2020-12-13T14:30:42.780Z,1607869842.780 [CommandLine](IMPORTANT): got command restart logs
2020-12-13T14:30:44.106Z,1607869844.106 [PowerOnly](INFO): Powering down loadControl
2020-12-13T14:34:59.477Z,1607870099.477 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2020-12-13T14:34:59.477Z,1607870099.477 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-13T14:34:59.477Z,1607870099.477 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T14:34:59.477Z,1607870099.477 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2020-12-13T14:34:59.882Z,1607870099.882 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2020-12-13T14:34:59.883Z,1607870099.883 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2020-12-13T14:35:00.310Z,1607870100.310 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.303872 min 
2020-12-13T14:35:00.310Z,1607870100.310 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2020-12-13T14:35:00.310Z,1607870100.310 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T14:35:00.310Z,1607870100.310 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-13T14:35:00.310Z,1607870100.310 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T14:35:00.311Z,1607870100.311 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2020-12-13T14:35:00.311Z,1607870100.311 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2020-12-13T14:35:00.311Z,1607870100.311 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T14:35:00.311Z,1607870100.311 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-13T14:35:02.296Z,1607870102.296 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143501.00,A,4132.97821,N,07042.71486,W,0.564,174.18,131220,,,A*7D
2020-12-13T14:35:02.298Z,1607870102.298 [NAL9602](INFO): GPS fix at 20201213T143501: (41.549637, -70.711914)
2020-12-13T14:35:02.349Z,1607870102.349 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-13T14:35:02.349Z,1607870102.349 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-13T14:35:05.767Z,1607870105.767 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201212T232320/Courier0101.lzma
2020-12-13T14:35:06.770Z,1607870106.770 [DataOverHttps](INFO): Moved sent file to Logs/20201212T232320/Courier0101.lzma.bak
2020-12-13T14:35:06.770Z,1607870106.770 [DataOverHttps](INFO): SBD MOMSN=64528
2020-12-13T14:35:14.420Z,1607870114.420 [NAL9602](INFO): SBD MO Status=0, MOMSN=12776, MT Status=0, MTMSN=0
2020-12-13T14:35:14.420Z,1607870114.420 [NAL9602](INFO): No messages in MT queue
2020-12-13T14:35:15.808Z,1607870115.808 [DataOverHttps](INFO): Sending 257 bytes from file Logs/20201213T143042/Courier0000.lzma
2020-12-13T14:35:16.809Z,1607870116.809 [DataOverHttps](INFO): Moved sent file to Logs/20201213T143042/Courier0000.lzma.bak
2020-12-13T14:35:16.810Z,1607870116.810 [DataOverHttps](INFO): SBD MOMSN=64530
2020-12-13T14:35:25.847Z,1607870125.847 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20201212T232320/Express0103.lzma
2020-12-13T14:35:26.850Z,1607870126.850 [DataOverHttps](INFO): Moved sent file to Logs/20201212T232320/Express0103.lzma.bak
2020-12-13T14:35:26.850Z,1607870126.850 [DataOverHttps](INFO): SBD MOMSN=64535
2020-12-13T14:35:35.888Z,1607870135.888 [DataOverHttps](INFO): Sending 341 bytes from file Logs/20201213T143042/Express0001.lzma
2020-12-13T14:35:36.890Z,1607870136.890 [DataOverHttps](INFO): Moved sent file to Logs/20201213T143042/Express0001.lzma.bak
2020-12-13T14:35:36.890Z,1607870136.890 [DataOverHttps](INFO): SBD MOMSN=64538
2020-12-13T14:35:38.677Z,1607870138.677 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-13T14:35:38.677Z,1607870138.677 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-13T14:35:38.677Z,1607870138.677 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-13T14:35:45.115Z,1607870145.115 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T14:36:39.262Z,1607870199.262 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T14:38:27.139Z,1607870307.139 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T14:38:37.227Z,1607870317.227 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T14:40:39.284Z,1607870439.284 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2020-12-13T14:40:39.284Z,1607870439.284 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-13T14:40:39.284Z,1607870439.284 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T14:40:39.284Z,1607870439.284 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2020-12-13T14:40:39.651Z,1607870439.651 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2020-12-13T14:40:39.651Z,1607870439.651 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2020-12-13T14:40:40.110Z,1607870440.110 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 11.966676 min 
2020-12-13T14:40:40.110Z,1607870440.110 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2020-12-13T14:40:40.110Z,1607870440.110 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T14:40:40.111Z,1607870440.111 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-13T14:40:40.111Z,1607870440.111 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T14:40:40.111Z,1607870440.111 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2020-12-13T14:40:40.111Z,1607870440.111 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2020-12-13T14:40:40.111Z,1607870440.111 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T14:40:40.111Z,1607870440.111 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-13T14:40:42.087Z,1607870442.087 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144041.00,A,4132.96294,N,07042.72080,W,0.700,195.74,131220,,,D*7F
2020-12-13T14:40:42.093Z,1607870442.093 [NAL9602](INFO): GPS fix at 20201213T144041: (41.549382, -70.712013)
2020-12-13T14:40:42.114Z,1607870442.114 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-13T14:40:42.114Z,1607870442.114 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-13T14:40:46.219Z,1607870446.219 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20201213T143042/Courier0003.lzma
2020-12-13T14:40:47.222Z,1607870447.222 [DataOverHttps](INFO): Moved sent file to Logs/20201213T143042/Courier0003.lzma.bak
2020-12-13T14:40:47.222Z,1607870447.222 [DataOverHttps](INFO): SBD MOMSN=64542
2020-12-13T14:40:56.260Z,1607870456.260 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20201213T143042/Express0005.lzma
2020-12-13T14:40:57.261Z,1607870457.261 [DataOverHttps](INFO): Moved sent file to Logs/20201213T143042/Express0005.lzma.bak
2020-12-13T14:40:57.262Z,1607870457.262 [DataOverHttps](INFO): SBD MOMSN=64545
2020-12-13T14:40:58.636Z,1607870458.636 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-13T14:40:58.636Z,1607870458.636 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-13T14:40:58.636Z,1607870458.636 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-13T14:41:07.915Z,1607870467.915 [NAL9602](INFO): SBD MO Status=0, MOMSN=12777, MT Status=0, MTMSN=0
2020-12-13T14:41:07.916Z,1607870467.916 [NAL9602](INFO): No messages in MT queue
2020-12-13T14:41:38.614Z,1607870498.614 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T14:42:48.722Z,1607870568.722 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T144248
2020-12-13T14:42:52.740Z,1607870572.740 [DataOverHttps](INFO): Received command:sched asap "load Transport/transit.xml;set transit.NeedCommsTime 60 minute;set transit.Latitude 41.571669 degree;set transit.Longitude -70.695012 degree;set transit.Depth 6 meter;set transit.MaxDepth 9 meter;set transit.MinOffshore 500 meter" hsul 1 2
2020-12-13T14:42:52.837Z,1607870572.837 [CommandLine](IMPORTANT): got command schedule asap "load Transport/transit.xml;set transit.NeedCommsTime 60 minute;set transit.Latitude 41.571669 degree;set transit.Longitude -70.695012 degree;set transit.Depth 6 meter;set transit.MaxDepth 9 meter;set transit.MinOffshore 500 meter" hsul 1 2.000000
2020-12-13T14:42:52.837Z,1607870572.837 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=hsul
2020-12-13T14:42:52.838Z,1607870572.838 [CommandLine](IMPORTANT): Scheduled #29 (#1 of 2 with id='hsul'): "load Transport/transit.xml;set transit.NeedCommsTime 60 minute;set transit.Latitude 41.571669 degree;set transit.Longitude -70.695012 degree;set transit.Depth 6 meter;set transit.MaxDepth 9 meter;set transit.MinOffshore 500 meter" ASAP
2020-12-13T14:42:53.741Z,1607870573.741 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T144253
2020-12-13T14:42:57.760Z,1607870577.760 [DataOverHttps](INFO): Received command:sched asap "set transit.MinAltitude 3 meter;run" hsul 2 2
2020-12-13T14:42:57.803Z,1607870577.803 [CommandLine](IMPORTANT): got command schedule asap "set transit.MinAltitude 3 meter;run" hsul 2 2.000000
2020-12-13T14:42:57.804Z,1607870577.804 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=hsul
2020-12-13T14:42:57.805Z,1607870577.805 [CommandLine](IMPORTANT): Scheduled #30 (#2 of 2 with id='hsul'): "set transit.MinAltitude 3 meter;run" ASAP
2020-12-13T14:42:57.889Z,1607870577.889 [CommandLine](IMPORTANT): got command load ./Missions/Transport/transit.xml
2020-12-13T14:42:57.889Z,1607870577.889 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2020-12-13T14:42:57.889Z,1607870577.889 [DefaultWithUndock] Stopped
2020-12-13T14:42:57.889Z,1607870577.889 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-12-13T14:42:57.889Z,1607870577.889 [DefaultWithUndock:SurfaceDefault] Stopped
2020-12-13T14:42:57.890Z,1607870577.890 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-12-13T14:42:57.890Z,1607870577.890 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-12-13T14:42:57.890Z,1607870577.890 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-13T14:42:57.890Z,1607870577.890 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-13T14:42:57.890Z,1607870577.890 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T14:42:57.890Z,1607870577.890 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-13T14:42:57.890Z,1607870577.890 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T14:42:57.917Z,1607870577.917 [MissionManager](INFO): Loading Mission: ./Missions/Transport/transit.xml
2020-12-13T14:42:58.006Z,1607870578.006 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2020-12-13T14:42:58.009Z,1607870578.009 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2020-12-13T14:42:58.011Z,1607870578.011 [MissionManager](INFO): DefineArg transit.Latitude = nan deg
2020-12-13T14:42:58.014Z,1607870578.014 [MissionManager](INFO): DefineArg transit.Longitude = nan deg
2020-12-13T14:42:58.019Z,1607870578.019 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2020-12-13T14:42:58.022Z,1607870578.022 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2020-12-13T14:42:58.027Z,1607870578.027 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2020-12-13T14:42:58.032Z,1607870578.032 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2020-12-13T14:42:58.035Z,1607870578.035 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2020-12-13T14:42:58.038Z,1607870578.038 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2020-12-13T14:42:58.041Z,1607870578.041 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2020-12-13T14:42:58.047Z,1607870578.047 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2020-12-13T14:42:58.070Z,1607870578.070 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2020-12-13T14:42:58.071Z,1607870578.071 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-12-13T14:42:58.153Z,1607870578.153 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h
2020-12-13T14:42:58.164Z,1607870578.164 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2020-12-13T14:42:58.167Z,1607870578.167 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 deg
2020-12-13T14:42:58.174Z,1607870578.174 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2020-12-13T14:42:58.178Z,1607870578.178 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-12-13T14:42:58.205Z,1607870578.205 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2020-12-13T14:42:58.234Z,1607870578.234 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2020-12-13T14:42:58.257Z,1607870578.257 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-13T14:42:58.307Z,1607870578.307 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-13T14:42:58.343Z,1607870578.343 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-13T14:42:58.346Z,1607870578.346 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-13T14:42:58.357Z,1607870578.357 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-13T14:42:58.359Z,1607870578.359 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-13T14:42:58.381Z,1607870578.381 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-13T14:42:58.413Z,1607870578.413 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-13T14:42:58.457Z,1607870578.457 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2020-12-13T14:42:58.461Z,1607870578.461 [transit:MassHold.Pitch](DEBUG): Construct.
2020-12-13T14:42:58.472Z,1607870578.472 [transit:Transit:A.Pitch](DEBUG): Construct.
2020-12-13T14:42:58.478Z,1607870578.478 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2020-12-13T14:42:58.505Z,1607870578.505 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2020-12-13T14:42:58.537Z,1607870578.537 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="utf-8"?>
<Mission xmlns="Tethys"
        xmlns:Control="Tethys/Control"
        xmlns:Guidance="Tethys/Guidance" 
        xmlns:Units="Tethys/Units"
        xmlns:Universal="Tethys/Universal"
        xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
        xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                            Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                            Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd                            
                            Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                            Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd" 
        Id="transit">

    <Description>
        Vehicle transits to desired waypoint and can be commanded to use/hold
        mass or buoyancy.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="Latitude"><Description>
        Latitude of waypoint to seek. If set to NaN, uses latitude at mission
        initialization.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Longitude"><Description>
        Longitude of waypoint to seek. If set to NaN, uses longitude at mission
        initialization.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Northings"><Description>
        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.
    </Description><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Eastings"><Description>
        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.
    </Description><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        Depth of flat and level flight during the mission.
    </Description><Units:meter /><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed of vehicle (relative to water) during the mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance offshore for the entire mission.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="MassHold"><Description>
        Set to True in order to hold mass at default position, False to allow
        mass to run on its own.
    </Description><True/></DefineArg>

    <DefineArg Name="BuoyancyHold"><Description>
        Set to True in order to hold buoyancy at neutral position, False to
        allow buoyancy to run on its own.
    </Description><True/></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <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.xml"/>

    <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>

    <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 Id="PhoneHome" RefId="NeedComms"/>

    </Aggregate>

</Mission>


2020-12-13T14:42:58.537Z,1607870578.537 [CommandLine](IMPORTANT): Loaded ./Missions/Transport/transit.xml
2020-12-13T14:42:58.647Z,1607870578.647 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-13T14:42:58.647Z,1607870578.647 [DefaultWithUndock] Running Loop=1
2020-12-13T14:42:58.647Z,1607870578.647 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-13T14:42:58.656Z,1607870578.656 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-13T14:42:58.656Z,1607870578.656 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-13T14:43:09.888Z,1607870589.888 [CommandLine](IMPORTANT): got command set transit.NeedCommsTime 60 minute
2020-12-13T14:43:09.889Z,1607870589.889 [CommandLine](IMPORTANT): got command set transit.Latitude 41.571669 degree
2020-12-13T14:43:09.890Z,1607870589.890 [CommandLine](IMPORTANT): got command set transit.Longitude -70.695012 degree
2020-12-13T14:43:09.890Z,1607870589.890 [CommandLine](IMPORTANT): got command set transit.Depth 6 meter
2020-12-13T14:43:09.891Z,1607870589.891 [CommandLine](IMPORTANT): got command set transit.MaxDepth 9 meter
2020-12-13T14:43:09.892Z,1607870589.892 [CommandLine](IMPORTANT): got command set transit.MinOffshore 500 meter
2020-12-13T14:43:12.144Z,1607870592.144 [CommandLine](IMPORTANT): got command set transit.MinAltitude 3 meter
2020-12-13T14:43:12.145Z,1607870592.145 [CommandLine](IMPORTANT): got command run
2020-12-13T14:43:12.147Z,1607870592.147 [CommandLine](IMPORTANT): Running 
2020-12-13T14:43:12.366Z,1607870592.366 [DefaultWithUndock] Stopped
2020-12-13T14:43:12.366Z,1607870592.366 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-12-13T14:43:12.366Z,1607870592.366 [DefaultWithUndock:A.Wait] Stopped
2020-12-13T14:43:12.366Z,1607870592.366 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T14:43:12.366Z,1607870592.366 [MissionManager](IMPORTANT): Started mission transit
2020-12-13T14:43:12.367Z,1607870592.367 [transit] Running Loop=1
2020-12-13T14:43:12.367Z,1607870592.367 [transit](DEBUG): Aggregate::initialize transit
2020-12-13T14:43:12.367Z,1607870592.367 [transit:StandardEnvelopes] Running Loop=1
2020-12-13T14:43:12.367Z,1607870592.367 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2020-12-13T14:43:12.367Z,1607870592.367 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T14:43:12.367Z,1607870592.367 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-13T14:43:12.367Z,1607870592.367 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T14:43:12.367Z,1607870592.367 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-13T14:43:12.367Z,1607870592.367 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T14:43:12.367Z,1607870592.367 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-13T14:43:12.368Z,1607870592.368 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2020-12-13T14:43:12.368Z,1607870592.368 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-13T14:43:12.368Z,1607870592.368 [transit:MassHold.Pitch] Running Loop=1
2020-12-13T14:43:12.368Z,1607870592.368 [transit:MassHold.Pitch](DEBUG): Initialize.
2020-12-13T14:43:12.368Z,1607870592.368 [transit:B] Running Loop=1
2020-12-13T14:43:12.369Z,1607870592.369 [transit:MassHold.Pitch] Running Loop=1
2020-12-13T14:43:12.369Z,1607870592.369 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2020-12-13T14:43:12.369Z,1607870592.369 [transit:StandardEnvelopes] Running Loop=1
2020-12-13T14:43:12.369Z,1607870592.369 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T14:43:12.370Z,1607870592.370 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T14:43:12.370Z,1607870592.370 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T14:43:12.371Z,1607870592.371 [transit:B] Stopped
2020-12-13T14:43:12.371Z,1607870592.371 [transit:C] Running Loop=1
2020-12-13T14:43:12.776Z,1607870592.776 [transit:C] Stopped
2020-12-13T14:43:12.776Z,1607870592.776 [transit:E] Running Loop=1
2020-12-13T14:43:13.182Z,1607870593.182 [transit:E] Stopped
2020-12-13T14:43:13.182Z,1607870593.182 [transit:F] Running Loop=1
2020-12-13T14:43:13.608Z,1607870593.608 [transit:F] Stopped
2020-12-13T14:43:13.609Z,1607870593.609 [transit:G] Running Loop=1
2020-12-13T14:43:13.987Z,1607870593.987 [transit:G] Stopped
2020-12-13T14:43:13.987Z,1607870593.987 [transit:Transit] Running Loop=1
2020-12-13T14:43:13.987Z,1607870593.987 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2020-12-13T14:43:13.987Z,1607870593.987 [transit:Transit:A.Pitch] Running Loop=1
2020-12-13T14:43:13.987Z,1607870593.987 [transit:Transit:A.Pitch](DEBUG): Initialize.
2020-12-13T14:43:13.987Z,1607870593.987 [transit:Transit:B.SetSpeed] Running Loop=1
2020-12-13T14:43:13.987Z,1607870593.987 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2020-12-13T14:43:14.004Z,1607870594.004 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2020-12-13T14:43:14.004Z,1607870594.004 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2020-12-13T14:43:14.390Z,1607870594.390 [transit:Transit:B.SetSpeed] Running Loop=1
2020-12-13T14:43:14.390Z,1607870594.390 [transit:Transit:A.Pitch] Running Loop=1
2020-12-13T14:44:38.029Z,1607870678.029 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -0.36 mm (4 active estimators).
2020-12-13T14:45:09.316Z,1607870709.316 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.245483
2020-12-13T14:45:38.448Z,1607870738.448 [Radio_Surface](INFO): Powering down
2020-12-13T14:45:45.468Z,1607870745.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T14:45:46.473Z,1607870746.473 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-13T14:49:37.771Z,1607870977.771 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T14:49:52.727Z,1607870992.727 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T14:50:02.818Z,1607871002.818 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T14:50:12.927Z,1607871012.927 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T14:50:27.883Z,1607871027.883 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-13T14:57:58.343Z,1607871478.343 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T14:58:08.080Z,1607871488.080 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T15:00:10.508Z,1607871610.508 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2020-12-13T15:00:10.509Z,1607871610.509 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-13T15:00:10.509Z,1607871610.509 [ThrusterServo](ERROR): Communications Fault
2020-12-13T15:00:10.512Z,1607871610.512 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-13T15:00:10.899Z,1607871610.899 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-13T15:00:10.899Z,1607871610.899 [ThrusterServo](INFO): Powering down
2020-12-13T15:00:11.700Z,1607871611.700 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-13T15:00:11.817Z,1607871611.817 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-13T15:00:11.821Z,1607871611.821 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-13T15:00:11.821Z,1607871611.821 [ThrusterServo] No Fault, FailCount= 1
2020-12-13T15:08:51.613Z,1607872131.613 [Micromodem](ERROR): Response from modem failed NMEA checksum: 50849,AUV,2.0.32731*1A
 expected 0
2020-12-13T15:09:48.970Z,1607872188.970 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T15:10:13.732Z,1607872213.732 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-13T15:10:13.732Z,1607872213.732 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-13T15:10:13.732Z,1607872213.732 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-13T15:10:13.804Z,1607872213.804 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-13T15:10:14.096Z,1607872214.096 [RDI_PathfinderUp](INFO): Powering down
2020-12-13T15:10:14.876Z,1607872214.876 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-13T15:10:14.876Z,1607872214.876 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-13T15:16:45.487Z,1607872605.487 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-13T15:16:45.489Z,1607872605.489 [BPC1](INFO): Received data from all battery sticks.
2020-12-13T15:17:39.228Z,1607872659.228 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T15:17:49.323Z,1607872669.323 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T15:17:59.069Z,1607872679.069 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T15:18:04.273Z,1607872684.273 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T15:18:14.386Z,1607872694.386 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T15:19:09.325Z,1607872749.325 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-12-13T15:19:44.480Z,1607872784.480 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T15:19:54.195Z,1607872794.195 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-13T15:36:21.935Z,1607873781.935 [Micromodem](ERROR): Response from modem failed NMEA checksum: 53619,COPROC,0.10.0.46*49
 expected 0
2020-12-13T15:37:30.222Z,1607873850.222 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T15:37:35.076Z,1607873855.076 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T15:38:00.149Z,1607873880.149 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T15:38:10.242Z,1607873890.242 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T15:39:55.342Z,1607873995.342 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T15:40:42.190Z,1607874042.190 [transit:NeedComms] Running Loop=1
2020-12-13T15:40:42.190Z,1607874042.190 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2020-12-13T15:40:42.190Z,1607874042.190 [transit:NeedComms:B.GoToSurface] Running Loop=1
2020-12-13T15:40:42.190Z,1607874042.190 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-13T15:40:42.191Z,1607874042.191 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2020-12-13T15:40:42.191Z,1607874042.191 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2020-12-13T15:40:42.191Z,1607874042.191 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2020-12-13T15:40:42.196Z,1607874042.196 [transit:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-13T15:40:42.196Z,1607874042.196 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-13T15:40:42.197Z,1607874042.197 [transit:NeedComms:A] Running Loop=1
2020-12-13T15:40:42.205Z,1607874042.205 [transit:NeedComms:A](INFO): last time_fix was: 1607870441.000000 second since 1970/01/01T00:00:00Z 
2020-12-13T15:40:42.205Z,1607874042.205 [transit:NeedComms:A] Stopped
2020-12-13T15:41:12.512Z,1607874072.512 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2020-12-13T15:41:14.868Z,1607874074.868 [transit:NeedComms:C] Running Loop=1
2020-12-13T15:41:15.293Z,1607874075.293 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-12-13T15:41:15.500Z,1607874075.500 [Radio_Surface](INFO): Powering up
2020-12-13T15:41:21.132Z,1607874081.132 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-13T15:41:37.461Z,1607874097.461 [NAL9602](INFO): SBD MO Status=2, MOMSN=12778, MT Status=2, MTMSN=0
2020-12-13T15:41:37.461Z,1607874097.461 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-13T15:41:51.265Z,1607874111.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T15:42:11.404Z,1607874131.404 [NAL9602](INFO): SBD MO Status=0, MOMSN=12778, MT Status=0, MTMSN=0
2020-12-13T15:42:11.404Z,1607874131.404 [NAL9602](INFO): No messages in MT queue
2020-12-13T15:42:12.616Z,1607874132.616 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,154212.00,A,4133.82752,N,07042.02779,W,0.622,11.38,131220,,,A*46
2020-12-13T15:42:12.618Z,1607874132.618 [NAL9602](INFO): GPS fix at 20201213T154212: (41.563792, -70.700463)
2020-12-13T15:42:12.659Z,1607874132.659 [UniversalFixResidualReporter](INFO): Fix residual: 4.3 %DT, over the last 1904.9 m. Residual distance 81.9 m at bearing -125.8 degrees. Fix at (41.5638, -70.7005) with 1868.4 m made good.
2020-12-13T15:42:12.663Z,1607874132.663 [transit:NeedComms:C] Stopped
2020-12-13T15:42:12.663Z,1607874132.663 [transit:NeedComms:D] Running Loop=1
2020-12-13T15:42:13.079Z,1607874133.079 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-13T15:42:26.404Z,1607874146.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T15:42:32.216Z,1607874152.216 [NAL9602](INFO): SBD MO Status=1, MOMSN=12779, MT Status=0, MTMSN=0
2020-12-13T15:42:32.265Z,1607874152.265 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T143042/Courier0009.lzma
2020-12-13T15:42:32.265Z,1607874152.265 [NAL9602](INFO): Packets left to send: 1
2020-12-13T15:42:44.101Z,1607874164.101 [NAL9602](INFO): SBD MO Status=1, MOMSN=12780, MT Status=0, MTMSN=0
2020-12-13T15:42:44.156Z,1607874164.156 [NAL9602](INFO): Sent 86 bytes from file Logs/20201213T143042/Courier0009.lzma
2020-12-13T15:42:44.156Z,1607874164.156 [NAL9602](INFO): Packets left to send: 0
2020-12-13T15:42:53.507Z,1607874173.507 [NAL9602](INFO): SBD MO Status=1, MOMSN=12781, MT Status=0, MTMSN=0
2020-12-13T15:42:53.552Z,1607874173.552 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T143042/Express0010.lzma
2020-12-13T15:42:53.553Z,1607874173.553 [NAL9602](INFO): Packets left to send: 3
2020-12-13T15:43:01.548Z,1607874181.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T15:43:01.672Z,1607874181.672 [NAL9602](INFO): SBD MO Status=1, MOMSN=12782, MT Status=0, MTMSN=0
2020-12-13T15:43:01.720Z,1607874181.720 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T143042/Express0010.lzma
2020-12-13T15:43:01.720Z,1607874181.720 [NAL9602](INFO): Packets left to send: 2
2020-12-13T15:43:10.650Z,1607874190.650 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T15:43:12.686Z,1607874192.686 [transit](INFO): Timed out from 2020-12-13T14:43:12.4Z
2020-12-13T15:43:12.686Z,1607874192.686 [MissionManager](INFO): transit is completed.
2020-12-13T15:43:12.686Z,1607874192.686 [MissionManager](INFO): Uninitializing Mission transit
2020-12-13T15:43:12.687Z,1607874192.687 [transit] Stopped
2020-12-13T15:43:12.687Z,1607874192.687 [transit](DEBUG): Aggregate::uninitialize transit
2020-12-13T15:43:12.687Z,1607874192.687 [transit:NeedComms] Stopped
2020-12-13T15:43:12.687Z,1607874192.687 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2020-12-13T15:43:12.687Z,1607874192.687 [transit:NeedComms:B.GoToSurface] Stopped
2020-12-13T15:43:12.687Z,1607874192.687 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-13T15:43:12.687Z,1607874192.687 [transit:NeedComms:D] Stopped
2020-12-13T15:43:12.687Z,1607874192.687 [transit:StandardEnvelopes] Stopped
2020-12-13T15:43:12.687Z,1607874192.687 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2020-12-13T15:43:12.687Z,1607874192.687 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-13T15:43:12.687Z,1607874192.687 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-13T15:43:12.687Z,1607874192.687 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-13T15:43:12.688Z,1607874192.688 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-13T15:43:12.688Z,1607874192.688 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-13T15:43:12.688Z,1607874192.688 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-13T15:43:12.688Z,1607874192.688 [transit:BuoyancyHold.Buoyancy] Stopped
2020-12-13T15:43:12.688Z,1607874192.688 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-13T15:43:12.688Z,1607874192.688 [transit:MassHold.Pitch] Stopped
2020-12-13T15:43:12.688Z,1607874192.688 [transit:Transit] Stopped
2020-12-13T15:43:12.688Z,1607874192.688 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2020-12-13T15:43:12.688Z,1607874192.688 [transit:Transit:A.Pitch] Stopped
2020-12-13T15:43:12.688Z,1607874192.688 [transit:Transit:B.SetSpeed] Stopped
2020-12-13T15:43:12.689Z,1607874192.689 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2020-12-13T15:43:12.689Z,1607874192.689 [transit:Transit:Wpt1.Waypoint] Stopped
2020-12-13T15:43:12.689Z,1607874192.689 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2020-12-13T15:43:13.109Z,1607874193.109 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-13T15:43:13.110Z,1607874193.110 [DefaultWithUndock] Running Loop=1
2020-12-13T15:43:13.110Z,1607874193.110 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-13T15:43:13.111Z,1607874193.111 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-13T15:43:13.111Z,1607874193.111 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-13T15:43:28.415Z,1607874208.415 [NAL9602](INFO): SBD MO Status=1, MOMSN=12783, MT Status=0, MTMSN=0
2020-12-13T15:43:28.476Z,1607874208.476 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T143042/Express0010.lzma
2020-12-13T15:43:28.476Z,1607874208.476 [NAL9602](INFO): Packets left to send: 1
2020-12-13T15:43:36.688Z,1607874216.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:A.Wait] Stopped
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-12-13T15:43:43.391Z,1607874223.391 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-12-13T15:43:43.392Z,1607874223.392 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T15:43:44.170Z,1607874224.170 [PowerOnly](INFO): Powering up loadControl
2020-12-13T15:43:46.258Z,1607874226.258 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:43:47.495Z,1607874227.495 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-12-13T15:43:47.852Z,1607874227.852 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-13T15:43:49.099Z,1607874229.099 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:43:51.887Z,1607874231.887 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:43:54.733Z,1607874234.733 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:43:57.549Z,1607874237.549 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:43:59.151Z,1607874239.151 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T15:44:00.488Z,1607874240.488 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:44:03.234Z,1607874243.234 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:44:06.069Z,1607874246.069 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:44:08.075Z,1607874248.075 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 523.38 m. Transitioning DDM to standby.
2020-12-13T15:44:08.864Z,1607874248.864 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:44:11.334Z,1607874251.334 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-12-13T15:44:11.711Z,1607874251.711 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-12-13T15:44:11.711Z,1607874251.711 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-12-13T15:44:11.712Z,1607874251.712 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:LeaveDock] Stopped
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-13T15:44:11.713Z,1607874251.713 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-12-13T15:44:11.714Z,1607874251.714 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-13T15:44:11.714Z,1607874251.714 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-13T15:44:11.714Z,1607874251.714 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-13T15:44:11.714Z,1607874251.714 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-13T15:44:11.715Z,1607874251.715 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-13T15:44:11.715Z,1607874251.715 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-13T15:44:11.836Z,1607874251.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T15:44:12.088Z,1607874252.088 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-12-13T15:44:12.088Z,1607874252.088 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T15:44:12.089Z,1607874252.089 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-13T15:44:12.089Z,1607874252.089 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-12-13T15:44:12.089Z,1607874252.089 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T15:44:12.089Z,1607874252.089 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-12-13T15:44:12.089Z,1607874252.089 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-12-13T15:44:14.078Z,1607874254.078 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,154413.00,A,4133.82453,N,07042.02483,W,0.078,35.90,131220,,,A*48
2020-12-13T15:44:14.098Z,1607874254.098 [NAL9602](INFO): GPS fix at 20201213T154413: (41.563742, -70.700414)
2020-12-13T15:44:14.212Z,1607874254.212 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-13T15:44:14.213Z,1607874254.213 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-13T15:44:39.286Z,1607874279.286 [NAL9602](INFO): SBD MO Status=1, MOMSN=12784, MT Status=0, MTMSN=0
2020-12-13T15:44:39.336Z,1607874279.336 [NAL9602](INFO): Sent 81 bytes from file Logs/20201213T143042/Courier0012.lzma
2020-12-13T15:44:39.336Z,1607874279.336 [NAL9602](INFO): Packets left to send: 0
2020-12-13T15:44:40.956Z,1607874280.956 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003274
2020-12-13T15:44:44.971Z,1607874284.971 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T143042/Courier0015.lzma
2020-12-13T15:44:45.974Z,1607874285.974 [DataOverHttps](INFO): Moved sent file to Logs/20201213T143042/Courier0015.lzma.bak
2020-12-13T15:44:45.974Z,1607874285.974 [DataOverHttps](INFO): SBD MOMSN=64560
2020-12-13T15:44:55.013Z,1607874295.013 [DataOverHttps](INFO): Sending 673 bytes from file Logs/20201213T143042/Express0010.lzma
2020-12-13T15:44:56.014Z,1607874296.014 [DataOverHttps](INFO): Moved sent file to Logs/20201213T143042/Express0010.lzma.bak
2020-12-13T15:44:56.014Z,1607874296.014 [DataOverHttps](INFO): SBD MOMSN=64562
2020-12-13T15:44:59.572Z,1607874299.572 [NAL9602](INFO): SBD MO Status=1, MOMSN=12785, MT Status=0, MTMSN=0
2020-12-13T15:44:59.620Z,1607874299.620 [NAL9602](INFO): Sent 121 bytes from file Logs/20201213T143042/Express0010.lzma
2020-12-13T15:44:59.620Z,1607874299.620 [NAL9602](INFO): Packets left to send: 0
2020-12-13T15:45:05.061Z,1607874305.061 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20201213T143042/Express0013.lzma
2020-12-13T15:45:06.057Z,1607874306.057 [DataOverHttps](INFO): Moved sent file to Logs/20201213T143042/Express0013.lzma.bak
2020-12-13T15:45:06.057Z,1607874306.057 [DataOverHttps](INFO): SBD MOMSN=64589
2020-12-13T15:45:15.098Z,1607874315.098 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20201213T143042/Express0016.lzma
2020-12-13T15:45:15.727Z,1607874315.727 [PowerOnly](INFO): Powering down loadControl
2020-12-13T15:45:16.097Z,1607874316.097 [DataOverHttps](INFO): Moved sent file to Logs/20201213T143042/Express0016.lzma.bak
2020-12-13T15:45:16.097Z,1607874316.097 [DataOverHttps](INFO): SBD MOMSN=64593
2020-12-13T15:45:17.371Z,1607874317.371 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-13T15:45:17.371Z,1607874317.371 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-13T15:45:17.388Z,1607874317.388 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-13T15:45:30.287Z,1607874330.287 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T15:48:03.416Z,1607874483.416 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T15:49:28.146Z,1607874568.146 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T154927