2025-04-11T21:21:48.817Z,1744406508.817 [Supervisor](DEBUG): Initializing supervisor.
2025-04-11T21:21:48.821Z,1744406508.821 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-04-11T21:21:48.821Z,1744406508.821 [SyncHandler](INFO): Protected caller Thread ID is 829
2025-04-11T21:21:48.822Z,1744406508.822 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-04-11T21:21:48.823Z,1744406508.823 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-04-11T21:21:48.823Z,1744406508.823 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 830
2025-04-11T21:21:48.827Z,1744406508.827 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-04-11T21:21:48.847Z,1744406508.847 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-04-11T21:21:48.848Z,1744406508.848 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-04-11T21:21:48.849Z,1744406508.849 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 831
2025-04-11T21:21:48.853Z,1744406508.853 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-04-11T21:21:48.854Z,1744406508.854 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-04-11T21:21:48.854Z,1744406508.854 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 832
2025-04-11T21:21:48.857Z,1744406508.857 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-04-11T21:21:48.857Z,1744406508.857 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-04-11T21:21:48.858Z,1744406508.858 [logger ThreadHandler](INFO): Protected caller Thread ID is 833
2025-04-11T21:21:48.862Z,1744406508.862 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-04-11T21:21:48.862Z,1744406508.862 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-04-11T21:21:48.868Z,1744406508.868 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-04-11T21:21:48.974Z,1744406508.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-04-11T21:21:48.976Z,1744406508.976 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-04-11T21:21:49.212Z,1744406509.212 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-04-11T21:21:49.214Z,1744406509.214 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-04-11T21:21:49.496Z,1744406509.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-04-11T21:21:49.498Z,1744406509.498 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-04-11T21:21:49.616Z,1744406509.616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-04-11T21:21:49.618Z,1744406509.618 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-04-11T21:21:50.432Z,1744406510.432 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-04-11T21:21:50.434Z,1744406510.434 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-04-11T21:21:50.958Z,1744406510.958 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-04-11T21:21:50.959Z,1744406510.959 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-04-11T21:21:51.530Z,1744406511.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-04-11T21:21:51.531Z,1744406511.531 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-04-11T21:21:51.979Z,1744406511.979 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-04-11T21:21:52.381Z,1744406512.381 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-04-11T21:21:52.773Z,1744406512.773 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-04-11T21:21:52.774Z,1744406512.774 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-04-11T21:21:53.164Z,1744406513.164 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-04-11T21:21:53.165Z,1744406513.165 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-04-11T21:21:53.403Z,1744406513.403 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-04-11T21:21:53.405Z,1744406513.405 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-04-11T21:21:53.557Z,1744406513.557 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-04-11T21:21:53.557Z,1744406513.557 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-04-11T21:21:53.650Z,1744406513.650 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-04-11T21:21:53.740Z,1744406513.740 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-04-11T21:21:53.942Z,1744406513.942 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-04-11T21:21:53.944Z,1744406513.944 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-04-11T21:21:54.201Z,1744406514.201 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-04-11T21:21:54.203Z,1744406514.203 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2025-04-11T21:21:54.205Z,1744406514.205 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2025-04-11T21:21:54.300Z,1744406514.300 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2025-04-11T21:21:54.579Z,1744406514.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-04-11T21:21:54.580Z,1744406514.580 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2025-04-11T21:21:54.674Z,1744406514.674 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2025-04-11T21:21:54.855Z,1744406514.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2025-04-11T21:21:54.965Z,1744406514.965 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2025-04-11T21:21:55.086Z,1744406515.086 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2025-04-11T21:21:55.208Z,1744406515.208 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2025-04-11T21:21:55.330Z,1744406515.330 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2025-04-11T21:21:55.499Z,1744406515.499 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg
2025-04-11T21:21:55.605Z,1744406515.605 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/workSite.cfg
2025-04-11T21:21:55.701Z,1744406515.701 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2025-04-11T21:21:55.809Z,1744406515.809 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2025-04-11T21:21:55.906Z,1744406515.906 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-04-11T21:21:55.923Z,1744406515.923 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-04-11T21:21:56.147Z,1744406516.147 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-04-11T21:21:56.147Z,1744406516.147 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-04-11T21:21:56.342Z,1744406516.342 [BuoyancyServo] Loaded
2025-04-11T21:21:56.342Z,1744406516.342 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-04-11T21:21:56.366Z,1744406516.366 [ElevatorServo] Loaded
2025-04-11T21:21:56.366Z,1744406516.366 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-04-11T21:21:56.388Z,1744406516.388 [MassServo] Loaded
2025-04-11T21:21:56.389Z,1744406516.389 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-04-11T21:21:56.411Z,1744406516.411 [RudderServo] Loaded
2025-04-11T21:21:56.411Z,1744406516.411 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-04-11T21:21:56.430Z,1744406516.430 [ThrusterHE] Loaded
2025-04-11T21:21:56.430Z,1744406516.430 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-04-11T21:21:56.431Z,1744406516.431 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-04-11T21:21:56.432Z,1744406516.432 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-04-11T21:21:56.632Z,1744406516.632 [SBIT](DEBUG): Construct Startup Built In Test.
2025-04-11T21:21:56.647Z,1744406516.647 [SBIT] Loaded
2025-04-11T21:21:56.648Z,1744406516.648 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-04-11T21:21:56.651Z,1744406516.651 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-04-11T21:21:56.672Z,1744406516.672 [IBIT] Loaded
2025-04-11T21:21:56.672Z,1744406516.672 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-04-11T21:21:56.677Z,1744406516.677 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-04-11T21:21:56.871Z,1744406516.871 [CBIT] Loaded
2025-04-11T21:21:56.871Z,1744406516.871 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-04-11T21:21:56.903Z,1744406516.903 [GFScanner] Loaded
2025-04-11T21:21:56.903Z,1744406516.903 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-04-11T21:21:56.904Z,1744406516.904 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-04-11T21:21:56.904Z,1744406516.904 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-04-11T21:21:57.179Z,1744406517.179 [CTD_Seabird] Loaded
2025-04-11T21:21:57.179Z,1744406517.179 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-04-11T21:21:57.217Z,1744406517.217 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406834E0
2025-04-11T21:21:57.218Z,1744406517.218 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 921
2025-04-11T21:21:57.410Z,1744406517.410 [ESPComponent] Loaded
2025-04-11T21:21:57.410Z,1744406517.410 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-04-11T21:21:57.471Z,1744406517.471 [PAR_Licor] Loaded
2025-04-11T21:21:57.471Z,1744406517.471 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-04-11T21:21:57.729Z,1744406517.729 [WetLabsBB2FL] Loaded
2025-04-11T21:21:57.729Z,1744406517.729 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-04-11T21:21:57.730Z,1744406517.730 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406B34E0
2025-04-11T21:21:57.731Z,1744406517.731 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 922
2025-04-11T21:21:57.731Z,1744406517.731 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-04-11T21:21:57.732Z,1744406517.732 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-04-11T21:21:57.929Z,1744406517.929 [DepthRateCalculator] Loaded
2025-04-11T21:21:57.930Z,1744406517.930 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-04-11T21:21:57.935Z,1744406517.935 [PitchRateCalculator] Loaded
2025-04-11T21:21:57.935Z,1744406517.935 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-04-11T21:21:57.946Z,1744406517.946 [SpeedCalculator] Loaded
2025-04-11T21:21:57.946Z,1744406517.946 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-04-11T21:21:57.951Z,1744406517.951 [YawRateCalculator] Loaded
2025-04-11T21:21:57.951Z,1744406517.951 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-04-11T21:21:57.971Z,1744406517.971 [ElevatorOffsetCalculator] Loaded
2025-04-11T21:21:57.971Z,1744406517.971 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-04-11T21:21:57.972Z,1744406517.972 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-04-11T21:21:57.972Z,1744406517.972 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-04-11T21:21:58.142Z,1744406518.142 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-04-11T21:21:58.143Z,1744406518.143 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-04-11T21:21:58.191Z,1744406518.191 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-04-11T21:21:58.193Z,1744406518.193 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-04-11T21:21:58.334Z,1744406518.334 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-04-11T21:21:58.334Z,1744406518.334 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-04-11T21:21:58.348Z,1744406518.348 [NavChart] Loaded
2025-04-11T21:21:58.348Z,1744406518.348 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-04-11T21:21:58.354Z,1744406518.354 [UniversalFixResidualReporter] Loaded
2025-04-11T21:21:58.354Z,1744406518.354 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-04-11T21:21:58.355Z,1744406518.355 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-04-11T21:21:58.355Z,1744406518.355 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-04-11T21:21:59.241Z,1744406519.241 [AHRS_M2] Loaded
2025-04-11T21:21:59.241Z,1744406519.241 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-04-11T21:21:59.494Z,1744406519.494 [BackseatComponent] Loaded
2025-04-11T21:21:59.494Z,1744406519.494 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-04-11T21:21:59.495Z,1744406519.495 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A7F4E0
2025-04-11T21:21:59.496Z,1744406519.496 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 923
2025-04-11T21:21:59.499Z,1744406519.499 [LcmUniversalReporter] Loaded
2025-04-11T21:21:59.499Z,1744406519.499 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-04-11T21:22:00.245Z,1744406520.245 [BPC1] Loaded
2025-04-11T21:22:00.245Z,1744406520.245 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-04-11T21:22:00.343Z,1744406520.343 [DAT] Loaded
2025-04-11T21:22:00.344Z,1744406520.344 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-04-11T21:22:00.345Z,1744406520.345 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40AAF4E0
2025-04-11T21:22:00.345Z,1744406520.345 [DAT ThreadHandler](INFO): Protected caller Thread ID is 924
2025-04-11T21:22:00.487Z,1744406520.487 [DataOverHttps] Loaded
2025-04-11T21:22:00.487Z,1744406520.487 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-04-11T21:22:00.488Z,1744406520.488 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40ADF4E0
2025-04-11T21:22:00.489Z,1744406520.489 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 925
2025-04-11T21:22:00.512Z,1744406520.512 [Depth_Keller] Loaded
2025-04-11T21:22:00.513Z,1744406520.513 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-04-11T21:22:00.518Z,1744406520.518 [DropWeight] Loaded
2025-04-11T21:22:00.518Z,1744406520.518 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-04-11T21:22:00.559Z,1744406520.559 [DVL_micro] Loaded
2025-04-11T21:22:00.559Z,1744406520.559 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2025-04-11T21:22:00.622Z,1744406520.622 [NAL9602] Loaded
2025-04-11T21:22:00.622Z,1744406520.622 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-04-11T21:22:00.649Z,1744406520.649 [Onboard] Loaded
2025-04-11T21:22:00.649Z,1744406520.649 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-04-11T21:22:00.650Z,1744406520.650 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40B0F4E0
2025-04-11T21:22:00.650Z,1744406520.650 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 926
2025-04-11T21:22:00.656Z,1744406520.656 [PowerOnly](INFO): Adding load control power supply at /dev/loadB1
2025-04-11T21:22:00.670Z,1744406520.670 [PowerOnly] Loaded
2025-04-11T21:22:00.671Z,1744406520.671 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2025-04-11T21:22:00.685Z,1744406520.685 [Power24vConverter] Loaded
2025-04-11T21:22:00.685Z,1744406520.685 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-04-11T21:22:00.701Z,1744406520.701 [Radio_Surface] Loaded
2025-04-11T21:22:00.702Z,1744406520.702 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-04-11T21:22:00.703Z,1744406520.703 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B3F4E0
2025-04-11T21:22:00.703Z,1744406520.703 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 927
2025-04-11T21:22:00.719Z,1744406520.719 [Sonardyne_Nano] Loaded
2025-04-11T21:22:00.720Z,1744406520.720 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-04-11T21:22:00.720Z,1744406520.720 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-04-11T21:22:00.722Z,1744406520.722 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-04-11T21:22:00.808Z,1744406520.808 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-04-11T21:22:00.809Z,1744406520.809 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-04-11T21:22:00.884Z,1744406520.884 [VerticalControl](DEBUG): Construct VerticalControl.
2025-04-11T21:22:00.937Z,1744406520.937 [VerticalControl] Loaded
2025-04-11T21:22:00.937Z,1744406520.937 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-04-11T21:22:00.940Z,1744406520.940 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-04-11T21:22:00.984Z,1744406520.984 [HorizontalControl] Loaded
2025-04-11T21:22:00.985Z,1744406520.985 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-04-11T21:22:00.987Z,1744406520.987 [SpeedControl](DEBUG): Construct SpeedControl.
2025-04-11T21:22:00.989Z,1744406520.989 [SpeedControl] Loaded
2025-04-11T21:22:00.989Z,1744406520.989 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-04-11T21:22:00.992Z,1744406520.992 [LoopControl](DEBUG): Construct LoopControl.
2025-04-11T21:22:00.992Z,1744406520.992 [LoopControl] Loaded
2025-04-11T21:22:00.993Z,1744406520.993 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-04-11T21:22:00.993Z,1744406520.993 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-04-11T21:22:00.994Z,1744406520.994 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-04-11T21:22:01.009Z,1744406521.009 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-04-11T21:22:01.010Z,1744406521.010 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-04-11T21:22:01.426Z,1744406521.426 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-04-11T21:22:01.433Z,1744406521.433 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-04-11T21:22:01.436Z,1744406521.436 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-04-11T21:22:01.447Z,1744406521.447 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-04-11T21:22:01.448Z,1744406521.448 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-04-11T21:22:01.448Z,1744406521.448 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 928
2025-04-11T21:22:01.453Z,1744406521.453 [Supervisor](INFO): Main Thread ID is 822
2025-04-11T21:22:01.453Z,1744406521.453 [Supervisor](DEBUG): Running supervisor.
2025-04-11T21:22:01.453Z,1744406521.453 [CommandExec ThreadHandler](INFO): Handler Thread ID is 929
2025-04-11T21:22:01.454Z,1744406521.454 [CommandExec](INFO): Initializing the command executive.
2025-04-11T21:22:01.456Z,1744406521.456 [CommandLine ThreadHandler](INFO): Handler Thread ID is 930
2025-04-11T21:22:01.458Z,1744406521.458 [controlThread ThreadHandler](INFO): Handler Thread ID is 931
2025-04-11T21:22:01.458Z,1744406521.458 [controlThread](DEBUG): Initializing ControlThread
2025-04-11T21:22:01.460Z,1744406521.460 [SBIT](INFO): Initialize SBIT Component.
2025-04-11T21:22:01.460Z,1744406521.460 [SBIT](IMPORTANT): git: 2025-04-02-2-g1635786d1
2025-04-11T21:22:01.460Z,1744406521.460 [SBIT](INFO): git hash: 1635786d188a1b3aba7073e6184020eb8609012e
2025-04-11T21:22:01.461Z,1744406521.461 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-04-11T21:22:01.462Z,1744406521.462 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-04-11T21:22:01.463Z,1744406521.463 [SBIT](INFO): Beginning SBIT in 67.000000 seconds.
2025-04-11T21:22:01.464Z,1744406521.464 [IBIT](INFO): Initialize IBIT Component.
2025-04-11T21:22:01.465Z,1744406521.465 [CBIT](DEBUG): Initialize CBIT Component.
2025-04-11T21:22:01.466Z,1744406521.466 [logger ThreadHandler](INFO): Handler Thread ID is 932
2025-04-11T21:22:01.476Z,1744406521.476 [CBIT](DEBUG): Initialized mux pins.
2025-04-11T21:22:01.476Z,1744406521.476 [CBIT](DEBUG): Initializing the watchdog timer.
2025-04-11T21:22:01.484Z,1744406521.484 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 933
2025-04-11T21:22:01.485Z,1744406521.485 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-04-11T21:22:01.489Z,1744406521.489 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 935
2025-04-11T21:22:01.492Z,1744406521.492 [WetLabsBB2FL](INFO): Powering up
2025-04-11T21:22:01.494Z,1744406521.494 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 937
2025-04-11T21:22:01.500Z,1744406521.500 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-04-11T21:22:01.500Z,1744406521.500 [CBIT](DEBUG): Initializing heartbeat.
2025-04-11T21:22:01.501Z,1744406521.501 [DAT ThreadHandler](INFO): Handler Thread ID is 938
2025-04-11T21:22:01.502Z,1744406521.502 [DAT](INFO): Powering up
2025-04-11T21:22:01.502Z,1744406521.502 [DAT](DEBUG): Initializing DAT.
2025-04-11T21:22:01.505Z,1744406521.505 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 940
2025-04-11T21:22:01.507Z,1744406521.507 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-04-11T21:22:01.517Z,1744406521.517 [Onboard ThreadHandler](INFO): Handler Thread ID is 941
2025-04-11T21:22:01.534Z,1744406521.534 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 942
2025-04-11T21:22:01.552Z,1744406521.552 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 943
2025-04-11T21:22:01.561Z,1744406521.561 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-04-11T21:22:01.561Z,1744406521.561 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-04-11T21:22:01.561Z,1744406521.561 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-04-11T21:22:01.561Z,1744406521.561 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-04-11T21:22:01.562Z,1744406521.562 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-04-11T21:22:01.562Z,1744406521.562 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-04-11T21:22:01.562Z,1744406521.562 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-04-11T21:22:01.562Z,1744406521.562 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-04-11T21:22:01.572Z,1744406521.572 [CBIT](DEBUG): Deactivating emergency mode.
2025-04-11T21:22:01.612Z,1744406521.612 [CBIT](DEBUG): Backplane powered.
2025-04-11T21:22:01.612Z,1744406521.612 [GFScanner](DEBUG): Initializing GFScanner
2025-04-11T21:22:01.612Z,1744406521.612 [GFScanner](DEBUG): Deactivating GF circuits.
2025-04-11T21:22:01.620Z,1744406521.620 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-04-11T21:22:01.621Z,1744406521.621 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-04-11T21:22:01.621Z,1744406521.621 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-04-11T21:22:01.621Z,1744406521.621 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-04-11T21:22:01.622Z,1744406521.622 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-04-11T21:22:01.623Z,1744406521.623 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-04-11T21:22:01.624Z,1744406521.624 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-04-11T21:22:01.636Z,1744406521.636 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-04-11T21:22:01.637Z,1744406521.637 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-04-11T21:22:01.638Z,1744406521.638 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-04-11T21:22:01.639Z,1744406521.639 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-04-11T21:22:01.639Z,1744406521.639 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-04-11T21:22:01.648Z,1744406521.648 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-04-11T21:22:01.648Z,1744406521.648 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-04-11T21:22:01.662Z,1744406521.662 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-04-11T21:22:01.739Z,1744406521.739 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-04-11T21:22:01.743Z,1744406521.743 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-11T21:22:01.757Z,1744406521.757 [DAT](INFO): Using elevation to construct direction to contact in vehicle frame.
2025-04-11T21:22:01.788Z,1744406521.788 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Startup {
  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-04-11T21:22:01.789Z,1744406521.789 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-04-11T21:22:01.789Z,1744406521.789 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-04-11T21:22:01.795Z,1744406521.795 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-04-11T21:22:01.940Z,1744406521.940 [Radio_Surface](INFO): Powering up
2025-04-11T21:22:02.112Z,1744406522.112 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-04-11T21:22:02.118Z,1744406522.118 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-04-11T21:22:02.119Z,1744406522.119 [Default:A.Wait](DEBUG): Construct Wait.
2025-04-11T21:22:02.137Z,1744406522.137 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-11T21:22:02.174Z,1744406522.174 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-04-11T21:22:02.177Z,1744406522.177 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-04-11T21:22:02.195Z,1744406522.195 [Default:E.Execute](DEBUG): Construct Execute.
2025-04-11T21:22:02.198Z,1744406522.198 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P4H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

    syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-04-11T21:22:02.216Z,1744406522.216 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,PowerOnly,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-04-11T21:22:02.244Z,1744406522.244 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-04-11T21:22:02.372Z,1744406522.372 [Depth_Keller](INFO): Initializing.
2025-04-11T21:22:02.382Z,1744406522.382 [Power24vConverter](INFO): Powering up.
2025-04-11T21:22:02.383Z,1744406522.383 [Sonardyne_Nano](INFO): Initializing.
2025-04-11T21:22:02.408Z,1744406522.408 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-04-11T21:22:02.446Z,1744406522.446 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-04-11T21:22:02.452Z,1744406522.452 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-04-11T21:22:02.453Z,1744406522.453 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-11T21:22:02.460Z,1744406522.460 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-11T21:22:02.461Z,1744406522.461 [MassServo](DEBUG): Initializing EZServoServo.
2025-04-11T21:22:02.468Z,1744406522.468 [MassServo](DEBUG): Initializing MassServo.
2025-04-11T21:22:02.469Z,1744406522.469 [RudderServo](DEBUG): Initializing EZServoServo.
2025-04-11T21:22:02.480Z,1744406522.480 [RudderServo](DEBUG): Initializing RudderServo.
2025-04-11T21:22:02.481Z,1744406522.481 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-11T21:22:02.489Z,1744406522.489 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-11T21:22:02.661Z,1744406522.661 [Depth_Keller](ERROR): Pressure or depth reading out of range: 947.322021 decibar, 0.000000 m
2025-04-11T21:22:02.681Z,1744406522.681 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-04-11T21:22:04.104Z,1744406524.104 [WetLabsBB2FL](INFO): Powering down
2025-04-11T21:22:04.655Z,1744406524.655 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-04-11T21:22:05.893Z,1744406525.893 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213
2025-04-11T21:22:08.104Z,1744406528.104 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-04-11T21:22:13.605Z,1744406533.605 [DAT](INFO): DAT read: 

2025-04-11T21:22:13.607Z,1744406533.607 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-04-11T21:22:15.369Z,1744406535.369 [DAT](INFO): DAT read: MF Frequency Band

2025-04-11T21:22:15.370Z,1744406535.370 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-04-11T21:22:15.371Z,1744406535.371 [DAT](INFO): DAT read: Apr 11 2025 21:22:08 

2025-04-11T21:22:16.629Z,1744406536.629 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-04-11T21:22:16.630Z,1744406536.630 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC

2025-04-11T21:22:16.630Z,1744406536.630 [DAT](INFO): commRate: 1200
2025-04-11T21:22:18.696Z,1744406538.696 [DAT](INFO): entering command mode
2025-04-11T21:22:18.897Z,1744406538.897 [DAT](INFO): DAT read: 

2025-04-11T21:22:18.897Z,1744406538.897 [DAT](INFO): DAT read: user:1>

2025-04-11T21:22:18.897Z,1744406538.897 [DAT](INFO): setting verbose to 3
2025-04-11T21:22:19.149Z,1744406539.149 [DAT](INFO): DAT read: user:1>

2025-04-11T21:22:19.150Z,1744406539.150 [DAT](INFO): DAT read: Verbose         | 3           

2025-04-11T21:22:19.150Z,1744406539.150 [DAT](INFO): set verbose to 3
2025-04-11T21:22:19.150Z,1744406539.150 [DAT](INFO): setting DatVerbose to 27440
2025-04-11T21:22:19.401Z,1744406539.401 [DAT](INFO): DAT read: user:2>

2025-04-11T21:22:19.401Z,1744406539.401 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-04-11T21:22:19.402Z,1744406539.402 [DAT](INFO): set DatVerbose to 27440
2025-04-11T21:22:19.402Z,1744406539.402 [DAT](INFO): setting transmit power to 8
2025-04-11T21:22:19.653Z,1744406539.653 [DAT](INFO): DAT read: user:3>

2025-04-11T21:22:19.654Z,1744406539.654 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-04-11T21:22:19.654Z,1744406539.654 [DAT](INFO): set transmit power to 8
2025-04-11T21:22:19.654Z,1744406539.654 [DAT](INFO): setting local address to 5
2025-04-11T21:22:19.905Z,1744406539.905 [DAT](INFO): DAT read: user:4>

2025-04-11T21:22:19.906Z,1744406539.906 [DAT](INFO): DAT read: LocalAddr       | 5           

2025-04-11T21:22:19.906Z,1744406539.906 [DAT](INFO): set local address to 5
2025-04-11T21:22:19.907Z,1744406539.907 [DAT](INFO): Setting time to: 21:22:19 And date to:4/11/2025
2025-04-11T21:22:20.157Z,1744406540.157 [DAT](INFO): DAT read: user:5>

2025-04-11T21:22:20.158Z,1744406540.158 [DAT](INFO): DAT read: Fri Apr 11, 2025  21:22:19  

2025-04-11T21:22:20.158Z,1744406540.158 [DAT](INFO): Local DAT time set to Fri Apr 11, 2025  21:22:19  

2025-04-11T21:22:30.927Z,1744406550.927 [NAL9602](INFO): Powering up NAL9602
2025-04-11T21:22:41.837Z,1744406561.837 [NAL9602](INFO): NAL9602 initialized
2025-04-11T21:23:00.422Z,1744406580.422 [NAL9602](INFO): SBD MO Status=0, MOMSN=19455, MT Status=0, MTMSN=0
2025-04-11T21:23:00.422Z,1744406580.422 [NAL9602](INFO): No messages in MT queue
2025-04-11T21:23:09.057Z,1744406589.057 [SBIT](IMPORTANT): Beginning Startup BIT
2025-04-11T21:23:09.062Z,1744406589.062 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-04-11T21:23:13.464Z,1744406593.464 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.464881
CHAN A1 (24V): 0.010524
CHAN A2 (12V): -0.008690
CHAN A3 (5V): -0.138134
CHAN B0 (3.3V): -0.011034
CHAN B1 (3.15aV): -0.003862
CHAN B2 (3.15bV): -0.002192
CHAN B3 (GND): -0.005153
OPEN: 0.012322
Full Scale: +/- 1 mA
2025-04-11T21:24:02.758Z,1744406642.758 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004723
2025-04-11T21:24:03.225Z,1744406643.225 [SBIT](IMPORTANT): SBIT PASSED
2025-04-11T21:24:03.225Z,1744406643.225 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-04-11T21:24:03.226Z,1744406643.226 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=5 count;

2025-04-11T21:24:03.226Z,1744406643.226 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool;

2025-04-11T21:24:03.226Z,1744406643.226 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool;

2025-04-11T21:24:03.227Z,1744406643.227 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2025-04-11T21:24:03.227Z,1744406643.227 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=196.148043 cubic_centimeter;

2025-04-11T21:24:03.227Z,1744406643.227 [SBIT](IMPORTANT): VerticalControl.kdPitchMass=0.1 second;

2025-04-11T21:24:03.227Z,1744406643.227 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;

2025-04-11T21:24:03.227Z,1744406643.227 [SBIT](IMPORTANT): VerticalControl.kpPitchMass=0.1 none;

2025-04-11T21:24:03.227Z,1744406643.227 [SBIT](IMPORTANT): VerticalControl.massDeadband=0 millimeter;

2025-04-11T21:24:03.227Z,1744406643.227 [SBIT](IMPORTANT): VerticalControl.massDefault=11.897278 millimeter;

2025-04-11T21:24:03.227Z,1744406643.227 [SBIT](IMPORTANT): VerticalControl.massOnlyForceInt=1 bool;

2025-04-11T21:24:03.501Z,1744406643.501 [MissionManager](IMPORTANT): Started mission Startup
2025-04-11T21:24:03.501Z,1744406643.501 [Startup] Running Loop=1
2025-04-11T21:24:03.502Z,1744406643.502 [Startup](DEBUG): Aggregate::initialize Startup
2025-04-11T21:24:03.502Z,1744406643.502 [Startup:A.GoToSurface] Running Loop=1
2025-04-11T21:24:03.502Z,1744406643.502 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-11T21:24:03.502Z,1744406643.502 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-11T21:24:03.503Z,1744406643.503 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-11T21:24:03.503Z,1744406643.503 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-11T21:24:03.503Z,1744406643.503 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-11T21:24:03.504Z,1744406643.504 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-11T21:24:03.504Z,1744406643.504 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-11T21:24:03.506Z,1744406643.506 [Startup:StartupSatComms] Running Loop=1
2025-04-11T21:24:03.506Z,1744406643.506 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-04-11T21:24:03.506Z,1744406643.506 [Startup:StartupSatComms:A] Running Loop=1
2025-04-11T21:24:03.900Z,1744406643.900 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-04-11T21:25:01.784Z,1744406701.784 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-04-11T21:25:01.785Z,1744406701.785 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-04-11T21:25:01.928Z,1744406701.928 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-04-11T21:25:02.288Z,1744406702.288 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-04-11T21:25:02.288Z,1744406702.288 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-04-11T21:25:02.666Z,1744406702.666 [DataOverHttps](IMPORTANT): SBD MTMSN=20250411T212500
2025-04-11T21:25:03.770Z,1744406703.770 [Startup:StartupSatComms:A](INFO): Timed out from 2025-04-11T21:24:03.5Z
2025-04-11T21:25:03.770Z,1744406703.770 [Startup:StartupSatComms:A] Stopped
2025-04-11T21:25:03.770Z,1744406703.770 [Startup:StartupSatComms:B] Running Loop=1
2025-04-11T21:25:04.186Z,1744406704.186 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-11T21:25:10.419Z,1744406710.419 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250411T185620/Courier0054.lzma
2025-04-11T21:25:10.422Z,1744406710.422 [DataOverHttps](INFO): Received command: sched asap "configset VerticalControl.kpPitchMass 1.25 none persist; configset VerticalControl.kiPitchMass 1.25 1/s persist; configset VerticalControl.kdPitchMass 1.25 s persist; configset VerticalControl.massDeadband 0.05 mm persist" 4mgt6 1 2
2025-04-11T21:25:10.513Z,1744406710.513 [CommandExec](IMPORTANT): got command schedule asap "configset VerticalControl.kpPitchMass 1.25 none persist; configset VerticalControl.kiPitchMass 1.25 1/s persist; configset VerticalControl.kdPitchMass 1.25 s persist; configset VerticalControl.massDeadband 0.05 mm persist" 4mgt6 1 2.000000
2025-04-11T21:25:10.513Z,1744406710.513 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4mgt6
2025-04-11T21:25:10.514Z,1744406710.514 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='4mgt6'): "configset VerticalControl.kpPitchMass 1.25 none persist; configset VerticalControl.kiPitchMass 1.25 1/s persist; configset VerticalControl.kdPitchMass 1.25 s persist; configset VerticalControl.massDeadband 0.05 mm persist", ASAP
2025-04-11T21:25:11.721Z,1744406711.721 [DataOverHttps](INFO): Moved sent file to Logs/20250411T185620/Courier0054.lzma.bak
2025-04-11T21:25:11.722Z,1744406711.722 [DataOverHttps](IMPORTANT): SBD MOMSN=24618931, MTMSN=20250411T212509
2025-04-11T21:25:19.272Z,1744406719.272 [DataOverHttps](INFO): Received command: sched asap " configset VerticalControl.massOnlyForceInt 0 bool persist;" 4mgt6 2 2
2025-04-11T21:25:19.286Z,1744406719.286 [CommandExec](IMPORTANT): got command schedule asap " configset VerticalControl.massOnlyForceInt 0 bool persist;" 4mgt6 2 2.000000
2025-04-11T21:25:19.286Z,1744406719.286 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4mgt6
2025-04-11T21:25:19.288Z,1744406719.288 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='4mgt6'): " configset VerticalControl.massOnlyForceInt 0 bool persist;", ASAP
2025-04-11T21:25:21.508Z,1744406721.508 [CommandExec](IMPORTANT): got command configSet VerticalControl.kpPitchMass 1.25 none persist
2025-04-11T21:25:21.514Z,1744406721.514 [CommandExec](IMPORTANT): got command configSet VerticalControl.kiPitchMass 1.25 reciprocal_second persist
2025-04-11T21:25:21.517Z,1744406721.517 [CommandExec](IMPORTANT): got command configSet VerticalControl.kdPitchMass 1.25 second persist
2025-04-11T21:25:21.519Z,1744406721.519 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDeadband 0.05 millimeter persist
2025-04-11T21:25:22.162Z,1744406722.162 [CommandExec](IMPORTANT): got command configSet VerticalControl.massOnlyForceInt 0 bool persist
2025-04-11T21:25:27.976Z,1744406727.976 [DataOverHttps](INFO): Sending 152 bytes from file Logs/20250411T212148/Courier0000.lzma
2025-04-11T21:25:28.979Z,1744406728.979 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0000.lzma.bak
2025-04-11T21:25:28.979Z,1744406728.979 [DataOverHttps](IMPORTANT): SBD MOMSN=24618936, MTMSN=20250411T212527
2025-04-11T21:25:38.576Z,1744406738.576 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 3 h;set transit.NeedCommsTime 60 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Speed 1.2 m/s;set transit.MaxDepth 15 m;run
2025-04-11T21:25:38.632Z,1744406738.632 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-04-11T21:25:38.632Z,1744406738.632 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-04-11T21:25:38.633Z,1744406738.633 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-04-11T21:25:38.635Z,1744406738.635 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-04-11T21:25:40.130Z,1744406740.130 [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>

2025-04-11T21:25:40.142Z,1744406740.142 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-04-11T21:25:40.147Z,1744406740.147 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-04-11T21:25:40.204Z,1744406740.204 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-04-11T21:25:40.207Z,1744406740.207 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-04-11T21:25:40.222Z,1744406740.222 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-04-11T21:25:40.230Z,1744406740.230 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-04-11T21:25:40.249Z,1744406740.249 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-04-11T21:25:40.251Z,1744406740.251 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-04-11T21:25:40.263Z,1744406740.263 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-04-11T21:25:40.270Z,1744406740.270 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-04-11T21:25:40.298Z,1744406740.298 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-04-11T21:25:40.305Z,1744406740.305 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-04-11T21:25:40.307Z,1744406740.307 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-04-11T21:25:40.328Z,1744406740.328 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-11T21:25:40.328Z,1744406740.328 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-11T21:25:40.329Z,1744406740.329 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-11T21:25:40.738Z,1744406740.738 [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>

2025-04-11T21:25:40.747Z,1744406740.747 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-04-11T21:25:40.750Z,1744406740.750 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-11T21:25:40.753Z,1744406740.753 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-11T21:25:40.756Z,1744406740.756 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-04-11T21:25:40.759Z,1744406740.759 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-11T21:25:40.762Z,1744406740.762 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-11T21:25:40.765Z,1744406740.765 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-04-11T21:25:40.768Z,1744406740.768 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-04-11T21:25:40.776Z,1744406740.776 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-11T21:25:40.826Z,1744406740.826 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:25:40.826Z,1744406740.826 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:25:40.840Z,1744406740.840 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:25:41.096Z,1744406741.096 [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>

2025-04-11T21:25:41.112Z,1744406741.112 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-11T21:25:41.128Z,1744406741.128 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-11T21:25:41.154Z,1744406741.154 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-11T21:25:41.163Z,1744406741.163 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-11T21:25:41.169Z,1744406741.169 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-11T21:25:41.186Z,1744406741.186 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-11T21:25:41.217Z,1744406741.217 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-11T21:25:41.241Z,1744406741.241 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-11T21:25:41.241Z,1744406741.241 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-11T21:25:41.242Z,1744406741.242 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-11T21:25:41.299Z,1744406741.299 [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>

2025-04-11T21:25:41.307Z,1744406741.307 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-04-11T21:25:41.318Z,1744406741.318 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-11T21:25:41.330Z,1744406741.330 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-11T21:25:41.330Z,1744406741.330 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-11T21:25:41.331Z,1744406741.331 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-11T21:25:41.642Z,1744406741.642 [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>

2025-04-11T21:25:41.659Z,1744406741.659 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-04-11T21:25:41.662Z,1744406741.662 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-04-11T21:25:41.673Z,1744406741.673 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-04-11T21:25:41.680Z,1744406741.680 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-04-11T21:25:41.683Z,1744406741.683 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-11T21:25:41.722Z,1744406741.722 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-11T21:25:41.730Z,1744406741.730 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-11T21:25:41.738Z,1744406741.738 [transit:MassHold.Pitch](DEBUG): Construct.
2025-04-11T21:25:41.754Z,1744406741.754 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-04-11T21:25:41.800Z,1744406741.800 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-04-11T21:25:41.803Z,1744406741.803 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-11T21:25:41.873Z,1744406741.873 [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"
  }
}


2025-04-11T21:25:41.874Z,1744406741.874 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-04-11T21:25:50.800Z,1744406750.800 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250411T212148/Courier0004.lzma
2025-04-11T21:25:51.803Z,1744406751.803 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0004.lzma.bak
2025-04-11T21:25:51.803Z,1744406751.803 [DataOverHttps](IMPORTANT): SBD MOMSN=24618941, MTMSN=20250411T212549
2025-04-11T21:25:55.142Z,1744406755.142 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212553.00,A,3647.82837,N,12152.04852,W,0.739,197.48,110425,,,A*7D
2025-04-11T21:25:55.149Z,1744406755.149 [NAL9602](INFO): GPS fix at 20250411T212553: (36.797140, -121.867475)
2025-04-11T21:26:04.073Z,1744406764.073 [Startup:StartupSatComms:B](INFO): Timed out from 2025-04-11T21:25:03.8Z
2025-04-11T21:26:04.073Z,1744406764.073 [Startup:StartupSatComms:B] Stopped
2025-04-11T21:26:04.073Z,1744406764.073 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-04-11T21:26:04.074Z,1744406764.074 [Startup:StartupSatComms] Stopped
2025-04-11T21:26:04.074Z,1744406764.074 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-04-11T21:26:04.075Z,1744406764.075 [Startup](INFO): Completed Startup
2025-04-11T21:26:04.075Z,1744406764.075 [MissionManager](INFO): Startup is completed.
2025-04-11T21:26:04.075Z,1744406764.075 [MissionManager](INFO): Uninitializing Mission Startup
2025-04-11T21:26:04.075Z,1744406764.075 [Startup] Stopped
2025-04-11T21:26:04.075Z,1744406764.075 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-04-11T21:26:04.075Z,1744406764.075 [Startup:A.GoToSurface] Stopped
2025-04-11T21:26:04.075Z,1744406764.075 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-11T21:26:04.428Z,1744406764.428 [MissionManager](IMPORTANT): Started mission Default
2025-04-11T21:26:04.428Z,1744406764.428 [Default] Running Loop=1
2025-04-11T21:26:04.428Z,1744406764.428 [Default](DEBUG): Aggregate::initialize Default
2025-04-11T21:26:04.428Z,1744406764.428 [Default:B.GoToSurface] Running Loop=1
2025-04-11T21:26:04.429Z,1744406764.429 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-11T21:26:04.429Z,1744406764.429 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-11T21:26:04.429Z,1744406764.429 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-11T21:26:04.429Z,1744406764.429 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-11T21:26:04.430Z,1744406764.430 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-11T21:26:04.430Z,1744406764.430 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-11T21:26:04.430Z,1744406764.430 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-11T21:26:04.431Z,1744406764.431 [Default:A.Wait] Running Loop=1
2025-04-11T21:26:04.431Z,1744406764.431 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-11T21:26:05.308Z,1744406765.308 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 3 h;set transit.NeedCommsTime 30 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Speed 1.2 m/s;set transit.MaxDepth 15 m;run
2025-04-11T21:26:05.721Z,1744406765.721 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 3 hour
2025-04-11T21:26:05.722Z,1744406765.722 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 60 minute
2025-04-11T21:26:05.723Z,1744406765.723 [CommandExec](IMPORTANT): got command set transit.Latitude 36.806966 degree
2025-04-11T21:26:05.723Z,1744406765.723 [CommandExec](IMPORTANT): got command set transit.Longitude -121.824326 degree
2025-04-11T21:26:05.725Z,1744406765.725 [CommandExec](IMPORTANT): got command set transit.Speed 1.2 meter_per_second
2025-04-11T21:26:05.726Z,1744406765.726 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2025-04-11T21:26:05.726Z,1744406765.726 [CommandExec](IMPORTANT): got command run
2025-04-11T21:26:05.728Z,1744406765.728 [CommandExec](IMPORTANT): Running 
2025-04-11T21:26:05.813Z,1744406765.813 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-04-11T21:26:05.814Z,1744406765.814 [MissionManager](INFO): Uninitializing Mission transit
2025-04-11T21:26:05.894Z,1744406765.894 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-04-11T21:26:05.894Z,1744406765.894 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-04-11T21:26:05.904Z,1744406765.904 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-04-11T21:26:06.994Z,1744406766.994 [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>

2025-04-11T21:26:07.003Z,1744406767.003 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-04-11T21:26:07.005Z,1744406767.005 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-04-11T21:26:07.007Z,1744406767.007 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-04-11T21:26:07.010Z,1744406767.010 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-04-11T21:26:07.012Z,1744406767.012 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-04-11T21:26:07.014Z,1744406767.014 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-04-11T21:26:07.077Z,1744406767.077 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-04-11T21:26:07.079Z,1744406767.079 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-04-11T21:26:07.098Z,1744406767.098 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-04-11T21:26:07.112Z,1744406767.112 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-04-11T21:26:07.114Z,1744406767.114 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-04-11T21:26:07.124Z,1744406767.124 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-04-11T21:26:07.126Z,1744406767.126 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-04-11T21:26:07.127Z,1744406767.127 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-11T21:26:07.127Z,1744406767.127 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-11T21:26:07.144Z,1744406767.144 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-11T21:26:07.578Z,1744406767.578 [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>

2025-04-11T21:26:07.582Z,1744406767.582 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-04-11T21:26:07.585Z,1744406767.585 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-11T21:26:07.587Z,1744406767.587 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-11T21:26:07.589Z,1744406767.589 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-04-11T21:26:07.591Z,1744406767.591 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-11T21:26:07.593Z,1744406767.593 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-11T21:26:07.596Z,1744406767.596 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-04-11T21:26:07.598Z,1744406767.598 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-04-11T21:26:07.604Z,1744406767.604 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-11T21:26:07.621Z,1744406767.621 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:26:07.621Z,1744406767.621 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:26:07.622Z,1744406767.622 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:26:07.921Z,1744406767.921 [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>

2025-04-11T21:26:07.931Z,1744406767.931 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-11T21:26:07.939Z,1744406767.939 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-11T21:26:07.946Z,1744406767.946 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-11T21:26:07.954Z,1744406767.954 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-11T21:26:07.955Z,1744406767.955 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-11T21:26:07.964Z,1744406767.964 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-11T21:26:07.970Z,1744406767.970 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-11T21:26:08.023Z,1744406768.023 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-11T21:26:08.023Z,1744406768.023 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-11T21:26:08.060Z,1744406768.060 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-11T21:26:08.110Z,1744406768.110 [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>

2025-04-11T21:26:08.118Z,1744406768.118 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-04-11T21:26:08.121Z,1744406768.121 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-11T21:26:08.123Z,1744406768.123 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-11T21:26:08.123Z,1744406768.123 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-11T21:26:08.125Z,1744406768.125 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-11T21:26:08.331Z,1744406768.331 [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>

2025-04-11T21:26:08.339Z,1744406768.339 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-04-11T21:26:08.359Z,1744406768.359 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-04-11T21:26:08.365Z,1744406768.365 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-04-11T21:26:08.367Z,1744406768.367 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-04-11T21:26:08.374Z,1744406768.374 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-11T21:26:08.388Z,1744406768.388 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-11T21:26:08.390Z,1744406768.390 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-11T21:26:08.481Z,1744406768.481 [transit:MassHold.Pitch](DEBUG): Construct.
2025-04-11T21:26:08.517Z,1744406768.517 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-04-11T21:26:08.537Z,1744406768.537 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-04-11T21:26:08.552Z,1744406768.552 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-11T21:26:08.621Z,1744406768.621 [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"
  }
}


2025-04-11T21:26:08.622Z,1744406768.622 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-04-11T21:26:17.862Z,1744406777.862 [Default:A.Wait](INFO): Done Waiting.
2025-04-11T21:26:17.862Z,1744406777.862 [Default:A.Wait] Stopped
2025-04-11T21:26:17.862Z,1744406777.862 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T21:26:18.263Z,1744406778.263 [Default:CheckIn] Running Loop=1
2025-04-11T21:26:18.263Z,1744406778.263 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-11T21:26:18.263Z,1744406778.263 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-11T21:26:18.741Z,1744406778.741 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-11T21:26:20.200Z,1744406780.200 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212618.00,A,3647.82544,N,12152.04986,W,0.525,171.81,110425,,,A*72
2025-04-11T21:26:20.202Z,1744406780.202 [NAL9602](INFO): GPS fix at 20250411T212618: (36.797091, -121.867498)
2025-04-11T21:26:20.221Z,1744406780.221 [Default:CheckIn:Read_GPS] Stopped
2025-04-11T21:26:20.222Z,1744406780.222 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-11T21:26:20.643Z,1744406780.643 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-11T21:26:21.769Z,1744406781.769 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250411T212148/Courier0007.lzma
2025-04-11T21:26:23.318Z,1744406783.318 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0007.lzma.bak
2025-04-11T21:26:23.318Z,1744406783.318 [DataOverHttps](INFO): SBD MOMSN=24618944
2025-04-11T21:26:35.925Z,1744406795.925 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 3 hour
2025-04-11T21:26:35.926Z,1744406795.926 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-04-11T21:26:35.927Z,1744406795.927 [CommandExec](IMPORTANT): got command set transit.Latitude 36.806966 degree
2025-04-11T21:26:35.948Z,1744406795.948 [CommandExec](IMPORTANT): got command set transit.Longitude -121.824326 degree
2025-04-11T21:26:35.949Z,1744406795.949 [CommandExec](IMPORTANT): got command set transit.Speed 1.2 meter_per_second
2025-04-11T21:26:35.949Z,1744406795.949 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2025-04-11T21:26:35.950Z,1744406795.950 [CommandExec](IMPORTANT): got command run
2025-04-11T21:26:35.968Z,1744406795.968 [CommandExec](IMPORTANT): Running 
2025-04-11T21:26:36.204Z,1744406796.204 [Default] Stopped
2025-04-11T21:26:36.204Z,1744406796.204 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-11T21:26:36.204Z,1744406796.204 [Default:B.GoToSurface] Stopped
2025-04-11T21:26:36.204Z,1744406796.204 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-11T21:26:36.204Z,1744406796.204 [Default:CheckIn] Stopped
2025-04-11T21:26:36.204Z,1744406796.204 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-11T21:26:36.204Z,1744406796.204 [Default:CheckIn:Read_Iridium] Stopped
2025-04-11T21:26:36.205Z,1744406796.205 [MissionManager](IMPORTANT): Started mission transit
2025-04-11T21:26:36.205Z,1744406796.205 [transit] Running Loop=1
2025-04-11T21:26:36.205Z,1744406796.205 [transit](DEBUG): Aggregate::initialize transit
2025-04-11T21:26:36.205Z,1744406796.205 [transit:StandardEnvelopes] Running Loop=1
2025-04-11T21:26:36.205Z,1744406796.205 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-04-11T21:26:36.205Z,1744406796.205 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-11T21:26:36.205Z,1744406796.205 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-11T21:26:36.206Z,1744406796.206 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-11T21:26:36.206Z,1744406796.206 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-11T21:26:36.206Z,1744406796.206 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-11T21:26:36.206Z,1744406796.206 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-11T21:26:36.206Z,1744406796.206 [transit:BackseatDriver] Running Loop=1
2025-04-11T21:26:36.206Z,1744406796.206 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-04-11T21:26:36.206Z,1744406796.206 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-11T21:26:36.206Z,1744406796.206 [transit:PowerOnly] Running Loop=1
2025-04-11T21:26:36.206Z,1744406796.206 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-04-11T21:26:36.207Z,1744406796.207 [transit:PowerOnly:A] Running Loop=1
2025-04-11T21:26:36.207Z,1744406796.207 [transit:PowerOnly:B] Running Loop=1
2025-04-11T21:26:36.207Z,1744406796.207 [transit:PowerOnly:C] Running Loop=1
2025-04-11T21:26:36.207Z,1744406796.207 [transit:PowerOnly:D] Running Loop=1
2025-04-11T21:26:36.207Z,1744406796.207 [transit:PowerOnly:E.Wait] Running Loop=1
2025-04-11T21:26:36.207Z,1744406796.207 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-11T21:26:36.207Z,1744406796.207 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-11T21:26:36.207Z,1744406796.207 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-11T21:26:36.207Z,1744406796.207 [transit:MassHold.Pitch] Running Loop=1
2025-04-11T21:26:36.207Z,1744406796.207 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-04-11T21:26:36.212Z,1744406796.212 [transit:B] Running Loop=1
2025-04-11T21:26:36.213Z,1744406796.213 [transit:MassHold.Pitch] Running Loop=1
2025-04-11T21:26:36.213Z,1744406796.213 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-11T21:26:36.213Z,1744406796.213 [transit:PowerOnly] Running Loop=1
2025-04-11T21:26:36.214Z,1744406796.214 [transit:PowerOnly:D] Stopped
2025-04-11T21:26:36.214Z,1744406796.214 [transit:PowerOnly:C] Stopped
2025-04-11T21:26:36.214Z,1744406796.214 [transit:PowerOnly:B] Stopped
2025-04-11T21:26:36.214Z,1744406796.214 [transit:PowerOnly:A] Stopped
2025-04-11T21:26:36.214Z,1744406796.214 [transit:BackseatDriver] Running Loop=1
2025-04-11T21:26:36.214Z,1744406796.214 [transit:StandardEnvelopes] Running Loop=1
2025-04-11T21:26:36.214Z,1744406796.214 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-11T21:26:36.215Z,1744406796.215 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-11T21:26:36.220Z,1744406796.220 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-11T21:26:36.221Z,1744406796.221 [transit:B] Stopped
2025-04-11T21:26:36.221Z,1744406796.221 [transit:C] Running Loop=1
2025-04-11T21:26:36.637Z,1744406796.637 [transit:C] Stopped
2025-04-11T21:26:36.637Z,1744406796.637 [transit:E] Running Loop=1
2025-04-11T21:26:37.023Z,1744406797.023 [transit:E] Stopped
2025-04-11T21:26:37.023Z,1744406797.023 [transit:F] Running Loop=1
2025-04-11T21:26:37.025Z,1744406797.025 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.500000m. At depth:0.326019m.
2025-04-11T21:26:37.427Z,1744406797.427 [transit:F] Stopped
2025-04-11T21:26:37.427Z,1744406797.427 [transit:G] Running Loop=1
2025-04-11T21:26:37.811Z,1744406797.811 [transit:G] Stopped
2025-04-11T21:26:37.811Z,1744406797.811 [transit:Transit] Running Loop=1
2025-04-11T21:26:37.811Z,1744406797.811 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-04-11T21:26:37.811Z,1744406797.811 [transit:Transit:A.Pitch] Running Loop=1
2025-04-11T21:26:37.811Z,1744406797.811 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-04-11T21:26:37.811Z,1744406797.811 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-11T21:26:37.812Z,1744406797.812 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-04-11T21:26:37.812Z,1744406797.812 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-04-11T21:26:37.812Z,1744406797.812 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-11T21:26:37.814Z,1744406797.814 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-04-11T21:26:38.303Z,1744406798.303 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-04-11T21:26:38.304Z,1744406798.304 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-11T21:26:38.305Z,1744406798.305 [transit:Transit:A.Pitch] Running Loop=1
2025-04-11T21:26:38.313Z,1744406798.313 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-04-11T21:26:38.313Z,1744406798.313 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-04-11T21:26:38.314Z,1744406798.314 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-04-11T21:26:46.233Z,1744406806.233 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250411T212148/Courier0010.lzma
2025-04-11T21:26:47.226Z,1744406807.226 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0010.lzma.bak
2025-04-11T21:26:47.226Z,1744406807.226 [DataOverHttps](INFO): SBD MOMSN=24618954
2025-04-11T21:26:52.615Z,1744406812.615 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-11T21:27:11.252Z,1744406831.252 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-04-11T21:27:11.356Z,1744406831.356 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-04-11T21:27:11.357Z,1744406831.357 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-04-11T21:27:11.357Z,1744406831.357 [ThrusterHE] Communications Fault, FailCount= 1
2025-04-11T21:27:11.357Z,1744406831.357 [ThrusterHE](ERROR): Communications Fault
2025-04-11T21:27:11.365Z,1744406831.365 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-04-11T21:27:11.705Z,1744406831.705 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-11T21:27:11.705Z,1744406831.705 [ThrusterHE](INFO): Powering down
2025-04-11T21:27:12.412Z,1744406832.412 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-11T21:27:12.529Z,1744406832.529 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-11T21:27:12.535Z,1744406832.535 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-11T21:27:12.535Z,1744406832.535 [ThrusterHE] No Fault, FailCount= 1
2025-04-11T21:27:19.848Z,1744406839.848 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-04-11T21:27:19.936Z,1744406839.936 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-04-11T21:27:19.936Z,1744406839.936 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-04-11T21:27:19.936Z,1744406839.936 [ThrusterHE] Communications Fault, FailCount= 2
2025-04-11T21:27:19.936Z,1744406839.936 [ThrusterHE](ERROR): Communications Fault
2025-04-11T21:27:19.940Z,1744406839.940 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-04-11T21:27:20.208Z,1744406840.208 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-11T21:27:20.209Z,1744406840.209 [ThrusterHE](INFO): Powering down
2025-04-11T21:27:21.331Z,1744406841.331 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-11T21:27:21.331Z,1744406841.331 [ThrusterHE] No Fault, FailCount= 2
2025-04-11T21:27:21.761Z,1744406841.761 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-11T21:27:21.761Z,1744406841.761 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-11T21:27:33.674Z,1744406853.674 [DVL_micro](ERROR): Failed to parse:677,-00069,-00508,+00000,A
2025-04-11T21:27:38.440Z,1744406858.440 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T21:28:18.477Z,1744406898.477 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-04-11T21:28:18.564Z,1744406898.564 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-04-11T21:28:18.564Z,1744406898.564 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-04-11T21:28:18.564Z,1744406898.564 [ThrusterHE] Communications Fault, FailCount= 3
2025-04-11T21:28:18.564Z,1744406898.564 [ThrusterHE](ERROR): Communications Fault
2025-04-11T21:28:18.586Z,1744406898.586 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-04-11T21:28:18.829Z,1744406898.829 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-11T21:28:18.829Z,1744406898.829 [ThrusterHE](INFO): Powering down
2025-04-11T21:28:19.665Z,1744406899.665 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-11T21:28:19.785Z,1744406899.785 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-11T21:28:19.788Z,1744406899.788 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-11T21:28:19.788Z,1744406899.788 [ThrusterHE] No Fault, FailCount= 3
2025-04-11T21:28:25.222Z,1744406905.222 [DataOverHttps](IMPORTANT): SBD MTMSN=20250411T212822
2025-04-11T21:28:28.777Z,1744406908.777 [DVL_micro](ERROR): Failed to parse:
:SA,-01.99,+12.27,015.0
2025-04-11T21:28:33.796Z,1744406913.796 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 3 h;set transit.NeedCommsTime 30 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Speed 1 m/s;set transit.MaxDepth 15 m;run
2025-04-11T21:28:33.835Z,1744406913.835 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-04-11T21:28:33.840Z,1744406913.840 [MissionManager](INFO): Uninitializing Mission transit
2025-04-11T21:28:33.840Z,1744406913.840 [transit] Stopped
2025-04-11T21:28:33.840Z,1744406913.840 [transit](DEBUG): Aggregate::uninitialize transit
2025-04-11T21:28:33.841Z,1744406913.841 [transit:StandardEnvelopes] Stopped
2025-04-11T21:28:33.841Z,1744406913.841 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-04-11T21:28:33.841Z,1744406913.841 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-11T21:28:33.841Z,1744406913.841 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-11T21:28:33.841Z,1744406913.841 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-11T21:28:33.841Z,1744406913.841 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-11T21:28:33.841Z,1744406913.841 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-11T21:28:33.841Z,1744406913.841 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-11T21:28:33.841Z,1744406913.841 [transit:BackseatDriver] Stopped
2025-04-11T21:28:33.841Z,1744406913.841 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-04-11T21:28:33.841Z,1744406913.841 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-04-11T21:28:33.841Z,1744406913.841 [transit:PowerOnly] Stopped
2025-04-11T21:28:33.842Z,1744406913.842 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-04-11T21:28:33.842Z,1744406913.842 [transit:PowerOnly:E.Wait] Stopped
2025-04-11T21:28:33.842Z,1744406913.842 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T21:28:33.842Z,1744406913.842 [transit:BuoyancyHold.Buoyancy] Stopped
2025-04-11T21:28:33.842Z,1744406913.842 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-11T21:28:33.842Z,1744406913.842 [transit:MassHold.Pitch] Stopped
2025-04-11T21:28:33.842Z,1744406913.842 [transit:Transit] Stopped
2025-04-11T21:28:33.842Z,1744406913.842 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-04-11T21:28:33.842Z,1744406913.842 [transit:Transit:A.Pitch] Stopped
2025-04-11T21:28:33.842Z,1744406913.842 [transit:Transit:B.SetSpeed] Stopped
2025-04-11T21:28:33.842Z,1744406913.842 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-04-11T21:28:33.842Z,1744406913.842 [transit:Transit:Wpt1.Waypoint] Stopped
2025-04-11T21:28:33.842Z,1744406913.842 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-11T21:28:33.904Z,1744406913.904 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-04-11T21:28:33.904Z,1744406913.904 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-04-11T21:28:33.906Z,1744406913.906 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-04-11T21:28:35.599Z,1744406915.599 [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>

2025-04-11T21:28:35.604Z,1744406915.604 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-04-11T21:28:35.606Z,1744406915.606 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-04-11T21:28:35.609Z,1744406915.609 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-04-11T21:28:35.611Z,1744406915.611 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-04-11T21:28:35.681Z,1744406915.681 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-04-11T21:28:35.683Z,1744406915.683 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-04-11T21:28:35.695Z,1744406915.695 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-04-11T21:28:35.697Z,1744406915.697 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-04-11T21:28:35.700Z,1744406915.700 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-04-11T21:28:35.702Z,1744406915.702 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-04-11T21:28:35.704Z,1744406915.704 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-04-11T21:28:35.706Z,1744406915.706 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-04-11T21:28:35.716Z,1744406915.716 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-04-11T21:28:35.717Z,1744406915.717 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-11T21:28:35.717Z,1744406915.717 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-11T21:28:35.718Z,1744406915.718 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-11T21:28:36.426Z,1744406916.427 [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>

2025-04-11T21:28:36.475Z,1744406916.475 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-04-11T21:28:36.482Z,1744406916.482 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-11T21:28:36.488Z,1744406916.488 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-11T21:28:36.491Z,1744406916.491 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-04-11T21:28:36.497Z,1744406916.497 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-11T21:28:36.499Z,1744406916.499 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-11T21:28:36.507Z,1744406916.507 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-04-11T21:28:36.513Z,1744406916.513 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-04-11T21:28:36.611Z,1744406916.611 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-11T21:28:36.701Z,1744406916.701 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:28:36.712Z,1744406916.712 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:28:36.713Z,1744406916.713 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-11T21:28:36.928Z,1744406916.928 [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>

2025-04-11T21:28:36.936Z,1744406916.936 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-11T21:28:36.938Z,1744406916.938 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-11T21:28:36.945Z,1744406916.945 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-11T21:28:36.947Z,1744406916.947 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-11T21:28:36.952Z,1744406916.952 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-11T21:28:37.014Z,1744406917.014 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-11T21:28:37.053Z,1744406917.053 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-11T21:28:37.092Z,1744406917.092 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-11T21:28:37.092Z,1744406917.092 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-11T21:28:37.093Z,1744406917.093 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-11T21:28:37.171Z,1744406917.171 [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>

2025-04-11T21:28:37.184Z,1744406917.184 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-04-11T21:28:37.186Z,1744406917.186 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-11T21:28:37.193Z,1744406917.193 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-11T21:28:37.193Z,1744406917.193 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-11T21:28:37.194Z,1744406917.194 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-11T21:28:37.574Z,1744406917.574 [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>

2025-04-11T21:28:37.582Z,1744406917.582 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-04-11T21:28:37.583Z,1744406917.583 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-04-11T21:28:37.590Z,1744406917.590 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-04-11T21:28:37.632Z,1744406917.632 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-04-11T21:28:37.635Z,1744406917.635 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-11T21:28:37.672Z,1744406917.672 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-11T21:28:37.674Z,1744406917.674 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-11T21:28:37.681Z,1744406917.681 [transit:MassHold.Pitch](DEBUG): Construct.
2025-04-11T21:28:37.691Z,1744406917.691 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-04-11T21:28:37.708Z,1744406917.708 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-04-11T21:28:37.711Z,1744406917.711 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-11T21:28:37.749Z,1744406917.749 [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"
  }
}


2025-04-11T21:28:37.749Z,1744406917.749 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-04-11T21:28:37.849Z,1744406917.849 [MissionManager](IMPORTANT): Started mission Default
2025-04-11T21:28:37.850Z,1744406917.850 [Default] Running Loop=1
2025-04-11T21:28:37.850Z,1744406917.850 [Default](DEBUG): Aggregate::initialize Default
2025-04-11T21:28:37.850Z,1744406917.850 [Default:B.GoToSurface] Running Loop=1
2025-04-11T21:28:37.850Z,1744406917.850 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-11T21:28:37.850Z,1744406917.850 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-11T21:28:37.850Z,1744406917.850 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-11T21:28:37.851Z,1744406917.851 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-11T21:28:37.851Z,1744406917.851 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-11T21:28:37.851Z,1744406917.851 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-11T21:28:37.876Z,1744406917.876 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-11T21:28:37.876Z,1744406917.876 [Default:A.Wait] Running Loop=1
2025-04-11T21:28:37.876Z,1744406917.876 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-11T21:28:51.177Z,1744406931.177 [Default:A.Wait](INFO): Done Waiting.
2025-04-11T21:28:51.177Z,1744406931.177 [Default:A.Wait] Stopped
2025-04-11T21:28:51.178Z,1744406931.178 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T21:28:51.577Z,1744406931.577 [Default:CheckIn] Running Loop=1
2025-04-11T21:28:51.578Z,1744406931.578 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-11T21:28:51.578Z,1744406931.578 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-11T21:28:53.598Z,1744406933.598 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212851.00,A,3647.85307,N,12152.03967,W,1.050,319.04,110425,,,A*78
2025-04-11T21:28:53.604Z,1744406933.604 [NAL9602](INFO): GPS fix at 20250411T212851: (36.797551, -121.867328)
2025-04-11T21:28:53.623Z,1744406933.623 [Default:CheckIn:Read_GPS] Stopped
2025-04-11T21:28:53.623Z,1744406933.623 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-11T21:28:53.822Z,1744406933.822 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 3 hour
2025-04-11T21:28:53.823Z,1744406933.823 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-04-11T21:28:53.823Z,1744406933.823 [CommandExec](IMPORTANT): got command set transit.Latitude 36.806966 degree
2025-04-11T21:28:53.824Z,1744406933.824 [CommandExec](IMPORTANT): got command set transit.Longitude -121.824326 degree
2025-04-11T21:28:53.825Z,1744406933.825 [CommandExec](IMPORTANT): got command set transit.Speed 1 meter_per_second
2025-04-11T21:28:53.826Z,1744406933.826 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2025-04-11T21:28:53.826Z,1744406933.826 [CommandExec](IMPORTANT): got command run
2025-04-11T21:28:53.828Z,1744406933.828 [CommandExec](IMPORTANT): Running 
2025-04-11T21:28:54.023Z,1744406934.023 [Default] Stopped
2025-04-11T21:28:54.023Z,1744406934.023 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-11T21:28:54.023Z,1744406934.023 [Default:B.GoToSurface] Stopped
2025-04-11T21:28:54.023Z,1744406934.023 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-11T21:28:54.023Z,1744406934.023 [Default:CheckIn] Stopped
2025-04-11T21:28:54.024Z,1744406934.024 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-11T21:28:54.024Z,1744406934.024 [Default:CheckIn:Read_Iridium] Stopped
2025-04-11T21:28:54.024Z,1744406934.024 [MissionManager](IMPORTANT): Started mission transit
2025-04-11T21:28:54.024Z,1744406934.024 [transit] Running Loop=1
2025-04-11T21:28:54.024Z,1744406934.024 [transit](DEBUG): Aggregate::initialize transit
2025-04-11T21:28:54.024Z,1744406934.024 [transit:StandardEnvelopes] Running Loop=1
2025-04-11T21:28:54.025Z,1744406934.025 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-04-11T21:28:54.025Z,1744406934.025 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-11T21:28:54.025Z,1744406934.025 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-11T21:28:54.025Z,1744406934.025 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-11T21:28:54.025Z,1744406934.025 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-11T21:28:54.025Z,1744406934.025 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-11T21:28:54.025Z,1744406934.025 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-11T21:28:54.025Z,1744406934.025 [transit:BackseatDriver] Running Loop=1
2025-04-11T21:28:54.025Z,1744406934.025 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-04-11T21:28:54.026Z,1744406934.026 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-11T21:28:54.026Z,1744406934.026 [transit:PowerOnly] Running Loop=1
2025-04-11T21:28:54.026Z,1744406934.026 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-04-11T21:28:54.026Z,1744406934.026 [transit:PowerOnly:A] Running Loop=1
2025-04-11T21:28:54.026Z,1744406934.026 [transit:PowerOnly:B] Running Loop=1
2025-04-11T21:28:54.026Z,1744406934.026 [transit:PowerOnly:C] Running Loop=1
2025-04-11T21:28:54.026Z,1744406934.026 [transit:PowerOnly:D] Running Loop=1
2025-04-11T21:28:54.026Z,1744406934.026 [transit:PowerOnly:E.Wait] Running Loop=1
2025-04-11T21:28:54.026Z,1744406934.026 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-11T21:28:54.026Z,1744406934.026 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-11T21:28:54.026Z,1744406934.026 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-11T21:28:54.026Z,1744406934.026 [transit:MassHold.Pitch] Running Loop=1
2025-04-11T21:28:54.027Z,1744406934.027 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-04-11T21:28:54.027Z,1744406934.027 [transit:B] Running Loop=1
2025-04-11T21:28:54.027Z,1744406934.027 [transit:MassHold.Pitch] Running Loop=1
2025-04-11T21:28:54.028Z,1744406934.028 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-11T21:28:54.028Z,1744406934.028 [transit:PowerOnly] Running Loop=1
2025-04-11T21:28:54.029Z,1744406934.029 [transit:PowerOnly:D] Stopped
2025-04-11T21:28:54.029Z,1744406934.029 [transit:PowerOnly:C] Stopped
2025-04-11T21:28:54.029Z,1744406934.029 [transit:PowerOnly:B] Stopped
2025-04-11T21:28:54.029Z,1744406934.029 [transit:PowerOnly:A] Stopped
2025-04-11T21:28:54.029Z,1744406934.029 [transit:BackseatDriver] Running Loop=1
2025-04-11T21:28:54.029Z,1744406934.029 [transit:StandardEnvelopes] Running Loop=1
2025-04-11T21:28:54.029Z,1744406934.029 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-11T21:28:54.029Z,1744406934.029 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-11T21:28:54.030Z,1744406934.030 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-11T21:28:54.030Z,1744406934.030 [transit:B] Stopped
2025-04-11T21:28:54.030Z,1744406934.030 [transit:C] Running Loop=1
2025-04-11T21:28:54.415Z,1744406934.415 [transit:C] Stopped
2025-04-11T21:28:54.415Z,1744406934.415 [transit:E] Running Loop=1
2025-04-11T21:28:54.809Z,1744406934.809 [transit:E] Stopped
2025-04-11T21:28:54.809Z,1744406934.809 [transit:F] Running Loop=1
2025-04-11T21:28:55.203Z,1744406935.203 [transit:F] Stopped
2025-04-11T21:28:55.204Z,1744406935.204 [transit:G] Running Loop=1
2025-04-11T21:28:55.653Z,1744406935.653 [transit:G] Stopped
2025-04-11T21:28:55.654Z,1744406935.654 [transit:Transit] Running Loop=1
2025-04-11T21:28:55.654Z,1744406935.654 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-04-11T21:28:55.654Z,1744406935.654 [transit:Transit:A.Pitch] Running Loop=1
2025-04-11T21:28:55.654Z,1744406935.654 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-04-11T21:28:55.654Z,1744406935.654 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-11T21:28:55.654Z,1744406935.654 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-04-11T21:28:55.654Z,1744406935.654 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-04-11T21:28:55.654Z,1744406935.654 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-11T21:28:55.656Z,1744406935.656 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-04-11T21:28:55.657Z,1744406935.657 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.650000m. At depth:0.112855m.
2025-04-11T21:28:56.010Z,1744406936.010 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-04-11T21:28:56.011Z,1744406936.011 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-11T21:28:56.011Z,1744406936.011 [transit:Transit:A.Pitch] Running Loop=1
2025-04-11T21:29:16.205Z,1744406956.205 [NAL9602](INFO): SBD MO Status=0, MOMSN=19456, MT Status=0, MTMSN=0
2025-04-11T21:29:16.205Z,1744406956.205 [NAL9602](INFO): No messages in MT queue
2025-04-11T21:29:37.475Z,1744406977.475 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-04-11T21:29:37.475Z,1744406977.475 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-04-11T21:29:37.476Z,1744406977.476 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-04-11T21:29:37.479Z,1744406977.479 [BPC1](INFO): Received data from all battery sticks.
2025-04-11T21:29:46.768Z,1744406986.768 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-11T21:30:28.720Z,1744407028.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T21:30:35.300Z,1744407035.300 [Radio_Surface](INFO): Powering down
2025-04-11T21:30:59.844Z,1744407059.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T21:31:00.848Z,1744407060.848 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-11T21:32:07.113Z,1744407127.113 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.927139
2025-04-11T21:34:10.352Z,1744407250.352 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-04-11T21:38:07.666Z,1744407487.666 [DVL_micro](ERROR): Failed to parse:
:999.99
2025-04-11T21:54:40.077Z,1744408480.077 [DVL_micro](ERROR): Failed to parse:
:WI,-00121,+00196,+00469,+00000,A
2025-04-11T21:58:53.976Z,1744408733.976 [transit:NeedComms] Running Loop=1
2025-04-11T21:58:53.976Z,1744408733.976 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-04-11T21:58:53.976Z,1744408733.976 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-04-11T21:58:53.976Z,1744408733.976 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-11T21:58:53.977Z,1744408733.977 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-11T21:58:53.977Z,1744408733.977 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-11T21:58:53.978Z,1744408733.978 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-11T21:58:53.978Z,1744408733.978 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-11T21:58:53.978Z,1744408733.978 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-11T21:58:53.979Z,1744408733.979 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-11T21:58:53.981Z,1744408733.981 [transit:NeedComms:A] Running Loop=1
2025-04-11T21:58:53.985Z,1744408733.985 [transit:NeedComms:A](INFO): last time_fix was:  1744406931.000000 second since 1970/01/01T00:00:00Z 
2025-04-11T21:58:53.985Z,1744408733.985 [transit:NeedComms:A] Stopped
2025-04-11T21:59:28.025Z,1744408768.025 [transit:NeedComms:C] Running Loop=1
2025-04-11T21:59:28.407Z,1744408768.407 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-11T21:59:28.744Z,1744408768.744 [Radio_Surface](INFO): Powering up
2025-04-11T21:59:34.876Z,1744408774.876 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-11T21:59:36.080Z,1744408776.080 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.680000m. At depth:0.124074m.
2025-04-11T21:59:47.374Z,1744408787.374 [NAL9602](INFO): SBD MO Status=0, MOMSN=19457, MT Status=0, MTMSN=0
2025-04-11T21:59:47.374Z,1744408787.374 [NAL9602](INFO): No messages in MT queue
2025-04-11T21:59:48.592Z,1744408788.592 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215946.00,A,3648.01323,N,12151.03043,W,0.272,92.36,110425,,,A*43
2025-04-11T21:59:48.595Z,1744408788.595 [NAL9602](INFO): GPS fix at 20250411T215946: (36.800221, -121.850507)
2025-04-11T21:59:48.644Z,1744408788.644 [UniversalFixResidualReporter](INFO): Fix residual: 11.3 %DT, over the last 1850.4 m. Residual distance 209.8 m at bearing 42.2 degrees. Fix at (36.8002, -121.8505) with 1526.8 m made good.
2025-04-11T21:59:48.652Z,1744408788.652 [transit:NeedComms:C] Stopped
2025-04-11T21:59:48.653Z,1744408788.653 [transit:NeedComms:D] Running Loop=1
2025-04-11T21:59:49.050Z,1744408789.050 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-11T22:00:02.839Z,1744408802.839 [NAL9602](INFO): SBD MO Status=1, MOMSN=19458, MT Status=0, MTMSN=0
2025-04-11T22:00:02.892Z,1744408802.892 [NAL9602](INFO): Sent 226 bytes from file Logs/20250411T212148/Courier0013.lzma
2025-04-11T22:00:02.892Z,1744408802.892 [NAL9602](INFO): Packets left to send: 0
2025-04-11T22:00:04.996Z,1744408804.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:00:15.426Z,1744408815.426 [DVL_micro](ERROR): Failed to parse:
:SA,-03.15,+07.12,331.8
2025-04-11T22:00:26.354Z,1744408826.354 [NAL9602](INFO): SBD MO Status=1, MOMSN=19459, MT Status=0, MTMSN=0
2025-04-11T22:00:26.408Z,1744408826.408 [NAL9602](INFO): Sent 267 bytes from file Logs/20250411T212148/Courier0019.lzma
2025-04-11T22:00:26.408Z,1744408826.408 [NAL9602](INFO): Packets left to send: 0
2025-04-11T22:00:36.124Z,1744408836.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:00:41.200Z,1744408841.200 [NAL9602](INFO): SBD MO Status=1, MOMSN=19460, MT Status=0, MTMSN=0
2025-04-11T22:00:41.260Z,1744408841.260 [NAL9602](INFO): Sent 332 bytes from file Logs/20250411T185620/Express0049.lzma
2025-04-11T22:00:41.260Z,1744408841.260 [NAL9602](INFO): Packets left to send: 2
2025-04-11T22:01:00.634Z,1744408860.634 [NAL9602](INFO): SBD MO Status=2, MOMSN=19461, MT Status=2, MTMSN=0
2025-04-11T22:01:00.634Z,1744408860.634 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-11T22:01:07.252Z,1744408867.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:01:16.452Z,1744408876.452 [NAL9602](INFO): SBD MO Status=1, MOMSN=19461, MT Status=0, MTMSN=0
2025-04-11T22:01:16.500Z,1744408876.500 [NAL9602](INFO): Sent 332 bytes from file Logs/20250411T185620/Express0049.lzma
2025-04-11T22:01:16.500Z,1744408876.500 [NAL9602](INFO): Packets left to send: 1
2025-04-11T22:01:21.778Z,1744408881.778 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-11T22:01:33.973Z,1744408893.973 [NAL9602](INFO): SBD MO Status=1, MOMSN=19462, MT Status=0, MTMSN=0
2025-04-11T22:01:34.020Z,1744408894.020 [NAL9602](INFO): Sent 161 bytes from file Logs/20250411T185620/Express0049.lzma
2025-04-11T22:01:34.020Z,1744408894.020 [NAL9602](INFO): Packets left to send: 0
2025-04-11T22:01:38.376Z,1744408898.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:01:47.157Z,1744408907.157 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003297
2025-04-11T22:01:52.968Z,1744408912.968 [NAL9602](INFO): SBD MO Status=1, MOMSN=19463, MT Status=0, MTMSN=0
2025-04-11T22:01:53.013Z,1744408913.013 [NAL9602](INFO): Sent 62 bytes from file Logs/20250411T185620/Express0052.lzma
2025-04-11T22:01:53.013Z,1744408913.013 [NAL9602](INFO): Packets left to send: 0
2025-04-11T22:01:53.080Z,1744408913.080 [transit:NeedComms:D] Stopped
2025-04-11T22:01:53.081Z,1744408913.081 [transit:NeedComms:E] Running Loop=1
2025-04-11T22:01:53.373Z,1744408913.373 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-11T22:01:55.355Z,1744408915.355 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,220153.00,A,3648.00742,N,12151.02947,W,1.516,265.34,110425,,,A*7B
2025-04-11T22:01:55.358Z,1744408915.358 [NAL9602](INFO): GPS fix at 20250411T220153: (36.800124, -121.850491)
2025-04-11T22:01:55.371Z,1744408915.371 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250411T212148/Courier0022.lzma
2025-04-11T22:01:55.381Z,1744408915.381 [transit:NeedComms:E] Stopped
2025-04-11T22:01:55.383Z,1744408915.383 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-04-11T22:01:55.384Z,1744408915.384 [transit:NeedComms] Stopped
2025-04-11T22:01:55.384Z,1744408915.384 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-04-11T22:01:55.384Z,1744408915.384 [transit:NeedComms:B.GoToSurface] Stopped
2025-04-11T22:01:55.384Z,1744408915.384 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-11T22:01:57.378Z,1744408917.378 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0022.lzma.bak
2025-04-11T22:01:57.378Z,1744408917.378 [DataOverHttps](INFO): SBD MOMSN=24619199
2025-04-11T22:02:15.615Z,1744408935.615 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0000.20,000.00
2025-04-11T22:02:27.689Z,1744408947.689 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-11T22:02:31.090Z,1744408951.090 [ThrusterHE](FAULT): Unrecognized Command
2025-04-11T22:02:31.090Z,1744408951.090 [ThrusterHE] Hardware Fault, FailCount= 1
2025-04-11T22:02:31.090Z,1744408951.090 [ThrusterHE](ERROR): Hardware Fault
2025-04-11T22:02:31.135Z,1744408951.135 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-11T22:02:31.733Z,1744408951.733 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-11T22:02:31.733Z,1744408951.733 [ThrusterHE](INFO): Powering down
2025-04-11T22:02:32.593Z,1744408952.593 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-11T22:02:32.713Z,1744408952.713 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-11T22:02:32.716Z,1744408952.716 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-11T22:02:32.716Z,1744408952.716 [ThrusterHE] No Fault, FailCount= 1
2025-04-11T22:02:38.094Z,1744408958.094 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-04-11T22:02:43.322Z,1744408963.322 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 11.90 mm (1 active estimators).
2025-04-11T22:02:43.742Z,1744408963.742 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.34,+0000.13,+0000.35,+0000.28
2025-04-11T22:02:44.964Z,1744408964.964 [DVL_micro](ERROR): Failed to parse:
:SA,-14.75,+00.91,358.9
2025-04-11T22:02:59.400Z,1744408979.400 [ElevatorServo](FAULT): Overload Error
2025-04-11T22:02:59.400Z,1744408979.400 [ElevatorServo] Hardware Fault, FailCount= 1
2025-04-11T22:02:59.400Z,1744408979.400 [ElevatorServo](ERROR): Hardware Fault
2025-04-11T22:02:59.615Z,1744408979.615 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-04-11T22:02:59.785Z,1744408979.785 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-11T22:02:59.785Z,1744408979.785 [ElevatorServo](INFO): Powering down
2025-04-11T22:03:00.576Z,1744408980.576 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-11T22:03:00.694Z,1744408980.694 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-11T22:03:00.767Z,1744408980.767 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-04-11T22:03:00.768Z,1744408980.768 [ElevatorServo] No Fault, FailCount= 1
2025-04-11T22:03:30.521Z,1744409010.521 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:03:43.740Z,1744409023.740 [Radio_Surface](INFO): Powering down
2025-04-11T22:04:01.644Z,1744409041.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:04:02.648Z,1744409042.648 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-11T22:05:06.923Z,1744409106.923 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.296677
2025-04-11T22:07:02.774Z,1744409222.774 [DVL_micro](ERROR): only read 3 of 4 data items for beam range. Device response is::RD,+9999.99,+9999.99,+99999.99
2025-04-11T22:07:02.774Z,1744409222.774 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+99999.99
2025-04-11T22:15:22.710Z,1744409722.710 [DVL_micro](ERROR): Failed to parse:
:SA,-00.01,+07.18,062.7
2025-04-11T22:16:12.774Z,1744409772.774 [DVL_micro](ERROR): only read 2 of 4 data items for beam range. Device response is::RD,+9999.99,+999999.99
2025-04-11T22:16:12.775Z,1744409772.775 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+999999.99
2025-04-11T22:21:26.661Z,1744410086.661 [DVL_micro](ERROR): only read 1 of 4 data items for beam range. Device response is::RD,+9999.99.49
2025-04-11T22:21:26.661Z,1744410086.661 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99.49
2025-04-11T22:31:55.430Z,1744410715.430 [transit:NeedComms] Running Loop=1
2025-04-11T22:31:55.430Z,1744410715.430 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-04-11T22:31:55.430Z,1744410715.430 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-04-11T22:31:55.431Z,1744410715.431 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-11T22:31:55.431Z,1744410715.431 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-11T22:31:55.431Z,1744410715.431 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-11T22:31:55.432Z,1744410715.432 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-11T22:31:55.432Z,1744410715.432 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-11T22:31:55.433Z,1744410715.433 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-11T22:31:55.433Z,1744410715.433 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-11T22:31:55.433Z,1744410715.433 [transit:NeedComms:A] Running Loop=1
2025-04-11T22:31:55.435Z,1744410715.435 [transit:NeedComms:A](INFO): last time_fix was:  1744408913.000000 second since 1970/01/01T00:00:00Z 
2025-04-11T22:31:55.435Z,1744410715.435 [transit:NeedComms:A] Stopped
2025-04-11T22:32:26.719Z,1744410746.719 [transit:NeedComms:C] Running Loop=1
2025-04-11T22:32:27.456Z,1744410747.456 [Radio_Surface](INFO): Powering up
2025-04-11T22:32:32.908Z,1744410752.908 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-11T22:32:46.111Z,1744410766.111 [NAL9602](INFO): SBD MO Status=2, MOMSN=19464, MT Status=2, MTMSN=0
2025-04-11T22:32:46.111Z,1744410766.111 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-11T22:33:03.028Z,1744410783.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:33:34.152Z,1744410814.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:33:51.178Z,1744410831.178 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.680000m. At depth:0.116445m.
2025-04-11T22:33:58.430Z,1744410838.430 [NAL9602](INFO): SBD MO Status=2, MOMSN=19464, MT Status=2, MTMSN=0
2025-04-11T22:33:58.430Z,1744410838.430 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-11T22:34:05.288Z,1744410845.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:34:36.420Z,1744410876.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:34:37.623Z,1744410877.623 [NAL9602](INFO): SBD MO Status=2, MOMSN=19464, MT Status=2, MTMSN=0
2025-04-11T22:34:37.623Z,1744410877.623 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-11T22:34:45.212Z,1744410885.212 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002989
2025-04-11T22:35:10.387Z,1744410910.387 [NAL9602](INFO): SBD MO Status=0, MOMSN=19464, MT Status=0, MTMSN=0
2025-04-11T22:35:10.387Z,1744410910.387 [NAL9602](INFO): No messages in MT queue
2025-04-11T22:35:11.565Z,1744410911.565 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223509.00,A,3648.29970,N,12150.05842,W,0.952,247.28,110425,,,A*75
2025-04-11T22:35:11.567Z,1744410911.567 [NAL9602](INFO): GPS fix at 20250411T223509: (36.804995, -121.834307)
2025-04-11T22:35:11.591Z,1744410911.591 [UniversalFixResidualReporter](INFO): Fix residual: 7.9 %DT, over the last 1968.6 m. Residual distance 156.2 m at bearing 106.6 degrees. Fix at (36.8050, -121.8343) with 1539.4 m made good.
2025-04-11T22:35:11.619Z,1744410911.619 [transit:NeedComms:C] Stopped
2025-04-11T22:35:11.620Z,1744410911.620 [transit:NeedComms:D] Running Loop=1
2025-04-11T22:35:15.381Z,1744410915.381 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250411T212148/Courier0025.lzma
2025-04-11T22:35:16.383Z,1744410916.383 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0025.lzma.bak
2025-04-11T22:35:16.383Z,1744410916.383 [DataOverHttps](INFO): SBD MOMSN=24619445
2025-04-11T22:35:33.342Z,1744410933.342 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250411T185620/Express0055.lzma
2025-04-11T22:35:34.343Z,1744410934.343 [DataOverHttps](INFO): Moved sent file to Logs/20250411T185620/Express0055.lzma.bak
2025-04-11T22:35:34.343Z,1744410934.343 [DataOverHttps](INFO): SBD MOMSN=24619449
2025-04-11T22:35:43.937Z,1744410943.937 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-11T22:35:51.962Z,1744410951.962 [DataOverHttps](INFO): Sending 953 bytes from file Logs/20250411T212148/Express0001.lzma
2025-04-11T22:35:52.962Z,1744410952.962 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0001.lzma.bak
2025-04-11T22:35:52.963Z,1744410952.963 [DataOverHttps](INFO): SBD MOMSN=24619451
2025-04-11T22:36:10.852Z,1744410970.852 [DataOverHttps](INFO): Sending 254 bytes from file Logs/20250411T212148/Express0005.lzma
2025-04-11T22:36:11.854Z,1744410971.854 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0005.lzma.bak
2025-04-11T22:36:11.854Z,1744410971.854 [DataOverHttps](INFO): SBD MOMSN=24619476
2025-04-11T22:36:28.576Z,1744410988.576 [DataOverHttps](INFO): Sending 236 bytes from file Logs/20250411T212148/Express0008.lzma
2025-04-11T22:36:29.578Z,1744410989.578 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0008.lzma.bak
2025-04-11T22:36:29.578Z,1744410989.578 [DataOverHttps](INFO): SBD MOMSN=24619481
2025-04-11T22:36:49.401Z,1744411009.401 [DataOverHttps](INFO): Sending 276 bytes from file Logs/20250411T212148/Express0011.lzma
2025-04-11T22:36:50.402Z,1744411010.402 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0011.lzma.bak
2025-04-11T22:36:50.402Z,1744411010.402 [DataOverHttps](INFO): SBD MOMSN=24619487
2025-04-11T22:37:07.549Z,1744411027.549 [DataOverHttps](INFO): Sending 607 bytes from file Logs/20250411T212148/Express0014.lzma
2025-04-11T22:37:08.550Z,1744411028.550 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0014.lzma.bak
2025-04-11T22:37:08.550Z,1744411028.550 [DataOverHttps](INFO): SBD MOMSN=24619496
2025-04-11T22:37:16.877Z,1744411036.877 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-04-11T22:37:16.878Z,1744411036.878 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-04-11T22:37:16.878Z,1744411036.878 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-04-11T22:37:16.881Z,1744411036.881 [BPC1](INFO): Received data from all battery sticks.
2025-04-11T22:37:25.179Z,1744411045.179 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250411T212148/Express0017.lzma
2025-04-11T22:37:26.182Z,1744411046.182 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0017.lzma.bak
2025-04-11T22:37:26.182Z,1744411046.182 [DataOverHttps](INFO): SBD MOMSN=24619512
2025-04-11T22:37:43.246Z,1744411063.246 [DataOverHttps](INFO): Sending 1001 bytes from file Logs/20250411T212148/Express0020.lzma
2025-04-11T22:37:44.246Z,1744411064.246 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0020.lzma.bak
2025-04-11T22:37:44.246Z,1744411064.246 [DataOverHttps](INFO): SBD MOMSN=24619514
2025-04-11T22:38:01.484Z,1744411081.484 [DataOverHttps](INFO): Sending 95 bytes from file Logs/20250411T212148/Express0023.lzma
2025-04-11T22:38:02.486Z,1744411082.486 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0023.lzma.bak
2025-04-11T22:38:02.486Z,1744411082.486 [DataOverHttps](INFO): SBD MOMSN=24619554
2025-04-11T22:38:19.019Z,1744411099.019 [DataOverHttps](INFO): Sending 560 bytes from file Logs/20250411T212148/Express0026.lzma
2025-04-11T22:38:20.014Z,1744411100.014 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0026.lzma.bak
2025-04-11T22:38:20.014Z,1744411100.014 [DataOverHttps](INFO): SBD MOMSN=24619556
2025-04-11T22:38:21.526Z,1744411101.526 [transit:NeedComms:D] Stopped
2025-04-11T22:38:21.526Z,1744411101.526 [transit:NeedComms:E] Running Loop=1
2025-04-11T22:38:23.545Z,1744411103.545 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223821.00,A,3648.29413,N,12150.05806,W,0.292,27.33,110425,,,A*43
2025-04-11T22:38:23.547Z,1744411103.547 [NAL9602](INFO): GPS fix at 20250411T223821: (36.804902, -121.834301)
2025-04-11T22:38:23.606Z,1744411103.606 [transit:NeedComms:E] Stopped
2025-04-11T22:38:23.607Z,1744411103.607 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-04-11T22:38:23.607Z,1744411103.607 [transit:NeedComms] Stopped
2025-04-11T22:38:23.607Z,1744411103.607 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-04-11T22:38:23.616Z,1744411103.616 [transit:NeedComms:B.GoToSurface] Stopped
2025-04-11T22:38:23.616Z,1744411103.616 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-11T22:38:42.597Z,1744411122.597 [NAL9602](INFO): SBD MO Status=2, MOMSN=19465, MT Status=2, MTMSN=0
2025-04-11T22:38:42.597Z,1744411122.597 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-11T22:39:21.577Z,1744411161.577 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:39:41.805Z,1744411181.805 [Radio_Surface](INFO): Powering down
2025-04-11T22:39:52.700Z,1744411192.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:39:53.704Z,1744411193.704 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-11T22:41:30.101Z,1744411290.101 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.739182
2025-04-11T22:41:55.113Z,1744411315.113 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000000.0,1489.0,000
2025-04-11T22:41:55.113Z,1744411315.113 [DVL_micro](ERROR): Failed to parse:
:TS,000000.0,1489.0,000
2025-04-11T22:43:25.616Z,1744411405.616 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-04-11T22:43:56.021Z,1744411436.021 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-11T22:44:40.936Z,1744411480.936 [DVL_micro](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BI,-00110,+004,I
2025-04-11T22:44:40.936Z,1744411480.936 [DVL_micro](ERROR): Failed to parse:
:BI,-00110,+004,I
2025-04-11T22:47:06.039Z,1744411626.039 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0035.20,000.00
2025-04-11T22:50:06.295Z,1744411806.295 [DVL_micro](ERROR): Failed to parse:
:RD,+0037.08,+0034.89,+0037.08,+0039.05
2025-04-11T22:55:40.990Z,1744412140.990 [DVL_micro](ERROR): Failed to parse::WI,+00038,+00230,+00215,+00000,A
2025-04-11T22:56:10.919Z,1744412170.919 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.806965,-121.824326
2025-04-11T22:56:10.919Z,1744412170.919 [transit:Transit:Wpt1.Waypoint] Stopped
2025-04-11T22:56:10.919Z,1744412170.919 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-11T22:56:10.919Z,1744412170.919 [transit:Transit:PhoneHome] Running Loop=1
2025-04-11T22:56:10.919Z,1744412170.919 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-04-11T22:56:11.298Z,1744412171.298 [transit:NeedComms] Running Loop=1
2025-04-11T22:56:11.298Z,1744412171.298 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-04-11T22:56:11.298Z,1744412171.298 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-04-11T22:56:11.298Z,1744412171.298 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-11T22:56:11.299Z,1744412171.299 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-11T22:56:11.299Z,1744412171.299 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-11T22:56:11.299Z,1744412171.299 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-11T22:56:11.300Z,1744412171.300 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-11T22:56:11.300Z,1744412171.300 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-11T22:56:11.301Z,1744412171.301 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-11T22:56:11.301Z,1744412171.301 [transit:NeedComms:A] Running Loop=1
2025-04-11T22:56:11.302Z,1744412171.302 [transit:NeedComms:A](INFO): last time_fix was:  1744411101.000000 second since 1970/01/01T00:00:00Z 
2025-04-11T22:56:11.303Z,1744412171.303 [transit:NeedComms:A] Stopped
2025-04-11T22:56:45.717Z,1744412205.717 [transit:NeedComms:C] Running Loop=1
2025-04-11T22:56:46.152Z,1744412206.152 [Radio_Surface](INFO): Powering up
2025-04-11T22:56:51.892Z,1744412211.892 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-11T22:57:22.012Z,1744412242.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:57:30.202Z,1744412250.202 [NAL9602](INFO): SBD MO Status=0, MOMSN=19465, MT Status=0, MTMSN=0
2025-04-11T22:57:30.202Z,1744412250.202 [NAL9602](INFO): No messages in MT queue
2025-04-11T22:57:31.435Z,1744412251.435 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225729.00,A,3648.41026,N,12149.43156,W,0.350,76.49,110425,,,A*4E
2025-04-11T22:57:31.438Z,1744412251.438 [NAL9602](INFO): GPS fix at 20250411T225729: (36.806838, -121.823859)
2025-04-11T22:57:31.450Z,1744412251.450 [UniversalFixResidualReporter](INFO): Fix residual: 3.0 %DT, over the last 1004.1 m. Residual distance 30.6 m at bearing 6.7 degrees. Fix at (36.8068, -121.8239) with 954.2 m made good.
2025-04-11T22:57:31.453Z,1744412251.453 [transit:NeedComms:C] Stopped
2025-04-11T22:57:31.453Z,1744412251.453 [transit:NeedComms:D] Running Loop=1
2025-04-11T22:57:50.913Z,1744412270.913 [NAL9602](INFO): SBD MO Status=1, MOMSN=19466, MT Status=0, MTMSN=0
2025-04-11T22:57:50.972Z,1744412270.972 [NAL9602](INFO): Sent 97 bytes from file Logs/20250411T212148/Courier0028.lzma
2025-04-11T22:57:50.972Z,1744412270.972 [NAL9602](INFO): Packets left to send: 0
2025-04-11T22:57:53.156Z,1744412273.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:57:58.718Z,1744412278.718 [NAL9602](INFO): SBD MO Status=1, MOMSN=19467, MT Status=0, MTMSN=0
2025-04-11T22:57:58.768Z,1744412278.768 [NAL9602](INFO): Sent 332 bytes from file Logs/20250411T212148/Express0029.lzma
2025-04-11T22:57:58.768Z,1744412278.768 [NAL9602](INFO): Packets left to send: 1
2025-04-11T22:58:20.619Z,1744412300.619 [NAL9602](INFO): SBD MO Status=1, MOMSN=19468, MT Status=0, MTMSN=0
2025-04-11T22:58:20.676Z,1744412300.676 [NAL9602](INFO): Sent 105 bytes from file Logs/20250411T212148/Express0029.lzma
2025-04-11T22:58:20.676Z,1744412300.676 [NAL9602](INFO): Packets left to send: 0
2025-04-11T22:58:24.296Z,1744412304.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:58:32.742Z,1744412312.742 [NAL9602](INFO): SBD MO Status=0, MOMSN=19469, MT Status=0, MTMSN=0
2025-04-11T22:58:32.830Z,1744412312.830 [transit:NeedComms:D] Stopped
2025-04-11T22:58:32.831Z,1744412312.831 [transit:NeedComms:E] Running Loop=1
2025-04-11T22:58:35.173Z,1744412315.173 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225833.00,A,3648.40969,N,12149.42484,W,0.700,95.51,110425,,,A*47
2025-04-11T22:58:35.175Z,1744412315.175 [NAL9602](INFO): GPS fix at 20250411T225833: (36.806828, -121.823747)
2025-04-11T22:58:35.189Z,1744412315.189 [transit:NeedComms:E] Stopped
2025-04-11T22:58:35.190Z,1744412315.190 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-04-11T22:58:35.190Z,1744412315.190 [transit:NeedComms] Stopped
2025-04-11T22:58:35.190Z,1744412315.190 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-04-11T22:58:35.190Z,1744412315.190 [transit:NeedComms:B.GoToSurface] Stopped
2025-04-11T22:58:35.191Z,1744412315.191 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-11T22:58:35.605Z,1744412315.605 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-04-11T22:58:35.605Z,1744412315.605 [transit:Transit:PhoneHome] Stopped
2025-04-11T22:58:35.605Z,1744412315.605 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-04-11T22:58:35.606Z,1744412315.606 [transit:Transit](INFO): Completed transit:Transit
2025-04-11T22:58:35.606Z,1744412315.606 [transit:Transit] Stopped
2025-04-11T22:58:35.606Z,1744412315.606 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-04-11T22:58:35.606Z,1744412315.606 [transit:Transit:A.Pitch] Stopped
2025-04-11T22:58:35.606Z,1744412315.606 [transit:Transit:B.SetSpeed] Stopped
2025-04-11T22:58:35.606Z,1744412315.606 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-04-11T22:58:35.608Z,1744412315.608 [transit](INFO): Completed transit
2025-04-11T22:58:35.608Z,1744412315.608 [MissionManager](INFO): transit is completed.
2025-04-11T22:58:35.609Z,1744412315.609 [MissionManager](INFO): Uninitializing Mission transit
2025-04-11T22:58:35.609Z,1744412315.609 [transit] Stopped
2025-04-11T22:58:35.609Z,1744412315.609 [transit](DEBUG): Aggregate::uninitialize transit
2025-04-11T22:58:35.609Z,1744412315.609 [transit:StandardEnvelopes] Stopped
2025-04-11T22:58:35.609Z,1744412315.609 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-04-11T22:58:35.609Z,1744412315.609 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-11T22:58:35.609Z,1744412315.609 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-11T22:58:35.609Z,1744412315.609 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-11T22:58:35.609Z,1744412315.609 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-11T22:58:35.609Z,1744412315.609 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-11T22:58:35.609Z,1744412315.609 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-11T22:58:35.609Z,1744412315.609 [transit:BackseatDriver] Stopped
2025-04-11T22:58:35.610Z,1744412315.610 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-04-11T22:58:35.610Z,1744412315.610 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-04-11T22:58:35.610Z,1744412315.610 [transit:PowerOnly] Stopped
2025-04-11T22:58:35.610Z,1744412315.610 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-04-11T22:58:35.610Z,1744412315.610 [transit:PowerOnly:E.Wait] Stopped
2025-04-11T22:58:35.610Z,1744412315.610 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T22:58:35.610Z,1744412315.610 [transit:BuoyancyHold.Buoyancy] Stopped
2025-04-11T22:58:35.610Z,1744412315.610 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-11T22:58:35.610Z,1744412315.610 [transit:MassHold.Pitch] Stopped
2025-04-11T22:58:35.998Z,1744412315.998 [MissionManager](IMPORTANT): Started mission Default
2025-04-11T22:58:35.999Z,1744412315.999 [Default] Running Loop=1
2025-04-11T22:58:35.999Z,1744412315.999 [Default](DEBUG): Aggregate::initialize Default
2025-04-11T22:58:35.999Z,1744412315.999 [Default:B.GoToSurface] Running Loop=1
2025-04-11T22:58:35.999Z,1744412315.999 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-11T22:58:35.999Z,1744412315.999 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-11T22:58:36.000Z,1744412316.000 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-11T22:58:36.001Z,1744412316.001 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-11T22:58:36.001Z,1744412316.001 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-11T22:58:36.001Z,1744412316.001 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-11T22:58:36.001Z,1744412316.001 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-11T22:58:36.002Z,1744412316.002 [Default:A.Wait] Running Loop=1
2025-04-11T22:58:36.002Z,1744412316.002 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-11T22:58:49.043Z,1744412329.043 [Default:A.Wait](INFO): Done Waiting.
2025-04-11T22:58:49.043Z,1744412329.043 [Default:A.Wait] Stopped
2025-04-11T22:58:49.043Z,1744412329.043 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T22:58:49.446Z,1744412329.446 [Default:CheckIn] Running Loop=1
2025-04-11T22:58:49.446Z,1744412329.446 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-11T22:58:49.446Z,1744412329.446 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-11T22:58:51.463Z,1744412331.463 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225849.00,A,3648.40870,N,12149.42327,W,0.680,112.46,110425,,,A*7C
2025-04-11T22:58:51.465Z,1744412331.465 [NAL9602](INFO): GPS fix at 20250411T225849: (36.806812, -121.823721)
2025-04-11T22:58:51.475Z,1744412331.475 [Default:CheckIn:Read_GPS] Stopped
2025-04-11T22:58:51.476Z,1744412331.476 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-11T22:58:55.420Z,1744412335.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T22:59:03.792Z,1744412343.792 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002918
2025-04-11T22:59:11.575Z,1744412351.575 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250411T212148/Courier0031.lzma
2025-04-11T22:59:12.578Z,1744412352.578 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0031.lzma.bak
2025-04-11T22:59:12.578Z,1744412352.578 [DataOverHttps](INFO): SBD MOMSN=24619714
2025-04-11T22:59:13.733Z,1744412353.733 [NAL9602](INFO): SBD MO Status=1, MOMSN=19470, MT Status=0, MTMSN=0
2025-04-11T22:59:13.785Z,1744412353.785 [NAL9602](INFO): Sent 75 bytes from file Logs/20250411T212148/Courier0031.lzma
2025-04-11T22:59:13.785Z,1744412353.785 [NAL9602](INFO): Packets left to send: 0
2025-04-11T22:59:28.960Z,1744412368.960 [DataOverHttps](INFO): Sending 155 bytes from file Logs/20250411T212148/Express0032.lzma
2025-04-11T22:59:29.962Z,1744412369.962 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0032.lzma.bak
2025-04-11T22:59:29.962Z,1744412369.962 [DataOverHttps](INFO): SBD MOMSN=24619717
2025-04-11T22:59:31.121Z,1744412371.121 [Default:CheckIn:Read_Iridium] Stopped
2025-04-11T22:59:31.121Z,1744412371.121 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-11T22:59:31.121Z,1744412371.121 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-11T22:59:44.436Z,1744412384.436 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-11T23:01:41.679Z,1744412501.679 [DataOverHttps](IMPORTANT): SBD MTMSN=20250411T230139
2025-04-11T23:01:49.300Z,1744412509.300 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.8078 degree;set transit.Longitude -121.80577 degree;set transit.Speed 1 m/s;set transit.MaxDepth 15 m;run
2025-04-11T23:01:49.335Z,1744412509.335 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-04-11T23:01:49.335Z,1744412509.335 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-04-11T23:01:49.340Z,1744412509.340 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-04-11T23:01:49.342Z,1744412509.342 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-04-11T23:01:50.158Z,1744412510.158 [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>

2025-04-11T23:01:50.163Z,1744412510.163 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-04-11T23:01:50.166Z,1744412510.166 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-04-11T23:01:50.168Z,1744412510.168 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-04-11T23:01:50.170Z,1744412510.170 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-04-11T23:01:50.172Z,1744412510.172 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-04-11T23:01:50.175Z,1744412510.175 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-04-11T23:01:50.201Z,1744412510.201 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-04-11T23:01:50.203Z,1744412510.203 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-04-11T23:01:50.210Z,1744412510.210 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-04-11T23:01:50.216Z,1744412510.216 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-04-11T23:01:50.218Z,1744412510.218 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-04-11T23:01:50.233Z,1744412510.233 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-04-11T23:01:50.234Z,1744412510.234 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-04-11T23:01:50.235Z,1744412510.235 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-11T23:01:50.235Z,1744412510.235 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-11T23:01:50.241Z,1744412510.241 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-11T23:01:50.596Z,1744412510.596 [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>

2025-04-11T23:01:50.604Z,1744412510.604 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-04-11T23:01:50.607Z,1744412510.607 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-11T23:01:50.609Z,1744412510.609 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-11T23:01:50.611Z,1744412510.611 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-04-11T23:01:50.613Z,1744412510.613 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-11T23:01:50.615Z,1744412510.615 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-11T23:01:50.618Z,1744412510.618 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-04-11T23:01:50.627Z,1744412510.627 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-04-11T23:01:50.637Z,1744412510.637 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-11T23:01:50.682Z,1744412510.682 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-11T23:01:50.682Z,1744412510.682 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-11T23:01:50.683Z,1744412510.683 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-11T23:01:50.765Z,1744412510.765 [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>

2025-04-11T23:01:50.769Z,1744412510.769 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-11T23:01:50.771Z,1744412510.771 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-11T23:01:50.773Z,1744412510.773 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-11T23:01:50.775Z,1744412510.775 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-11T23:01:50.777Z,1744412510.777 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-11T23:01:50.782Z,1744412510.782 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-11T23:01:50.789Z,1744412510.789 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-11T23:01:50.798Z,1744412510.798 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-11T23:01:50.798Z,1744412510.798 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-11T23:01:50.799Z,1744412510.799 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-11T23:01:50.859Z,1744412510.859 [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>

2025-04-11T23:01:50.887Z,1744412510.887 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-04-11T23:01:50.889Z,1744412510.889 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-11T23:01:50.891Z,1744412510.891 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-11T23:01:50.896Z,1744412510.896 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-11T23:01:50.897Z,1744412510.897 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-11T23:01:51.054Z,1744412511.054 [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>

2025-04-11T23:01:51.058Z,1744412511.058 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-04-11T23:01:51.060Z,1744412511.060 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-04-11T23:01:51.062Z,1744412511.062 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-04-11T23:01:51.065Z,1744412511.065 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-04-11T23:01:51.067Z,1744412511.067 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-11T23:01:51.113Z,1744412511.113 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-11T23:01:51.114Z,1744412511.114 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-11T23:01:51.121Z,1744412511.121 [transit:MassHold.Pitch](DEBUG): Construct.
2025-04-11T23:01:51.131Z,1744412511.131 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-04-11T23:01:51.141Z,1744412511.141 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-04-11T23:01:51.144Z,1744412511.144 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-11T23:01:51.160Z,1744412511.160 [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"
  }
}


2025-04-11T23:01:51.160Z,1744412511.160 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-04-11T23:02:05.941Z,1744412525.941 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 10 minute
2025-04-11T23:02:05.941Z,1744412525.941 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-04-11T23:02:05.942Z,1744412525.942 [CommandExec](IMPORTANT): got command set transit.Latitude 36.8078 degree
2025-04-11T23:02:05.943Z,1744412525.943 [CommandExec](IMPORTANT): got command set transit.Longitude -121.80577 degree
2025-04-11T23:02:05.944Z,1744412525.944 [CommandExec](IMPORTANT): got command set transit.Speed 1 meter_per_second
2025-04-11T23:02:05.945Z,1744412525.945 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2025-04-11T23:02:05.945Z,1744412525.945 [CommandExec](IMPORTANT): got command run
2025-04-11T23:02:05.947Z,1744412525.947 [CommandExec](IMPORTANT): Running 
2025-04-11T23:02:06.251Z,1744412526.251 [Default] Stopped
2025-04-11T23:02:06.251Z,1744412526.251 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-11T23:02:06.251Z,1744412526.251 [Default:B.GoToSurface] Stopped
2025-04-11T23:02:06.252Z,1744412526.252 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-11T23:02:06.252Z,1744412526.252 [Default:CheckIn] Stopped
2025-04-11T23:02:06.252Z,1744412526.252 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-11T23:02:06.252Z,1744412526.252 [Default:CheckIn:C.Wait] Stopped
2025-04-11T23:02:06.252Z,1744412526.252 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T23:02:06.253Z,1744412526.253 [MissionManager](IMPORTANT): Started mission transit
2025-04-11T23:02:06.253Z,1744412526.253 [transit] Running Loop=1
2025-04-11T23:02:06.253Z,1744412526.253 [transit](DEBUG): Aggregate::initialize transit
2025-04-11T23:02:06.253Z,1744412526.253 [transit:StandardEnvelopes] Running Loop=1
2025-04-11T23:02:06.253Z,1744412526.253 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-04-11T23:02:06.254Z,1744412526.254 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-11T23:02:06.254Z,1744412526.254 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-11T23:02:06.254Z,1744412526.254 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-11T23:02:06.254Z,1744412526.254 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-11T23:02:06.254Z,1744412526.254 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-11T23:02:06.254Z,1744412526.254 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-11T23:02:06.254Z,1744412526.254 [transit:BackseatDriver] Running Loop=1
2025-04-11T23:02:06.255Z,1744412526.255 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-04-11T23:02:06.255Z,1744412526.255 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-11T23:02:06.255Z,1744412526.255 [transit:PowerOnly] Running Loop=1
2025-04-11T23:02:06.255Z,1744412526.255 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-04-11T23:02:06.255Z,1744412526.255 [transit:PowerOnly:A] Running Loop=1
2025-04-11T23:02:06.255Z,1744412526.255 [transit:PowerOnly:B] Running Loop=1
2025-04-11T23:02:06.255Z,1744412526.255 [transit:PowerOnly:C] Running Loop=1
2025-04-11T23:02:06.255Z,1744412526.255 [transit:PowerOnly:D] Running Loop=1
2025-04-11T23:02:06.257Z,1744412526.257 [transit:PowerOnly:E.Wait] Running Loop=1
2025-04-11T23:02:06.257Z,1744412526.257 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-11T23:02:06.257Z,1744412526.257 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-11T23:02:06.257Z,1744412526.257 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-11T23:02:06.257Z,1744412526.257 [transit:MassHold.Pitch] Running Loop=1
2025-04-11T23:02:06.258Z,1744412526.258 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-04-11T23:02:06.258Z,1744412526.258 [transit:B] Running Loop=1
2025-04-11T23:02:06.259Z,1744412526.259 [transit:MassHold.Pitch] Running Loop=1
2025-04-11T23:02:06.259Z,1744412526.259 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-11T23:02:06.260Z,1744412526.260 [transit:PowerOnly] Running Loop=1
2025-04-11T23:02:06.261Z,1744412526.261 [transit:PowerOnly:D] Stopped
2025-04-11T23:02:06.261Z,1744412526.261 [transit:PowerOnly:C] Stopped
2025-04-11T23:02:06.261Z,1744412526.261 [transit:PowerOnly:B] Stopped
2025-04-11T23:02:06.261Z,1744412526.261 [transit:PowerOnly:A] Stopped
2025-04-11T23:02:06.261Z,1744412526.261 [transit:BackseatDriver] Running Loop=1
2025-04-11T23:02:06.261Z,1744412526.261 [transit:StandardEnvelopes] Running Loop=1
2025-04-11T23:02:06.261Z,1744412526.261 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-11T23:02:06.262Z,1744412526.262 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-11T23:02:06.262Z,1744412526.262 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-11T23:02:06.263Z,1744412526.263 [transit:B] Stopped
2025-04-11T23:02:06.263Z,1744412526.263 [transit:C] Running Loop=1
2025-04-11T23:02:06.668Z,1744412526.668 [transit:C] Stopped
2025-04-11T23:02:06.668Z,1744412526.668 [transit:E] Running Loop=1
2025-04-11T23:02:07.083Z,1744412527.083 [transit:E] Stopped
2025-04-11T23:02:07.083Z,1744412527.083 [transit:F] Running Loop=1
2025-04-11T23:02:07.467Z,1744412527.467 [transit:F] Stopped
2025-04-11T23:02:07.468Z,1744412527.468 [transit:G] Running Loop=1
2025-04-11T23:02:07.865Z,1744412527.865 [transit:G] Stopped
2025-04-11T23:02:07.865Z,1744412527.865 [transit:Transit] Running Loop=1
2025-04-11T23:02:07.866Z,1744412527.866 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-04-11T23:02:07.866Z,1744412527.866 [transit:Transit:A.Pitch] Running Loop=1
2025-04-11T23:02:07.866Z,1744412527.866 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-04-11T23:02:07.866Z,1744412527.866 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-11T23:02:07.866Z,1744412527.866 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-04-11T23:02:07.866Z,1744412527.866 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-04-11T23:02:07.866Z,1744412527.866 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-11T23:02:07.867Z,1744412527.867 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.807800,-121.805771
2025-04-11T23:02:08.300Z,1744412528.300 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.807800,-121.805771
2025-04-11T23:02:08.301Z,1744412528.301 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-11T23:02:08.302Z,1744412528.302 [transit:Transit:A.Pitch] Running Loop=1
2025-04-11T23:03:14.097Z,1744412594.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T23:03:40.307Z,1744412620.307 [DVL_micro](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BI,+00131.00,0033.70,000.00
2025-04-11T23:03:40.307Z,1744412620.307 [DVL_micro](ERROR): Failed to parse:
:BI,+00131.00,0033.70,000.00
2025-04-11T23:03:45.220Z,1744412625.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T23:04:13.860Z,1744412653.860 [Radio_Surface](INFO): Powering down
2025-04-11T23:04:16.345Z,1744412656.345 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T23:04:17.348Z,1744412657.348 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-11T23:05:22.636Z,1744412722.636 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.763382
2025-04-11T23:12:06.664Z,1744413126.664 [transit](INFO): Timed out from 2025-04-11T23:02:06.3Z
2025-04-11T23:12:06.664Z,1744413126.664 [MissionManager](INFO): transit is completed.
2025-04-11T23:12:06.664Z,1744413126.664 [MissionManager](INFO): Uninitializing Mission transit
2025-04-11T23:12:06.664Z,1744413126.664 [transit] Stopped
2025-04-11T23:12:06.664Z,1744413126.664 [transit](DEBUG): Aggregate::uninitialize transit
2025-04-11T23:12:06.665Z,1744413126.665 [transit:StandardEnvelopes] Stopped
2025-04-11T23:12:06.665Z,1744413126.665 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-04-11T23:12:06.665Z,1744413126.665 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-11T23:12:06.665Z,1744413126.665 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-11T23:12:06.665Z,1744413126.665 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-11T23:12:06.665Z,1744413126.665 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-11T23:12:06.665Z,1744413126.665 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-11T23:12:06.665Z,1744413126.665 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-11T23:12:06.665Z,1744413126.665 [transit:BackseatDriver] Stopped
2025-04-11T23:12:06.665Z,1744413126.665 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-04-11T23:12:06.665Z,1744413126.665 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-04-11T23:12:06.665Z,1744413126.665 [transit:PowerOnly] Stopped
2025-04-11T23:12:06.665Z,1744413126.665 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-04-11T23:12:06.666Z,1744413126.666 [transit:PowerOnly:E.Wait] Stopped
2025-04-11T23:12:06.666Z,1744413126.666 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T23:12:06.666Z,1744413126.666 [transit:BuoyancyHold.Buoyancy] Stopped
2025-04-11T23:12:06.666Z,1744413126.666 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-11T23:12:06.666Z,1744413126.666 [transit:MassHold.Pitch] Stopped
2025-04-11T23:12:06.666Z,1744413126.666 [transit:Transit] Stopped
2025-04-11T23:12:06.666Z,1744413126.666 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-04-11T23:12:06.666Z,1744413126.666 [transit:Transit:A.Pitch] Stopped
2025-04-11T23:12:06.666Z,1744413126.666 [transit:Transit:B.SetSpeed] Stopped
2025-04-11T23:12:06.666Z,1744413126.666 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-04-11T23:12:06.666Z,1744413126.666 [transit:Transit:Wpt1.Waypoint] Stopped
2025-04-11T23:12:06.666Z,1744413126.666 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-11T23:12:07.073Z,1744413127.073 [MissionManager](IMPORTANT): Started mission Default
2025-04-11T23:12:07.073Z,1744413127.073 [Default] Running Loop=1
2025-04-11T23:12:07.073Z,1744413127.073 [Default](DEBUG): Aggregate::initialize Default
2025-04-11T23:12:07.074Z,1744413127.074 [Default:B.GoToSurface] Running Loop=1
2025-04-11T23:12:07.074Z,1744413127.074 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-11T23:12:07.074Z,1744413127.074 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-11T23:12:07.074Z,1744413127.074 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-11T23:12:07.074Z,1744413127.074 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-11T23:12:07.075Z,1744413127.075 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-11T23:12:07.075Z,1744413127.075 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-11T23:12:07.075Z,1744413127.075 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-11T23:12:07.076Z,1744413127.076 [Default:A.Wait] Running Loop=1
2025-04-11T23:12:07.076Z,1744413127.076 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-11T23:12:07.467Z,1744413127.467 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (2 active estimators).
2025-04-11T23:12:07.549Z,1744413127.549 [Radio_Surface](INFO): Powering up
2025-04-11T23:12:10.332Z,1744413130.332 [ElevatorServo](FAULT): Overload Error
2025-04-11T23:12:10.332Z,1744413130.332 [ElevatorServo] Hardware Fault, FailCount= 1
2025-04-11T23:12:10.332Z,1744413130.332 [ElevatorServo](ERROR): Hardware Fault
2025-04-11T23:12:10.484Z,1744413130.484 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-04-11T23:12:10.728Z,1744413130.728 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-11T23:12:10.728Z,1744413130.728 [ElevatorServo](INFO): Powering down
2025-04-11T23:12:11.601Z,1744413131.601 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-11T23:12:11.721Z,1744413131.721 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-11T23:12:11.815Z,1744413131.815 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-04-11T23:12:11.815Z,1744413131.815 [ElevatorServo] No Fault, FailCount= 1
2025-04-11T23:12:13.384Z,1744413133.384 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-11T23:12:20.487Z,1744413140.487 [Default:A.Wait](INFO): Done Waiting.
2025-04-11T23:12:20.487Z,1744413140.487 [Default:A.Wait] Stopped
2025-04-11T23:12:20.487Z,1744413140.487 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T23:12:34.128Z,1744413154.128 [Default:CheckIn] Running Loop=1
2025-04-11T23:12:34.129Z,1744413154.129 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-11T23:12:34.129Z,1744413154.129 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-11T23:12:43.527Z,1744413163.527 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T23:13:14.648Z,1744413194.648 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T23:13:19.785Z,1744413199.785 [NAL9602](INFO): SBD MO Status=0, MOMSN=19471, MT Status=0, MTMSN=0
2025-04-11T23:13:19.785Z,1744413199.785 [NAL9602](INFO): No messages in MT queue
2025-04-11T23:13:21.008Z,1744413201.008 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231319.00,A,3648.40875,N,12149.03312,W,0.156,224.22,110425,,,A*79
2025-04-11T23:13:21.010Z,1744413201.010 [NAL9602](INFO): GPS fix at 20250411T231319: (36.806812, -121.817219)
2025-04-11T23:13:21.022Z,1744413201.022 [UniversalFixResidualReporter](INFO): Fix residual: 3.1 %DT, over the last 651.5 m. Residual distance 20.2 m at bearing -35.8 degrees. Fix at (36.8068, -121.8172) with 578.9 m made good.
2025-04-11T23:13:21.022Z,1744413201.022 [Default:CheckIn:Read_GPS] Stopped
2025-04-11T23:13:21.023Z,1744413201.023 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-11T23:13:45.772Z,1744413225.772 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T23:13:46.578Z,1744413226.578 [NAL9602](INFO): SBD MO Status=1, MOMSN=19472, MT Status=0, MTMSN=0
2025-04-11T23:13:46.632Z,1744413226.632 [NAL9602](INFO): Sent 85 bytes from file Logs/20250411T212148/Courier0034.lzma
2025-04-11T23:13:46.632Z,1744413226.632 [NAL9602](INFO): Packets left to send: 0
2025-04-11T23:14:06.872Z,1744413246.872 [NAL9602](INFO): SBD MO Status=1, MOMSN=19473, MT Status=0, MTMSN=0
2025-04-11T23:14:06.922Z,1744413246.922 [NAL9602](INFO): Sent 332 bytes from file Logs/20250411T212148/Express0035.lzma
2025-04-11T23:14:06.922Z,1744413246.922 [NAL9602](INFO): Packets left to send: 1
2025-04-11T23:14:16.896Z,1744413256.896 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-11T23:14:19.543Z,1744413259.543 [NAL9602](INFO): SBD MO Status=1, MOMSN=19474, MT Status=0, MTMSN=0
2025-04-11T23:14:19.600Z,1744413259.600 [NAL9602](INFO): Sent 236 bytes from file Logs/20250411T212148/Express0035.lzma
2025-04-11T23:14:19.600Z,1744413259.600 [NAL9602](INFO): Packets left to send: 0
2025-04-11T23:14:26.071Z,1744413266.071 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004811
2025-04-11T23:14:31.685Z,1744413271.685 [NAL9602](INFO): SBD MO Status=0, MOMSN=19475, MT Status=0, MTMSN=0
2025-04-11T23:14:34.034Z,1744413274.034 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250411T212148/Courier0037.lzma
2025-04-11T23:14:35.035Z,1744413275.035 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0037.lzma.bak
2025-04-11T23:14:35.035Z,1744413275.035 [DataOverHttps](INFO): SBD MOMSN=24619843
2025-04-11T23:14:39.367Z,1744413279.367 [DVL_micro](ERROR): only read 1 of 4 data items for beam range. Device response is::RD,+00+0040.89
2025-04-11T23:14:39.367Z,1744413279.367 [DVL_micro](ERROR): Failed to parse:
:RD,+00+0040.89
2025-04-11T23:14:51.567Z,1744413291.567 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250411T212148/Express0038.lzma
2025-04-11T23:14:52.570Z,1744413292.570 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0038.lzma.bak
2025-04-11T23:14:52.570Z,1744413292.570 [DataOverHttps](INFO): SBD MOMSN=24619845
2025-04-11T23:14:53.921Z,1744413293.921 [Default:CheckIn:Read_Iridium] Stopped
2025-04-11T23:14:53.921Z,1744413293.921 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-11T23:14:53.922Z,1744413293.922 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-11T23:15:02.373Z,1744413302.373 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-11T23:19:54.521Z,1744413594.521 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-04-11T23:19:54.521Z,1744413594.521 [Default:CheckIn:C.Wait] Stopped
2025-04-11T23:19:54.521Z,1744413594.521 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-11T23:19:54.521Z,1744413594.521 [Default:CheckIn:D] Running Loop=1
2025-04-11T23:19:54.939Z,1744413594.939 [Default:CheckIn:D] Stopped
2025-04-11T23:19:54.939Z,1744413594.939 [Default:CheckIn:E] Running Loop=1
2025-04-11T23:19:55.319Z,1744413595.319 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.797753 min 
2025-04-11T23:19:55.319Z,1744413595.319 [Default:CheckIn:E] Stopped
2025-04-11T23:19:55.319Z,1744413595.319 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-04-11T23:19:55.319Z,1744413595.319 [Default:CheckIn] Stopped
2025-04-11T23:19:55.320Z,1744413595.320 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-11T23:19:55.320Z,1744413595.320 [Default:CheckIn](INFO): Running loop #2
2025-04-11T23:19:55.320Z,1744413595.320 [Default:CheckIn] Running Loop=2
2025-04-11T23:19:55.320Z,1744413595.320 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-11T23:19:55.320Z,1744413595.320 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-11T23:19:57.332Z,1744413597.332 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231955.00,A,3648.37117,N,12149.00124,W,0.972,194.67,110425,,,A*75
2025-04-11T23:19:57.334Z,1744413597.334 [NAL9602](INFO): GPS fix at 20250411T231955: (36.806186, -121.816687)
2025-04-11T23:19:57.345Z,1744413597.345 [Default:CheckIn:Read_GPS] Stopped
2025-04-11T23:19:57.345Z,1744413597.345 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-11T23:20:05.051Z,1744413605.051 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250411T212148/Courier0040.lzma
2025-04-11T23:20:07.058Z,1744413607.058 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Courier0040.lzma.bak
2025-04-11T23:20:07.058Z,1744413607.058 [DataOverHttps](INFO): SBD MOMSN=24619894
2025-04-11T23:20:23.352Z,1744413623.352 [DataOverHttps](INFO): Sending 209 bytes from file Logs/20250411T212148/Express0041.lzma
2025-04-11T23:20:24.354Z,1744413624.354 [DataOverHttps](INFO): Moved sent file to Logs/20250411T212148/Express0041.lzma.bak
2025-04-11T23:20:24.354Z,1744413624.354 [DataOverHttps](INFO): SBD MOMSN=24619897
2025-04-11T23:20:26.027Z,1744413626.027 [Default:CheckIn:Read_Iridium] Stopped
2025-04-11T23:20:26.027Z,1744413626.027 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-11T23:20:26.027Z,1744413626.027 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-11T23:21:41.988Z,1744413701.988 [NAL9602](INFO): SBD MO Status=2, MOMSN=19476, MT Status=2, MTMSN=0
2025-04-11T23:21:41.988Z,1744413701.988 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-11T23:22:25.610Z,1744413745.610 [NAL9602](INFO): SBD MO Status=2, MOMSN=19476, MT Status=2, MTMSN=0
2025-04-11T23:22:25.611Z,1744413745.611 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-11T23:23:15.349Z,1744413795.349 [NAL9602](INFO): SBD MO Status=2, MOMSN=19476, MT Status=2, MTMSN=0
2025-04-11T23:23:15.349Z,1744413795.349 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-11T23:23:29.056Z,1744413809.056 [NAL9602](INFO): SBD MO Status=0, MOMSN=19476, MT Status=0, MTMSN=0
2025-04-11T23:23:29.056Z,1744413809.056 [NAL9602](INFO): No messages in MT queue
2025-04-11T23:23:59.776Z,1744413839.776 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-11T23:25:10.317Z,1744413910.317 [DataOverHttps](IMPORTANT): SBD MTMSN=20250411T232507
2025-04-11T23:25:21.976Z,1744413921.976 [DataOverHttps](INFO): Received command: restart logs