PowerOnly:A] Running Loop=1
2025-03-11T23:36:11.719Z,1741736171.719 [transit:PowerOnly:B] Running Loop=1
2025-03-11T23:36:11.719Z,1741736171.719 [transit:PowerOnly:C] Running Loop=1
2025-03-11T23:36:11.719Z,1741736171.719 [transit:PowerOnly:D] Running Loop=1
2025-03-11T23:36:11.720Z,1741736171.720 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-11T23:36:11.720Z,1741736171.720 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:36:11.720Z,1741736171.720 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:36:11.720Z,1741736171.720 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-11T23:36:11.720Z,1741736171.720 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:36:11.720Z,1741736171.720 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-11T23:36:11.720Z,1741736171.720 [transit:B] Running Loop=1
2025-03-11T23:36:11.721Z,1741736171.721 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:36:11.721Z,1741736171.721 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:36:11.721Z,1741736171.721 [transit:PowerOnly] Running Loop=1
2025-03-11T23:36:11.722Z,1741736171.722 [transit:PowerOnly:D] Stopped
2025-03-11T23:36:11.722Z,1741736171.722 [transit:PowerOnly:C] Stopped
2025-03-11T23:36:11.722Z,1741736171.722 [transit:PowerOnly:B] Stopped
2025-03-11T23:36:11.722Z,1741736171.722 [transit:PowerOnly:A] Stopped
2025-03-11T23:36:11.722Z,1741736171.722 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:36:11.722Z,1741736171.722 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:36:11.722Z,1741736171.722 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:36:11.723Z,1741736171.723 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-03-11T23:36:11.731Z,1741736171.731 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:36:11.731Z,1741736171.731 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:36:11.732Z,1741736171.732 [transit:B] Stopped
2025-03-11T23:36:11.732Z,1741736171.732 [transit:C] Running Loop=1
2025-03-11T23:36:11.736Z,1741736171.736 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-03-11T23:36:11.737Z,1741736171.737 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-03-11T23:36:11.738Z,1741736171.738 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-03-11T23:36:12.135Z,1741736172.135 [transit:C] Stopped
2025-03-11T23:36:12.135Z,1741736172.135 [transit:E] Running Loop=1
2025-03-11T23:36:12.515Z,1741736172.515 [transit:E] Stopped
2025-03-11T23:36:12.515Z,1741736172.515 [transit:F] Running Loop=1
2025-03-11T23:36:12.925Z,1741736172.925 [transit:F] Stopped
2025-03-11T23:36:12.926Z,1741736172.926 [transit:G] Running Loop=1
2025-03-11T23:36:13.327Z,1741736173.327 [transit:G] Stopped
2025-03-11T23:36:13.327Z,1741736173.327 [transit:Transit] Running Loop=1
2025-03-11T23:36:13.327Z,1741736173.327 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-11T23:36:13.328Z,1741736173.328 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:36:13.328Z,1741736173.328 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-11T23:36:13.328Z,1741736173.328 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:36:13.328Z,1741736173.328 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-11T23:36:13.328Z,1741736173.328 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-11T23:36:13.328Z,1741736173.328 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-11T23:36:13.330Z,1741736173.330 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:36:13.751Z,1741736173.751 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:36:13.752Z,1741736173.752 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:36:13.752Z,1741736173.752 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:36:24.717Z,1741736184.717 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:36:24.813Z,1741736184.813 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:36:24.813Z,1741736184.813 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:36:24.813Z,1741736184.813 [ThrusterHE] Communications Fault, FailCount= 1
2025-03-11T23:36:24.814Z,1741736184.814 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:36:24.817Z,1741736184.817 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:36:25.122Z,1741736185.122 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:36:25.122Z,1741736185.122 [ThrusterHE](INFO): Powering down
2025-03-11T23:36:25.794Z,1741736185.794 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:36:25.914Z,1741736185.914 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:36:25.917Z,1741736185.917 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:36:25.917Z,1741736185.917 [ThrusterHE] No Fault, FailCount= 1
2025-03-11T23:36:39.901Z,1741736199.901 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:36:39.989Z,1741736199.989 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:36:39.989Z,1741736199.989 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:36:39.989Z,1741736199.989 [ThrusterHE] Communications Fault, FailCount= 2
2025-03-11T23:36:39.989Z,1741736199.989 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:36:39.996Z,1741736199.996 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:36:40.177Z,1741736200.177 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:36:40.177Z,1741736200.177 [ThrusterHE](INFO): Powering down
2025-03-11T23:36:40.930Z,1741736200.930 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:36:41.050Z,1741736201.050 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:36:41.053Z,1741736201.053 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:36:41.053Z,1741736201.053 [ThrusterHE] No Fault, FailCount= 2
2025-03-11T23:36:53.593Z,1741736213.593 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:36:53.681Z,1741736213.681 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:36:53.681Z,1741736213.681 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:36:53.681Z,1741736213.681 [ThrusterHE] Communications Fault, FailCount= 3
2025-03-11T23:36:53.681Z,1741736213.681 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:36:53.685Z,1741736213.685 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:36:54.038Z,1741736214.038 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:36:54.039Z,1741736214.039 [ThrusterHE](INFO): Powering down
2025-03-11T23:36:54.666Z,1741736214.666 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:36:54.787Z,1741736214.787 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:36:54.791Z,1741736214.791 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:36:54.791Z,1741736214.791 [ThrusterHE] No Fault, FailCount= 3
2025-03-11T23:37:00.413Z,1741736220.413 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:37:02.373Z,1741736222.373 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:37:02.458Z,1741736222.458 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:37:02.459Z,1741736222.459 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:37:02.459Z,1741736222.459 [ThrusterHE] Communications Fault, FailCount= 4
2025-03-11T23:37:02.459Z,1741736222.459 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:37:02.462Z,1741736222.462 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:37:02.689Z,1741736222.689 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:37:02.690Z,1741736222.690 [ThrusterHE](INFO): Powering down
2025-03-11T23:37:03.175Z,1741736223.175 [ThrusterHE](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2025-03-11T23:37:03.175Z,1741736223.175 [ThrusterHE] Hardware Fault, FailCount= 4
2025-03-11T23:37:03.175Z,1741736223.175 [ThrusterHE](ERROR): Hardware Fault
2025-03-11T23:37:03.609Z,1741736223.609 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:37:03.730Z,1741736223.730 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:37:03.734Z,1741736223.734 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:37:03.734Z,1741736223.734 [ThrusterHE] No Fault, FailCount= 4
2025-03-11T23:37:16.513Z,1741736236.513 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-11T23:37:16.609Z,1741736236.609 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-11T23:37:16.609Z,1741736236.609 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-11T23:37:16.609Z,1741736236.609 [ThrusterHE] Communications Fault, FailCount= 5
2025-03-11T23:37:16.609Z,1741736236.609 [ThrusterHE](ERROR): Communications Fault
2025-03-11T23:37:16.613Z,1741736236.613 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-11T23:37:16.613Z,1741736236.613 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE
2025-03-11T23:37:16.766Z,1741736236.766 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-11T23:37:16.766Z,1741736236.766 [ThrusterHE](INFO): Powering down
2025-03-11T23:37:16.770Z,1741736236.770 [CBIT](INFO): Critical error at 20250311T233716
2025-03-11T23:37:16.771Z,1741736236.771 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-11T23:37:17.072Z,1741736237.072 [MissionManager](INFO): MissionManager is completed.
2025-03-11T23:37:17.072Z,1741736237.072 [MissionManager](INFO): Uninitializing Mission transit
2025-03-11T23:37:17.072Z,1741736237.072 [transit] Stopped
2025-03-11T23:37:17.072Z,1741736237.072 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-11T23:37:17.072Z,1741736237.072 [transit:StandardEnvelopes] Stopped
2025-03-11T23:37:17.073Z,1741736237.073 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-11T23:37:17.073Z,1741736237.073 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-11T23:37:17.073Z,1741736237.073 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-11T23:37:17.073Z,1741736237.073 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-11T23:37:17.073Z,1741736237.073 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-11T23:37:17.073Z,1741736237.073 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-11T23:37:17.073Z,1741736237.073 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-11T23:37:17.073Z,1741736237.073 [transit:BackseatDriver] Stopped
2025-03-11T23:37:17.073Z,1741736237.073 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-11T23:37:17.073Z,1741736237.073 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-11T23:37:17.073Z,1741736237.073 [transit:PowerOnly] Stopped
2025-03-11T23:37:17.073Z,1741736237.073 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-11T23:37:17.074Z,1741736237.074 [transit:PowerOnly:E.Wait] Stopped
2025-03-11T23:37:17.074Z,1741736237.074 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:37:17.074Z,1741736237.074 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-11T23:37:17.074Z,1741736237.074 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-11T23:37:17.074Z,1741736237.074 [transit:MassHold.Pitch] Stopped
2025-03-11T23:37:17.074Z,1741736237.074 [transit:Transit] Stopped
2025-03-11T23:37:17.074Z,1741736237.074 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-11T23:37:17.074Z,1741736237.074 [transit:Transit:A.Pitch] Stopped
2025-03-11T23:37:17.074Z,1741736237.074 [transit:Transit:B.SetSpeed] Stopped
2025-03-11T23:37:17.074Z,1741736237.074 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-11T23:37:17.074Z,1741736237.074 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-11T23:37:17.074Z,1741736237.074 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-11T23:37:17.413Z,1741736237.413 [ThrusterHE](FAULT): LCB fault:  Current Limiter Activated.
2025-03-11T23:37:17.413Z,1741736237.413 [ThrusterHE] Hardware Fault, FailCount= 5
2025-03-11T23:37:17.414Z,1741736237.414 [ThrusterHE](ERROR): Hardware Fault
2025-03-11T23:37:17.509Z,1741736237.509 [MissionManager](IMPORTANT): Started mission Default
2025-03-11T23:37:17.509Z,1741736237.509 [Default] Running Loop=1
2025-03-11T23:37:17.509Z,1741736237.509 [Default](DEBUG): Aggregate::initialize Default
2025-03-11T23:37:17.509Z,1741736237.509 [Default:B.GoToSurface] Running Loop=1
2025-03-11T23:37:17.509Z,1741736237.509 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-11T23:37:17.510Z,1741736237.510 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-11T23:37:17.510Z,1741736237.510 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-11T23:37:17.510Z,1741736237.510 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-11T23:37:17.510Z,1741736237.510 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-11T23:37:17.511Z,1741736237.511 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-11T23:37:17.511Z,1741736237.511 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-11T23:37:17.512Z,1741736237.512 [Default:A.Wait] Running Loop=1
2025-03-11T23:37:17.512Z,1741736237.512 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:37:30.812Z,1741736250.812 [Default:A.Wait](INFO): Done Waiting.
2025-03-11T23:37:30.817Z,1741736250.817 [Default:A.Wait] Stopped
2025-03-11T23:37:30.817Z,1741736250.817 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:37:31.196Z,1741736251.196 [Default:CheckIn] Running Loop=1
2025-03-11T23:37:31.196Z,1741736251.196 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-11T23:37:31.196Z,1741736251.196 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-11T23:37:33.205Z,1741736253.205 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233728.00,A,3648.35581,N,12147.77934,W,1.205,312.65,110325,,,A*7E
2025-03-11T23:37:33.207Z,1741736253.207 [NAL9602](INFO): GPS fix at 20250311T233728: (36.805930, -121.796322)
2025-03-11T23:37:33.217Z,1741736253.217 [Default:CheckIn:Read_GPS] Stopped
2025-03-11T23:37:33.217Z,1741736253.217 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-11T23:37:41.040Z,1741736261.040 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250311T183723/Courier0172.lzma
2025-03-11T23:37:42.043Z,1741736262.043 [DataOverHttps](INFO): Moved sent file to Logs/20250311T183723/Courier0172.lzma.bak
2025-03-11T23:37:42.043Z,1741736262.043 [DataOverHttps](INFO): SBD MOMSN=24180764
2025-03-11T23:37:52.609Z,1741736272.609 [NAL9602](INFO): SBD MO Status=0, MOMSN=18890, MT Status=0, MTMSN=0
2025-03-11T23:37:52.609Z,1741736272.609 [NAL9602](INFO): No messages in MT queue
2025-03-11T23:37:58.593Z,1741736278.593 [DataOverHttps](INFO): Sending 336 bytes from file Logs/20250311T233447/Courier0000.lzma
2025-03-11T23:37:59.594Z,1741736279.594 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Courier0000.lzma.bak
2025-03-11T23:37:59.595Z,1741736279.595 [DataOverHttps](INFO): SBD MOMSN=24180770
2025-03-11T23:38:01.958Z,1741736281.958 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-11T23:38:01.958Z,1741736281.958 [ThrusterHE] No Fault, FailCount= 5
2025-03-11T23:38:02.330Z,1741736282.330 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-11T23:38:02.337Z,1741736282.337 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-11T23:38:07.606Z,1741736287.606 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-11T23:38:16.371Z,1741736296.371 [DataOverHttps](INFO): Sending 138 bytes from file Logs/20250311T183723/Express0173.lzma
2025-03-11T23:38:17.372Z,1741736297.372 [DataOverHttps](INFO): Moved sent file to Logs/20250311T183723/Express0173.lzma.bak
2025-03-11T23:38:17.372Z,1741736297.372 [DataOverHttps](IMPORTANT): SBD MOMSN=24180780, MTMSN=20250311T233812
2025-03-11T23:38:23.307Z,1741736303.307 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-11T23:38:25.013Z,1741736305.013 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.0 m/s;set transit.MinOffshore 0.1 km;run
2025-03-11T23:38:25.114Z,1741736305.114 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-11T23:38:25.114Z,1741736305.114 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-11T23:38:25.115Z,1741736305.115 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-11T23:38:25.116Z,1741736305.116 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-11T23:38:25.911Z,1741736305.911 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-11T23:38:25.916Z,1741736305.916 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-11T23:38:25.918Z,1741736305.918 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-11T23:38:25.920Z,1741736305.920 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-11T23:38:25.922Z,1741736305.922 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-11T23:38:25.925Z,1741736305.925 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-11T23:38:25.927Z,1741736305.927 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-11T23:38:25.929Z,1741736305.929 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-11T23:38:25.931Z,1741736305.931 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-11T23:38:25.934Z,1741736305.934 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-11T23:38:25.936Z,1741736305.936 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-11T23:38:25.938Z,1741736305.938 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-11T23:38:25.940Z,1741736305.940 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-11T23:38:25.942Z,1741736305.942 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-11T23:38:25.942Z,1741736305.942 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-11T23:38:25.943Z,1741736305.943 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-11T23:38:25.944Z,1741736305.944 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-11T23:38:26.502Z,1741736306.502 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-03-11T23:38:26.506Z,1741736306.506 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-11T23:38:26.555Z,1741736306.555 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-11T23:38:26.561Z,1741736306.561 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-11T23:38:26.563Z,1741736306.563 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-11T23:38:26.566Z,1741736306.566 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-11T23:38:26.568Z,1741736306.568 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-11T23:38:26.582Z,1741736306.582 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-11T23:38:26.584Z,1741736306.584 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-11T23:38:26.606Z,1741736306.606 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-11T23:38:26.648Z,1741736306.648 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:38:26.648Z,1741736306.648 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:38:26.653Z,1741736306.653 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:38:26.764Z,1741736306.764 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-11T23:38:26.767Z,1741736306.767 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-11T23:38:26.770Z,1741736306.770 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-11T23:38:26.772Z,1741736306.772 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-11T23:38:26.774Z,1741736306.774 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-11T23:38:26.775Z,1741736306.775 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-11T23:38:26.786Z,1741736306.786 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-11T23:38:26.821Z,1741736306.821 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-11T23:38:26.829Z,1741736306.829 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-11T23:38:26.829Z,1741736306.829 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-11T23:38:26.830Z,1741736306.830 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-11T23:38:26.860Z,1741736306.860 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-11T23:38:26.863Z,1741736306.863 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-11T23:38:26.865Z,1741736306.865 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-11T23:38:26.867Z,1741736306.867 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-11T23:38:26.867Z,1741736306.867 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-11T23:38:26.869Z,1741736306.869 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-11T23:38:27.050Z,1741736307.050 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-11T23:38:27.054Z,1741736307.054 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-11T23:38:27.056Z,1741736307.056 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-11T23:38:27.058Z,1741736307.058 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-11T23:38:27.060Z,1741736307.060 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-11T23:38:27.062Z,1741736307.062 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-11T23:38:27.069Z,1741736307.069 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-11T23:38:27.070Z,1741736307.070 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-11T23:38:27.074Z,1741736307.074 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-11T23:38:27.079Z,1741736307.079 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-11T23:38:27.084Z,1741736307.084 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-11T23:38:27.086Z,1741736307.086 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-11T23:38:27.129Z,1741736307.129 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-11T23:38:27.130Z,1741736307.130 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-11T23:38:39.971Z,1741736319.971 [DataOverHttps](INFO): Sending 1012 bytes from file Logs/20250311T233447/Express0001.lzma
2025-03-11T23:38:40.970Z,1741736320.970 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Express0001.lzma.bak
2025-03-11T23:38:40.971Z,1741736320.971 [DataOverHttps](INFO): SBD MOMSN=24180786
2025-03-11T23:38:48.242Z,1741736328.242 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 15 minute
2025-03-11T23:38:48.243Z,1741736328.243 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-11T23:38:48.244Z,1741736328.244 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-11T23:38:48.244Z,1741736328.244 [CommandExec](IMPORTANT): got command set transit.Speed 1.0 meter_per_second
2025-03-11T23:38:48.267Z,1741736328.267 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-11T23:38:48.268Z,1741736328.268 [CommandExec](IMPORTANT): got command run
2025-03-11T23:38:48.275Z,1741736328.275 [CommandExec](IMPORTANT): Running 
2025-03-11T23:38:48.397Z,1741736328.397 [Default] Stopped
2025-03-11T23:38:48.397Z,1741736328.397 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-11T23:38:48.397Z,1741736328.397 [Default:B.GoToSurface] Stopped
2025-03-11T23:38:48.397Z,1741736328.397 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-11T23:38:48.397Z,1741736328.397 [Default:CheckIn] Stopped
2025-03-11T23:38:48.397Z,1741736328.397 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-11T23:38:48.397Z,1741736328.397 [Default:CheckIn:Read_Iridium] Stopped
2025-03-11T23:38:48.398Z,1741736328.398 [MissionManager](IMPORTANT): Started mission transit
2025-03-11T23:38:48.398Z,1741736328.398 [transit] Running Loop=1
2025-03-11T23:38:48.398Z,1741736328.398 [transit](DEBUG): Aggregate::initialize transit
2025-03-11T23:38:48.398Z,1741736328.398 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:38:48.398Z,1741736328.398 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-11T23:38:48.398Z,1741736328.398 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:38:48.398Z,1741736328.398 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-11T23:38:48.398Z,1741736328.398 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:38:48.399Z,1741736328.399 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-11T23:38:48.399Z,1741736328.399 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:38:48.399Z,1741736328.399 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-11T23:38:48.399Z,1741736328.399 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:38:48.399Z,1741736328.399 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-11T23:38:48.399Z,1741736328.399 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-11T23:38:48.399Z,1741736328.399 [transit:PowerOnly] Running Loop=1
2025-03-11T23:38:48.399Z,1741736328.399 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-11T23:38:48.399Z,1741736328.399 [transit:PowerOnly:A] Running Loop=1
2025-03-11T23:38:48.399Z,1741736328.399 [transit:PowerOnly:B] Running Loop=1
2025-03-11T23:38:48.399Z,1741736328.399 [transit:PowerOnly:C] Running Loop=1
2025-03-11T23:38:48.400Z,1741736328.400 [transit:PowerOnly:D] Running Loop=1
2025-03-11T23:38:48.400Z,1741736328.400 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-11T23:38:48.400Z,1741736328.400 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:38:48.400Z,1741736328.400 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:38:48.400Z,1741736328.400 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-11T23:38:48.400Z,1741736328.400 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:38:48.400Z,1741736328.400 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-11T23:38:48.400Z,1741736328.400 [transit:B] Running Loop=1
2025-03-11T23:38:48.405Z,1741736328.405 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:38:48.405Z,1741736328.405 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:38:48.406Z,1741736328.406 [transit:PowerOnly] Running Loop=1
2025-03-11T23:38:48.406Z,1741736328.406 [transit:PowerOnly:D] Stopped
2025-03-11T23:38:48.406Z,1741736328.406 [transit:PowerOnly:C] Stopped
2025-03-11T23:38:48.406Z,1741736328.406 [transit:PowerOnly:B] Stopped
2025-03-11T23:38:48.406Z,1741736328.406 [transit:PowerOnly:A] Stopped
2025-03-11T23:38:48.406Z,1741736328.406 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:38:48.406Z,1741736328.406 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:38:48.406Z,1741736328.406 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:38:48.407Z,1741736328.407 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-03-11T23:38:48.453Z,1741736328.453 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:38:48.454Z,1741736328.454 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:38:48.454Z,1741736328.454 [transit:B] Stopped
2025-03-11T23:38:48.454Z,1741736328.454 [transit:C] Running Loop=1
2025-03-11T23:38:48.815Z,1741736328.815 [transit:C] Stopped
2025-03-11T23:38:48.815Z,1741736328.815 [transit:E] Running Loop=1
2025-03-11T23:38:49.224Z,1741736329.224 [transit:E] Stopped
2025-03-11T23:38:49.224Z,1741736329.224 [transit:F] Running Loop=1
2025-03-11T23:38:49.624Z,1741736329.624 [transit:F] Stopped
2025-03-11T23:38:49.624Z,1741736329.624 [transit:G] Running Loop=1
2025-03-11T23:38:50.012Z,1741736330.012 [transit:G] Stopped
2025-03-11T23:38:50.012Z,1741736330.012 [transit:Transit] Running Loop=1
2025-03-11T23:38:50.017Z,1741736330.017 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-11T23:38:50.017Z,1741736330.017 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:38:50.017Z,1741736330.017 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-11T23:38:50.018Z,1741736330.018 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:38:50.018Z,1741736330.018 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-11T23:38:50.018Z,1741736330.018 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-11T23:38:50.018Z,1741736330.018 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-11T23:38:50.020Z,1741736330.020 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:38:50.418Z,1741736330.418 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:38:50.419Z,1741736330.419 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:38:50.419Z,1741736330.419 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:39:00.745Z,1741736340.745 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250311T233447/Courier0006.lzma
2025-03-11T23:39:01.759Z,1741736341.759 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Courier0006.lzma.bak
2025-03-11T23:39:01.759Z,1741736341.759 [DataOverHttps](INFO): SBD MOMSN=24180821
2025-03-11T23:39:10.945Z,1741736350.945 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-03-11T23:40:24.541Z,1741736424.541 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:40:45.485Z,1741736445.485 [Radio_Surface](INFO): Powering down
2025-03-11T23:40:55.665Z,1741736455.665 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:40:56.669Z,1741736456.669 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-11T23:42:33.053Z,1741736553.053 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727036
2025-03-11T23:47:50.582Z,1741736870.582 [Sonardyne_Nano](INFO): Battery at maximum, disabling charging
2025-03-11T23:50:52.221Z,1741737052.221 [DVL_micro](ERROR): DVL uart error: serial timeout
2025-03-11T23:50:52.221Z,1741737052.221 [DVL_micro] Communications Fault, FailCount= 1
2025-03-11T23:50:52.221Z,1741737052.221 [DVL_micro](ERROR): Communications Fault
2025-03-11T23:50:52.221Z,1741737052.221 [DVL_micro](ERROR): Failed to parse:
2025-03-11T23:50:52.408Z,1741737052.408 [CBIT](ERROR): Communications Fault in component: DVL_micro
2025-03-11T23:50:52.657Z,1741737052.657 [DVL_micro](INFO): Powering down
2025-03-11T23:50:53.408Z,1741737053.408 [CBIT](INFO): Clearing failed state for component DVL_micro
2025-03-11T23:50:53.408Z,1741737053.408 [DVL_micro] No Fault, FailCount= 1
2025-03-11T23:53:48.788Z,1741737228.788 [transit](INFO): Timed out from 2025-03-11T23:38:48.4Z
2025-03-11T23:53:48.788Z,1741737228.788 [MissionManager](INFO): transit is completed.
2025-03-11T23:53:48.789Z,1741737228.789 [MissionManager](INFO): Uninitializing Mission transit
2025-03-11T23:53:48.789Z,1741737228.789 [transit] Stopped
2025-03-11T23:53:48.789Z,1741737228.789 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-11T23:53:48.789Z,1741737228.789 [transit:StandardEnvelopes] Stopped
2025-03-11T23:53:48.789Z,1741737228.789 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-11T23:53:48.789Z,1741737228.789 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-11T23:53:48.789Z,1741737228.789 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-11T23:53:48.789Z,1741737228.789 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-11T23:53:48.789Z,1741737228.789 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-11T23:53:48.789Z,1741737228.789 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-11T23:53:48.789Z,1741737228.789 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-11T23:53:48.790Z,1741737228.790 [transit:BackseatDriver] Stopped
2025-03-11T23:53:48.790Z,1741737228.790 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-11T23:53:48.790Z,1741737228.790 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-11T23:53:48.790Z,1741737228.790 [transit:PowerOnly] Stopped
2025-03-11T23:53:48.790Z,1741737228.790 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-11T23:53:48.790Z,1741737228.790 [transit:PowerOnly:E.Wait] Stopped
2025-03-11T23:53:48.790Z,1741737228.790 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:53:48.790Z,1741737228.790 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-11T23:53:48.790Z,1741737228.790 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-11T23:53:48.790Z,1741737228.790 [transit:MassHold.Pitch] Stopped
2025-03-11T23:53:48.790Z,1741737228.790 [transit:Transit] Stopped
2025-03-11T23:53:48.790Z,1741737228.790 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-11T23:53:48.790Z,1741737228.790 [transit:Transit:A.Pitch] Stopped
2025-03-11T23:53:48.790Z,1741737228.790 [transit:Transit:B.SetSpeed] Stopped
2025-03-11T23:53:48.791Z,1741737228.791 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-11T23:53:48.791Z,1741737228.791 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-11T23:53:48.791Z,1741737228.791 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-11T23:53:49.171Z,1741737229.171 [MissionManager](IMPORTANT): Started mission Default
2025-03-11T23:53:49.171Z,1741737229.171 [Default] Running Loop=1
2025-03-11T23:53:49.171Z,1741737229.171 [Default](DEBUG): Aggregate::initialize Default
2025-03-11T23:53:49.171Z,1741737229.171 [Default:B.GoToSurface] Running Loop=1
2025-03-11T23:53:49.171Z,1741737229.171 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-11T23:53:49.172Z,1741737229.172 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-11T23:53:49.172Z,1741737229.172 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-11T23:53:49.172Z,1741737229.172 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-11T23:53:49.173Z,1741737229.173 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-11T23:53:49.173Z,1741737229.173 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-11T23:53:49.173Z,1741737229.173 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-11T23:53:49.174Z,1741737229.174 [Default:A.Wait] Running Loop=1
2025-03-11T23:53:49.174Z,1741737229.174 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:53:49.629Z,1741737229.629 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (1 active estimators).
2025-03-11T23:53:49.833Z,1741737229.833 [Radio_Surface](INFO): Powering up
2025-03-11T23:53:55.917Z,1741737235.917 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-11T23:54:02.603Z,1741737242.603 [Default:A.Wait](INFO): Done Waiting.
2025-03-11T23:54:02.603Z,1741737242.603 [Default:A.Wait] Stopped
2025-03-11T23:54:02.603Z,1741737242.603 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:54:14.708Z,1741737254.708 [Default:CheckIn] Running Loop=1
2025-03-11T23:54:14.709Z,1741737254.709 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-11T23:54:14.709Z,1741737254.709 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-11T23:54:26.069Z,1741737266.069 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:54:57.193Z,1741737297.193 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:55:02.807Z,1741737302.807 [NAL9602](INFO): SBD MO Status=0, MOMSN=18891, MT Status=0, MTMSN=0
2025-03-11T23:55:02.807Z,1741737302.807 [NAL9602](INFO): No messages in MT queue
2025-03-11T23:55:04.028Z,1741737304.028 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235459.00,A,3648.23320,N,12148.37025,W,0.700,150.37,110325,,,A*77
2025-03-11T23:55:04.030Z,1741737304.030 [NAL9602](INFO): GPS fix at 20250311T235459: (36.803887, -121.806171)
2025-03-11T23:55:04.042Z,1741737304.042 [UniversalFixResidualReporter](INFO): Fix residual: 10.1 %DT, over the last 1113.9 m. Residual distance 112.3 m at bearing 15.5 degrees. Fix at (36.8039, -121.8062) with 905.8 m made good.
2025-03-11T23:55:04.043Z,1741737304.043 [Default:CheckIn:Read_GPS] Stopped
2025-03-11T23:55:04.043Z,1741737304.043 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-11T23:55:19.842Z,1741737319.842 [NAL9602](INFO): SBD MO Status=1, MOMSN=18892, MT Status=0, MTMSN=0
2025-03-11T23:55:19.893Z,1741737319.893 [NAL9602](INFO): Sent 210 bytes from file Logs/20250311T233447/Courier0009.lzma
2025-03-11T23:55:19.893Z,1741737319.893 [NAL9602](INFO): Packets left to send: 0
2025-03-11T23:55:26.456Z,1741737326.456 [DVL_micro](ERROR): Failed to parse:
:SA,-02.98,+05.03,269.7
2025-03-11T23:55:28.325Z,1741737328.325 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:55:28.480Z,1741737328.480 [NAL9602](INFO): SBD MO Status=1, MOMSN=18893, MT Status=0, MTMSN=0
2025-03-11T23:55:28.533Z,1741737328.533 [NAL9602](INFO): Sent 63 bytes from file Logs/20250311T233447/Express0004.lzma
2025-03-11T23:55:28.533Z,1741737328.533 [NAL9602](INFO): Packets left to send: 0
2025-03-11T23:55:37.089Z,1741737337.089 [NAL9602](INFO): SBD MO Status=1, MOMSN=18894, MT Status=0, MTMSN=0
2025-03-11T23:55:37.145Z,1741737337.145 [NAL9602](INFO): Sent 182 bytes from file Logs/20250311T233447/Express0007.lzma
2025-03-11T23:55:37.145Z,1741737337.145 [NAL9602](INFO): Packets left to send: 0
2025-03-11T23:55:46.561Z,1741737346.561 [NAL9602](INFO): SBD MO Status=1, MOMSN=18895, MT Status=0, MTMSN=0
2025-03-11T23:55:46.613Z,1741737346.613 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T233447/Express0010.lzma
2025-03-11T23:55:46.613Z,1741737346.613 [NAL9602](INFO): Packets left to send: 1
2025-03-11T23:55:51.200Z,1741737351.200 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.30,+9999.99,+0000.34,+9999.99
2025-03-11T23:55:56.052Z,1741737356.052 [NAL9602](INFO): SBD MO Status=1, MOMSN=18896, MT Status=0, MTMSN=0
2025-03-11T23:55:56.109Z,1741737356.109 [NAL9602](INFO): Sent 264 bytes from file Logs/20250311T233447/Express0010.lzma
2025-03-11T23:55:56.109Z,1741737356.109 [NAL9602](INFO): Packets left to send: 0
2025-03-11T23:55:59.449Z,1741737359.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:56:03.354Z,1741737363.354 [NAL9602](INFO): SBD MO Status=0, MOMSN=18897, MT Status=0, MTMSN=0
2025-03-11T23:56:03.447Z,1741737363.447 [Default:CheckIn:Read_Iridium] Stopped
2025-03-11T23:56:03.447Z,1741737363.447 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-11T23:56:03.447Z,1741737363.447 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:56:08.439Z,1741737368.439 [DataOverHttps](IMPORTANT): SBD MTMSN=20250311T235603
2025-03-11T23:56:08.443Z,1741737368.443 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003977
2025-03-11T23:56:16.698Z,1741737376.698 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.0 m/s;set transit.MinOffshore 0.1 km;run
2025-03-11T23:56:16.810Z,1741737376.810 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-11T23:56:16.811Z,1741737376.811 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-11T23:56:16.811Z,1741737376.811 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-11T23:56:16.812Z,1741737376.812 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-11T23:56:17.631Z,1741737377.631 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-11T23:56:17.636Z,1741737377.636 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-11T23:56:17.639Z,1741737377.639 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-11T23:56:17.641Z,1741737377.641 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-11T23:56:17.643Z,1741737377.643 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-11T23:56:17.646Z,1741737377.646 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-11T23:56:17.648Z,1741737377.648 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-11T23:56:17.650Z,1741737377.650 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-11T23:56:17.652Z,1741737377.652 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-11T23:56:17.655Z,1741737377.655 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-11T23:56:17.657Z,1741737377.657 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-11T23:56:17.659Z,1741737377.659 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-11T23:56:17.661Z,1741737377.661 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-11T23:56:17.663Z,1741737377.663 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-11T23:56:17.664Z,1741737377.664 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-11T23:56:17.664Z,1741737377.664 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-11T23:56:17.685Z,1741737377.685 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-11T23:56:18.068Z,1741737378.068 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-03-11T23:56:18.072Z,1741737378.072 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-11T23:56:18.075Z,1741737378.075 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-11T23:56:18.077Z,1741737378.077 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-11T23:56:18.079Z,1741737378.079 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-11T23:56:18.083Z,1741737378.083 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-11T23:56:18.086Z,1741737378.086 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-11T23:56:18.088Z,1741737378.088 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-11T23:56:18.090Z,1741737378.090 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-11T23:56:18.120Z,1741737378.120 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-11T23:56:18.161Z,1741737378.161 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:56:18.161Z,1741737378.161 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:56:18.162Z,1741737378.162 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-11T23:56:18.235Z,1741737378.235 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-11T23:56:18.239Z,1741737378.239 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-11T23:56:18.242Z,1741737378.242 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-11T23:56:18.244Z,1741737378.244 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-11T23:56:18.247Z,1741737378.247 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-11T23:56:18.248Z,1741737378.248 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-11T23:56:18.309Z,1741737378.309 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-11T23:56:18.320Z,1741737378.320 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-11T23:56:18.342Z,1741737378.342 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-11T23:56:18.342Z,1741737378.342 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-11T23:56:18.343Z,1741737378.343 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-11T23:56:18.399Z,1741737378.399 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-11T23:56:18.409Z,1741737378.409 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-11T23:56:18.412Z,1741737378.412 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-11T23:56:18.414Z,1741737378.414 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-11T23:56:18.414Z,1741737378.414 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-11T23:56:18.415Z,1741737378.415 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-11T23:56:18.607Z,1741737378.607 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-11T23:56:18.615Z,1741737378.615 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-11T23:56:18.618Z,1741737378.618 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-11T23:56:18.620Z,1741737378.620 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-11T23:56:18.622Z,1741737378.622 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-11T23:56:18.625Z,1741737378.625 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-11T23:56:18.631Z,1741737378.631 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-11T23:56:18.689Z,1741737378.689 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-11T23:56:18.692Z,1741737378.692 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-11T23:56:18.710Z,1741737378.710 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-11T23:56:18.718Z,1741737378.718 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-11T23:56:18.733Z,1741737378.733 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-11T23:56:18.779Z,1741737378.779 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-11T23:56:18.779Z,1741737378.779 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-11T23:56:31.542Z,1741737391.542 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 15 minute
2025-03-11T23:56:31.543Z,1741737391.543 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-11T23:56:31.544Z,1741737391.544 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-11T23:56:31.545Z,1741737391.545 [CommandExec](IMPORTANT): got command set transit.Speed 1.0 meter_per_second
2025-03-11T23:56:31.545Z,1741737391.545 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-11T23:56:31.546Z,1741737391.546 [CommandExec](IMPORTANT): got command run
2025-03-11T23:56:31.548Z,1741737391.548 [CommandExec](IMPORTANT): Running 
2025-03-11T23:56:31.679Z,1741737391.679 [Default] Stopped
2025-03-11T23:56:31.679Z,1741737391.679 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-11T23:56:31.679Z,1741737391.679 [Default:B.GoToSurface] Stopped
2025-03-11T23:56:31.679Z,1741737391.679 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-11T23:56:31.679Z,1741737391.679 [Default:CheckIn] Stopped
2025-03-11T23:56:31.680Z,1741737391.680 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-11T23:56:31.680Z,1741737391.680 [Default:CheckIn:C.Wait] Stopped
2025-03-11T23:56:31.680Z,1741737391.680 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-11T23:56:31.680Z,1741737391.680 [MissionManager](IMPORTANT): Started mission transit
2025-03-11T23:56:31.680Z,1741737391.680 [transit] Running Loop=1
2025-03-11T23:56:31.680Z,1741737391.680 [transit](DEBUG): Aggregate::initialize transit
2025-03-11T23:56:31.681Z,1741737391.681 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:56:31.681Z,1741737391.681 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-11T23:56:31.681Z,1741737391.681 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:56:31.681Z,1741737391.681 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-11T23:56:31.681Z,1741737391.681 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:56:31.681Z,1741737391.681 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-11T23:56:31.681Z,1741737391.681 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:56:31.681Z,1741737391.681 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-11T23:56:31.681Z,1741737391.681 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-11T23:56:31.682Z,1741737391.682 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:PowerOnly] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-11T23:56:31.682Z,1741737391.682 [transit:PowerOnly:A] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:PowerOnly:B] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:PowerOnly:C] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:PowerOnly:D] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-11T23:56:31.682Z,1741737391.682 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:56:31.682Z,1741737391.682 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-11T23:56:31.683Z,1741737391.683 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:56:31.683Z,1741737391.683 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-11T23:56:31.683Z,1741737391.683 [transit:B] Running Loop=1
2025-03-11T23:56:31.683Z,1741737391.683 [transit:MassHold.Pitch] Running Loop=1
2025-03-11T23:56:31.684Z,1741737391.684 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-11T23:56:31.684Z,1741737391.684 [transit:PowerOnly] Running Loop=1
2025-03-11T23:56:31.693Z,1741737391.693 [transit:PowerOnly:D] Stopped
2025-03-11T23:56:31.693Z,1741737391.693 [transit:PowerOnly:C] Stopped
2025-03-11T23:56:31.693Z,1741737391.693 [transit:PowerOnly:B] Stopped
2025-03-11T23:56:31.693Z,1741737391.693 [transit:PowerOnly:A] Stopped
2025-03-11T23:56:31.693Z,1741737391.693 [transit:BackseatDriver] Running Loop=1
2025-03-11T23:56:31.693Z,1741737391.693 [transit:StandardEnvelopes] Running Loop=1
2025-03-11T23:56:31.693Z,1741737391.693 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-11T23:56:31.693Z,1741737391.693 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-03-11T23:56:31.709Z,1741737391.709 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-11T23:56:31.710Z,1741737391.710 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-11T23:56:31.710Z,1741737391.710 [transit:B] Stopped
2025-03-11T23:56:31.710Z,1741737391.710 [transit:C] Running Loop=1
2025-03-11T23:56:32.029Z,1741737392.029 [transit:C] Stopped
2025-03-11T23:56:32.030Z,1741737392.030 [transit:E] Running Loop=1
2025-03-11T23:56:32.430Z,1741737392.430 [transit:E] Stopped
2025-03-11T23:56:32.430Z,1741737392.430 [transit:F] Running Loop=1
2025-03-11T23:56:32.849Z,1741737392.849 [transit:F] Stopped
2025-03-11T23:56:32.849Z,1741737392.849 [transit:G] Running Loop=1
2025-03-11T23:56:33.233Z,1741737393.233 [transit:G] Stopped
2025-03-11T23:56:33.233Z,1741737393.233 [transit:Transit] Running Loop=1
2025-03-11T23:56:33.233Z,1741737393.233 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-11T23:56:33.233Z,1741737393.233 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:56:33.233Z,1741737393.233 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-11T23:56:33.233Z,1741737393.233 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:56:33.233Z,1741737393.233 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-11T23:56:33.234Z,1741737393.234 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-11T23:56:33.234Z,1741737393.234 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-11T23:56:33.235Z,1741737393.235 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:56:33.716Z,1741737393.716 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-11T23:56:33.734Z,1741737393.734 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-11T23:56:33.735Z,1741737393.735 [transit:Transit:A.Pitch] Running Loop=1
2025-03-11T23:56:34.028Z,1741737394.028 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-11T23:57:22.707Z,1741737442.707 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.30,+9999.99,+0000.34,+0002.07
2025-03-11T23:57:23.554Z,1741737443.554 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-11T23:57:58.596Z,1741737478.596 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 12.20 mm (2 active estimators).
2025-03-11T23:58:40.858Z,1741737520.858 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:58:58.957Z,1741737538.957 [Radio_Surface](INFO): Powering down
2025-03-11T23:59:11.981Z,1741737551.981 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-11T23:59:12.985Z,1741737552.985 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T00:00:49.409Z,1741737649.409 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.754333
2025-03-12T00:04:59.077Z,1741737899.077 [DVL_micro](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BI,+00083,+00953+00000,A
2025-03-12T00:04:59.077Z,1741737899.077 [DVL_micro](ERROR): Failed to parse:
:BI,+00083,+00953+00000,A
2025-03-12T00:09:10.153Z,1741738150.153 [RudderServo](ERROR): getPosition uart error serial timeout
2025-03-12T00:09:10.153Z,1741738150.153 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-03-12T00:09:10.153Z,1741738150.153 [RudderServo] Communications Fault, FailCount= 1
2025-03-12T00:09:10.153Z,1741738150.153 [RudderServo](ERROR): Communications Fault
2025-03-12T00:09:10.234Z,1741738150.234 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-03-12T00:09:10.462Z,1741738150.462 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-03-12T00:09:10.462Z,1741738150.462 [RudderServo](INFO): Powering down
2025-03-12T00:09:11.302Z,1741738151.302 [RudderServo](DEBUG): Initializing EZServoServo.
2025-03-12T00:09:11.422Z,1741738151.422 [RudderServo](DEBUG): Initializing RudderServo.
2025-03-12T00:09:11.500Z,1741738151.500 [CBIT](INFO): Clearing failed state for component RudderServo
2025-03-12T00:09:11.500Z,1741738151.500 [RudderServo] No Fault, FailCount= 1
2025-03-12T00:09:32.661Z,1741738172.661 [DVL_micro](ERROR): only read 0 of 4 data items for beam range. Device response is::RD4.14
2025-03-12T00:09:32.662Z,1741738172.662 [DVL_micro](ERROR): Failed to parse:
:RD4.14
2025-03-12T00:11:31.987Z,1741738291.987 [transit](INFO): Timed out from 2025-03-11T23:56:31.7Z
2025-03-12T00:11:31.987Z,1741738291.987 [MissionManager](INFO): transit is completed.
2025-03-12T00:11:31.987Z,1741738291.987 [MissionManager](INFO): Uninitializing Mission transit
2025-03-12T00:11:31.987Z,1741738291.987 [transit] Stopped
2025-03-12T00:11:31.987Z,1741738291.987 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-12T00:11:31.987Z,1741738291.987 [transit:StandardEnvelopes] Stopped
2025-03-12T00:11:31.987Z,1741738291.987 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-12T00:11:31.987Z,1741738291.987 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T00:11:31.987Z,1741738291.987 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T00:11:31.988Z,1741738291.988 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T00:11:31.988Z,1741738291.988 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T00:11:31.988Z,1741738291.988 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T00:11:31.988Z,1741738291.988 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T00:11:31.988Z,1741738291.988 [transit:BackseatDriver] Stopped
2025-03-12T00:11:31.988Z,1741738291.988 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-12T00:11:31.988Z,1741738291.988 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T00:11:31.988Z,1741738291.988 [transit:PowerOnly] Stopped
2025-03-12T00:11:31.988Z,1741738291.988 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-12T00:11:31.988Z,1741738291.988 [transit:PowerOnly:E.Wait] Stopped
2025-03-12T00:11:31.988Z,1741738291.988 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:11:31.988Z,1741738291.988 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-12T00:11:31.989Z,1741738291.989 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T00:11:31.989Z,1741738291.989 [transit:MassHold.Pitch] Stopped
2025-03-12T00:11:31.989Z,1741738291.989 [transit:Transit] Stopped
2025-03-12T00:11:31.989Z,1741738291.989 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-12T00:11:31.989Z,1741738291.989 [transit:Transit:A.Pitch] Stopped
2025-03-12T00:11:31.989Z,1741738291.989 [transit:Transit:B.SetSpeed] Stopped
2025-03-12T00:11:31.989Z,1741738291.989 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T00:11:31.989Z,1741738291.989 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-12T00:11:31.989Z,1741738291.989 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T00:11:32.397Z,1741738292.397 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T00:11:32.397Z,1741738292.397 [Default] Running Loop=1
2025-03-12T00:11:32.397Z,1741738292.397 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T00:11:32.397Z,1741738292.397 [Default:B.GoToSurface] Running Loop=1
2025-03-12T00:11:32.397Z,1741738292.397 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T00:11:32.397Z,1741738292.397 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T00:11:32.398Z,1741738292.398 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T00:11:32.398Z,1741738292.398 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T00:11:32.398Z,1741738292.398 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T00:11:32.399Z,1741738292.399 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T00:11:32.399Z,1741738292.399 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T00:11:32.399Z,1741738292.399 [Default:A.Wait] Running Loop=1
2025-03-12T00:11:32.400Z,1741738292.400 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:11:33.153Z,1741738293.153 [Radio_Surface](INFO): Powering up
2025-03-12T00:11:39.097Z,1741738299.097 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T00:11:45.761Z,1741738305.761 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T00:11:45.761Z,1741738305.761 [Default:A.Wait] Stopped
2025-03-12T00:11:45.761Z,1741738305.761 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:11:54.161Z,1741738314.161 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-12T00:11:56.275Z,1741738316.275 [Default:CheckIn] Running Loop=1
2025-03-12T00:11:56.275Z,1741738316.275 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T00:11:56.275Z,1741738316.275 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T00:12:09.221Z,1741738329.221 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:12:27.060Z,1741738347.060 [NAL9602](INFO): SBD MO Status=2, MOMSN=18898, MT Status=2, MTMSN=0
2025-03-12T00:12:27.060Z,1741738347.060 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T00:12:40.345Z,1741738360.345 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:13:00.578Z,1741738380.578 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18898, MT Status=1, MTMSN=4245
2025-03-12T00:13:00.578Z,1741738380.578 [NAL9602](INFO): Data available in MT queue
2025-03-12T00:13:01.373Z,1741738381.373 [NAL9602](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.0 m/s;set transit.MinOffshore 0.1 km;run
2025-03-12T00:13:01.462Z,1741738381.462 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-12T00:13:01.463Z,1741738381.463 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-12T00:13:01.463Z,1741738381.463 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-12T00:13:01.470Z,1741738381.470 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-12T00:13:02.276Z,1741738382.276 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001257.00,A,3648.11764,N,12148.95495,W,0.467,26.37,120325,,,A*49
2025-03-12T00:13:02.278Z,1741738382.278 [NAL9602](INFO): GPS fix at 20250312T001257: (36.801961, -121.815916)
2025-03-12T00:13:02.318Z,1741738382.318 [UniversalFixResidualReporter](INFO): Fix residual: 8.5 %DT, over the last 1067.9 m. Residual distance 90.6 m at bearing -13.5 degrees. Fix at (36.8020, -121.8159) with 893.7 m made good.
2025-03-12T00:13:02.388Z,1741738382.388 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-12T00:13:02.394Z,1741738382.394 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-12T00:13:02.396Z,1741738382.396 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-12T00:13:02.398Z,1741738382.398 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-12T00:13:02.401Z,1741738382.401 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-12T00:13:02.403Z,1741738382.403 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-12T00:13:02.405Z,1741738382.405 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-12T00:13:02.407Z,1741738382.407 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-12T00:13:02.410Z,1741738382.410 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-12T00:13:02.412Z,1741738382.412 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-12T00:13:02.414Z,1741738382.414 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-12T00:13:02.416Z,1741738382.416 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-12T00:13:02.419Z,1741738382.419 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-12T00:13:02.421Z,1741738382.421 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-12T00:13:02.421Z,1741738382.421 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T00:13:02.422Z,1741738382.422 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T00:13:02.423Z,1741738382.423 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T00:13:02.801Z,1741738382.801 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-03-12T00:13:02.828Z,1741738382.828 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-12T00:13:02.838Z,1741738382.838 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T00:13:02.842Z,1741738382.842 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T00:13:02.845Z,1741738382.845 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T00:13:02.847Z,1741738382.847 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T00:13:02.850Z,1741738382.850 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T00:13:02.853Z,1741738382.853 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T00:13:02.855Z,1741738382.855 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T00:13:02.878Z,1741738382.878 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T00:13:02.913Z,1741738382.913 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:13:02.913Z,1741738382.913 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:13:02.915Z,1741738382.915 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:13:03.015Z,1741738383.015 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T00:13:03.019Z,1741738383.019 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T00:13:03.022Z,1741738383.022 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T00:13:03.024Z,1741738383.024 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T00:13:03.026Z,1741738383.026 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T00:13:03.027Z,1741738383.027 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T00:13:03.034Z,1741738383.034 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T00:13:03.040Z,1741738383.040 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T00:13:03.049Z,1741738383.049 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T00:13:03.049Z,1741738383.049 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T00:13:03.051Z,1741738383.051 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T00:13:03.131Z,1741738383.131 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T00:13:03.138Z,1741738383.138 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T00:13:03.153Z,1741738383.153 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T00:13:03.155Z,1741738383.155 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T00:13:03.155Z,1741738383.155 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T00:13:03.156Z,1741738383.156 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T00:13:03.314Z,1741738383.314 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T00:13:03.318Z,1741738383.318 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-12T00:13:03.319Z,1741738383.319 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T00:13:03.322Z,1741738383.322 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T00:13:03.323Z,1741738383.323 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T00:13:03.326Z,1741738383.326 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-12T00:13:03.360Z,1741738383.360 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T00:13:03.362Z,1741738383.362 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T00:13:03.365Z,1741738383.365 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-12T00:13:03.371Z,1741738383.371 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-12T00:13:03.375Z,1741738383.375 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-12T00:13:03.378Z,1741738383.378 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:13:03.429Z,1741738383.429 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-12T00:13:03.430Z,1741738383.430 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-12T00:13:03.513Z,1741738383.513 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T00:13:03.513Z,1741738383.513 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T00:13:11.473Z,1741738391.473 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:13:16.609Z,1741738396.609 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 15 minute
2025-03-12T00:13:16.609Z,1741738396.609 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-12T00:13:16.610Z,1741738396.610 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-12T00:13:16.611Z,1741738396.611 [CommandExec](IMPORTANT): got command set transit.Speed 1.0 meter_per_second
2025-03-12T00:13:16.612Z,1741738396.612 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-12T00:13:16.612Z,1741738396.612 [CommandExec](IMPORTANT): got command run
2025-03-12T00:13:16.614Z,1741738396.614 [CommandExec](IMPORTANT): Running 
2025-03-12T00:13:16.827Z,1741738396.827 [Default] Stopped
2025-03-12T00:13:16.827Z,1741738396.827 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T00:13:16.828Z,1741738396.828 [Default:B.GoToSurface] Stopped
2025-03-12T00:13:16.828Z,1741738396.828 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T00:13:16.828Z,1741738396.828 [Default:CheckIn] Stopped
2025-03-12T00:13:16.828Z,1741738396.828 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T00:13:16.828Z,1741738396.828 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T00:13:16.828Z,1741738396.828 [MissionManager](IMPORTANT): Started mission transit
2025-03-12T00:13:16.828Z,1741738396.828 [transit] Running Loop=1
2025-03-12T00:13:16.829Z,1741738396.829 [transit](DEBUG): Aggregate::initialize transit
2025-03-12T00:13:16.829Z,1741738396.829 [transit:StandardEnvelopes] Running Loop=1
2025-03-12T00:13:16.829Z,1741738396.829 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-12T00:13:16.829Z,1741738396.829 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T00:13:16.829Z,1741738396.829 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T00:13:16.829Z,1741738396.829 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T00:13:16.829Z,1741738396.829 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T00:13:16.829Z,1741738396.829 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T00:13:16.829Z,1741738396.829 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T00:13:16.830Z,1741738396.830 [transit:BackseatDriver] Running Loop=1
2025-03-12T00:13:16.830Z,1741738396.830 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-12T00:13:16.830Z,1741738396.830 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T00:13:16.830Z,1741738396.830 [transit:PowerOnly] Running Loop=1
2025-03-12T00:13:16.830Z,1741738396.830 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-12T00:13:16.830Z,1741738396.830 [transit:PowerOnly:A] Running Loop=1
2025-03-12T00:13:16.830Z,1741738396.830 [transit:PowerOnly:B] Running Loop=1
2025-03-12T00:13:16.830Z,1741738396.830 [transit:PowerOnly:C] Running Loop=1
2025-03-12T00:13:16.830Z,1741738396.830 [transit:PowerOnly:D] Running Loop=1
2025-03-12T00:13:16.830Z,1741738396.830 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-12T00:13:16.830Z,1741738396.830 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:13:16.831Z,1741738396.831 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-12T00:13:16.831Z,1741738396.831 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T00:13:16.831Z,1741738396.831 [transit:MassHold.Pitch] Running Loop=1
2025-03-12T00:13:16.831Z,1741738396.831 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-12T00:13:16.831Z,1741738396.831 [transit:B] Running Loop=1
2025-03-12T00:13:16.832Z,1741738396.832 [transit:MassHold.Pitch] Running Loop=1
2025-03-12T00:13:16.832Z,1741738396.832 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-12T00:13:16.832Z,1741738396.832 [transit:PowerOnly] Running Loop=1
2025-03-12T00:13:16.833Z,1741738396.833 [transit:PowerOnly:D] Stopped
2025-03-12T00:13:16.833Z,1741738396.833 [transit:PowerOnly:C] Stopped
2025-03-12T00:13:16.833Z,1741738396.833 [transit:PowerOnly:B] Stopped
2025-03-12T00:13:16.833Z,1741738396.833 [transit:PowerOnly:A] Stopped
2025-03-12T00:13:16.833Z,1741738396.833 [transit:BackseatDriver] Running Loop=1
2025-03-12T00:13:16.833Z,1741738396.833 [transit:StandardEnvelopes] Running Loop=1
2025-03-12T00:13:16.833Z,1741738396.833 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T00:13:16.833Z,1741738396.833 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T00:13:16.834Z,1741738396.834 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T00:13:16.834Z,1741738396.834 [transit:B] Stopped
2025-03-12T00:13:16.834Z,1741738396.834 [transit:C] Running Loop=1
2025-03-12T00:13:17.220Z,1741738397.220 [transit:C] Stopped
2025-03-12T00:13:17.221Z,1741738397.221 [transit:E] Running Loop=1
2025-03-12T00:13:17.634Z,1741738397.634 [transit:E] Stopped
2025-03-12T00:13:17.634Z,1741738397.634 [transit:F] Running Loop=1
2025-03-12T00:13:18.034Z,1741738398.034 [transit:F] Stopped
2025-03-12T00:13:18.034Z,1741738398.034 [transit:G] Running Loop=1
2025-03-12T00:13:18.432Z,1741738398.432 [transit:G] Stopped
2025-03-12T00:13:18.432Z,1741738398.432 [transit:Transit] Running Loop=1
2025-03-12T00:13:18.432Z,1741738398.432 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-12T00:13:18.432Z,1741738398.432 [transit:Transit:A.Pitch] Running Loop=1
2025-03-12T00:13:18.432Z,1741738398.432 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-12T00:13:18.432Z,1741738398.432 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-12T00:13:18.432Z,1741738398.432 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-12T00:13:18.453Z,1741738398.453 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-12T00:13:18.453Z,1741738398.453 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T00:13:18.454Z,1741738398.454 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T00:13:18.836Z,1741738398.836 [NAL9602](INFO): SBD MO Status=1, MOMSN=18899, MT Status=0, MTMSN=0
2025-03-12T00:13:18.889Z,1741738398.889 [NAL9602](INFO): Sent 86 bytes from file Logs/20250311T233447/Courier0012.lzma
2025-03-12T00:13:18.889Z,1741738398.889 [NAL9602](INFO): Packets left to send: 0
2025-03-12T00:13:19.093Z,1741738399.093 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T00:13:19.093Z,1741738399.093 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-12T00:13:19.094Z,1741738399.094 [transit:Transit:A.Pitch] Running Loop=1
2025-03-12T00:13:42.625Z,1741738422.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:13:49.725Z,1741738429.725 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T00:13:52.161Z,1741738432.161 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003351
2025-03-12T00:13:52.600Z,1741738432.600 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T00:17:16.465Z,1741738636.465 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:17:32.882Z,1741738652.882 [DVL_micro](ERROR): Failed to parse:
:SA,-12.92,+02.28,204.1
2025-03-12T00:17:47.601Z,1741738667.601 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:17:51.365Z,1741738671.365 [Radio_Surface](INFO): Powering down
2025-03-12T00:18:18.741Z,1741738698.741 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:18:19.747Z,1741738699.747 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T00:19:25.009Z,1741738765.009 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.771179
2025-03-12T00:23:22.207Z,1741739002.207 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-03-12T00:23:22.208Z,1741739002.208 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-03-12T00:23:22.215Z,1741739002.215 [BPC1](INFO): Received data from all battery sticks.
2025-03-12T00:28:16.863Z,1741739296.863 [transit](INFO): Timed out from 2025-03-12T00:13:16.8Z
2025-03-12T00:28:16.863Z,1741739296.863 [MissionManager](INFO): transit is completed.
2025-03-12T00:28:16.863Z,1741739296.863 [MissionManager](INFO): Uninitializing Mission transit
2025-03-12T00:28:16.863Z,1741739296.863 [transit] Stopped
2025-03-12T00:28:16.863Z,1741739296.863 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-12T00:28:16.863Z,1741739296.863 [transit:StandardEnvelopes] Stopped
2025-03-12T00:28:16.864Z,1741739296.864 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-12T00:28:16.864Z,1741739296.864 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T00:28:16.864Z,1741739296.864 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T00:28:16.864Z,1741739296.864 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T00:28:16.864Z,1741739296.864 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T00:28:16.864Z,1741739296.864 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T00:28:16.864Z,1741739296.864 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T00:28:16.864Z,1741739296.864 [transit:BackseatDriver] Stopped
2025-03-12T00:28:16.864Z,1741739296.864 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-12T00:28:16.864Z,1741739296.864 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T00:28:16.865Z,1741739296.865 [transit:PowerOnly] Stopped
2025-03-12T00:28:16.865Z,1741739296.865 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-12T00:28:16.865Z,1741739296.865 [transit:PowerOnly:E.Wait] Stopped
2025-03-12T00:28:16.865Z,1741739296.865 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:28:16.865Z,1741739296.865 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-12T00:28:16.865Z,1741739296.865 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T00:28:16.865Z,1741739296.865 [transit:MassHold.Pitch] Stopped
2025-03-12T00:28:16.865Z,1741739296.865 [transit:Transit] Stopped
2025-03-12T00:28:16.865Z,1741739296.865 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-12T00:28:16.865Z,1741739296.865 [transit:Transit:A.Pitch] Stopped
2025-03-12T00:28:16.865Z,1741739296.865 [transit:Transit:B.SetSpeed] Stopped
2025-03-12T00:28:16.865Z,1741739296.865 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T00:28:16.865Z,1741739296.865 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-12T00:28:16.866Z,1741739296.866 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T00:28:17.276Z,1741739297.276 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T00:28:17.277Z,1741739297.277 [Default] Running Loop=1
2025-03-12T00:28:17.277Z,1741739297.277 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T00:28:17.277Z,1741739297.277 [Default:B.GoToSurface] Running Loop=1
2025-03-12T00:28:17.277Z,1741739297.277 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T00:28:17.277Z,1741739297.277 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T00:28:17.278Z,1741739297.278 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T00:28:17.278Z,1741739297.278 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T00:28:17.278Z,1741739297.278 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T00:28:17.278Z,1741739297.278 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T00:28:17.279Z,1741739297.279 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T00:28:17.279Z,1741739297.279 [Default:A.Wait] Running Loop=1
2025-03-12T00:28:17.279Z,1741739297.279 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:28:17.697Z,1741739297.697 [Radio_Surface](INFO): Powering up
2025-03-12T00:28:23.237Z,1741739303.237 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T00:28:30.655Z,1741739310.655 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T00:28:30.655Z,1741739310.655 [Default:A.Wait] Stopped
2025-03-12T00:28:30.655Z,1741739310.655 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:28:42.775Z,1741739322.775 [Default:CheckIn] Running Loop=1
2025-03-12T00:28:42.775Z,1741739322.775 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T00:28:42.776Z,1741739322.776 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T00:28:53.360Z,1741739333.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:29:07.842Z,1741739347.842 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=18900, MT Status=1, MTMSN=4246
2025-03-12T00:29:07.842Z,1741739347.842 [NAL9602](INFO): Data available in MT queue
2025-03-12T00:29:08.549Z,1741739348.549 [NAL9602](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.0 m/s;set transit.MinOffshore 0.1 km;run
2025-03-12T00:29:08.656Z,1741739348.656 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-12T00:29:08.685Z,1741739348.685 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-12T00:29:08.685Z,1741739348.685 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-12T00:29:08.686Z,1741739348.686 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-12T00:29:09.482Z,1741739349.482 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002905.00,A,3648.06740,N,12149.42099,W,0.564,193.64,120325,,,A*7E
2025-03-12T00:29:09.484Z,1741739349.484 [NAL9602](INFO): GPS fix at 20250312T002905: (36.801123, -121.823683)
2025-03-12T00:29:09.528Z,1741739349.528 [UniversalFixResidualReporter](INFO): Fix residual: 6.6 %DT, over the last 1015.7 m. Residual distance 66.9 m at bearing 147.6 degrees. Fix at (36.8011, -121.8237) with 697.8 m made good.
2025-03-12T00:29:09.576Z,1741739349.576 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-12T00:29:09.589Z,1741739349.589 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-12T00:29:09.591Z,1741739349.591 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-12T00:29:09.594Z,1741739349.594 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-12T00:29:09.596Z,1741739349.596 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-12T00:29:09.614Z,1741739349.614 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-12T00:29:09.621Z,1741739349.621 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-12T00:29:09.623Z,1741739349.623 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-12T00:29:09.637Z,1741739349.637 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-12T00:29:09.639Z,1741739349.639 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-12T00:29:09.644Z,1741739349.644 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-12T00:29:09.659Z,1741739349.659 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-12T00:29:09.665Z,1741739349.665 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-12T00:29:09.667Z,1741739349.667 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-12T00:29:09.668Z,1741739349.668 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T00:29:09.668Z,1741739349.668 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T00:29:09.677Z,1741739349.677 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T00:29:09.947Z,1741739349.947 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-03-12T00:29:09.951Z,1741739349.951 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-12T00:29:09.954Z,1741739349.954 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T00:29:09.956Z,1741739349.956 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T00:29:09.958Z,1741739349.958 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T00:29:09.987Z,1741739349.987 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T00:29:09.991Z,1741739349.991 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T00:29:10.001Z,1741739350.001 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T00:29:10.005Z,1741739350.005 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T00:29:10.066Z,1741739350.066 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T00:29:10.128Z,1741739350.128 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:29:10.128Z,1741739350.128 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:29:10.129Z,1741739350.129 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:29:10.202Z,1741739350.202 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T00:29:10.206Z,1741739350.206 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T00:29:10.208Z,1741739350.208 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T00:29:10.210Z,1741739350.210 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T00:29:10.213Z,1741739350.213 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T00:29:10.214Z,1741739350.214 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T00:29:10.220Z,1741739350.220 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T00:29:10.227Z,1741739350.227 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T00:29:10.299Z,1741739350.299 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T00:29:10.299Z,1741739350.299 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T00:29:10.305Z,1741739350.305 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T00:29:10.356Z,1741739350.356 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T00:29:10.367Z,1741739350.367 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T00:29:10.376Z,1741739350.376 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T00:29:10.383Z,1741739350.383 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T00:29:10.383Z,1741739350.383 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T00:29:10.384Z,1741739350.384 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T00:29:10.563Z,1741739350.563 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T00:29:10.567Z,1741739350.567 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-12T00:29:10.569Z,1741739350.569 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T00:29:10.571Z,1741739350.571 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T00:29:10.573Z,1741739350.573 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T00:29:10.575Z,1741739350.575 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-12T00:29:10.582Z,1741739350.582 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T00:29:10.583Z,1741739350.583 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T00:29:10.586Z,1741739350.586 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-12T00:29:10.592Z,1741739350.592 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-12T00:29:10.622Z,1741739350.622 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-12T00:29:10.624Z,1741739350.624 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:29:10.688Z,1741739350.688 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-12T00:29:10.696Z,1741739350.696 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T00:29:10.697Z,1741739350.697 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-12T00:29:10.701Z,1741739350.701 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T00:29:21.076Z,1741739361.076 [DVL_micro](ERROR): Failed to parse:
:BI,+01733,+00931,+00155,+00000,A
2025-03-12T00:29:23.504Z,1741739363.504 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 15 minute
2025-03-12T00:29:23.505Z,1741739363.505 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-12T00:29:23.506Z,1741739363.506 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-12T00:29:23.507Z,1741739363.507 [CommandExec](IMPORTANT): got command set transit.Speed 1.0 meter_per_second
2025-03-12T00:29:23.507Z,1741739363.507 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-12T00:29:23.508Z,1741739363.508 [CommandExec](IMPORTANT): got command run
2025-03-12T00:29:23.550Z,1741739363.550 [Default] Stopped
2025-03-12T00:29:23.551Z,1741739363.551 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T00:29:23.551Z,1741739363.551 [Default:B.GoToSurface] Stopped
2025-03-12T00:29:23.551Z,1741739363.551 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T00:29:23.551Z,1741739363.551 [Default:CheckIn] Stopped
2025-03-12T00:29:23.551Z,1741739363.551 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T00:29:23.551Z,1741739363.551 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T00:29:23.551Z,1741739363.551 [MissionManager](IMPORTANT): Started mission transit
2025-03-12T00:29:23.551Z,1741739363.551 [transit] Running Loop=1
2025-03-12T00:29:23.552Z,1741739363.552 [transit](DEBUG): Aggregate::initialize transit
2025-03-12T00:29:23.552Z,1741739363.552 [transit:StandardEnvelopes] Running Loop=1
2025-03-12T00:29:23.552Z,1741739363.552 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-12T00:29:23.552Z,1741739363.552 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T00:29:23.552Z,1741739363.552 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T00:29:23.552Z,1741739363.552 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T00:29:23.552Z,1741739363.552 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T00:29:23.557Z,1741739363.557 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T00:29:23.557Z,1741739363.557 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T00:29:23.557Z,1741739363.557 [transit:BackseatDriver] Running Loop=1
2025-03-12T00:29:23.557Z,1741739363.557 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-12T00:29:23.558Z,1741739363.558 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:PowerOnly] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-12T00:29:23.558Z,1741739363.558 [transit:PowerOnly:A] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:PowerOnly:B] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:PowerOnly:C] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:PowerOnly:D] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:29:23.558Z,1741739363.558 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T00:29:23.558Z,1741739363.558 [transit:MassHold.Pitch] Running Loop=1
2025-03-12T00:29:23.558Z,1741739363.558 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-12T00:29:23.559Z,1741739363.559 [transit:B] Running Loop=1
2025-03-12T00:29:23.559Z,1741739363.559 [transit:MassHold.Pitch] Running Loop=1
2025-03-12T00:29:23.560Z,1741739363.560 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-12T00:29:23.560Z,1741739363.560 [transit:PowerOnly] Running Loop=1
2025-03-12T00:29:23.560Z,1741739363.560 [transit:PowerOnly:D] Stopped
2025-03-12T00:29:23.560Z,1741739363.560 [transit:PowerOnly:C] Stopped
2025-03-12T00:29:23.560Z,1741739363.560 [transit:PowerOnly:B] Stopped
2025-03-12T00:29:23.565Z,1741739363.565 [transit:PowerOnly:A] Stopped
2025-03-12T00:29:23.565Z,1741739363.565 [transit:BackseatDriver] Running Loop=1
2025-03-12T00:29:23.565Z,1741739363.565 [transit:StandardEnvelopes] Running Loop=1
2025-03-12T00:29:23.565Z,1741739363.565 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T00:29:23.565Z,1741739363.565 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T00:29:23.566Z,1741739363.566 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T00:29:23.566Z,1741739363.566 [transit:B] Stopped
2025-03-12T00:29:23.566Z,1741739363.566 [transit:C] Running Loop=1
2025-03-12T00:29:23.593Z,1741739363.593 [CommandExec](IMPORTANT): Running 
2025-03-12T00:29:23.927Z,1741739363.927 [transit:C] Stopped
2025-03-12T00:29:23.927Z,1741739363.927 [transit:E] Running Loop=1
2025-03-12T00:29:24.326Z,1741739364.326 [transit:E] Stopped
2025-03-12T00:29:24.326Z,1741739364.326 [transit:F] Running Loop=1
2025-03-12T00:29:24.489Z,1741739364.489 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:29:24.740Z,1741739364.740 [transit:F] Stopped
2025-03-12T00:29:24.740Z,1741739364.740 [transit:G] Running Loop=1
2025-03-12T00:29:25.148Z,1741739365.148 [transit:G] Stopped
2025-03-12T00:29:25.153Z,1741739365.153 [transit:Transit] Running Loop=1
2025-03-12T00:29:25.153Z,1741739365.153 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-12T00:29:25.153Z,1741739365.153 [transit:Transit:A.Pitch] Running Loop=1
2025-03-12T00:29:25.153Z,1741739365.153 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-12T00:29:25.154Z,1741739365.154 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-12T00:29:25.154Z,1741739365.154 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-12T00:29:25.154Z,1741739365.154 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-12T00:29:25.154Z,1741739365.154 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T00:29:25.155Z,1741739365.155 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T00:29:25.526Z,1741739365.526 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T00:29:25.527Z,1741739365.527 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-12T00:29:25.527Z,1741739365.527 [transit:Transit:A.Pitch] Running Loop=1
2025-03-12T00:29:27.540Z,1741739367.540 [NAL9602](INFO): SBD MO Status=1, MOMSN=18901, MT Status=0, MTMSN=0
2025-03-12T00:29:27.595Z,1741739367.595 [NAL9602](INFO): Sent 40 bytes from file Logs/20250311T233447/Courier0015.lzma
2025-03-12T00:29:27.596Z,1741739367.596 [NAL9602](INFO): Packets left to send: 0
2025-03-12T00:29:55.617Z,1741739395.617 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:29:58.904Z,1741739398.904 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T00:30:16.990Z,1741739416.990 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T00:30:26.741Z,1741739426.741 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:30:36.026Z,1741739436.026 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006154
2025-03-12T00:31:28.233Z,1741739488.233 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:31:41.341Z,1741739501.341 [Radio_Surface](INFO): Powering down
2025-03-12T00:31:59.357Z,1741739519.357 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:32:00.361Z,1741739520.361 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T00:33:36.753Z,1741739616.753 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.733414
2025-03-12T00:36:29.224Z,1741739789.224 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0036.90,000.00
2025-03-12T00:37:37.241Z,1741739857.241 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-12T00:37:41.720Z,1741739861.720 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.100410
CHAN A1 (24V): 0.006240
CHAN A2 (12V): -0.019180
CHAN A3 (5V): -0.108205
CHAN B0 (3.3V): -0.006457
CHAN B1 (3.15aV): -0.003760
CHAN B2 (3.15bV): -0.002488
CHAN B3 (GND): -0.003790
OPEN: 0.012135
Full Scale: +/- 1 mA
2025-03-12T00:44:23.772Z,1741740263.772 [transit](INFO): Timed out from 2025-03-12T00:29:23.6Z
2025-03-12T00:44:23.772Z,1741740263.772 [MissionManager](INFO): transit is completed.
2025-03-12T00:44:23.772Z,1741740263.772 [MissionManager](INFO): Uninitializing Mission transit
2025-03-12T00:44:23.773Z,1741740263.773 [transit] Stopped
2025-03-12T00:44:23.773Z,1741740263.773 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-12T00:44:23.773Z,1741740263.773 [transit:StandardEnvelopes] Stopped
2025-03-12T00:44:23.773Z,1741740263.773 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-12T00:44:23.773Z,1741740263.773 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T00:44:23.773Z,1741740263.773 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T00:44:23.773Z,1741740263.773 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T00:44:23.773Z,1741740263.773 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T00:44:23.774Z,1741740263.774 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T00:44:23.774Z,1741740263.774 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T00:44:23.774Z,1741740263.774 [transit:BackseatDriver] Stopped
2025-03-12T00:44:23.774Z,1741740263.774 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-12T00:44:23.774Z,1741740263.774 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T00:44:23.774Z,1741740263.774 [transit:PowerOnly] Stopped
2025-03-12T00:44:23.774Z,1741740263.774 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-12T00:44:23.774Z,1741740263.774 [transit:PowerOnly:E.Wait] Stopped
2025-03-12T00:44:23.775Z,1741740263.775 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:44:23.775Z,1741740263.775 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-12T00:44:23.775Z,1741740263.775 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T00:44:23.775Z,1741740263.775 [transit:MassHold.Pitch] Stopped
2025-03-12T00:44:23.775Z,1741740263.775 [transit:Transit] Stopped
2025-03-12T00:44:23.775Z,1741740263.775 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-12T00:44:23.775Z,1741740263.775 [transit:Transit:A.Pitch] Stopped
2025-03-12T00:44:23.775Z,1741740263.775 [transit:Transit:B.SetSpeed] Stopped
2025-03-12T00:44:23.775Z,1741740263.775 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T00:44:23.776Z,1741740263.776 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-12T00:44:23.776Z,1741740263.776 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T00:44:24.154Z,1741740264.154 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T00:44:24.154Z,1741740264.154 [Default] Running Loop=1
2025-03-12T00:44:24.154Z,1741740264.154 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T00:44:24.154Z,1741740264.154 [Default:B.GoToSurface] Running Loop=1
2025-03-12T00:44:24.154Z,1741740264.154 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T00:44:24.155Z,1741740264.155 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T00:44:24.155Z,1741740264.155 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T00:44:24.155Z,1741740264.155 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T00:44:24.156Z,1741740264.156 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T00:44:24.156Z,1741740264.156 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T00:44:24.156Z,1741740264.156 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T00:44:24.157Z,1741740264.157 [Default:A.Wait] Running Loop=1
2025-03-12T00:44:24.157Z,1741740264.157 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:44:24.601Z,1741740264.601 [Radio_Surface](INFO): Powering up
2025-03-12T00:44:30.537Z,1741740270.537 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T00:44:37.526Z,1741740277.526 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T00:44:37.526Z,1741740277.526 [Default:A.Wait] Stopped
2025-03-12T00:44:37.526Z,1741740277.526 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T00:44:51.712Z,1741740291.712 [Default:CheckIn] Running Loop=1
2025-03-12T00:44:51.718Z,1741740291.718 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T00:44:51.719Z,1741740291.719 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T00:45:00.665Z,1741740300.665 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:45:31.789Z,1741740331.789 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:45:41.765Z,1741740341.765 [NAL9602](INFO): SBD MO Status=0, MOMSN=18902, MT Status=0, MTMSN=0
2025-03-12T00:45:41.765Z,1741740341.765 [NAL9602](INFO): No messages in MT queue
2025-03-12T00:45:42.959Z,1741740342.959 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004538.00,A,3647.97380,N,12149.94927,W,1.186,127.33,120325,,,A*76
2025-03-12T00:45:42.961Z,1741740342.961 [NAL9602](INFO): GPS fix at 20250312T004538: (36.799563, -121.832488)
2025-03-12T00:45:42.973Z,1741740342.973 [UniversalFixResidualReporter](INFO): Fix residual: 4.8 %DT, over the last 876.0 m. Residual distance 42.2 m at bearing -125.0 degrees. Fix at (36.7996, -121.8325) with 802.9 m made good.
2025-03-12T00:45:42.973Z,1741740342.973 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T00:45:42.974Z,1741740342.974 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T00:46:00.535Z,1741740360.535 [NAL9602](INFO): SBD MO Status=1, MOMSN=18903, MT Status=0, MTMSN=0
2025-03-12T00:46:00.593Z,1741740360.593 [NAL9602](INFO): Sent 217 bytes from file Logs/20250311T233447/Courier0018.lzma
2025-03-12T00:46:00.593Z,1741740360.593 [NAL9602](INFO): Packets left to send: 0
2025-03-12T00:46:02.941Z,1741740362.941 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:46:08.743Z,1741740368.743 [NAL9602](INFO): SBD MO Status=1, MOMSN=18904, MT Status=0, MTMSN=0
2025-03-12T00:46:08.805Z,1741740368.805 [NAL9602](INFO): Sent 40 bytes from file Logs/20250311T233447/Courier0021.lzma
2025-03-12T00:46:08.805Z,1741740368.805 [NAL9602](INFO): Packets left to send: 0
2025-03-12T00:46:17.714Z,1741740377.714 [NAL9602](INFO): SBD MO Status=1, MOMSN=18905, MT Status=0, MTMSN=0
2025-03-12T00:46:17.769Z,1741740377.769 [NAL9602](INFO): Sent 87 bytes from file Logs/20250311T233447/Courier0024.lzma
2025-03-12T00:46:17.769Z,1741740377.769 [NAL9602](INFO): Packets left to send: 0
2025-03-12T00:46:27.574Z,1741740387.574 [NAL9602](INFO): SBD MO Status=1, MOMSN=18906, MT Status=0, MTMSN=0
2025-03-12T00:46:27.638Z,1741740387.638 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T233447/Express0013.lzma
2025-03-12T00:46:27.638Z,1741740387.638 [NAL9602](INFO): Packets left to send: 2
2025-03-12T00:46:34.065Z,1741740394.065 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:46:43.886Z,1741740403.886 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003398
2025-03-12T00:46:45.809Z,1741740405.809 [NAL9602](INFO): SBD MO Status=2, MOMSN=18907, MT Status=2, MTMSN=0
2025-03-12T00:46:45.809Z,1741740405.809 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T00:46:51.692Z,1741740411.692 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250311T233447/Courier0027.lzma
2025-03-12T00:46:52.695Z,1741740412.695 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Courier0027.lzma.bak
2025-03-12T00:46:52.695Z,1741740412.695 [DataOverHttps](INFO): SBD MOMSN=24181137
2025-03-12T00:47:09.370Z,1741740429.370 [DataOverHttps](INFO): Sending 890 bytes from file Logs/20250311T233447/Express0013.lzma
2025-03-12T00:47:10.370Z,1741740430.370 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Express0013.lzma.bak
2025-03-12T00:47:10.371Z,1741740430.371 [DataOverHttps](INFO): SBD MOMSN=24181139
2025-03-12T00:47:16.522Z,1741740436.522 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T00:47:27.417Z,1741740447.417 [DataOverHttps](INFO): Sending 292 bytes from file Logs/20250311T233447/Express0016.lzma
2025-03-12T00:47:28.418Z,1741740448.418 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Express0016.lzma.bak
2025-03-12T00:47:28.419Z,1741740448.419 [DataOverHttps](INFO): SBD MOMSN=24181164
2025-03-12T00:47:45.126Z,1741740465.126 [DataOverHttps](INFO): Sending 490 bytes from file Logs/20250311T233447/Express0019.lzma
2025-03-12T00:47:46.127Z,1741740466.127 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Express0019.lzma.bak
2025-03-12T00:47:46.127Z,1741740466.127 [DataOverHttps](INFO): SBD MOMSN=24181175
2025-03-12T00:48:03.869Z,1741740483.869 [DataOverHttps](INFO): Sending 293 bytes from file Logs/20250311T233447/Express0022.lzma
2025-03-12T00:48:04.871Z,1741740484.871 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Express0022.lzma.bak
2025-03-12T00:48:04.871Z,1741740484.871 [DataOverHttps](INFO): SBD MOMSN=24181195
2025-03-12T00:48:21.386Z,1741740501.386 [DataOverHttps](INFO): Sending 509 bytes from file Logs/20250311T233447/Express0025.lzma
2025-03-12T00:48:22.395Z,1741740502.395 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Express0025.lzma.bak
2025-03-12T00:48:22.395Z,1741740502.395 [DataOverHttps](INFO): SBD MOMSN=24181206
2025-03-12T00:48:31.076Z,1741740511.076 [DataOverHttps](IMPORTANT): SBD MTMSN=20250312T004826
2025-03-12T00:48:42.512Z,1741740522.512 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20250311T233447/Express0028.lzma
2025-03-12T00:48:42.515Z,1741740522.515 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.0 m/s;set transit.MinOffshore 0.1 km;run
2025-03-12T00:48:42.591Z,1741740522.591 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-12T00:48:42.591Z,1741740522.591 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-12T00:48:42.591Z,1741740522.591 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-12T00:48:42.601Z,1741740522.601 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-12T00:48:43.481Z,1741740523.481 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-03-12T00:48:43.486Z,1741740523.486 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-12T00:48:43.489Z,1741740523.489 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-12T00:48:43.491Z,1741740523.491 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-12T00:48:43.493Z,1741740523.493 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-12T00:48:43.496Z,1741740523.496 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-12T00:48:43.498Z,1741740523.498 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-12T00:48:43.500Z,1741740523.500 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-12T00:48:43.502Z,1741740523.502 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-12T00:48:43.505Z,1741740523.505 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-12T00:48:43.507Z,1741740523.507 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-12T00:48:43.509Z,1741740523.509 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-12T00:48:43.511Z,1741740523.511 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-12T00:48:43.533Z,1741740523.533 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-12T00:48:43.534Z,1741740523.534 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-12T00:48:43.534Z,1741740523.534 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-12T00:48:43.618Z,1741740523.618 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-12T00:48:44.077Z,1741740524.077 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Express0028.lzma.bak
2025-03-12T00:48:44.077Z,1741740524.077 [DataOverHttps](INFO): SBD MOMSN=24181216
2025-03-12T00:48:44.117Z,1741740524.117 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-03-12T00:48:44.121Z,1741740524.121 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-12T00:48:44.124Z,1741740524.124 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-12T00:48:44.126Z,1741740524.126 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-12T00:48:44.128Z,1741740524.128 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-12T00:48:44.130Z,1741740524.130 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-12T00:48:44.133Z,1741740524.133 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-12T00:48:44.135Z,1741740524.135 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-12T00:48:44.137Z,1741740524.137 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-12T00:48:44.143Z,1741740524.143 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-12T00:48:44.227Z,1741740524.227 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:48:44.228Z,1741740524.228 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:48:44.233Z,1741740524.233 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-12T00:48:44.376Z,1741740524.376 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-03-12T00:48:44.382Z,1741740524.382 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-12T00:48:44.384Z,1741740524.384 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-12T00:48:44.386Z,1741740524.386 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-12T00:48:44.389Z,1741740524.389 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-12T00:48:44.390Z,1741740524.390 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-12T00:48:44.395Z,1741740524.395 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-12T00:48:44.402Z,1741740524.402 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-12T00:48:44.411Z,1741740524.411 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-12T00:48:44.411Z,1741740524.411 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-12T00:48:44.412Z,1741740524.412 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-12T00:48:44.464Z,1741740524.464 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-03-12T00:48:44.467Z,1741740524.467 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-12T00:48:44.473Z,1741740524.473 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-12T00:48:44.476Z,1741740524.476 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-12T00:48:44.476Z,1741740524.476 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-12T00:48:44.477Z,1741740524.477 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-12T00:48:44.734Z,1741740524.734 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-03-12T00:48:44.738Z,1741740524.738 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-12T00:48:44.740Z,1741740524.740 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-12T00:48:44.755Z,1741740524.755 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-12T00:48:44.757Z,1741740524.757 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-12T00:48:44.760Z,1741740524.760 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-12T00:48:44.766Z,1741740524.766 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-12T00:48:44.768Z,1741740524.768 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-12T00:48:44.771Z,1741740524.771 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-12T00:48:44.777Z,1741740524.777 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-12T00:48:44.781Z,1741740524.781 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-12T00:48:44.784Z,1741740524.784 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-12T00:48:44.819Z,1741740524.819 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-03-12T00:48:44.819Z,1741740524.819 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-12T00:49:03.092Z,1741740543.092 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2025-03-12T00:49:03.097Z,1741740543.097 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-12T00:49:03.097Z,1741740543.097 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-12T00:49:03.098Z,1741740543.098 [CommandExec](IMPORTANT): got command set transit.Speed 1.0 meter_per_second
2025-03-12T00:49:03.099Z,1741740543.099 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.1 kilometer
2025-03-12T00:49:03.099Z,1741740543.099 [CommandExec](IMPORTANT): got command run
2025-03-12T00:49:03.105Z,1741740543.105 [CommandExec](IMPORTANT): Running 
2025-03-12T00:49:03.234Z,1741740543.234 [Default] Stopped
2025-03-12T00:49:03.234Z,1741740543.234 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T00:49:03.234Z,1741740543.234 [Default:B.GoToSurface] Stopped
2025-03-12T00:49:03.234Z,1741740543.234 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T00:49:03.234Z,1741740543.234 [Default:CheckIn] Stopped
2025-03-12T00:49:03.234Z,1741740543.234 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T00:49:03.234Z,1741740543.234 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T00:49:03.235Z,1741740543.235 [MissionManager](IMPORTANT): Started mission transit
2025-03-12T00:49:03.235Z,1741740543.235 [transit] Running Loop=1
2025-03-12T00:49:03.235Z,1741740543.235 [transit](DEBUG): Aggregate::initialize transit
2025-03-12T00:49:03.235Z,1741740543.235 [transit:StandardEnvelopes] Running Loop=1
2025-03-12T00:49:03.235Z,1741740543.235 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-12T00:49:03.235Z,1741740543.235 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T00:49:03.235Z,1741740543.235 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-12T00:49:03.236Z,1741740543.236 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T00:49:03.236Z,1741740543.236 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-12T00:49:03.236Z,1741740543.236 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T00:49:03.236Z,1741740543.236 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-12T00:49:03.236Z,1741740543.236 [transit:BackseatDriver] Running Loop=1
2025-03-12T00:49:03.236Z,1741740543.236 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-12T00:49:03.236Z,1741740543.236 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-12T00:49:03.236Z,1741740543.236 [transit:PowerOnly] Running Loop=1
2025-03-12T00:49:03.245Z,1741740543.245 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-12T00:49:03.245Z,1741740543.245 [transit:PowerOnly:A] Running Loop=1
2025-03-12T00:49:03.245Z,1741740543.245 [transit:PowerOnly:B] Running Loop=1
2025-03-12T00:49:03.245Z,1741740543.245 [transit:PowerOnly:C] Running Loop=1
2025-03-12T00:49:03.245Z,1741740543.245 [transit:PowerOnly:D] Running Loop=1
2025-03-12T00:49:03.245Z,1741740543.245 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-12T00:49:03.245Z,1741740543.245 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-12T00:49:03.245Z,1741740543.245 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-12T00:49:03.245Z,1741740543.245 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-12T00:49:03.245Z,1741740543.245 [transit:MassHold.Pitch] Running Loop=1
2025-03-12T00:49:03.245Z,1741740543.245 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-12T00:49:03.246Z,1741740543.246 [transit:B] Running Loop=1
2025-03-12T00:49:03.246Z,1741740543.246 [transit:MassHold.Pitch] Running Loop=1
2025-03-12T00:49:03.247Z,1741740543.247 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-12T00:49:03.247Z,1741740543.247 [transit:PowerOnly] Running Loop=1
2025-03-12T00:49:03.247Z,1741740543.247 [transit:PowerOnly:D] Stopped
2025-03-12T00:49:03.247Z,1741740543.247 [transit:PowerOnly:C] Stopped
2025-03-12T00:49:03.247Z,1741740543.247 [transit:PowerOnly:B] Stopped
2025-03-12T00:49:03.247Z,1741740543.247 [transit:PowerOnly:A] Stopped
2025-03-12T00:49:03.247Z,1741740543.247 [transit:BackseatDriver] Running Loop=1
2025-03-12T00:49:03.248Z,1741740543.248 [transit:StandardEnvelopes] Running Loop=1
2025-03-12T00:49:03.248Z,1741740543.248 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-12T00:49:03.248Z,1741740543.248 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-12T00:49:03.248Z,1741740543.248 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-12T00:49:03.257Z,1741740543.257 [transit:B] Stopped
2025-03-12T00:49:03.257Z,1741740543.257 [transit:C] Running Loop=1
2025-03-12T00:49:03.615Z,1741740543.615 [transit:C] Stopped
2025-03-12T00:49:03.615Z,1741740543.615 [transit:E] Running Loop=1
2025-03-12T00:49:04.084Z,1741740544.084 [transit:E] Stopped
2025-03-12T00:49:04.085Z,1741740544.085 [transit:F] Running Loop=1
2025-03-12T00:49:04.431Z,1741740544.431 [transit:F] Stopped
2025-03-12T00:49:04.432Z,1741740544.432 [transit:G] Running Loop=1
2025-03-12T00:49:04.893Z,1741740544.893 [transit:G] Stopped
2025-03-12T00:49:04.893Z,1741740544.893 [transit:Transit] Running Loop=1
2025-03-12T00:49:04.894Z,1741740544.894 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-12T00:49:04.894Z,1741740544.894 [transit:Transit:A.Pitch] Running Loop=1
2025-03-12T00:49:04.894Z,1741740544.894 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-12T00:49:04.894Z,1741740544.894 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-12T00:49:04.894Z,1741740544.894 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-12T00:49:04.894Z,1741740544.894 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-12T00:49:04.894Z,1741740544.894 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-12T00:49:04.895Z,1741740544.895 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T00:49:05.234Z,1741740545.234 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-12T00:49:05.235Z,1741740545.235 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-12T00:49:05.235Z,1741740545.235 [transit:Transit:A.Pitch] Running Loop=1
2025-03-12T00:49:06.060Z,1741740546.060 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250311T233447/Courier0030.lzma
2025-03-12T00:49:07.065Z,1741740547.065 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Courier0030.lzma.bak
2025-03-12T00:49:07.065Z,1741740547.065 [DataOverHttps](INFO): SBD MOMSN=24181222
2025-03-12T00:49:11.023Z,1741740551.023 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-03-12T00:50:08.781Z,1741740608.781 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:51:41.085Z,1741740701.085 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-03-12T00:52:12.209Z,1741740732.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:52:24.385Z,1741740744.385 [Radio_Surface](INFO): Powering down
2025-03-12T00:52:43.333Z,1741740763.333 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T00:52:44.337Z,1741740764.337 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T00:53:49.597Z,1741740829.597 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.955139
2025-03-12T01:09:51.897Z,1741741791.897 [DVL_micro](ERROR): DVL uart error: serial timeout
2025-03-12T01:09:51.897Z,1741741791.897 [DVL_micro] Communications Fault, FailCount= 1
2025-03-12T01:09:51.897Z,1741741791.897 [DVL_micro](ERROR): Communications Fault
2025-03-12T01:09:51.897Z,1741741791.897 [DVL_micro](ERROR): Failed to parse:
2025-03-12T01:09:52.031Z,1741741792.031 [CBIT](ERROR): Communications Fault in component: DVL_micro
2025-03-12T01:09:52.329Z,1741741792.329 [DVL_micro](INFO): Powering down
2025-03-12T01:09:53.160Z,1741741793.160 [CBIT](INFO): Clearing failed state for component DVL_micro
2025-03-12T01:09:53.160Z,1741741793.160 [DVL_micro] No Fault, FailCount= 1
2025-03-12T01:11:02.216Z,1741741862.216 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-03-12T01:11:02.216Z,1741741862.216 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-12T01:11:02.216Z,1741741862.216 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-12T01:11:02.217Z,1741741862.217 [transit:Transit:PhoneHome] Running Loop=1
2025-03-12T01:11:02.217Z,1741741862.217 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-03-12T01:11:02.566Z,1741741862.566 [transit:NeedComms] Running Loop=1
2025-03-12T01:11:02.566Z,1741741862.566 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-03-12T01:11:02.566Z,1741741862.566 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-03-12T01:11:02.566Z,1741741862.566 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T01:11:02.566Z,1741741862.566 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-12T01:11:02.567Z,1741741862.567 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-12T01:11:02.567Z,1741741862.567 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-12T01:11:02.567Z,1741741862.567 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-12T01:11:02.568Z,1741741862.568 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T01:11:02.568Z,1741741862.568 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T01:11:02.569Z,1741741862.569 [transit:NeedComms:A] Running Loop=1
2025-03-12T01:11:02.570Z,1741741862.570 [transit:NeedComms:A](INFO): last time_fix was:  1741740338.000000 second since 1970/01/01T00:00:00Z 
2025-03-12T01:11:02.570Z,1741741862.570 [transit:NeedComms:A] Stopped
2025-03-12T01:11:36.710Z,1741741896.710 [transit:NeedComms:C] Running Loop=1
2025-03-12T01:11:37.013Z,1741741897.013 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T01:11:37.401Z,1741741897.401 [Radio_Surface](INFO): Powering up
2025-03-12T01:11:38.626Z,1741741898.626 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011134.00,A,3647.97115,N,12150.71387,W,1.186,0.00,120325,,,A*73
2025-03-12T01:11:38.629Z,1741741898.629 [NAL9602](INFO): GPS fix at 20250312T011134: (36.799519, -121.845231)
2025-03-12T01:11:38.640Z,1741741898.640 [UniversalFixResidualReporter](INFO): Fix residual: 22.8 %DT, over the last 1527.0 m. Residual distance 348.5 m at bearing -147.7 degrees. Fix at (36.7995, -121.8452) with 1134.6 m made good.
2025-03-12T01:11:38.644Z,1741741898.644 [transit:NeedComms:C] Stopped
2025-03-12T01:11:38.644Z,1741741898.644 [transit:NeedComms:D] Running Loop=1
2025-03-12T01:11:39.044Z,1741741899.044 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-12T01:11:42.997Z,1741741902.997 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-12T01:11:45.872Z,1741741905.872 [DVL_micro](ERROR): Failed to parse:
:SA,-09.20,+02.29,208.1
2025-03-12T01:12:13.117Z,1741741933.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:12:19.894Z,1741741939.894 [NAL9602](INFO): SBD MO Status=2, MOMSN=18907, MT Status=2, MTMSN=0
2025-03-12T01:12:19.894Z,1741741939.894 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-12T01:12:28.559Z,1741741948.559 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-03-12T01:12:37.447Z,1741741957.447 [NAL9602](INFO): SBD MO Status=1, MOMSN=18907, MT Status=0, MTMSN=0
2025-03-12T01:12:37.513Z,1741741957.513 [NAL9602](INFO): Sent 86 bytes from file Logs/20250311T233447/Courier0033.lzma
2025-03-12T01:12:37.513Z,1741741957.513 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:12:44.241Z,1741741964.241 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:12:48.414Z,1741741968.414 [NAL9602](INFO): SBD MO Status=1, MOMSN=18908, MT Status=0, MTMSN=0
2025-03-12T01:12:48.473Z,1741741968.473 [NAL9602](INFO): Sent 192 bytes from file Logs/20250311T233447/Express0031.lzma
2025-03-12T01:12:48.473Z,1741741968.473 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:13:07.065Z,1741741987.065 [NAL9602](INFO): SBD MO Status=1, MOMSN=18909, MT Status=0, MTMSN=0
2025-03-12T01:13:07.117Z,1741741987.117 [NAL9602](INFO): Sent 332 bytes from file Logs/20250311T233447/Express0034.lzma
2025-03-12T01:13:07.117Z,1741741987.117 [NAL9602](INFO): Packets left to send: 1
2025-03-12T01:13:15.365Z,1741741995.365 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:13:28.159Z,1741742008.159 [NAL9602](INFO): SBD MO Status=1, MOMSN=18910, MT Status=0, MTMSN=0
2025-03-12T01:13:28.221Z,1741742008.221 [NAL9602](INFO): Sent 286 bytes from file Logs/20250311T233447/Express0034.lzma
2025-03-12T01:13:28.221Z,1741742008.221 [NAL9602](INFO): Packets left to send: 0
2025-03-12T01:13:38.666Z,1741742018.666 [NAL9602](INFO): SBD MO Status=0, MOMSN=18911, MT Status=0, MTMSN=0
2025-03-12T01:13:38.774Z,1741742018.774 [transit:NeedComms:D] Stopped
2025-03-12T01:13:38.775Z,1741742018.775 [transit:NeedComms:E] Running Loop=1
2025-03-12T01:13:39.094Z,1741742019.094 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-12T01:13:41.085Z,1741742021.085 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011336.00,A,3647.96462,N,12150.71356,W,0.933,154.50,120325,,,A*79
2025-03-12T01:13:41.087Z,1741742021.087 [NAL9602](INFO): GPS fix at 20250312T011336: (36.799410, -121.845226)
2025-03-12T01:13:41.116Z,1741742021.116 [transit:NeedComms:E] Stopped
2025-03-12T01:13:41.121Z,1741742021.121 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-03-12T01:13:41.121Z,1741742021.121 [transit:NeedComms] Stopped
2025-03-12T01:13:41.121Z,1741742021.121 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-03-12T01:13:41.121Z,1741742021.121 [transit:NeedComms:B.GoToSurface] Stopped
2025-03-12T01:13:41.121Z,1741742021.121 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T01:13:41.503Z,1741742021.503 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-03-12T01:13:41.503Z,1741742021.503 [transit:Transit:PhoneHome] Stopped
2025-03-12T01:13:41.503Z,1741742021.503 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-03-12T01:13:41.504Z,1741742021.504 [transit:Transit](INFO): Completed transit:Transit
2025-03-12T01:13:41.504Z,1741742021.504 [transit:Transit] Stopped
2025-03-12T01:13:41.504Z,1741742021.504 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-12T01:13:41.504Z,1741742021.504 [transit:Transit:A.Pitch] Stopped
2025-03-12T01:13:41.504Z,1741742021.504 [transit:Transit:B.SetSpeed] Stopped
2025-03-12T01:13:41.504Z,1741742021.504 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-12T01:13:41.506Z,1741742021.506 [transit](INFO): Completed transit
2025-03-12T01:13:41.507Z,1741742021.507 [MissionManager](INFO): transit is completed.
2025-03-12T01:13:41.507Z,1741742021.507 [MissionManager](INFO): Uninitializing Mission transit
2025-03-12T01:13:41.507Z,1741742021.507 [transit] Stopped
2025-03-12T01:13:41.507Z,1741742021.507 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-12T01:13:41.507Z,1741742021.507 [transit:StandardEnvelopes] Stopped
2025-03-12T01:13:41.507Z,1741742021.507 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-12T01:13:41.507Z,1741742021.507 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-12T01:13:41.507Z,1741742021.507 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-12T01:13:41.507Z,1741742021.507 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-12T01:13:41.507Z,1741742021.507 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-12T01:13:41.507Z,1741742021.507 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-12T01:13:41.508Z,1741742021.508 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-12T01:13:41.508Z,1741742021.508 [transit:BackseatDriver] Stopped
2025-03-12T01:13:41.508Z,1741742021.508 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-12T01:13:41.508Z,1741742021.508 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-12T01:13:41.508Z,1741742021.508 [transit:PowerOnly] Stopped
2025-03-12T01:13:41.508Z,1741742021.508 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-12T01:13:41.508Z,1741742021.508 [transit:PowerOnly:E.Wait] Stopped
2025-03-12T01:13:41.508Z,1741742021.508 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:13:41.508Z,1741742021.508 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-12T01:13:41.508Z,1741742021.508 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-12T01:13:41.508Z,1741742021.508 [transit:MassHold.Pitch] Stopped
2025-03-12T01:13:41.908Z,1741742021.908 [MissionManager](IMPORTANT): Started mission Default
2025-03-12T01:13:41.908Z,1741742021.908 [Default] Running Loop=1
2025-03-12T01:13:41.908Z,1741742021.908 [Default](DEBUG): Aggregate::initialize Default
2025-03-12T01:13:41.908Z,1741742021.908 [Default:B.GoToSurface] Running Loop=1
2025-03-12T01:13:41.908Z,1741742021.908 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-12T01:13:41.909Z,1741742021.909 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-12T01:13:41.909Z,1741742021.909 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-12T01:13:41.909Z,1741742021.909 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-12T01:13:41.910Z,1741742021.910 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-12T01:13:41.910Z,1741742021.910 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-12T01:13:41.910Z,1741742021.910 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-12T01:13:41.910Z,1741742021.910 [Default:A.Wait] Running Loop=1
2025-03-12T01:13:41.910Z,1741742021.910 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:13:46.509Z,1741742026.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-12T01:13:55.161Z,1741742035.161 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2025-03-12T01:13:55.237Z,1741742035.237 [Default:A.Wait](INFO): Done Waiting.
2025-03-12T01:13:55.237Z,1741742035.237 [Default:A.Wait] Stopped
2025-03-12T01:13:55.237Z,1741742035.237 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:13:55.669Z,1741742035.669 [Default:CheckIn] Running Loop=1
2025-03-12T01:13:55.669Z,1741742035.669 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T01:13:55.669Z,1741742035.669 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T01:13:57.650Z,1741742037.650 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011353.00,A,3647.96482,N,12150.71144,W,0.505,117.31,120325,,,A*7C
2025-03-12T01:13:57.653Z,1741742037.653 [NAL9602](INFO): GPS fix at 20250312T011353: (36.799414, -121.845191)
2025-03-12T01:13:57.688Z,1741742037.688 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T01:13:57.688Z,1741742037.688 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T01:14:04.933Z,1741742044.933 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20250311T233447/Courier0036.lzma
2025-03-12T01:14:05.934Z,1741742045.934 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Courier0036.lzma.bak
2025-03-12T01:14:05.935Z,1741742045.935 [DataOverHttps](INFO): SBD MOMSN=24181335
2025-03-12T01:14:22.343Z,1741742062.343 [DataOverHttps](INFO): Sending 207 bytes from file Logs/20250311T233447/Express0037.lzma
2025-03-12T01:14:23.343Z,1741742063.343 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Express0037.lzma.bak
2025-03-12T01:14:23.344Z,1741742063.344 [DataOverHttps](INFO): SBD MOMSN=24181351
2025-03-12T01:14:24.729Z,1741742064.729 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T01:14:24.730Z,1741742064.730 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-12T01:14:24.730Z,1741742064.730 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-12T01:14:30.375Z,1741742070.375 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-12T01:19:25.343Z,1741742365.343 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-12T01:19:25.343Z,1741742365.343 [Default:CheckIn:C.Wait] Stopped
2025-03-12T01:19:25.343Z,1741742365.343 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-12T01:19:25.344Z,1741742365.344 [Default:CheckIn:D] Running Loop=1
2025-03-12T01:19:25.722Z,1741742365.722 [Default:CheckIn:D] Stopped
2025-03-12T01:19:25.723Z,1741742365.723 [Default:CheckIn:E] Running Loop=1
2025-03-12T01:19:26.132Z,1741742366.132 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  5.730241 min 
2025-03-12T01:19:26.133Z,1741742366.133 [Default:CheckIn:E] Stopped
2025-03-12T01:19:26.133Z,1741742366.133 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-12T01:19:26.133Z,1741742366.133 [Default:CheckIn] Stopped
2025-03-12T01:19:26.133Z,1741742366.133 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T01:19:26.133Z,1741742366.133 [Default:CheckIn](INFO): Running loop #2
2025-03-12T01:19:26.133Z,1741742366.133 [Default:CheckIn] Running Loop=2
2025-03-12T01:19:26.133Z,1741742366.133 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-12T01:19:26.133Z,1741742366.133 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-12T01:19:28.150Z,1741742368.150 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011923.00,A,3647.96101,N,12150.67931,W,0.836,46.33,120325,,,A*48
2025-03-12T01:19:28.153Z,1741742368.153 [NAL9602](INFO): GPS fix at 20250312T011923: (36.799350, -121.844655)
2025-03-12T01:19:28.164Z,1741742368.164 [UniversalFixResidualReporter](INFO): Fix residual: 44.8 %DT, over the last 512.1 m. Residual distance 229.4 m at bearing -62.5 degrees. Fix at (36.7994, -121.8447) with 48.2 m made good.
2025-03-12T01:19:28.165Z,1741742368.165 [Default:CheckIn:Read_GPS] Stopped
2025-03-12T01:19:28.165Z,1741742368.165 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-12T01:19:36.361Z,1741742376.361 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250311T233447/Courier0039.lzma
2025-03-12T01:19:37.364Z,1741742377.364 [DataOverHttps](INFO): Moved sent file to Logs/20250311T233447/Courier0039.lzma.bak
2025-03-12T01:19:37.364Z,1741742377.364 [DataOverHttps](IMPORTANT): SBD MOMSN=24181429, MTMSN=20250312T011932
2025-03-12T01:19:40.265Z,1741742380.265 [NAL9602](INFO): SBD MO Status=0, MOMSN=18912, MT Status=0, MTMSN=0
2025-03-12T01:19:40.265Z,1741742380.265 [NAL9602](INFO): No messages in MT queue
2025-03-12T01:19:46.065Z,1741742386.065 [DataOverHttps](INFO): Received command: restart app
2025-03-12T01:19:46.162Z,1741742386.162 [CommandExec](IMPORTANT): got command restart application
2025-03-12T01:19:47.165Z,1741742387.165 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-03-12T01:19:47.165Z,1741742387.165 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:47.165Z,1741742387.165 [CommandExec](INFO): Uninitializing the command executive.
2025-03-12T01:19:47.165Z,1741742387.165 [CommandExec](INFO): Uninitializing the command scheduler.
2025-03-12T01:19:47.166Z,1741742387.166 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:47.361Z,1741742387.361 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-03-12T01:19:47.361Z,1741742387.361 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-03-12T01:19:47.361Z,1741742387.361 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:47.362Z,1741742387.362 [NavChartDb](INFO): Join timeout helper Thread ID is 4144
2025-03-12T01:19:47.633Z,1741742387.633 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:47.633Z,1741742387.633 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:47.645Z,1741742387.645 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-03-12T01:19:47.645Z,1741742387.645 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:47.645Z,1741742387.645 [Radio_Surface](INFO): Join timeout helper Thread ID is 4145
2025-03-12T01:19:48.045Z,1741742388.045 [Radio_Surface](INFO): Powering down
2025-03-12T01:19:48.046Z,1741742388.046 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:48.046Z,1741742388.046 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:48.057Z,1741742388.057 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-03-12T01:19:48.057Z,1741742388.057 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:48.057Z,1741742388.057 [Onboard](INFO): Join timeout helper Thread ID is 4146
2025-03-12T01:19:48.069Z,1741742388.069 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-12T01:19:52.557Z,1741742392.557 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:52.557Z,1741742392.557 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:52.565Z,1741742392.565 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-03-12T01:19:52.566Z,1741742392.566 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:52.567Z,1741742392.567 [DataOverHttps](INFO): Join timeout helper Thread ID is 4147
2025-03-12T01:19:53.089Z,1741742393.089 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:53.089Z,1741742393.089 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.105Z,1741742393.105 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-03-12T01:19:53.105Z,1741742393.105 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.105Z,1741742393.105 [DAT](INFO): Join timeout helper Thread ID is 4148
2025-03-12T01:19:53.305Z,1741742393.305 [DAT](INFO): Powering down
2025-03-12T01:19:53.377Z,1741742393.377 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:53.377Z,1741742393.377 [DAT](INFO): Powering down
2025-03-12T01:19:53.378Z,1741742393.378 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.397Z,1741742393.397 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-03-12T01:19:53.398Z,1741742393.398 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.398Z,1741742393.398 [BackseatComponent](INFO): Join timeout helper Thread ID is 4149
2025-03-12T01:19:53.461Z,1741742393.461 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:53.461Z,1741742393.461 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.477Z,1741742393.477 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-03-12T01:19:53.477Z,1741742393.477 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.478Z,1741742393.478 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 4150
2025-03-12T01:19:53.601Z,1741742393.601 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:53.601Z,1741742393.601 [WetLabsBB2FL](INFO): Powering down
2025-03-12T01:19:53.602Z,1741742393.602 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.603Z,1741742393.603 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-03-12T01:19:53.603Z,1741742393.603 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.604Z,1741742393.604 [CTD_Seabird](INFO): Join timeout helper Thread ID is 4151
2025-03-12T01:19:53.645Z,1741742393.645 [CTD_Seabird](INFO): Powering down
2025-03-12T01:19:53.657Z,1741742393.657 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:53.657Z,1741742393.657 [CTD_Seabird](INFO): Powering down
2025-03-12T01:19:53.669Z,1741742393.669 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.686Z,1741742393.686 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-03-12T01:19:53.686Z,1741742393.686 [logger ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.686Z,1741742393.686 [logger](INFO): Join timeout helper Thread ID is 4152
2025-03-12T01:19:53.701Z,1741742393.701 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:53.701Z,1741742393.701 [logger ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.717Z,1741742393.717 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-03-12T01:19:53.717Z,1741742393.717 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.718Z,1741742393.718 [CommandLine](INFO): Join timeout helper Thread ID is 4153
2025-03-12T01:19:53.781Z,1741742393.781 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:53.781Z,1741742393.781 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.798Z,1741742393.798 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-03-12T01:19:53.798Z,1741742393.798 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.798Z,1741742393.798 [CommandExec](INFO): Join timeout helper Thread ID is 4154
2025-03-12T01:19:53.800Z,1741742393.800 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-03-12T01:19:53.800Z,1741742393.800 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:53.801Z,1741742393.801 [controlThread](INFO): Join timeout helper Thread ID is 4155
2025-03-12T01:19:53.969Z,1741742393.969 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-12T01:19:53.969Z,1741742393.969 [controlThread](DEBUG): Uninitializing ControlThread
2025-03-12T01:19:53.971Z,1741742393.971 [AHRS_M2](INFO): Powering down
2025-03-12T01:19:54.137Z,1741742394.137 [DVL_micro](INFO): Powering down
2025-03-12T01:19:54.138Z,1741742394.138 [NAL9602](INFO): Powering down
2025-03-12T01:19:54.139Z,1741742394.139 [Sonardyne_Nano](INFO): Powering down
2025-03-12T01:19:54.257Z,1741742394.257 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-03-12T01:19:54.258Z,1741742394.258 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-03-12T01:19:54.258Z,1741742394.258 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-03-12T01:19:54.259Z,1741742394.259 [MissionManager](INFO): Uninitializing Mission Default
2025-03-12T01:19:54.259Z,1741742394.259 [Default] Stopped
2025-03-12T01:19:54.259Z,1741742394.259 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-12T01:19:54.259Z,1741742394.259 [Default:B.GoToSurface] Stopped
2025-03-12T01:19:54.259Z,1741742394.259 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-12T01:19:54.259Z,1741742394.259 [Default:CheckIn] Stopped
2025-03-12T01:19:54.259Z,1741742394.259 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-12T01:19:54.259Z,1741742394.259 [Default:CheckIn:Read_Iridium] Stopped
2025-03-12T01:19:54.263Z,1741742394.263 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-03-12T01:19:54.263Z,1741742394.263 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-03-12T01:19:54.263Z,1741742394.263 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-03-12T01:19:54.264Z,1741742394.264 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-03-12T01:19:54.264Z,1741742394.264 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-03-12T01:19:54.264Z,1741742394.264 [BuoyancyServo](INFO): Powering down
2025-03-12T01:19:54.277Z,1741742394.277 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-12T01:19:54.277Z,1741742394.277 [ElevatorServo](INFO): Powering down
2025-03-12T01:19:54.278Z,1741742394.278 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-03-12T01:19:54.278Z,1741742394.278 [MassServo](INFO): Powering down
2025-03-12T01:19:54.278Z,1741742394.278 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-03-12T01:19:54.279Z,1741742394.279 [RudderServo](INFO): Powering down
2025-03-12T01:19:54.279Z,1741742394.279 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-12T01:19:54.279Z,1741742394.279 [ThrusterHE](INFO): Powering down
2025-03-12T01:19:54.280Z,1741742394.280 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-03-12T01:19:54.281Z,1741742394.281 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-03-12T01:19:54.281Z,1741742394.281 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-03-12T01:19:54.281Z,1741742394.281 [CBIT](DEBUG): Powering off loads.
2025-03-12T01:19:54.292Z,1741742394.292 [CBIT](DEBUG): Disabling WDT.
2025-03-12T01:19:54.305Z,1741742394.305 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-03-12T01:19:54.305Z,1741742394.305 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-03-12T01:19:54.306Z,1741742394.306 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.339Z,1741742394.339 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-03-12T01:19:54.339Z,1741742394.339 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-03-12T01:19:54.353Z,1741742394.353 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.360Z,1741742394.360 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.391Z,1741742394.391 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.393Z,1741742394.393 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.401Z,1741742394.401 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.408Z,1741742394.408 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.450Z,1741742394.450 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.503Z,1741742394.503 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-12T01:19:54.579Z,1741742394.579 [logger ThreadHandler](INFO): Thread cancelled.