2025-06-23T00:16:47.132Z,1750637807.132 [Supervisor](DEBUG): Initializing supervisor.
2025-06-23T00:16:47.136Z,1750637807.136 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-06-23T00:16:47.137Z,1750637807.137 [SyncHandler](INFO): Protected caller Thread ID is 839
2025-06-23T00:16:47.138Z,1750637807.138 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-06-23T00:16:47.138Z,1750637807.138 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-06-23T00:16:47.139Z,1750637807.139 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 840
2025-06-23T00:16:47.143Z,1750637807.143 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-06-23T00:16:47.163Z,1750637807.163 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-06-23T00:16:47.164Z,1750637807.164 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-06-23T00:16:47.164Z,1750637807.164 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 841
2025-06-23T00:16:47.169Z,1750637807.169 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-06-23T00:16:47.170Z,1750637807.170 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-06-23T00:16:47.170Z,1750637807.170 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 842
2025-06-23T00:16:47.172Z,1750637807.172 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-06-23T00:16:47.173Z,1750637807.173 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-06-23T00:16:47.174Z,1750637807.174 [logger ThreadHandler](INFO): Protected caller Thread ID is 843
2025-06-23T00:16:47.178Z,1750637807.178 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-06-23T00:16:47.178Z,1750637807.178 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-06-23T00:16:47.182Z,1750637807.182 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-06-23T00:16:47.292Z,1750637807.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-06-23T00:16:47.293Z,1750637807.293 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-06-23T00:16:48.094Z,1750637808.094 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-06-23T00:16:48.095Z,1750637808.095 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-06-23T00:16:48.356Z,1750637808.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-06-23T00:16:48.358Z,1750637808.358 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-06-23T00:16:48.449Z,1750637808.449 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-06-23T00:16:48.598Z,1750637808.598 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-06-23T00:16:48.598Z,1750637808.598 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-06-23T00:16:48.703Z,1750637808.703 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-06-23T00:16:48.705Z,1750637808.705 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-06-23T00:16:48.828Z,1750637808.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-06-23T00:16:48.829Z,1750637808.829 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-06-23T00:16:49.290Z,1750637809.290 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-06-23T00:16:49.291Z,1750637809.291 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-06-23T00:16:49.868Z,1750637809.868 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-06-23T00:16:49.870Z,1750637809.870 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-06-23T00:16:50.110Z,1750637810.110 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-06-23T00:16:50.111Z,1750637810.111 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-06-23T00:16:50.322Z,1750637810.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-06-23T00:16:50.497Z,1750637810.497 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-06-23T00:16:51.525Z,1750637811.525 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-06-23T00:16:51.526Z,1750637811.526 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-06-23T00:16:51.842Z,1750637811.842 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-06-23T00:16:51.844Z,1750637811.844 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-06-23T00:16:52.105Z,1750637812.105 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-06-23T00:16:52.107Z,1750637812.107 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-06-23T00:16:52.523Z,1750637812.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-06-23T00:16:52.524Z,1750637812.524 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-06-23T00:16:52.906Z,1750637812.906 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-06-23T00:16:52.908Z,1750637812.908 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2025-06-23T00:16:52.911Z,1750637812.911 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2025-06-23T00:16:53.006Z,1750637813.006 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2025-06-23T00:16:53.192Z,1750637813.192 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Dock.cfg
2025-06-23T00:16:53.312Z,1750637813.312 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg
2025-06-23T00:16:53.420Z,1750637813.420 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2025-06-23T00:16:53.543Z,1750637813.543 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2025-06-23T00:16:53.642Z,1750637813.642 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2025-06-23T00:16:53.751Z,1750637813.751 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2025-06-23T00:16:53.878Z,1750637813.878 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2025-06-23T00:16:54.169Z,1750637814.169 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-06-23T00:16:54.170Z,1750637814.170 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2025-06-23T00:16:54.266Z,1750637814.266 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2025-06-23T00:16:54.372Z,1750637814.372 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2025-06-23T00:16:54.530Z,1750637814.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2025-06-23T00:16:54.653Z,1750637814.653 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-06-23T00:16:54.673Z,1750637814.673 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-06-23T00:16:54.861Z,1750637814.861 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-06-23T00:16:54.862Z,1750637814.862 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-06-23T00:16:54.940Z,1750637814.940 [VerticalControl](DEBUG): Construct VerticalControl.
2025-06-23T00:16:55.004Z,1750637815.004 [VerticalControl] Loaded
2025-06-23T00:16:55.005Z,1750637815.005 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-06-23T00:16:55.008Z,1750637815.008 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-06-23T00:16:55.058Z,1750637815.058 [HorizontalControl] Loaded
2025-06-23T00:16:55.058Z,1750637815.058 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-06-23T00:16:55.060Z,1750637815.060 [SpeedControl](DEBUG): Construct SpeedControl.
2025-06-23T00:16:55.063Z,1750637815.063 [SpeedControl] Loaded
2025-06-23T00:16:55.064Z,1750637815.064 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-06-23T00:16:55.067Z,1750637815.067 [LoopControl](DEBUG): Construct LoopControl.
2025-06-23T00:16:55.067Z,1750637815.067 [LoopControl] Loaded
2025-06-23T00:16:55.067Z,1750637815.067 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-06-23T00:16:55.068Z,1750637815.068 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-06-23T00:16:55.068Z,1750637815.068 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-06-23T00:16:55.145Z,1750637815.145 [DepthRateCalculator] Loaded
2025-06-23T00:16:55.145Z,1750637815.145 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-06-23T00:16:55.150Z,1750637815.150 [PitchRateCalculator] Loaded
2025-06-23T00:16:55.151Z,1750637815.151 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-06-23T00:16:55.161Z,1750637815.161 [SpeedCalculator] Loaded
2025-06-23T00:16:55.162Z,1750637815.162 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-06-23T00:16:55.166Z,1750637815.166 [YawRateCalculator] Loaded
2025-06-23T00:16:55.167Z,1750637815.167 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-06-23T00:16:55.186Z,1750637815.186 [ElevatorOffsetCalculator] Loaded
2025-06-23T00:16:55.186Z,1750637815.186 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-06-23T00:16:55.187Z,1750637815.187 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-06-23T00:16:55.189Z,1750637815.189 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-06-23T00:16:55.240Z,1750637815.240 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-06-23T00:16:55.240Z,1750637815.240 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-06-23T00:16:55.337Z,1750637815.337 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-06-23T00:16:55.337Z,1750637815.337 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-06-23T00:16:56.230Z,1750637816.230 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-06-23T00:16:56.231Z,1750637816.231 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-06-23T00:16:56.469Z,1750637816.469 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-06-23T00:16:56.470Z,1750637816.470 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-06-23T00:16:57.366Z,1750637817.366 [AHRS_M2] Loaded
2025-06-23T00:16:57.367Z,1750637817.367 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-06-23T00:16:57.622Z,1750637817.622 [BackseatComponent] Loaded
2025-06-23T00:16:57.622Z,1750637817.622 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-06-23T00:16:57.623Z,1750637817.623 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409E94E0
2025-06-23T00:16:57.623Z,1750637817.623 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 931
2025-06-23T00:16:57.626Z,1750637817.626 [LcmUniversalReporter] Loaded
2025-06-23T00:16:57.627Z,1750637817.627 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-06-23T00:16:58.506Z,1750637818.506 [BPC1] Loaded
2025-06-23T00:16:58.506Z,1750637818.506 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-06-23T00:16:58.609Z,1750637818.609 [DAT] Loaded
2025-06-23T00:16:58.609Z,1750637818.609 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-06-23T00:16:58.610Z,1750637818.610 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A194E0
2025-06-23T00:16:58.611Z,1750637818.611 [DAT ThreadHandler](INFO): Protected caller Thread ID is 932
2025-06-23T00:16:58.769Z,1750637818.769 [DataOverHttps] Loaded
2025-06-23T00:16:58.769Z,1750637818.769 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-06-23T00:16:58.770Z,1750637818.770 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A494E0
2025-06-23T00:16:58.771Z,1750637818.771 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 933
2025-06-23T00:16:58.795Z,1750637818.795 [Depth_Keller] Loaded
2025-06-23T00:16:58.795Z,1750637818.795 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-06-23T00:16:58.864Z,1750637818.864 [NAL9602] Loaded
2025-06-23T00:16:58.864Z,1750637818.864 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-06-23T00:16:58.896Z,1750637818.896 [Onboard] Loaded
2025-06-23T00:16:58.896Z,1750637818.896 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-06-23T00:16:58.898Z,1750637818.898 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A794E0
2025-06-23T00:16:58.898Z,1750637818.898 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 934
2025-06-23T00:16:58.913Z,1750637818.913 [Power24vConverter] Loaded
2025-06-23T00:16:58.913Z,1750637818.913 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-06-23T00:16:58.931Z,1750637818.931 [Radio_Surface] Loaded
2025-06-23T00:16:58.931Z,1750637818.931 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-06-23T00:16:58.932Z,1750637818.932 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AA94E0
2025-06-23T00:16:58.932Z,1750637818.932 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 935
2025-06-23T00:16:58.982Z,1750637818.982 [RDI_Pathfinder] Loaded
2025-06-23T00:16:58.983Z,1750637818.983 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-06-23T00:16:58.999Z,1750637818.999 [Sonardyne_Nano] Loaded
2025-06-23T00:16:58.999Z,1750637818.999 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-06-23T00:16:58.000Z,1750637819.000 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-06-23T00:16:59.000Z,1750637819.000 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-06-23T00:16:59.150Z,1750637819.150 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-06-23T00:16:59.151Z,1750637819.151 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-06-23T00:16:59.165Z,1750637819.165 [NavChart] Loaded
2025-06-23T00:16:59.165Z,1750637819.165 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-06-23T00:16:59.171Z,1750637819.171 [UniversalFixResidualReporter] Loaded
2025-06-23T00:16:59.172Z,1750637819.172 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-06-23T00:16:59.172Z,1750637819.172 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-06-23T00:16:59.173Z,1750637819.173 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-06-23T00:16:59.394Z,1750637819.394 [SBIT](DEBUG): Construct Startup Built In Test.
2025-06-23T00:16:59.404Z,1750637819.404 [SBIT] Loaded
2025-06-23T00:16:59.404Z,1750637819.404 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-06-23T00:16:59.407Z,1750637819.407 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-06-23T00:16:59.420Z,1750637819.420 [IBIT] Loaded
2025-06-23T00:16:59.421Z,1750637819.421 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-06-23T00:16:59.427Z,1750637819.427 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-06-23T00:16:59.513Z,1750637819.513 [CBIT] Loaded
2025-06-23T00:16:59.513Z,1750637819.513 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-06-23T00:16:59.547Z,1750637819.547 [GFScanner] Loaded
2025-06-23T00:16:59.547Z,1750637819.547 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-06-23T00:16:59.548Z,1750637819.548 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-06-23T00:16:59.548Z,1750637819.548 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-06-23T00:16:59.730Z,1750637819.730 [BuoyancyServo] Loaded
2025-06-23T00:16:59.730Z,1750637819.730 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-06-23T00:16:59.755Z,1750637819.755 [ElevatorServo] Loaded
2025-06-23T00:16:59.756Z,1750637819.756 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-06-23T00:16:59.786Z,1750637819.786 [DockingStepper] Loaded
2025-06-23T00:16:59.787Z,1750637819.787 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-06-23T00:16:59.810Z,1750637819.810 [MassServo] Loaded
2025-06-23T00:16:59.810Z,1750637819.810 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-06-23T00:16:59.832Z,1750637819.832 [RudderServo] Loaded
2025-06-23T00:16:59.832Z,1750637819.832 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-06-23T00:16:59.853Z,1750637819.853 [ThrusterServo] Loaded
2025-06-23T00:16:59.853Z,1750637819.853 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2025-06-23T00:16:59.854Z,1750637819.854 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-06-23T00:16:59.854Z,1750637819.854 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-06-23T00:16:59.871Z,1750637819.871 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-06-23T00:16:59.871Z,1750637819.871 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-06-23T00:17:00.111Z,1750637820.111 [CTD_Seabird] Loaded
2025-06-23T00:17:00.111Z,1750637820.111 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-06-23T00:17:00.112Z,1750637820.112 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C0C4E0
2025-06-23T00:17:00.113Z,1750637820.113 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 936
2025-06-23T00:17:00.137Z,1750637820.137 [PAR_Licor] Loaded
2025-06-23T00:17:00.137Z,1750637820.137 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-06-23T00:17:00.185Z,1750637820.185 [WetLabsBB2FL] Loaded
2025-06-23T00:17:00.186Z,1750637820.186 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-06-23T00:17:00.187Z,1750637820.187 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C3C4E0
2025-06-23T00:17:00.187Z,1750637820.187 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 937
2025-06-23T00:17:00.210Z,1750637820.210 [WetLabsUBAT] Loaded
2025-06-23T00:17:00.210Z,1750637820.210 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2025-06-23T00:17:00.211Z,1750637820.211 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C6C4E0
2025-06-23T00:17:00.211Z,1750637820.211 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 938
2025-06-23T00:17:00.212Z,1750637820.212 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-06-23T00:17:00.219Z,1750637820.219 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-06-23T00:17:00.222Z,1750637820.222 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-06-23T00:17:00.233Z,1750637820.233 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-06-23T00:17:00.234Z,1750637820.234 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C9C4E0
2025-06-23T00:17:00.235Z,1750637820.235 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 939
2025-06-23T00:17:00.239Z,1750637820.239 [Supervisor](INFO): Main Thread ID is 829
2025-06-23T00:17:00.239Z,1750637820.239 [Supervisor](DEBUG): Running supervisor.
2025-06-23T00:17:00.240Z,1750637820.240 [CommandExec ThreadHandler](INFO): Handler Thread ID is 940
2025-06-23T00:17:00.240Z,1750637820.240 [CommandExec](INFO): Initializing the command executive.
2025-06-23T00:17:00.242Z,1750637820.242 [CommandLine ThreadHandler](INFO): Handler Thread ID is 941
2025-06-23T00:17:00.244Z,1750637820.244 [controlThread ThreadHandler](INFO): Handler Thread ID is 942
2025-06-23T00:17:00.244Z,1750637820.244 [controlThread](DEBUG): Initializing ControlThread
2025-06-23T00:17:00.245Z,1750637820.245 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-06-23T00:17:00.247Z,1750637820.247 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-06-23T00:17:00.248Z,1750637820.248 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-06-23T00:17:00.248Z,1750637820.248 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-06-23T00:17:00.248Z,1750637820.248 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-06-23T00:17:00.249Z,1750637820.249 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-06-23T00:17:00.249Z,1750637820.249 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-06-23T00:17:00.250Z,1750637820.250 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-06-23T00:17:00.250Z,1750637820.250 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-06-23T00:17:00.252Z,1750637820.252 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-06-23T00:17:00.252Z,1750637820.252 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-06-23T00:17:00.253Z,1750637820.253 [SBIT](INFO): Initialize SBIT Component.
2025-06-23T00:17:00.253Z,1750637820.253 [SBIT](IMPORTANT): git: 2025-06-05-2-g07de84f03
2025-06-23T00:17:00.254Z,1750637820.254 [SBIT](INFO): git hash: 07de84f036b9b391a47d8c2a08834ee5eaa918cc
2025-06-23T00:17:00.254Z,1750637820.254 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-06-23T00:17:00.255Z,1750637820.255 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-06-23T00:17:00.256Z,1750637820.256 [SBIT](INFO): Beginning SBIT in 93.000000 seconds.
2025-06-23T00:17:00.257Z,1750637820.257 [IBIT](INFO): Initialize IBIT Component.
2025-06-23T00:17:00.258Z,1750637820.258 [CBIT](DEBUG): Initialize CBIT Component.
2025-06-23T00:17:00.258Z,1750637820.258 [logger ThreadHandler](INFO): Handler Thread ID is 943
2025-06-23T00:17:00.269Z,1750637820.269 [CBIT](DEBUG): Initialized mux pins.
2025-06-23T00:17:00.269Z,1750637820.269 [CBIT](DEBUG): Initializing the watchdog timer.
2025-06-23T00:17:00.277Z,1750637820.277 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 944
2025-06-23T00:17:00.293Z,1750637820.293 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-06-23T00:17:00.293Z,1750637820.293 [CBIT](DEBUG): Initializing heartbeat.
2025-06-23T00:17:00.294Z,1750637820.294 [DAT ThreadHandler](INFO): Handler Thread ID is 945
2025-06-23T00:17:00.295Z,1750637820.295 [DAT](INFO): Powering up
2025-06-23T00:17:00.295Z,1750637820.295 [DAT](DEBUG): Initializing DAT.
2025-06-23T00:17:00.298Z,1750637820.298 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 947
2025-06-23T00:17:00.300Z,1750637820.300 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-06-23T00:17:00.310Z,1750637820.310 [Onboard ThreadHandler](INFO): Handler Thread ID is 948
2025-06-23T00:17:00.327Z,1750637820.327 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 949
2025-06-23T00:17:00.346Z,1750637820.346 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 950
2025-06-23T00:17:00.347Z,1750637820.347 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-06-23T00:17:00.350Z,1750637820.350 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 952
2025-06-23T00:17:00.354Z,1750637820.354 [WetLabsBB2FL](INFO): Powering up
2025-06-23T00:17:00.355Z,1750637820.355 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 954
2025-06-23T00:17:00.358Z,1750637820.358 [WetLabsUBAT](INFO): Powering up
2025-06-23T00:17:00.359Z,1750637820.359 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 956
2025-06-23T00:17:00.365Z,1750637820.365 [CBIT](DEBUG): Deactivating emergency mode.
2025-06-23T00:17:00.369Z,1750637820.369 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-06-23T00:17:00.369Z,1750637820.369 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-06-23T00:17:00.369Z,1750637820.369 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-06-23T00:17:00.369Z,1750637820.369 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-06-23T00:17:00.370Z,1750637820.370 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-06-23T00:17:00.370Z,1750637820.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-06-23T00:17:00.370Z,1750637820.370 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-06-23T00:17:00.370Z,1750637820.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-06-23T00:17:00.405Z,1750637820.405 [CBIT](DEBUG): Backplane powered.
2025-06-23T00:17:00.405Z,1750637820.405 [GFScanner](DEBUG): Initializing GFScanner
2025-06-23T00:17:00.405Z,1750637820.405 [GFScanner](DEBUG): Deactivating GF circuits.
2025-06-23T00:17:00.414Z,1750637820.414 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-06-23T00:17:00.415Z,1750637820.415 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-06-23T00:17:00.415Z,1750637820.415 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-06-23T00:17:00.434Z,1750637820.434 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-06-23T00:17:00.449Z,1750637820.449 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-06-23T00:17:00.449Z,1750637820.449 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-06-23T00:17:00.450Z,1750637820.450 [MissionManager](ERROR): Could not load startup mission.
2025-06-23T00:17:00.450Z,1750637820.450 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-06-23T00:17:00.450Z,1750637820.450 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-06-23T00:17:00.459Z,1750637820.459 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-06-23T00:17:00.733Z,1750637820.733 [Radio_Surface](INFO): Powering up
2025-06-23T00:17:00.971Z,1750637820.971 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="DefaultWithUndock">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:hour />
        <Value>6</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DriftTimeout">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>30</Value>
        </Setting>
    </Guidance:Wait>
    <Aggregate Id="LeaveDock">
        <Sequence />
        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">
                Timed out while trying to detach from dock at current depth of 
                <Universal:depth />
                <Units:meter />
                .
            </Syslog>
        </Timeout>
        <Estimation:TrackAcousticContact>
            <While>
                <Universal:depth />
                <Gt>
                    <Control:VerticalControl.surfaceThreshold />
                </Gt>
            </While>
            <Setting>
                <Estimation:TrackAcousticContact.contactLabelSetting />
                <Arg Name="TransponderCode" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.numberOfSamplesSetting />
                <Arg Name="NumberOfPings" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.updatePeriodSetting />
                <Arg Name="TrackingUpdatePeriod" />
            </Setting>
        </Estimation:TrackAcousticContact>
        <Dock:Undock>
            <Sequence />
            <Setting>
                <Dock:Undock.driftTimeout />
                <Arg Name="DriftTimeout" />
            </Setting>
        </Dock:Undock>
    </Aggregate>
    <Aggregate Id="SurfaceDefault">
        <Sequence />
        <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="P2H">
                    <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>
    </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>

2025-06-23T00:17:00.994Z,1750637820.994 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-06-23T00:17:01.010Z,1750637821.010 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-06-23T00:17:01.014Z,1750637821.014 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-06-23T00:17:01.042Z,1750637821.042 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-06-23T00:17:01.046Z,1750637821.046 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-06-23T00:17:01.071Z,1750637821.071 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-06-23T00:17:01.072Z,1750637821.072 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-06-23T00:17:01.250Z,1750637821.250 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-06-23T00:17:01.251Z,1750637821.251 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-23T00:17:01.297Z,1750637821.297 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-23T00:17:01.346Z,1750637821.346 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-06-23T00:17:01.361Z,1750637821.361 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-06-23T00:17:01.367Z,1750637821.367 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-06-23T00:17:01.519Z,1750637821.519 [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 DefaultWithUndock {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute

    DetachTimeout = 6 hour
      """
      Maximum time duration for the vehicle to detach form the dock.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Dock transponder address.
      """

    TrackingUpdatePeriod = 10 second
      """
      Time duration between acoustic range queries while the mission is
      detaching from the dock.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    DriftTimeout = 3 minute
      """
      How long to allow vehicle to drift away from dock before retrying reverse
      """
  }

  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 = 30 second
  }

  aggregate LeaveDock {
    run in sequence

    timeout duration=DetachTimeout {
      syslog important "Timed out while trying to detach from dock at current depth of "
           + Universal:depth~meter + "."
    }

    # Acoustic tracking directives

    behavior Estimation:TrackAcousticContact {
      run while (
        Universal:depth > Control:VerticalControl.surfaceThreshold
      )

      set contactLabelSetting = TransponderCode
      set numberOfSamplesSetting = NumberOfPings
      set updatePeriodSetting = TrackingUpdatePeriod
    }

    # Leave the dock

    behavior Dock:Undock {
      run in sequence

      set driftTimeout = DriftTimeout
    }
  }

  aggregate SurfaceDefault {
    run in sequence

    # This mission assumes open water so from here on it's the same old default that's always used

    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=P2H {
          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"
  }
}


2025-06-23T00:17:01.524Z,1750637821.524 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-06-23T00:17:01.531Z,1750637821.531 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-06-23T00:17:01.666Z,1750637821.666 [Depth_Keller](INFO): Initializing.
2025-06-23T00:17:01.667Z,1750637821.667 [Power24vConverter](INFO): Powering up.
2025-06-23T00:17:01.667Z,1750637821.667 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-23T00:17:01.674Z,1750637821.674 [Sonardyne_Nano](INFO): Initializing.
2025-06-23T00:17:01.706Z,1750637821.706 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-06-23T00:17:01.734Z,1750637821.734 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-06-23T00:17:01.741Z,1750637821.741 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-06-23T00:17:01.742Z,1750637821.742 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-06-23T00:17:01.749Z,1750637821.749 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-06-23T00:17:01.750Z,1750637821.750 [DockingStepper](INFO): Start
2025-06-23T00:17:01.750Z,1750637821.750 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-23T00:17:01.757Z,1750637821.757 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-23T00:17:01.758Z,1750637821.758 [MassServo](DEBUG): Initializing EZServoServo.
2025-06-23T00:17:01.765Z,1750637821.765 [MassServo](DEBUG): Initializing MassServo.
2025-06-23T00:17:01.766Z,1750637821.766 [RudderServo](DEBUG): Initializing EZServoServo.
2025-06-23T00:17:01.773Z,1750637821.773 [RudderServo](DEBUG): Initializing RudderServo.
2025-06-23T00:17:01.774Z,1750637821.774 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-06-23T00:17:01.781Z,1750637821.781 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-06-23T00:17:01.994Z,1750637821.994 [DockingStepper](INFO): Starting
2025-06-23T00:17:02.357Z,1750637822.357 [DockingStepper](INFO): Starting
2025-06-23T00:17:02.881Z,1750637822.881 [DockingStepper](INFO): Starting
2025-06-23T00:17:02.930Z,1750637822.930 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-23T00:17:02.965Z,1750637822.965 [WetLabsBB2FL](INFO): Powering down
2025-06-23T00:17:03.178Z,1750637823.178 [DockingStepper](INFO): Starting
2025-06-23T00:17:03.572Z,1750637823.572 [DockingStepper](INFO): Starting
2025-06-23T00:17:03.956Z,1750637823.956 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-06-23T00:17:04.009Z,1750637824.009 [DockingStepper](INFO): Starting
2025-06-23T00:17:04.473Z,1750637824.473 [DockingStepper](INFO): Starting
2025-06-23T00:17:04.498Z,1750637824.498 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-23T00:17:04.904Z,1750637824.904 [DockingStepper](INFO): Starting
2025-06-23T00:17:05.207Z,1750637825.207 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103
2025-06-23T00:17:05.646Z,1750637825.646 [DockingStepper](INFO): Pause
2025-06-23T00:17:05.989Z,1750637825.989 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-06-23T00:17:05.993Z,1750637825.993 [Radio_Surface](INFO): No local IP found
2025-06-23T00:17:06.794Z,1750637826.794 [Radio_Surface](INFO): Powering down
2025-06-23T00:17:09.661Z,1750637829.661 [WetLabsUBAT](INFO): Powering down
2025-06-23T00:17:13.902Z,1750637833.902 [DAT](INFO): DAT read: 

2025-06-23T00:17:13.903Z,1750637833.903 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-06-23T00:17:19.446Z,1750637839.446 [DAT](INFO): DAT read: MF Frequency Band

2025-06-23T00:17:19.447Z,1750637839.447 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2

2025-06-23T00:17:19.448Z,1750637839.448 [DAT](INFO): DAT read: Jun 23 2025 00:16:37 

2025-06-23T00:17:20.454Z,1750637840.454 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-06-23T00:17:20.455Z,1750637840.455 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-06-23T00:17:20.456Z,1750637840.456 [DAT](INFO): commRate: 600
2025-06-23T00:17:22.521Z,1750637842.521 [DAT](INFO): entering command mode
2025-06-23T00:17:22.722Z,1750637842.722 [DAT](INFO): DAT read: 

2025-06-23T00:17:22.722Z,1750637842.722 [DAT](INFO): DAT read: user:1>

2025-06-23T00:17:22.723Z,1750637842.723 [DAT](INFO): setting verbose to 3
2025-06-23T00:17:22.974Z,1750637842.974 [DAT](INFO): DAT read: user:1>

2025-06-23T00:17:22.975Z,1750637842.975 [DAT](INFO): DAT read: Verbose         | 3           

2025-06-23T00:17:22.975Z,1750637842.975 [DAT](INFO): set verbose to 3
2025-06-23T00:17:22.976Z,1750637842.976 [DAT](INFO): setting DatVerbose to 27440
2025-06-23T00:17:23.228Z,1750637843.228 [DAT](INFO): DAT read: user:2>

2025-06-23T00:17:23.233Z,1750637843.233 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-06-23T00:17:23.234Z,1750637843.234 [DAT](INFO): set DatVerbose to 27440
2025-06-23T00:17:23.235Z,1750637843.235 [DAT](INFO): setting transmit power to 8
2025-06-23T00:17:23.478Z,1750637843.478 [DAT](INFO): DAT read: user:3>

2025-06-23T00:17:23.479Z,1750637843.479 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-06-23T00:17:23.479Z,1750637843.479 [DAT](INFO): set transmit power to 8
2025-06-23T00:17:23.479Z,1750637843.479 [DAT](INFO): setting local address to 10
2025-06-23T00:17:23.730Z,1750637843.730 [DAT](INFO): DAT read: user:4>

2025-06-23T00:17:23.731Z,1750637843.731 [DAT](INFO): DAT read: LocalAddr       | 10          

2025-06-23T00:17:23.731Z,1750637843.731 [DAT](INFO): set local address to 10
2025-06-23T00:17:23.732Z,1750637843.732 [DAT](INFO): Setting time to: 0:17:23 And date to:6/23/2025
2025-06-23T00:17:23.982Z,1750637843.982 [DAT](INFO): DAT read: user:5>

2025-06-23T00:17:23.983Z,1750637843.983 [DAT](INFO): DAT read: Mon Jun 23, 2025  00:17:23  

2025-06-23T00:17:23.983Z,1750637843.983 [DAT](INFO): Local DAT time set to Mon Jun 23, 2025  00:17:23  

2025-06-23T00:17:29.003Z,1750637849.003 [NAL9602](INFO): Powering up NAL9602
2025-06-23T00:17:39.910Z,1750637859.910 [NAL9602](INFO): NAL9602 initialized
2025-06-23T00:18:33.716Z,1750637913.716 [SBIT](IMPORTANT): Beginning Startup BIT
2025-06-23T00:18:33.721Z,1750637913.721 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-06-23T00:18:38.396Z,1750637918.396 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.008471
CHAN A1 (24V): -0.000431
CHAN A2 (12V): 0.003976
CHAN A3 (5V): -0.000470
CHAN B0 (3.3V): 0.000584
CHAN B1 (3.15aV): -0.000378
CHAN B2 (3.15bV): 0.002208
CHAN B3 (GND): 0.000865
OPEN: -0.001765
Full Scale: +/- 1 mA
2025-06-23T00:18:38.962Z,1750637918.962 [Radio_Surface](INFO): Powering up
2025-06-23T00:18:44.213Z,1750637924.213 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-06-23T00:18:44.214Z,1750637924.214 [Radio_Surface](INFO): No local IP found
2025-06-23T00:19:25.872Z,1750637965.872 [NAL9602](INFO): SBD MO Status=2, MOMSN=48752, MT Status=2, MTMSN=0
2025-06-23T00:19:25.872Z,1750637965.872 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-23T00:19:27.127Z,1750637967.127 [SBIT](IMPORTANT): SBIT PASSED
2025-06-23T00:19:27.127Z,1750637967.127 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-06-23T00:19:27.128Z,1750637967.128 [SBIT](IMPORTANT): CBIT.gf24Offset=173 microampere;

2025-06-23T00:19:27.128Z,1750637967.128 [SBIT](IMPORTANT): Docked.verbose=0 bool;

2025-06-23T00:19:27.128Z,1750637967.128 [SBIT](IMPORTANT): DockingStepper.closedValue=16450 count;

2025-06-23T00:19:27.128Z,1750637967.128 [SBIT](IMPORTANT): DockingStepper.slideValue=10700 count;

2025-06-23T00:19:27.128Z,1750637967.128 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-06-23T00:19:27.128Z,1750637967.128 [SBIT](IMPORTANT): Express mostRecent WetLabsUBAT.average_bioluminescence;

2025-06-23T00:19:27.129Z,1750637967.129 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2025-06-23T00:19:27.129Z,1750637967.129 [SBIT](IMPORTANT): Normal linearApproximation _.dinoflagellates 10000000000.000000 none;

2025-06-23T00:19:27.129Z,1750637967.129 [SBIT](IMPORTANT): RudderServo.offsetAngle=1 degree;

2025-06-23T00:19:27.129Z,1750637967.129 [SBIT](IMPORTANT): SpeedControl.rollOptimum=1.025000 m/s;

2025-06-23T00:19:27.129Z,1750637967.129 [SBIT](IMPORTANT): ThrusterServo.currLimit=60 percent;

2025-06-23T00:19:27.129Z,1750637967.129 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=415.338195 cubic_centimeter;

2025-06-23T00:19:27.129Z,1750637967.129 [SBIT](IMPORTANT): VerticalControl.massDefault=18.468839 millimeter;

2025-06-23T00:19:27.520Z,1750637967.520 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-23T00:19:27.520Z,1750637967.520 [DefaultWithUndock] Running Loop=1
2025-06-23T00:19:27.520Z,1750637967.520 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-23T00:19:27.521Z,1750637967.521 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-23T00:19:27.521Z,1750637967.521 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-23T00:19:42.495Z,1750637982.495 [NAL9602](INFO): SBD MO Status=2, MOMSN=48752, MT Status=2, MTMSN=0
2025-06-23T00:19:42.495Z,1750637982.495 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-23T00:19:57.796Z,1750637997.796 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-06-23T00:19:57.796Z,1750637997.796 [DefaultWithUndock:A.Wait] Stopped
2025-06-23T00:19:57.797Z,1750637997.797 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-23T00:19:57.797Z,1750637997.797 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-06-23T00:19:57.797Z,1750637997.797 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-06-23T00:19:57.797Z,1750637997.797 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-06-23T00:19:57.797Z,1750637997.797 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-06-23T00:19:57.798Z,1750637997.798 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-06-23T00:19:57.798Z,1750637997.798 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-23T00:19:57.798Z,1750637997.798 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-23T00:19:58.208Z,1750637998.208 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-23T00:19:58.208Z,1750637998.208 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-23T00:19:58.209Z,1750637998.209 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth -0.093012 m.
2025-06-23T00:19:58.210Z,1750637998.210 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-06-23T00:19:58.210Z,1750637998.210 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-23T00:19:58.354Z,1750637998.354 [DockingStepper](INFO): Resume
2025-06-23T00:19:58.616Z,1750637998.616 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-23T00:19:58.646Z,1750637998.646 [DockingStepper](INFO): Resuming
2025-06-23T00:19:59.036Z,1750637999.036 [DockingStepper](INFO): Start
2025-06-23T00:19:59.036Z,1750637999.036 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-23T00:19:59.154Z,1750637999.154 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-23T00:19:59.534Z,1750637999.534 [DockingStepper](INFO): Starting
2025-06-23T00:19:59.820Z,1750637999.820 [DockingStepper](INFO): Starting
2025-06-23T00:20:00.231Z,1750638000.231 [DockingStepper](INFO): Starting
2025-06-23T00:20:00.278Z,1750638000.278 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-23T00:20:00.622Z,1750638000.622 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-06-23T00:20:00.622Z,1750638000.622 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-06-23T00:20:00.628Z,1750638000.628 [DockingStepper](INFO): Starting
2025-06-23T00:20:00.664Z,1750638000.664 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-06-23T00:20:01.058Z,1750638001.058 [DockingStepper](INFO): Starting
2025-06-23T00:20:01.063Z,1750638001.063 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-06-23T00:20:01.063Z,1750638001.063 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-06-23T00:20:01.457Z,1750638001.457 [DockingStepper](INFO): Starting
2025-06-23T00:20:01.978Z,1750638001.978 [DockingStepper](INFO): Starting
2025-06-23T00:20:02.005Z,1750638002.005 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-23T00:20:02.274Z,1750638002.274 [DockingStepper](INFO): Starting
2025-06-23T00:20:18.804Z,1750638018.804 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-06-23T00:20:19.233Z,1750638019.233 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-06-23T00:20:19.635Z,1750638019.635 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-06-23T00:20:19.635Z,1750638019.635 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-06-23T00:20:19.635Z,1750638019.635 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-06-23T00:20:19.635Z,1750638019.635 [DefaultWithUndock:LeaveDock] Stopped
2025-06-23T00:20:19.636Z,1750638019.636 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-06-23T00:20:19.636Z,1750638019.636 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-06-23T00:20:19.636Z,1750638019.636 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-06-23T00:20:19.636Z,1750638019.636 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-06-23T00:20:19.636Z,1750638019.636 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-23T00:20:19.636Z,1750638019.636 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-23T00:20:19.637Z,1750638019.637 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-23T00:20:19.637Z,1750638019.637 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-23T00:20:19.638Z,1750638019.638 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-23T00:20:19.638Z,1750638019.638 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-23T00:20:19.638Z,1750638019.638 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-23T00:20:20.016Z,1750638020.016 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-06-23T00:20:20.016Z,1750638020.016 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-23T00:20:20.016Z,1750638020.016 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-23T00:20:20.174Z,1750638020.174 [DockingStepper](INFO): Pause
2025-06-23T00:20:20.419Z,1750638020.419 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-23T00:20:51.116Z,1750638051.116 [NAL9602](INFO): SBD MO Status=0, MOMSN=48752, MT Status=0, MTMSN=0
2025-06-23T00:20:51.116Z,1750638051.116 [NAL9602](INFO): No messages in MT queue
2025-06-23T00:21:32.409Z,1750638092.409 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:22:03.533Z,1750638123.533 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:22:33.246Z,1750638153.246 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.011930
2025-06-23T00:22:34.233Z,1750638154.233 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:22:53.805Z,1750638173.805 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:23:01.658Z,1750638181.658 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-06-23T00:23:01.658Z,1750638181.658 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-06-23T00:23:01.669Z,1750638181.669 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-06-23T00:23:02.032Z,1750638182.032 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-06-23T00:23:02.032Z,1750638182.032 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-06-23T00:23:10.513Z,1750638190.513 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002324.00,A,3651.73306,N,12206.44814,W,0.952,0.00,230625,,,A*7F
2025-06-23T00:23:10.516Z,1750638190.516 [NAL9602](INFO): GPS fix at 20250623T002324: (36.862218, -122.107469)
2025-06-23T00:23:10.528Z,1750638190.528 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-23T00:23:10.528Z,1750638190.528 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-23T00:23:10.938Z,1750638190.938 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-23T00:23:19.678Z,1750638199.678 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250622T035024/Courier0204.lzma
2025-06-23T00:23:30.720Z,1750638210.720 [DataOverHttps](INFO): Moved sent file to Logs/20250622T035024/Courier0204.lzma.bak
2025-06-23T00:23:30.721Z,1750638210.721 [DataOverHttps](IMPORTANT): SBD MOMSN=25237821, MTMSN=20250623T002345
2025-06-23T00:23:40.166Z,1750638220.166 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 14 h;set transit.NeedCommsTime 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 0.5 m/s;set transit.MaxDepth 25 m;run
2025-06-23T00:23:40.232Z,1750638220.232 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-06-23T00:23:40.232Z,1750638220.232 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-06-23T00:23:40.233Z,1750638220.233 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-06-23T00:23:40.238Z,1750638220.238 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-06-23T00:23:41.031Z,1750638221.031 [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" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-06-23T00:23:41.037Z,1750638221.037 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-06-23T00:23:41.040Z,1750638221.040 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-06-23T00:23:41.043Z,1750638221.043 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-06-23T00:23:41.047Z,1750638221.047 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-06-23T00:23:41.050Z,1750638221.050 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-06-23T00:23:41.052Z,1750638221.052 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-06-23T00:23:41.055Z,1750638221.055 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-06-23T00:23:41.078Z,1750638221.078 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-06-23T00:23:41.086Z,1750638221.086 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-06-23T00:23:41.089Z,1750638221.089 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-06-23T00:23:41.096Z,1750638221.096 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-06-23T00:23:41.103Z,1750638221.103 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-06-23T00:23:41.109Z,1750638221.109 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-06-23T00:23:41.110Z,1750638221.110 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-23T00:23:41.110Z,1750638221.110 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-23T00:23:41.111Z,1750638221.111 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-23T00:23:41.813Z,1750638221.813 [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>

2025-06-23T00:23:41.824Z,1750638221.824 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-06-23T00:23:41.827Z,1750638221.827 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-23T00:23:41.831Z,1750638221.831 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-23T00:23:41.834Z,1750638221.834 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-06-23T00:23:41.837Z,1750638221.837 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-23T00:23:41.840Z,1750638221.840 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-23T00:23:41.843Z,1750638221.843 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-06-23T00:23:41.846Z,1750638221.846 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-06-23T00:23:41.854Z,1750638221.854 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-23T00:23:41.915Z,1750638221.915 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-23T00:23:41.915Z,1750638221.915 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-23T00:23:41.916Z,1750638221.916 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-23T00:23:42.118Z,1750638222.118 [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>1.5</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>

2025-06-23T00:23:42.128Z,1750638222.128 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-23T00:23:42.135Z,1750638222.135 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-23T00:23:42.140Z,1750638222.140 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-23T00:23:42.151Z,1750638222.151 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-23T00:23:42.152Z,1750638222.152 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-23T00:23:42.165Z,1750638222.165 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-23T00:23:42.199Z,1750638222.199 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-23T00:23:42.246Z,1750638222.246 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-23T00:23:42.246Z,1750638222.246 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-23T00:23:42.247Z,1750638222.247 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-23T00:23:42.288Z,1750638222.288 [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>

2025-06-23T00:23:42.301Z,1750638222.301 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-06-23T00:23:42.308Z,1750638222.308 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-23T00:23:42.315Z,1750638222.315 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-23T00:23:42.315Z,1750638222.315 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-23T00:23:42.316Z,1750638222.316 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-23T00:23:42.617Z,1750638222.617 [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>

2025-06-23T00:23:42.630Z,1750638222.630 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-06-23T00:23:42.637Z,1750638222.637 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-06-23T00:23:42.640Z,1750638222.640 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-06-23T00:23:42.644Z,1750638222.644 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-06-23T00:23:42.660Z,1750638222.660 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-23T00:23:42.676Z,1750638222.676 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-23T00:23:42.682Z,1750638222.682 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-23T00:23:42.690Z,1750638222.690 [transit:MassHold.Pitch](DEBUG): Construct.
2025-06-23T00:23:42.706Z,1750638222.706 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-06-23T00:23:42.713Z,1750638222.713 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-06-23T00:23:42.724Z,1750638222.724 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-06-23T00:23:42.773Z,1750638222.773 [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 dives immediately with no comms/GPS and 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" priorityHere=false refId="NeedComms"
  }
}


2025-06-23T00:23:42.781Z,1750638222.781 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-06-23T00:23:42.830Z,1750638222.830 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-23T00:24:07.593Z,1750638247.593 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20250623T001647/Courier0000.lzma
2025-06-23T00:24:10.986Z,1750638250.986 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 14 hour
2025-06-23T00:24:10.987Z,1750638250.987 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 60 minute
2025-06-23T00:24:10.988Z,1750638250.988 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-06-23T00:24:10.989Z,1750638250.989 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-06-23T00:24:10.990Z,1750638250.990 [CommandExec](IMPORTANT): got command set transit.Speed 0.5 meter_per_second
2025-06-23T00:24:10.991Z,1750638250.991 [CommandExec](IMPORTANT): got command set transit.MaxDepth 25 meter
2025-06-23T00:24:10.991Z,1750638250.991 [CommandExec](IMPORTANT): got command run
2025-06-23T00:24:10.993Z,1750638250.993 [CommandExec](IMPORTANT): Running 
2025-06-23T00:24:11.334Z,1750638251.334 [DefaultWithUndock] Stopped
2025-06-23T00:24:11.334Z,1750638251.334 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-23T00:24:11.334Z,1750638251.334 [DefaultWithUndock:SurfaceDefault] Stopped
2025-06-23T00:24:11.334Z,1750638251.334 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-06-23T00:24:11.335Z,1750638251.335 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-06-23T00:24:11.335Z,1750638251.335 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-23T00:24:11.335Z,1750638251.335 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-23T00:24:11.335Z,1750638251.335 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-23T00:24:11.335Z,1750638251.335 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-23T00:24:11.335Z,1750638251.335 [MissionManager](IMPORTANT): Started mission transit
2025-06-23T00:24:11.335Z,1750638251.335 [transit] Running Loop=1
2025-06-23T00:24:11.335Z,1750638251.335 [transit](DEBUG): Aggregate::initialize transit
2025-06-23T00:24:11.335Z,1750638251.335 [transit:StandardEnvelopes] Running Loop=1
2025-06-23T00:24:11.336Z,1750638251.336 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-06-23T00:24:11.336Z,1750638251.336 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-23T00:24:11.336Z,1750638251.336 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-23T00:24:11.336Z,1750638251.336 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-23T00:24:11.336Z,1750638251.336 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-23T00:24:11.336Z,1750638251.336 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-23T00:24:11.336Z,1750638251.336 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-23T00:24:11.336Z,1750638251.336 [transit:BackseatDriver] Running Loop=1
2025-06-23T00:24:11.337Z,1750638251.337 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-06-23T00:24:11.337Z,1750638251.337 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-23T00:24:11.337Z,1750638251.337 [transit:PowerOnly] Running Loop=1
2025-06-23T00:24:11.337Z,1750638251.337 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-06-23T00:24:11.337Z,1750638251.337 [transit:PowerOnly:A] Running Loop=1
2025-06-23T00:24:11.337Z,1750638251.337 [transit:PowerOnly:B] Running Loop=1
2025-06-23T00:24:11.337Z,1750638251.337 [transit:PowerOnly:C] Running Loop=1
2025-06-23T00:24:11.337Z,1750638251.337 [transit:PowerOnly:D] Running Loop=1
2025-06-23T00:24:11.338Z,1750638251.338 [transit:PowerOnly:E.Wait] Running Loop=1
2025-06-23T00:24:11.338Z,1750638251.338 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-23T00:24:11.338Z,1750638251.338 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-23T00:24:11.338Z,1750638251.338 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-23T00:24:11.338Z,1750638251.338 [transit:MassHold.Pitch] Running Loop=1
2025-06-23T00:24:11.338Z,1750638251.338 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-06-23T00:24:11.338Z,1750638251.338 [transit:B] Running Loop=1
2025-06-23T00:24:11.339Z,1750638251.339 [transit:MassHold.Pitch] Running Loop=1
2025-06-23T00:24:11.339Z,1750638251.339 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-23T00:24:11.340Z,1750638251.340 [transit:PowerOnly] Running Loop=1
2025-06-23T00:24:11.340Z,1750638251.340 [transit:PowerOnly:D] Stopped
2025-06-23T00:24:11.340Z,1750638251.340 [transit:PowerOnly:C] Stopped
2025-06-23T00:24:11.340Z,1750638251.340 [transit:PowerOnly:B] Stopped
2025-06-23T00:24:11.340Z,1750638251.340 [transit:PowerOnly:A] Stopped
2025-06-23T00:24:11.340Z,1750638251.340 [transit:BackseatDriver] Running Loop=1
2025-06-23T00:24:11.340Z,1750638251.340 [transit:StandardEnvelopes] Running Loop=1
2025-06-23T00:24:11.341Z,1750638251.341 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-23T00:24:11.341Z,1750638251.341 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-23T00:24:11.342Z,1750638251.342 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-23T00:24:11.343Z,1750638251.343 [transit:B] Stopped
2025-06-23T00:24:11.343Z,1750638251.343 [transit:C] Running Loop=1
2025-06-23T00:24:11.695Z,1750638251.695 [transit:C] Stopped
2025-06-23T00:24:11.695Z,1750638251.695 [transit:E] Running Loop=1
2025-06-23T00:24:12.086Z,1750638252.086 [transit:E] Stopped
2025-06-23T00:24:12.086Z,1750638252.086 [transit:F] Running Loop=1
2025-06-23T00:24:12.486Z,1750638252.486 [transit:F] Stopped
2025-06-23T00:24:12.486Z,1750638252.486 [transit:G] Running Loop=1
2025-06-23T00:24:12.892Z,1750638252.892 [transit:G] Stopped
2025-06-23T00:24:12.892Z,1750638252.892 [transit:Transit] Running Loop=1
2025-06-23T00:24:12.892Z,1750638252.892 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-06-23T00:24:12.892Z,1750638252.892 [transit:Transit:A.Pitch] Running Loop=1
2025-06-23T00:24:12.892Z,1750638252.892 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-06-23T00:24:12.893Z,1750638252.893 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-23T00:24:12.893Z,1750638252.893 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-06-23T00:24:12.893Z,1750638252.893 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-06-23T00:24:12.893Z,1750638252.893 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-23T00:24:12.895Z,1750638252.895 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-06-23T00:24:13.331Z,1750638253.331 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-06-23T00:24:13.331Z,1750638253.331 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-23T00:24:13.332Z,1750638253.332 [transit:Transit:A.Pitch] Running Loop=1
2025-06-23T00:24:13.340Z,1750638253.340 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-06-23T00:24:13.341Z,1750638253.341 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-06-23T00:24:13.341Z,1750638253.341 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-06-23T00:24:16.627Z,1750638256.627 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Courier0000.lzma.bak
2025-06-23T00:24:16.627Z,1750638256.627 [DataOverHttps](INFO): SBD MOMSN=25237825
2025-06-23T00:24:39.845Z,1750638279.845 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:25:01.262Z,1750638301.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:25:26.366Z,1750638326.366 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:25:46.513Z,1750638346.513 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:26:17.646Z,1750638377.646 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:26:45.762Z,1750638405.762 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.249329
2025-06-23T00:26:46.765Z,1750638406.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:27:16.889Z,1750638436.889 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:27:17.893Z,1750638437.893 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:27:40.073Z,1750638460.073 [Radio_Surface](INFO): Powering down
2025-06-23T00:27:48.045Z,1750638468.045 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:27:49.051Z,1750638469.051 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-23T00:27:49.052Z,1750638469.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:27:58.253Z,1750638478.253 [Radio_Surface](INFO): Powering up
2025-06-23T00:28:03.517Z,1750638483.517 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-06-23T00:28:03.518Z,1750638483.518 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-06-23T00:28:19.169Z,1750638499.169 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:28:20.173Z,1750638500.173 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-23T00:28:20.173Z,1750638500.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:28:20.754Z,1750638500.754 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-06-23T00:28:50.295Z,1750638530.295 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:28:51.297Z,1750638531.297 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:29:21.417Z,1750638561.417 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:29:22.421Z,1750638562.421 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:29:47.616Z,1750638587.616 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS6311220,35.0, +11.0,   0.0,1493.5,  0
2025-06-23T00:29:52.541Z,1750638592.541 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:29:53.545Z,1750638593.545 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:29:54.540Z,1750638594.540 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-06-23T00:30:23.667Z,1750638623.667 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:30:24.669Z,1750638624.669 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:30:54.789Z,1750638654.789 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:30:55.793Z,1750638655.793 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:31:25.933Z,1750638685.933 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:31:26.938Z,1750638686.938 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:31:57.137Z,1750638717.137 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-23T00:31:58.142Z,1750638718.142 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:32:28.385Z,1750638748.385 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-23T00:32:29.389Z,1750638749.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:32:47.260Z,1750638767.260 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.007352
2025-06-23T00:32:48.262Z,1750638768.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:33:18.325Z,1750638798.325 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-23T00:33:19.330Z,1750638799.330 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:33:47.445Z,1750638827.445 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.191399
2025-06-23T00:33:48.446Z,1750638828.446 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:34:18.570Z,1750638858.570 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:34:19.573Z,1750638859.573 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:34:49.693Z,1750638889.693 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-23T00:34:50.697Z,1750638890.697 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:35:09.638Z,1750638909.638 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003444
2025-06-23T00:35:10.638Z,1750638910.638 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:35:21.332Z,1750638921.332 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  -416,   -34,
2025-06-23T00:35:29.657Z,1750638929.657 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:35:31.497Z,1750638931.497 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -197.11,     -145.48,    ,  20.00,  0.00
2025-06-23T00:35:47.746Z,1750638947.746 [DataOverHttps](IMPORTANT): SBD MTMSN=20250623T003602
2025-06-23T00:35:59.529Z,1750638959.529 [DataOverHttps](INFO): Received command: schedule resume
2025-06-23T00:35:59.547Z,1750638959.547 [CommandExec](IMPORTANT): got command schedule resume
2025-06-23T00:36:01.435Z,1750638961.435 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  -774,  +370,
2025-06-23T00:36:11.573Z,1750638971.573 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:36:43.565Z,1750639003.565 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:37:08.829Z,1750639028.829 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:37:28.685Z,1750639048.685 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:37:52.797Z,1750639072.797 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:38:22.873Z,1750639102.873 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-23T00:38:23.877Z,1750639103.877 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:38:51.990Z,1750639131.990 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.195431
2025-06-23T00:38:52.994Z,1750639132.994 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:39:23.113Z,1750639163.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:39:24.118Z,1750639164.118 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:39:54.237Z,1750639194.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:39:55.242Z,1750639195.242 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:40:25.366Z,1750639225.366 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:40:26.369Z,1750639226.369 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:40:56.539Z,1750639256.539 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-23T00:40:57.541Z,1750639257.541 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:41:15.713Z,1750639275.713 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002882
2025-06-23T00:41:16.713Z,1750639276.713 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:41:48.113Z,1750639308.113 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:42:02.015Z,1750639322.015 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-06-23T00:42:16.226Z,1750639336.226 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.515533
2025-06-23T00:42:17.230Z,1750639337.230 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:42:42.141Z,1750639362.141 [Radio_Surface](INFO): Powering down
2025-06-23T00:42:47.361Z,1750639367.361 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:42:48.365Z,1750639368.365 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-23T00:42:48.366Z,1750639368.366 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:43:18.490Z,1750639398.490 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:43:19.493Z,1750639399.493 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:43:49.617Z,1750639429.617 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:43:50.621Z,1750639430.621 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:44:20.757Z,1750639460.757 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:44:21.763Z,1750639461.763 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:44:51.894Z,1750639491.894 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:44:52.897Z,1750639492.897 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:45:23.029Z,1750639523.029 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:45:24.033Z,1750639524.033 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:45:54.153Z,1750639554.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:45:55.157Z,1750639555.157 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:46:25.278Z,1750639585.278 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:46:26.290Z,1750639586.290 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:46:56.409Z,1750639616.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:46:57.418Z,1750639617.418 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:47:27.553Z,1750639647.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:47:28.557Z,1750639648.557 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:47:58.677Z,1750639678.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:47:59.682Z,1750639679.682 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:48:01.974Z,1750639681.974 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 4.
2025-06-23T00:48:01.983Z,1750639681.983 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-06-23T00:48:29.813Z,1750639709.813 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:48:30.818Z,1750639710.818 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:49:00.937Z,1750639740.937 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:49:01.941Z,1750639741.941 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:49:32.073Z,1750639772.073 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:49:33.077Z,1750639773.077 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:50:03.206Z,1750639803.206 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:50:04.209Z,1750639804.209 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:50:34.329Z,1750639834.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:50:35.333Z,1750639835.333 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:51:05.467Z,1750639865.467 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:51:06.469Z,1750639866.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:51:36.589Z,1750639896.589 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:51:37.593Z,1750639897.593 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:52:07.746Z,1750639927.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:52:08.749Z,1750639928.749 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:52:38.886Z,1750639958.886 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:52:39.889Z,1750639959.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:53:10.009Z,1750639990.009 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:53:11.013Z,1750639991.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:53:41.135Z,1750640021.135 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:53:42.137Z,1750640022.137 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:54:12.257Z,1750640052.257 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:54:13.263Z,1750640053.263 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:54:43.385Z,1750640083.385 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:54:44.389Z,1750640084.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:55:14.529Z,1750640114.529 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:55:15.534Z,1750640115.534 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:55:27.611Z,1750640127.611 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -220.22,     -26    -0.39,  20.00,  0.00
2025-06-23T00:55:45.657Z,1750640145.657 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:55:46.661Z,1750640146.661 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:56:16.781Z,1750640176.781 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:56:17.785Z,1750640177.785 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:56:47.921Z,1750640207.921 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:56:48.925Z,1750640208.925 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:57:19.045Z,1750640239.045 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:57:20.049Z,1750640240.049 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:57:50.181Z,1750640270.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:57:51.186Z,1750640271.186 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:58:21.313Z,1750640301.313 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:58:22.317Z,1750640302.317 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:58:52.445Z,1750640332.445 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:58:53.449Z,1750640333.449 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:59:23.576Z,1750640363.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:59:24.577Z,1750640364.577 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T00:59:54.698Z,1750640394.698 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T00:59:55.701Z,1750640395.701 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:00:25.826Z,1750640425.826 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:00:26.829Z,1750640426.829 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:00:56.957Z,1750640456.957 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:00:57.961Z,1750640457.961 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:01:28.101Z,1750640488.101 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:01:29.105Z,1750640489.105 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:01:59.226Z,1750640519.226 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:02:00.229Z,1750640520.229 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:02:30.349Z,1750640550.349 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:02:31.353Z,1750640551.353 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:03:01.473Z,1750640581.473 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:03:02.477Z,1750640582.477 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:03:32.597Z,1750640612.597 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:03:33.601Z,1750640613.601 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:04:03.733Z,1750640643.733 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:04:04.739Z,1750640644.739 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:04:34.861Z,1750640674.861 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:04:35.865Z,1750640675.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:05:05.985Z,1750640705.985 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:05:06.989Z,1750640706.989 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:05:17.439Z,1750640717.439 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062217064220,35.0, +11.0,   .5,  0
2025-06-23T01:05:37.117Z,1750640737.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:05:38.121Z,1750640738.121 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:06:08.254Z,1750640768.254 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:06:09.258Z,1750640769.258 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:06:39.387Z,1750640799.387 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:06:40.389Z,1750640800.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:07:10.509Z,1750640830.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:07:11.513Z,1750640831.513 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:07:41.633Z,1750640861.633 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:07:42.637Z,1750640862.637 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:08:12.765Z,1750640892.765 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:08:13.769Z,1750640893.769 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:08:43.901Z,1750640923.901 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:08:44.905Z,1750640924.905 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:09:15.050Z,1750640955.050 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:09:16.053Z,1750640956.053 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:09:46.189Z,1750640986.189 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:09:47.194Z,1750640987.194 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:10:17.313Z,1750641017.313 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:10:18.317Z,1750641018.317 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:10:48.437Z,1750641048.437 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:10:49.441Z,1750641049.441 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:11:19.573Z,1750641079.573 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:11:20.578Z,1750641080.578 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:11:50.698Z,1750641110.698 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:11:51.701Z,1750641111.701 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:12:21.833Z,1750641141.833 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:12:22.837Z,1750641142.837 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:12:52.957Z,1750641172.957 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:12:53.963Z,1750641173.963 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:13:24.081Z,1750641204.081 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:13:25.085Z,1750641205.085 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:13:55.223Z,1750641235.223 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:13:56.229Z,1750641236.229 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:14:26.357Z,1750641266.357 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:14:27.362Z,1750641267.362 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:14:57.485Z,1750641297.485 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:14:58.490Z,1750641298.490 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:15:28.617Z,1750641328.617 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:15:29.621Z,1750641329.621 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:15:33.540Z,1750641333.540 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  +234,  -124A
2025-06-23T01:15:59.741Z,1750641359.741 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:16:00.745Z,1750641360.745 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:16:30.865Z,1750641390.865 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:16:31.869Z,1750641391.869 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:17:01.989Z,1750641421.989 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:17:02.994Z,1750641422.994 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:17:33.137Z,1750641453.137 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:17:34.141Z,1750641454.141 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:18:04.261Z,1750641484.261 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:18:05.265Z,1750641485.265 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:18:35.402Z,1750641515.402 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:18:36.405Z,1750641516.405 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:19:06.525Z,1750641546.525 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:19:07.529Z,1750641547.529 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:19:11.461Z,1750641551.461 [Radio_Surface](INFO): Powering up
2025-06-23T01:19:16.713Z,1750641556.713 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-06-23T01:19:16.714Z,1750641556.714 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-06-23T01:19:37.662Z,1750641577.662 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:19:38.665Z,1750641578.665 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-23T01:19:38.666Z,1750641578.666 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:19:43.275Z,1750641583.275 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,-103,  -851,A
2025-06-23T01:20:08.802Z,1750641608.802 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:20:09.805Z,1750641609.805 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:20:39.933Z,1750641639.933 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:20:40.937Z,1750641640.937 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:21:11.057Z,1750641671.057 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:21:12.062Z,1750641672.062 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:21:42.197Z,1750641702.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:21:43.203Z,1750641703.203 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:22:13.321Z,1750641733.321 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:22:14.325Z,1750641734.325 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:22:44.449Z,1750641764.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-23T01:22:45.453Z,1750641765.453 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:23:03.553Z,1750641783.553 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002903
2025-06-23T01:23:04.553Z,1750641784.553 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:23:11.701Z,1750641791.701 [transit:NeedComms] Running Loop=1
2025-06-23T01:23:11.702Z,1750641791.702 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-06-23T01:23:11.702Z,1750641791.702 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-06-23T01:23:11.702Z,1750641791.702 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-23T01:23:11.702Z,1750641791.702 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-23T01:23:11.702Z,1750641791.702 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-23T01:23:11.703Z,1750641791.703 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-23T01:23:11.703Z,1750641791.703 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-23T01:23:11.703Z,1750641791.703 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-23T01:23:11.704Z,1750641791.704 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-23T01:23:11.704Z,1750641791.704 [transit:NeedComms:A] Running Loop=1
2025-06-23T01:23:11.710Z,1750641791.710 [transit:NeedComms:A](INFO): last time_fix was:  1750638204.000000 second since 1970/01/01T00:00:00Z 
2025-06-23T01:23:11.710Z,1750641791.710 [transit:NeedComms:A] Stopped
2025-06-23T01:23:12.096Z,1750641792.096 [transit:NeedComms:C] Running Loop=1
2025-06-23T01:23:12.499Z,1750641792.499 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-23T01:23:14.098Z,1750641794.098 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,012329.00,A,3651.24867,N,12206.29377,W,1.166,172.96,230625,,,A*7D
2025-06-23T01:23:14.100Z,1750641794.100 [NAL9602](INFO): GPS fix at 20250623T012329: (36.854144, -122.104896)
2025-06-23T01:23:14.114Z,1750641794.114 [UniversalFixResidualReporter](INFO): Fix residual: 7.7 %DT, over the last 1379.6 m. Residual distance 106.2 m at bearing -54.3 degrees. Fix at (36.8541, -122.1049) with 926.4 m made good.
2025-06-23T01:23:14.118Z,1750641794.118 [transit:NeedComms:C] Stopped
2025-06-23T01:23:14.118Z,1750641794.118 [transit:NeedComms:D] Running Loop=1
2025-06-23T01:23:14.542Z,1750641794.542 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-23T01:23:31.777Z,1750641811.777 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250623T001647/Courier0004.lzma
2025-06-23T01:23:43.823Z,1750641823.823 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Courier0004.lzma.bak
2025-06-23T01:23:43.823Z,1750641823.823 [DataOverHttps](INFO): SBD MOMSN=25237902
2025-06-23T01:24:15.315Z,1750641855.315 [DataOverHttps](INFO): Sending 266 bytes from file Logs/20250623T001647/Courier0007.lzma
2025-06-23T01:24:26.355Z,1750641866.355 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Courier0007.lzma.bak
2025-06-23T01:24:26.355Z,1750641866.355 [DataOverHttps](INFO): SBD MOMSN=25237904
2025-06-23T01:24:55.335Z,1750641895.335 [DataOverHttps](INFO): Sending 439 bytes from file Logs/20250622T035024/Express0205.lzma
2025-06-23T01:25:06.375Z,1750641906.375 [DataOverHttps](INFO): Moved sent file to Logs/20250622T035024/Express0205.lzma.bak
2025-06-23T01:25:06.375Z,1750641906.375 [DataOverHttps](INFO): SBD MOMSN=25237907
2025-06-23T01:25:34.795Z,1750641934.795 [DataOverHttps](INFO): Sending 1310 bytes from file Logs/20250623T001647/Express0001.lzma
2025-06-23T01:25:47.847Z,1750641947.847 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Express0001.lzma.bak
2025-06-23T01:25:47.847Z,1750641947.847 [DataOverHttps](INFO): SBD MOMSN=25237925
2025-06-23T01:26:21.156Z,1750641981.156 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20250623T001647/Express0005.lzma
2025-06-23T01:26:32.219Z,1750641992.219 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Express0005.lzma.bak
2025-06-23T01:26:32.219Z,1750641992.219 [DataOverHttps](INFO): SBD MOMSN=25237953
2025-06-23T01:27:02.294Z,1750642022.294 [DataOverHttps](INFO): Sending 568 bytes from file Logs/20250623T001647/Express0008.lzma
2025-06-23T01:27:16.363Z,1750642036.363 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Express0008.lzma.bak
2025-06-23T01:27:16.364Z,1750642036.364 [DataOverHttps](INFO): SBD MOMSN=25237957
2025-06-23T01:27:18.545Z,1750642038.545 [transit:NeedComms:D] Stopped
2025-06-23T01:27:18.546Z,1750642038.546 [transit:NeedComms:E] Running Loop=1
2025-06-23T01:27:18.938Z,1750642038.938 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-23T01:27:36.427Z,1750642056.427 [DataOverHttps](IMPORTANT): SBD MTMSN=20250623T012751
2025-06-23T01:27:44.377Z,1750642064.377 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 14 h;set transit.NeedCommsTime 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 0.5 m/s;set transit.MaxDepth 25 m;run
2025-06-23T01:27:44.443Z,1750642064.443 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-06-23T01:27:44.443Z,1750642064.443 [MissionManager](INFO): Uninitializing Mission transit
2025-06-23T01:27:44.443Z,1750642064.443 [transit] Stopped
2025-06-23T01:27:44.443Z,1750642064.443 [transit](DEBUG): Aggregate::uninitialize transit
2025-06-23T01:27:44.443Z,1750642064.443 [transit:NeedComms] Stopped
2025-06-23T01:27:44.443Z,1750642064.443 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-06-23T01:27:44.443Z,1750642064.443 [transit:NeedComms:B.GoToSurface] Stopped
2025-06-23T01:27:44.443Z,1750642064.443 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-23T01:27:44.443Z,1750642064.443 [transit:NeedComms:E] Stopped
2025-06-23T01:27:44.443Z,1750642064.443 [transit:StandardEnvelopes] Stopped
2025-06-23T01:27:44.444Z,1750642064.444 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-06-23T01:27:44.444Z,1750642064.444 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-23T01:27:44.444Z,1750642064.444 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-23T01:27:44.444Z,1750642064.444 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-23T01:27:44.444Z,1750642064.444 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-23T01:27:44.444Z,1750642064.444 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-23T01:27:44.444Z,1750642064.444 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-23T01:27:44.444Z,1750642064.444 [transit:BackseatDriver] Stopped
2025-06-23T01:27:44.444Z,1750642064.444 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-06-23T01:27:44.444Z,1750642064.444 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-06-23T01:27:44.444Z,1750642064.444 [transit:PowerOnly] Stopped
2025-06-23T01:27:44.444Z,1750642064.444 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-06-23T01:27:44.444Z,1750642064.444 [transit:PowerOnly:E.Wait] Stopped
2025-06-23T01:27:44.445Z,1750642064.445 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-23T01:27:44.445Z,1750642064.445 [transit:BuoyancyHold.Buoyancy] Stopped
2025-06-23T01:27:44.445Z,1750642064.445 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-23T01:27:44.448Z,1750642064.448 [transit:MassHold.Pitch] Stopped
2025-06-23T01:27:44.448Z,1750642064.448 [transit:Transit] Stopped
2025-06-23T01:27:44.448Z,1750642064.448 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-06-23T01:27:44.448Z,1750642064.448 [transit:Transit:A.Pitch] Stopped
2025-06-23T01:27:44.448Z,1750642064.448 [transit:Transit:B.SetSpeed] Stopped
2025-06-23T01:27:44.448Z,1750642064.448 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-06-23T01:27:44.448Z,1750642064.448 [transit:Transit:Wpt1.Waypoint] Stopped
2025-06-23T01:27:44.449Z,1750642064.449 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-23T01:27:44.536Z,1750642064.536 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-06-23T01:27:44.536Z,1750642064.536 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-06-23T01:27:44.562Z,1750642064.562 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-06-23T01:27:47.003Z,1750642067.003 [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" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-06-23T01:27:47.012Z,1750642067.012 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-06-23T01:27:47.014Z,1750642067.014 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-06-23T01:27:47.016Z,1750642067.016 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-06-23T01:27:47.027Z,1750642067.027 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-06-23T01:27:47.033Z,1750642067.033 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-06-23T01:27:47.036Z,1750642067.036 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-06-23T01:27:47.039Z,1750642067.039 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-06-23T01:27:47.054Z,1750642067.054 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-06-23T01:27:47.056Z,1750642067.056 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-06-23T01:27:47.063Z,1750642067.063 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-06-23T01:27:47.066Z,1750642067.066 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-06-23T01:27:47.068Z,1750642067.068 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-06-23T01:27:47.082Z,1750642067.082 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-06-23T01:27:47.082Z,1750642067.082 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-23T01:27:47.082Z,1750642067.082 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-23T01:27:47.084Z,1750642067.084 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-23T01:27:47.768Z,1750642067.768 [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>

2025-06-23T01:27:47.782Z,1750642067.782 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-06-23T01:27:47.785Z,1750642067.785 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-23T01:27:47.787Z,1750642067.787 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-23T01:27:47.789Z,1750642067.789 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-06-23T01:27:47.792Z,1750642067.792 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-23T01:27:47.794Z,1750642067.794 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-23T01:27:47.796Z,1750642067.796 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-06-23T01:27:47.883Z,1750642067.883 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-06-23T01:27:47.912Z,1750642067.912 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-23T01:27:47.939Z,1750642067.939 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-23T01:27:47.939Z,1750642067.939 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-23T01:27:47.940Z,1750642067.940 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-23T01:27:48.168Z,1750642068.168 [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>1.5</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>

2025-06-23T01:27:48.172Z,1750642068.172 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-23T01:27:48.175Z,1750642068.175 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-23T01:27:48.177Z,1750642068.177 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-23T01:27:48.179Z,1750642068.179 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-23T01:27:48.180Z,1750642068.180 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-23T01:27:48.194Z,1750642068.194 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-23T01:27:48.240Z,1750642068.240 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-23T01:27:48.251Z,1750642068.251 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-23T01:27:48.252Z,1750642068.252 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-23T01:27:48.253Z,1750642068.253 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-23T01:27:48.291Z,1750642068.291 [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>

2025-06-23T01:27:48.294Z,1750642068.294 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-06-23T01:27:48.296Z,1750642068.296 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-23T01:27:48.298Z,1750642068.298 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-23T01:27:48.299Z,1750642068.299 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-23T01:27:48.300Z,1750642068.300 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-23T01:27:48.628Z,1750642068.628 [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>

2025-06-23T01:27:48.631Z,1750642068.631 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-06-23T01:27:48.633Z,1750642068.633 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-06-23T01:27:48.635Z,1750642068.635 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-06-23T01:27:48.646Z,1750642068.646 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-06-23T01:27:48.648Z,1750642068.648 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-23T01:27:48.655Z,1750642068.655 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-23T01:27:48.656Z,1750642068.656 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-23T01:27:48.659Z,1750642068.659 [transit:MassHold.Pitch](DEBUG): Construct.
2025-06-23T01:27:48.673Z,1750642068.673 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-06-23T01:27:48.706Z,1750642068.706 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-06-23T01:27:48.720Z,1750642068.720 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-06-23T01:27:48.774Z,1750642068.774 [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 dives immediately with no comms/GPS and 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" priorityHere=false refId="NeedComms"
  }
}


2025-06-23T01:27:48.775Z,1750642068.775 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-06-23T01:27:48.918Z,1750642068.918 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-23T01:27:48.918Z,1750642068.918 [DefaultWithUndock] Running Loop=1
2025-06-23T01:27:48.918Z,1750642068.918 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-23T01:27:48.918Z,1750642068.918 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-23T01:27:48.919Z,1750642068.919 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-23T01:27:52.499Z,1750642072.499 [NAL9602](INFO): SBD MO Status=0, MOMSN=48753, MT Status=0, MTMSN=0
2025-06-23T01:27:52.500Z,1750642072.500 [NAL9602](INFO): No messages in MT queue
2025-06-23T01:27:56.446Z,1750642076.446 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:28:15.106Z,1750642095.106 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 14 hour
2025-06-23T01:28:15.107Z,1750642095.107 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 60 minute
2025-06-23T01:28:15.108Z,1750642095.108 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-06-23T01:28:15.109Z,1750642095.109 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-06-23T01:28:15.110Z,1750642095.110 [CommandExec](IMPORTANT): got command set transit.Speed 0.5 meter_per_second
2025-06-23T01:28:15.111Z,1750642095.111 [CommandExec](IMPORTANT): got command set transit.MaxDepth 25 meter
2025-06-23T01:28:15.111Z,1750642095.111 [CommandExec](IMPORTANT): got command run
2025-06-23T01:28:15.113Z,1750642095.113 [CommandExec](IMPORTANT): Running 
2025-06-23T01:28:15.340Z,1750642095.340 [DefaultWithUndock] Stopped
2025-06-23T01:28:15.340Z,1750642095.340 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-23T01:28:15.340Z,1750642095.340 [DefaultWithUndock:A.Wait] Stopped
2025-06-23T01:28:15.340Z,1750642095.340 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-23T01:28:15.341Z,1750642095.341 [MissionManager](IMPORTANT): Started mission transit
2025-06-23T01:28:15.341Z,1750642095.341 [transit] Running Loop=1
2025-06-23T01:28:15.341Z,1750642095.341 [transit](DEBUG): Aggregate::initialize transit
2025-06-23T01:28:15.341Z,1750642095.341 [transit:StandardEnvelopes] Running Loop=1
2025-06-23T01:28:15.341Z,1750642095.341 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-06-23T01:28:15.341Z,1750642095.341 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-23T01:28:15.341Z,1750642095.341 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-23T01:28:15.342Z,1750642095.342 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-23T01:28:15.342Z,1750642095.342 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-23T01:28:15.342Z,1750642095.342 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-23T01:28:15.342Z,1750642095.342 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-23T01:28:15.342Z,1750642095.342 [transit:BackseatDriver] Running Loop=1
2025-06-23T01:28:15.342Z,1750642095.342 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-06-23T01:28:15.342Z,1750642095.342 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-23T01:28:15.342Z,1750642095.342 [transit:PowerOnly] Running Loop=1
2025-06-23T01:28:15.342Z,1750642095.342 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-06-23T01:28:15.343Z,1750642095.343 [transit:PowerOnly:A] Running Loop=1
2025-06-23T01:28:15.343Z,1750642095.343 [transit:PowerOnly:B] Running Loop=1
2025-06-23T01:28:15.343Z,1750642095.343 [transit:PowerOnly:C] Running Loop=1
2025-06-23T01:28:15.343Z,1750642095.343 [transit:PowerOnly:D] Running Loop=1
2025-06-23T01:28:15.343Z,1750642095.343 [transit:PowerOnly:E.Wait] Running Loop=1
2025-06-23T01:28:15.343Z,1750642095.343 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-23T01:28:15.343Z,1750642095.343 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-23T01:28:15.343Z,1750642095.343 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-23T01:28:15.343Z,1750642095.343 [transit:MassHold.Pitch] Running Loop=1
2025-06-23T01:28:15.343Z,1750642095.343 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-06-23T01:28:15.343Z,1750642095.343 [transit:B] Running Loop=1
2025-06-23T01:28:15.344Z,1750642095.344 [transit:MassHold.Pitch] Running Loop=1
2025-06-23T01:28:15.344Z,1750642095.344 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-23T01:28:15.345Z,1750642095.345 [transit:PowerOnly] Running Loop=1
2025-06-23T01:28:15.345Z,1750642095.345 [transit:PowerOnly:D] Stopped
2025-06-23T01:28:15.345Z,1750642095.345 [transit:PowerOnly:C] Stopped
2025-06-23T01:28:15.345Z,1750642095.345 [transit:PowerOnly:B] Stopped
2025-06-23T01:28:15.345Z,1750642095.345 [transit:PowerOnly:A] Stopped
2025-06-23T01:28:15.345Z,1750642095.345 [transit:BackseatDriver] Running Loop=1
2025-06-23T01:28:15.346Z,1750642095.346 [transit:StandardEnvelopes] Running Loop=1
2025-06-23T01:28:15.346Z,1750642095.346 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-23T01:28:15.346Z,1750642095.346 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-23T01:28:15.346Z,1750642095.346 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-23T01:28:15.347Z,1750642095.347 [transit:B] Stopped
2025-06-23T01:28:15.347Z,1750642095.347 [transit:C] Running Loop=1
2025-06-23T01:28:15.659Z,1750642095.659 [transit:C] Stopped
2025-06-23T01:28:15.659Z,1750642095.659 [transit:E] Running Loop=1
2025-06-23T01:28:16.056Z,1750642096.056 [transit:E] Stopped
2025-06-23T01:28:16.057Z,1750642096.057 [transit:F] Running Loop=1
2025-06-23T01:28:16.470Z,1750642096.470 [transit:F] Stopped
2025-06-23T01:28:16.470Z,1750642096.470 [transit:G] Running Loop=1
2025-06-23T01:28:16.866Z,1750642096.866 [transit:G] Stopped
2025-06-23T01:28:16.866Z,1750642096.866 [transit:Transit] Running Loop=1
2025-06-23T01:28:16.866Z,1750642096.866 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-06-23T01:28:16.866Z,1750642096.866 [transit:Transit:A.Pitch] Running Loop=1
2025-06-23T01:28:16.866Z,1750642096.866 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-06-23T01:28:16.866Z,1750642096.866 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-23T01:28:16.867Z,1750642096.867 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-06-23T01:28:16.867Z,1750642096.867 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-06-23T01:28:16.867Z,1750642096.867 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-23T01:28:16.868Z,1750642096.868 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-06-23T01:28:17.307Z,1750642097.307 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-06-23T01:28:17.307Z,1750642097.307 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-23T01:28:17.308Z,1750642097.308 [transit:Transit:A.Pitch] Running Loop=1
2025-06-23T01:28:21.785Z,1750642101.785 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:28:22.911Z,1750642102.911 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-23T01:28:42.265Z,1750642122.265 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:29:01.542Z,1750642141.542 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:29:22.678Z,1750642162.678 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:29:42.901Z,1750642182.901 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:30:07.589Z,1750642207.589 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:30:30.722Z,1750642230.722 [DataOverHttps](IMPORTANT): SBD MTMSN=20250623T013043
2025-06-23T01:30:44.273Z,1750642244.273 [DataOverHttps](INFO): Received command: stop
2025-06-23T01:30:44.330Z,1750642244.330 [CommandExec](IMPORTANT): got command stop
2025-06-23T01:30:44.330Z,1750642244.330 [CommandExec](IMPORTANT): Scheduling is paused
2025-06-23T01:30:44.330Z,1750642244.330 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-06-23T01:30:44.528Z,1750642244.528 [MissionManager](INFO): MissionManager is completed.
2025-06-23T01:30:44.528Z,1750642244.528 [MissionManager](INFO): Uninitializing Mission transit
2025-06-23T01:30:44.528Z,1750642244.528 [transit] Stopped
2025-06-23T01:30:44.528Z,1750642244.528 [transit](DEBUG): Aggregate::uninitialize transit
2025-06-23T01:30:44.528Z,1750642244.528 [transit:StandardEnvelopes] Stopped
2025-06-23T01:30:44.529Z,1750642244.529 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-06-23T01:30:44.529Z,1750642244.529 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-23T01:30:44.534Z,1750642244.534 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-23T01:30:44.534Z,1750642244.534 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-23T01:30:44.534Z,1750642244.534 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-23T01:30:44.534Z,1750642244.534 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-23T01:30:44.534Z,1750642244.534 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-23T01:30:44.535Z,1750642244.535 [transit:BackseatDriver] Stopped
2025-06-23T01:30:44.535Z,1750642244.535 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-06-23T01:30:44.535Z,1750642244.535 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-06-23T01:30:44.535Z,1750642244.535 [transit:PowerOnly] Stopped
2025-06-23T01:30:44.535Z,1750642244.535 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-06-23T01:30:44.535Z,1750642244.535 [transit:PowerOnly:E.Wait] Stopped
2025-06-23T01:30:44.535Z,1750642244.535 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-23T01:30:44.535Z,1750642244.535 [transit:BuoyancyHold.Buoyancy] Stopped
2025-06-23T01:30:44.535Z,1750642244.535 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-23T01:30:44.535Z,1750642244.535 [transit:MassHold.Pitch] Stopped
2025-06-23T01:30:44.538Z,1750642244.538 [transit:Transit] Stopped
2025-06-23T01:30:44.538Z,1750642244.538 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-06-23T01:30:44.538Z,1750642244.538 [transit:Transit:A.Pitch] Stopped
2025-06-23T01:30:44.538Z,1750642244.538 [transit:Transit:B.SetSpeed] Stopped
2025-06-23T01:30:44.538Z,1750642244.538 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-06-23T01:30:44.538Z,1750642244.538 [transit:Transit:Wpt1.Waypoint] Stopped
2025-06-23T01:30:44.538Z,1750642244.538 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-23T01:30:45.049Z,1750642245.049 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-23T01:30:45.061Z,1750642245.061 [DefaultWithUndock] Running Loop=1
2025-06-23T01:30:45.061Z,1750642245.061 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-23T01:30:45.062Z,1750642245.062 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-23T01:30:45.062Z,1750642245.062 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-23T01:30:56.320Z,1750642256.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:31:15.178Z,1750642275.178 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:31:15.303Z,1750642275.303 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-06-23T01:31:15.303Z,1750642275.303 [DefaultWithUndock:A.Wait] Stopped
2025-06-23T01:31:15.303Z,1750642275.303 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-23T01:31:15.304Z,1750642275.304 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-06-23T01:31:15.304Z,1750642275.304 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-06-23T01:31:15.304Z,1750642275.304 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-06-23T01:31:15.304Z,1750642275.304 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-06-23T01:31:15.304Z,1750642275.304 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-06-23T01:31:15.304Z,1750642275.304 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-23T01:31:15.304Z,1750642275.304 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-23T01:31:15.663Z,1750642275.662 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-23T01:31:15.663Z,1750642275.663 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-23T01:31:15.663Z,1750642275.663 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.164131 m.
2025-06-23T01:31:15.664Z,1750642275.664 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-06-23T01:31:15.664Z,1750642275.664 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-23T01:31:15.803Z,1750642275.803 [DockingStepper](INFO): Resume
2025-06-23T01:31:16.058Z,1750642276.058 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-23T01:31:16.203Z,1750642276.203 [DockingStepper](INFO): Resuming
2025-06-23T01:31:16.490Z,1750642276.490 [DockingStepper](INFO): Start
2025-06-23T01:31:16.490Z,1750642276.490 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-23T01:31:16.610Z,1750642276.610 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-23T01:31:17.030Z,1750642277.030 [DockingStepper](INFO): Starting
2025-06-23T01:31:17.358Z,1750642277.358 [DockingStepper](INFO): Starting
2025-06-23T01:31:17.762Z,1750642277.762 [DockingStepper](INFO): Starting
2025-06-23T01:31:17.817Z,1750642277.817 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-23T01:31:18.130Z,1750642278.130 [DockingStepper](INFO): Starting
2025-06-23T01:31:18.554Z,1750642278.554 [DockingStepper](INFO): Starting
2025-06-23T01:31:18.970Z,1750642278.970 [DockingStepper](INFO): Starting
2025-06-23T01:31:19.510Z,1750642279.510 [DockingStepper](INFO): Starting
2025-06-23T01:31:19.534Z,1750642279.534 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-23T01:31:19.873Z,1750642279.873 [DockingStepper](INFO): Starting
2025-06-23T01:31:36.251Z,1750642296.251 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-06-23T01:31:36.659Z,1750642296.659 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-06-23T01:31:37.073Z,1750642297.073 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-06-23T01:31:37.073Z,1750642297.073 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-06-23T01:31:37.073Z,1750642297.073 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-06-23T01:31:37.073Z,1750642297.073 [DefaultWithUndock:LeaveDock] Stopped
2025-06-23T01:31:37.074Z,1750642297.074 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-06-23T01:31:37.074Z,1750642297.074 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-06-23T01:31:37.074Z,1750642297.074 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-06-23T01:31:37.074Z,1750642297.074 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-06-23T01:31:37.074Z,1750642297.074 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-23T01:31:37.074Z,1750642297.074 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-23T01:31:37.074Z,1750642297.074 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-23T01:31:37.075Z,1750642297.075 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-23T01:31:37.075Z,1750642297.075 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-23T01:31:37.075Z,1750642297.075 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-23T01:31:37.076Z,1750642297.076 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-23T01:31:37.122Z,1750642297.122 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:31:37.495Z,1750642297.495 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-06-23T01:31:37.495Z,1750642297.495 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-23T01:31:37.495Z,1750642297.495 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-23T01:31:37.650Z,1750642297.650 [DockingStepper](INFO): Pause
2025-06-23T01:31:39.476Z,1750642299.476 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,013154.00,A,3651.16933,N,12206.28663,W,0.428,196.48,230625,,,A*73
2025-06-23T01:31:39.478Z,1750642299.478 [NAL9602](INFO): GPS fix at 20250623T013154: (36.852822, -122.104777)
2025-06-23T01:31:39.548Z,1750642299.548 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-23T01:31:39.548Z,1750642299.548 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-23T01:31:44.011Z,1750642304.011 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250623T001647/Courier0010.lzma
2025-06-23T01:31:54.266Z,1750642314.266 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Courier0010.lzma.bak
2025-06-23T01:31:54.266Z,1750642314.266 [DataOverHttps](INFO): SBD MOMSN=25237983
2025-06-23T01:32:28.118Z,1750642348.118 [DataOverHttps](INFO): Sending 518 bytes from file Logs/20250623T001647/Express0012.lzma
2025-06-23T01:32:39.179Z,1750642359.179 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Express0012.lzma.bak
2025-06-23T01:32:39.179Z,1750642359.179 [DataOverHttps](INFO): SBD MOMSN=25237986
2025-06-23T01:33:08.609Z,1750642388.609 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250623T001647/Express0017.lzma
2025-06-23T01:33:21.049Z,1750642401.049 [DataOverHttps](INFO): Moved sent file to Logs/20250623T001647/Express0017.lzma.bak
2025-06-23T01:33:21.049Z,1750642401.049 [DataOverHttps](INFO): SBD MOMSN=25238007
2025-06-23T01:33:22.343Z,1750642402.343 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-23T01:33:22.343Z,1750642402.343 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-06-23T01:33:22.343Z,1750642402.343 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-23T01:34:06.789Z,1750642446.789 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:34:25.615Z,1750642465.615 [DataOverHttps](IMPORTANT): SBD MTMSN=20250623T013440
2025-06-23T01:34:35.277Z,1750642475.277 [DataOverHttps](INFO): Received command: configSet HorizontalControl.rudLimit 8 degree persist
2025-06-23T01:34:35.711Z,1750642475.711 [CommandExec](IMPORTANT): got command configSet HorizontalControl.rudLimit 8 degree persist
2025-06-23T01:34:37.442Z,1750642477.442 [NAL9602](INFO): SBD MO Status=2, MOMSN=48754, MT Status=2, MTMSN=0
2025-06-23T01:34:37.442Z,1750642477.442 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-23T01:34:47.322Z,1750642487.322 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:34:59.284Z,1750642499.284 [NAL9602](INFO): SBD MO Status=2, MOMSN=48754, MT Status=2, MTMSN=0
2025-06-23T01:34:59.284Z,1750642499.284 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-23T01:35:03.961Z,1750642503.961 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T01:35:09.353Z,1750642509.353 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1060.68, 971.76, 971.76
2025-06-23T01:35:13.782Z,1750642513.782 [NAL9602](INFO): SBD MO Status=2, MOMSN=48754, MT Status=2, MTMSN=0
2025-06-23T01:35:13.782Z,1750642513.782 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-23T01:35:21.698Z,1750642521.698 [DataOverHttps](IMPORTANT): SBD MTMSN=20250623T013536
2025-06-23T01:35:29.421Z,1750642529.421 [DataOverHttps](INFO): Received command: restart app
2025-06-23T01:35:29.482Z,1750642529.482 [CommandExec](IMPORTANT): got command restart application
2025-06-23T01:35:30.485Z,1750642530.485 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:30.485Z,1750642530.485 [CommandExec](INFO): Uninitializing the command executive.
2025-06-23T01:35:30.485Z,1750642530.485 [CommandExec](INFO): Uninitializing the command scheduler.
2025-06-23T01:35:30.486Z,1750642530.486 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:30.577Z,1750642530.577 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-06-23T01:35:30.577Z,1750642530.577 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-06-23T01:35:30.577Z,1750642530.577 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:30.578Z,1750642530.578 [NavChartDb](INFO): Join timeout helper Thread ID is 1582
2025-06-23T01:35:30.741Z,1750642530.741 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:30.741Z,1750642530.741 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:30.745Z,1750642530.745 [ComponentRegistry](INFO): Shutting down WetLabsUBAT ThreadHandler
2025-06-23T01:35:30.745Z,1750642530.745 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:30.746Z,1750642530.746 [WetLabsUBAT](INFO): Join timeout helper Thread ID is 1583
2025-06-23T01:35:31.109Z,1750642531.109 [WetLabsUBAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:31.109Z,1750642531.109 [WetLabsUBAT](INFO): Powering down
2025-06-23T01:35:31.110Z,1750642531.110 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:31.117Z,1750642531.117 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-06-23T01:35:31.117Z,1750642531.117 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:31.118Z,1750642531.118 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1584
2025-06-23T01:35:31.149Z,1750642531.149 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:31.150Z,1750642531.150 [WetLabsBB2FL](INFO): Powering down
2025-06-23T01:35:31.150Z,1750642531.150 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:31.166Z,1750642531.166 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-06-23T01:35:31.166Z,1750642531.166 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:31.166Z,1750642531.166 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1585
2025-06-23T01:35:32.121Z,1750642532.121 [CTD_Seabird](INFO): Powering down
2025-06-23T01:35:32.133Z,1750642532.133 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:32.133Z,1750642532.133 [CTD_Seabird](INFO): Powering down
2025-06-23T01:35:32.145Z,1750642532.145 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:32.149Z,1750642532.149 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-06-23T01:35:32.149Z,1750642532.149 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:32.150Z,1750642532.150 [Radio_Surface](INFO): Join timeout helper Thread ID is 1586
2025-06-23T01:35:32.453Z,1750642532.453 [Radio_Surface](INFO): Powering down
2025-06-23T01:35:32.454Z,1750642532.454 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:32.454Z,1750642532.454 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:32.466Z,1750642532.466 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-06-23T01:35:32.466Z,1750642532.466 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:32.467Z,1750642532.467 [Onboard](INFO): Join timeout helper Thread ID is 1587
2025-06-23T01:35:34.209Z,1750642534.209 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:34.210Z,1750642534.210 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.230Z,1750642534.230 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-06-23T01:35:34.230Z,1750642534.230 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.230Z,1750642534.230 [DataOverHttps](INFO): Join timeout helper Thread ID is 1588
2025-06-23T01:35:34.437Z,1750642534.437 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:34.441Z,1750642534.441 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.442Z,1750642534.442 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-06-23T01:35:34.442Z,1750642534.442 [DAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.443Z,1750642534.443 [DAT](INFO): Join timeout helper Thread ID is 1589
2025-06-23T01:35:34.485Z,1750642534.485 [DAT](INFO): Powering down
2025-06-23T01:35:34.558Z,1750642534.558 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:34.558Z,1750642534.558 [DAT](INFO): Powering down
2025-06-23T01:35:34.559Z,1750642534.559 [DAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.566Z,1750642534.566 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-06-23T01:35:34.566Z,1750642534.566 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.566Z,1750642534.566 [BackseatComponent](INFO): Join timeout helper Thread ID is 1590
2025-06-23T01:35:34.701Z,1750642534.701 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:34.701Z,1750642534.701 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.706Z,1750642534.706 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-06-23T01:35:34.706Z,1750642534.706 [logger ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.706Z,1750642534.706 [logger](INFO): Join timeout helper Thread ID is 1591
2025-06-23T01:35:34.745Z,1750642534.745 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:34.745Z,1750642534.745 [logger ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.766Z,1750642534.766 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-06-23T01:35:34.766Z,1750642534.766 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.766Z,1750642534.766 [CommandLine](INFO): Join timeout helper Thread ID is 1592
2025-06-23T01:35:34.789Z,1750642534.789 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:34.790Z,1750642534.790 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.806Z,1750642534.806 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-06-23T01:35:34.806Z,1750642534.806 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.806Z,1750642534.806 [CommandExec](INFO): Join timeout helper Thread ID is 1593
2025-06-23T01:35:34.810Z,1750642534.810 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-06-23T01:35:34.810Z,1750642534.810 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:34.810Z,1750642534.810 [controlThread](INFO): Join timeout helper Thread ID is 1594
2025-06-23T01:35:34.830Z,1750642534.830 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T01:35:34.830Z,1750642534.830 [controlThread](DEBUG): Uninitializing ControlThread
2025-06-23T01:35:34.830Z,1750642534.830 [AHRS_M2](INFO): Powering down
2025-06-23T01:35:34.909Z,1750642534.909 [NAL9602](INFO): Powering down
2025-06-23T01:35:34.981Z,1750642534.981 [RDI_Pathfinder](INFO): Powering down
2025-06-23T01:35:34.982Z,1750642534.982 [Sonardyne_Nano](INFO): Powering down
2025-06-23T01:35:35.109Z,1750642535.109 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-06-23T01:35:35.110Z,1750642535.110 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-06-23T01:35:35.111Z,1750642535.111 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-06-23T01:35:35.111Z,1750642535.111 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2025-06-23T01:35:35.111Z,1750642535.111 [DefaultWithUndock] Stopped
2025-06-23T01:35:35.111Z,1750642535.111 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-23T01:35:35.111Z,1750642535.111 [DefaultWithUndock:SurfaceDefault] Stopped
2025-06-23T01:35:35.112Z,1750642535.112 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-06-23T01:35:35.112Z,1750642535.112 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-06-23T01:35:35.112Z,1750642535.112 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-23T01:35:35.112Z,1750642535.112 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-23T01:35:35.112Z,1750642535.112 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-23T01:35:35.112Z,1750642535.112 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-06-23T01:35:35.112Z,1750642535.112 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-23T01:35:35.120Z,1750642535.120 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-06-23T01:35:35.121Z,1750642535.121 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-06-23T01:35:35.121Z,1750642535.121 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-06-23T01:35:35.121Z,1750642535.121 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-06-23T01:35:35.122Z,1750642535.122 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-06-23T01:35:35.122Z,1750642535.122 [BuoyancyServo](INFO): Powering down
2025-06-23T01:35:35.133Z,1750642535.133 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-06-23T01:35:35.133Z,1750642535.133 [ElevatorServo](INFO): Powering down
2025-06-23T01:35:35.134Z,1750642535.134 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-23T01:35:35.134Z,1750642535.134 [DockingStepper](INFO): Powering down
2025-06-23T01:35:35.135Z,1750642535.135 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-06-23T01:35:35.135Z,1750642535.135 [MassServo](INFO): Powering down
2025-06-23T01:35:35.136Z,1750642535.136 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-06-23T01:35:35.136Z,1750642535.136 [RudderServo](INFO): Powering down
2025-06-23T01:35:35.137Z,1750642535.137 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2025-06-23T01:35:35.137Z,1750642535.137 [ThrusterServo](INFO): Powering down
2025-06-23T01:35:35.138Z,1750642535.138 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-06-23T01:35:35.138Z,1750642535.138 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-06-23T01:35:35.138Z,1750642535.138 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-06-23T01:35:35.139Z,1750642535.139 [CBIT](DEBUG): Powering off loads.
2025-06-23T01:35:35.149Z,1750642535.149 [CBIT](DEBUG): Disabling WDT.
2025-06-23T01:35:35.161Z,1750642535.161 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-06-23T01:35:35.161Z,1750642535.161 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-06-23T01:35:35.162Z,1750642535.162 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.221Z,1750642535.221 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.224Z,1750642535.224 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.230Z,1750642535.230 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.236Z,1750642535.236 [DAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.279Z,1750642535.279 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.314Z,1750642535.314 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-06-23T01:35:35.314Z,1750642535.314 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-06-23T01:35:35.343Z,1750642535.343 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.345Z,1750642535.345 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.349Z,1750642535.349 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.357Z,1750642535.357 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-06-23T01:35:35.434Z,1750642535.434 [logger ThreadHandler](INFO): Thread cancelled.