2022-01-24T20:13:25.809Z,1643055205.809 [Supervisor](DEBUG): Initializing supervisor.
2022-01-24T20:13:25.813Z,1643055205.813 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-01-24T20:13:25.814Z,1643055205.814 [SyncHandler](INFO): Protected caller Thread ID is 9435
2022-01-24T20:13:25.814Z,1643055205.814 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-01-24T20:13:25.815Z,1643055205.815 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-01-24T20:13:25.816Z,1643055205.816 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 9436
2022-01-24T20:13:25.820Z,1643055205.820 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-01-24T20:13:25.838Z,1643055205.838 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-01-24T20:13:25.839Z,1643055205.839 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-01-24T20:13:25.839Z,1643055205.839 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 9437
2022-01-24T20:13:25.843Z,1643055205.843 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-01-24T20:13:25.844Z,1643055205.844 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-01-24T20:13:25.844Z,1643055205.844 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 9438
2022-01-24T20:13:25.846Z,1643055205.846 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-01-24T20:13:25.847Z,1643055205.847 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-01-24T20:13:25.848Z,1643055205.848 [logger ThreadHandler](INFO): Protected caller Thread ID is 9439
2022-01-24T20:13:25.851Z,1643055205.851 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-01-24T20:13:25.852Z,1643055205.852 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-01-24T20:13:25.854Z,1643055205.854 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-01-24T20:13:26.553Z,1643055206.553 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-01-24T20:13:26.553Z,1643055206.553 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-01-24T20:13:26.631Z,1643055206.631 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-01-24T20:13:26.949Z,1643055206.949 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-01-24T20:13:26.949Z,1643055206.949 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-01-24T20:13:27.055Z,1643055207.055 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-01-24T20:13:27.056Z,1643055207.056 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-01-24T20:13:27.256Z,1643055207.256 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-01-24T20:13:27.257Z,1643055207.257 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-01-24T20:13:27.756Z,1643055207.756 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-01-24T20:13:27.757Z,1643055207.757 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-01-24T20:13:28.017Z,1643055208.017 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-01-24T20:13:28.017Z,1643055208.017 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-01-24T20:13:28.163Z,1643055208.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-01-24T20:13:28.163Z,1643055208.163 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-01-24T20:13:28.350Z,1643055208.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-01-24T20:13:28.350Z,1643055208.350 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-01-24T20:13:28.447Z,1643055208.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-01-24T20:13:28.448Z,1643055208.448 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-01-24T20:13:28.664Z,1643055208.664 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-01-24T20:13:28.664Z,1643055208.664 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-01-24T20:13:29.042Z,1643055209.042 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-01-24T20:13:29.042Z,1643055209.042 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-01-24T20:13:29.123Z,1643055209.123 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-01-24T20:13:29.248Z,1643055209.248 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-01-24T20:13:29.249Z,1643055209.249 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-01-24T20:13:29.926Z,1643055209.926 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-01-24T20:13:29.926Z,1643055209.926 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-01-24T20:13:30.329Z,1643055210.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-01-24T20:13:30.332Z,1643055210.332 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2022-01-24T20:13:30.333Z,1643055210.333 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2022-01-24T20:13:30.993Z,1643055210.993 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2022-01-24T20:13:31.262Z,1643055211.262 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2022-01-24T20:13:31.467Z,1643055211.467 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2022-01-24T20:13:31.623Z,1643055211.623 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2022-01-24T20:13:31.878Z,1643055211.878 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-01-24T20:13:31.878Z,1643055211.878 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2022-01-24T20:13:31.963Z,1643055211.963 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2022-01-24T20:13:32.064Z,1643055212.064 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2022-01-24T20:13:32.187Z,1643055212.187 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2022-01-24T20:13:32.297Z,1643055212.297 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2022-01-24T20:13:32.382Z,1643055212.382 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2022-01-24T20:13:32.467Z,1643055212.467 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2022-01-24T20:13:32.577Z,1643055212.577 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2022-01-24T20:13:32.675Z,1643055212.675 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2022-01-24T20:13:32.877Z,1643055212.877 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2022-01-24T20:13:33.037Z,1643055213.037 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-01-24T20:13:33.053Z,1643055213.053 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-01-24T20:13:33.465Z,1643055213.465 [AHRS_M2] Loaded
2022-01-24T20:13:33.465Z,1643055213.465 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-01-24T20:13:33.498Z,1643055213.498 [BackseatComponent] Loaded
2022-01-24T20:13:33.498Z,1643055213.498 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-01-24T20:13:33.499Z,1643055213.499 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 407DF4E0
2022-01-24T20:13:33.500Z,1643055213.500 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 9533
2022-01-24T20:13:33.502Z,1643055213.502 [LcmUniversalReporter] Loaded
2022-01-24T20:13:33.502Z,1643055213.502 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-01-24T20:13:34.247Z,1643055214.247 [BPC1] Loaded
2022-01-24T20:13:34.248Z,1643055214.248 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-01-24T20:13:34.266Z,1643055214.266 [Depth_Keller] Loaded
2022-01-24T20:13:34.267Z,1643055214.267 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-01-24T20:13:34.271Z,1643055214.271 [DropWeight] Loaded
2022-01-24T20:13:34.271Z,1643055214.271 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-01-24T20:13:34.327Z,1643055214.327 [NAL9602] Loaded
2022-01-24T20:13:34.327Z,1643055214.327 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-01-24T20:13:34.355Z,1643055214.355 [Onboard] Loaded
2022-01-24T20:13:34.355Z,1643055214.355 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-01-24T20:13:34.356Z,1643055214.356 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4080F4E0
2022-01-24T20:13:34.356Z,1643055214.356 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 9534
2022-01-24T20:13:34.362Z,1643055214.362 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2022-01-24T20:13:34.372Z,1643055214.372 [PowerOnly] Loaded
2022-01-24T20:13:34.372Z,1643055214.372 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2022-01-24T20:13:34.383Z,1643055214.383 [Power24vConverter] Loaded
2022-01-24T20:13:34.383Z,1643055214.383 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-01-24T20:13:34.424Z,1643055214.424 [RDI_Pathfinder] Loaded
2022-01-24T20:13:34.425Z,1643055214.425 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2022-01-24T20:13:34.425Z,1643055214.425 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-01-24T20:13:34.426Z,1643055214.426 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-01-24T20:13:34.436Z,1643055214.436 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-01-24T20:13:34.437Z,1643055214.437 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-01-24T20:13:34.544Z,1643055214.544 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-01-24T20:13:34.544Z,1643055214.544 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-01-24T20:13:34.572Z,1643055214.572 [LBLNavigation] Loaded
2022-01-24T20:13:34.572Z,1643055214.572 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-01-24T20:13:34.584Z,1643055214.584 [NavChart] Loaded
2022-01-24T20:13:34.585Z,1643055214.585 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-01-24T20:13:34.590Z,1643055214.590 [UniversalFixResidualReporter] Loaded
2022-01-24T20:13:34.590Z,1643055214.590 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-01-24T20:13:34.600Z,1643055214.600 [WorkSite] Loaded
2022-01-24T20:13:34.601Z,1643055214.601 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2022-01-24T20:13:34.601Z,1643055214.601 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-01-24T20:13:34.601Z,1643055214.601 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-01-24T20:13:34.695Z,1643055214.695 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-01-24T20:13:34.696Z,1643055214.696 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-01-24T20:13:34.819Z,1643055214.819 [BuoyancyServo] Loaded
2022-01-24T20:13:34.820Z,1643055214.820 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-01-24T20:13:34.840Z,1643055214.840 [ElevatorServo] Loaded
2022-01-24T20:13:34.841Z,1643055214.841 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-01-24T20:13:34.860Z,1643055214.860 [MassServo] Loaded
2022-01-24T20:13:34.861Z,1643055214.861 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-01-24T20:13:34.880Z,1643055214.880 [RudderServo] Loaded
2022-01-24T20:13:34.880Z,1643055214.880 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-01-24T20:13:34.896Z,1643055214.896 [ThrusterHE] Loaded
2022-01-24T20:13:34.896Z,1643055214.896 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-01-24T20:13:34.897Z,1643055214.897 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-01-24T20:13:34.897Z,1643055214.897 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-01-24T20:13:35.038Z,1643055215.038 [WetLabsSeaOWL_UV_A] Loaded
2022-01-24T20:13:35.039Z,1643055215.039 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-01-24T20:13:35.040Z,1643055215.040 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4094B4E0
2022-01-24T20:13:35.040Z,1643055215.040 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 9535
2022-01-24T20:13:35.041Z,1643055215.041 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-01-24T20:13:35.041Z,1643055215.041 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-01-24T20:13:35.354Z,1643055215.354 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-01-24T20:13:35.354Z,1643055215.354 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-01-24T20:13:35.712Z,1643055215.712 [DepthRateCalculator] Loaded
2022-01-24T20:13:35.712Z,1643055215.712 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-01-24T20:13:35.772Z,1643055215.772 [PitchRateCalculator] Loaded
2022-01-24T20:13:35.772Z,1643055215.772 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-01-24T20:13:35.801Z,1643055215.801 [SpeedCalculator] Loaded
2022-01-24T20:13:35.801Z,1643055215.801 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-01-24T20:13:35.823Z,1643055215.823 [TempGradientCalculator] Loaded
2022-01-24T20:13:35.823Z,1643055215.823 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-01-24T20:13:35.853Z,1643055215.853 [VerticalHomogeneityIndexCalculator] Loaded
2022-01-24T20:13:35.854Z,1643055215.854 [ComponentRegistry](DEBUG): SyncComponent "VerticalHomogeneityIndexCalculator" handled in the control thread.
2022-01-24T20:13:35.882Z,1643055215.882 [YawRateCalculator] Loaded
2022-01-24T20:13:35.883Z,1643055215.883 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-01-24T20:13:35.964Z,1643055215.964 [ElevatorOffsetCalculator] Loaded
2022-01-24T20:13:35.964Z,1643055215.964 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-01-24T20:13:35.964Z,1643055215.964 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-01-24T20:13:35.965Z,1643055215.965 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-01-24T20:13:36.309Z,1643055216.309 [SBIT](DEBUG): Construct Startup Built In Test.
2022-01-24T20:13:36.325Z,1643055216.325 [SBIT] Loaded
2022-01-24T20:13:36.325Z,1643055216.325 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-01-24T20:13:36.328Z,1643055216.328 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-01-24T20:13:36.340Z,1643055216.340 [IBIT] Loaded
2022-01-24T20:13:36.341Z,1643055216.341 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-01-24T20:13:36.346Z,1643055216.346 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-01-24T20:13:36.447Z,1643055216.447 [CBIT] Loaded
2022-01-24T20:13:36.447Z,1643055216.447 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-01-24T20:13:36.447Z,1643055216.447 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-01-24T20:13:36.448Z,1643055216.448 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-01-24T20:13:36.505Z,1643055216.505 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-01-24T20:13:36.506Z,1643055216.506 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-01-24T20:13:36.605Z,1643055216.605 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-01-24T20:13:36.606Z,1643055216.606 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-01-24T20:13:36.657Z,1643055216.657 [VerticalControl](DEBUG): Construct VerticalControl.
2022-01-24T20:13:36.708Z,1643055216.708 [VerticalControl] Loaded
2022-01-24T20:13:36.708Z,1643055216.708 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-01-24T20:13:36.711Z,1643055216.711 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-01-24T20:13:36.746Z,1643055216.746 [HorizontalControl] Loaded
2022-01-24T20:13:36.747Z,1643055216.747 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-01-24T20:13:36.749Z,1643055216.749 [SpeedControl](DEBUG): Construct SpeedControl.
2022-01-24T20:13:36.751Z,1643055216.751 [SpeedControl] Loaded
2022-01-24T20:13:36.751Z,1643055216.751 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-01-24T20:13:36.754Z,1643055216.754 [LoopControl](DEBUG): Construct LoopControl.
2022-01-24T20:13:36.754Z,1643055216.754 [LoopControl] Loaded
2022-01-24T20:13:36.755Z,1643055216.755 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-01-24T20:13:36.755Z,1643055216.755 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-01-24T20:13:36.755Z,1643055216.755 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-01-24T20:13:36.782Z,1643055216.782 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-01-24T20:13:36.788Z,1643055216.788 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-01-24T20:13:36.791Z,1643055216.791 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-01-24T20:13:36.802Z,1643055216.802 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-01-24T20:13:36.803Z,1643055216.803 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AFD4E0
2022-01-24T20:13:36.803Z,1643055216.803 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 9536
2022-01-24T20:13:36.808Z,1643055216.808 [Supervisor](INFO): Main Thread ID is 829
2022-01-24T20:13:36.808Z,1643055216.808 [Supervisor](DEBUG): Running supervisor.
2022-01-24T20:13:36.809Z,1643055216.809 [CommandExec ThreadHandler](INFO): Handler Thread ID is 9537
2022-01-24T20:13:36.809Z,1643055216.809 [CommandExec](INFO): Initializing the command executive.
2022-01-24T20:13:36.811Z,1643055216.811 [CommandLine ThreadHandler](INFO): Handler Thread ID is 9538
2022-01-24T20:13:36.813Z,1643055216.813 [controlThread ThreadHandler](INFO): Handler Thread ID is 9539
2022-01-24T20:13:36.813Z,1643055216.813 [controlThread](DEBUG): Initializing ControlThread
2022-01-24T20:13:36.819Z,1643055216.819 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-01-24T20:13:36.819Z,1643055216.819 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-01-24T20:13:36.820Z,1643055216.820 [WorkSite](DEBUG): Initializing WorkSite component.
2022-01-24T20:13:36.821Z,1643055216.821 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-01-24T20:13:36.821Z,1643055216.821 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-01-24T20:13:36.822Z,1643055216.822 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-01-24T20:13:36.822Z,1643055216.822 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-01-24T20:13:36.823Z,1643055216.823 [VerticalHomogeneityIndexCalculator](DEBUG): (re)initializing
2022-01-24T20:13:36.823Z,1643055216.823 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-01-24T20:13:36.824Z,1643055216.824 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-01-24T20:13:36.824Z,1643055216.824 [SBIT](INFO): Initialize SBIT Component.
2022-01-24T20:13:36.825Z,1643055216.825 [SBIT](IMPORTANT): git: 2022-01-19
2022-01-24T20:13:36.825Z,1643055216.825 [SBIT](INFO): git hash: 3c152841e44dce493716324b2ee7dcf988968060
2022-01-24T20:13:36.825Z,1643055216.825 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-01-24T20:13:36.826Z,1643055216.826 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2022-01-24T20:13:36.828Z,1643055216.828 [SBIT](INFO): Beginning SBIT in 44.000000 seconds.
2022-01-24T20:13:36.828Z,1643055216.828 [IBIT](INFO): Initialize IBIT Component.
2022-01-24T20:13:36.829Z,1643055216.829 [CBIT](DEBUG): Initialize CBIT Component.
2022-01-24T20:13:36.830Z,1643055216.830 [logger ThreadHandler](INFO): Handler Thread ID is 9540
2022-01-24T20:13:36.840Z,1643055216.840 [CBIT](DEBUG): Initialized mux pins.
2022-01-24T20:13:36.840Z,1643055216.840 [CBIT](DEBUG): Initializing the watchdog timer.
2022-01-24T20:13:36.848Z,1643055216.848 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 9541
2022-01-24T20:13:36.860Z,1643055216.860 [Onboard ThreadHandler](INFO): Handler Thread ID is 9542
2022-01-24T20:13:36.865Z,1643055216.865 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-01-24T20:13:36.865Z,1643055216.865 [CBIT](DEBUG): Initializing heartbeat.
2022-01-24T20:13:36.881Z,1643055216.881 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 9543
2022-01-24T20:13:36.896Z,1643055216.896 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 9544
2022-01-24T20:13:36.897Z,1643055216.897 [WetLabsSeaOWL_UV_A](INFO): Powering down
2022-01-24T20:13:36.903Z,1643055216.903 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2022-01-24T20:13:36.904Z,1643055216.904 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2022-01-24T20:13:36.904Z,1643055216.904 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2022-01-24T20:13:36.904Z,1643055216.904 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2022-01-24T20:13:36.904Z,1643055216.904 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2022-01-24T20:13:36.904Z,1643055216.904 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2022-01-24T20:13:36.905Z,1643055216.905 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2022-01-24T20:13:36.905Z,1643055216.905 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2022-01-24T20:13:36.905Z,1643055216.905 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2022-01-24T20:13:36.905Z,1643055216.905 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2022-01-24T20:13:36.905Z,1643055216.905 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2022-01-24T20:13:36.905Z,1643055216.905 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2022-01-24T20:13:36.906Z,1643055216.906 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2022-01-24T20:13:36.906Z,1643055216.906 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2022-01-24T20:13:36.906Z,1643055216.906 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2022-01-24T20:13:36.906Z,1643055216.906 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2022-01-24T20:13:36.936Z,1643055216.936 [CBIT](DEBUG): Deactivating GF circuits.
2022-01-24T20:13:36.936Z,1643055216.936 [CBIT](DEBUG): Deactivating emergency mode.
2022-01-24T20:13:36.972Z,1643055216.972 [CBIT](DEBUG): Backplane powered.
2022-01-24T20:13:36.972Z,1643055216.972 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-01-24T20:13:36.974Z,1643055216.974 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-01-24T20:13:36.975Z,1643055216.975 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-01-24T20:13:36.975Z,1643055216.975 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-01-24T20:13:36.976Z,1643055216.976 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-01-24T20:13:36.989Z,1643055216.989 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-01-24T20:13:37.016Z,1643055217.016 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2022-01-24T20:13:37.017Z,1643055217.017 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-01-24T20:13:37.101Z,1643055217.101 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-01-24T20:13:37.102Z,1643055217.102 [Default:A.Wait](DEBUG): Construct Wait.
2022-01-24T20:13:37.104Z,1643055217.104 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-01-24T20:13:37.135Z,1643055217.135 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-01-24T20:13:37.146Z,1643055217.146 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-01-24T20:13:37.172Z,1643055217.172 [Default:E.Execute](DEBUG): Construct Execute.
2022-01-24T20:13:37.175Z,1643055217.175 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="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>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2022-01-24T20:13:37.184Z,1643055217.184 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,PowerOnly,Power24vConverter,RDI_Pathfinder,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalHomogeneityIndexCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-01-24T20:13:37.200Z,1643055217.200 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-01-24T20:13:37.343Z,1643055217.343 [Power24vConverter](INFO): Powering up.
2022-01-24T20:13:37.398Z,1643055217.398 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-01-24T20:13:37.404Z,1643055217.404 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-01-24T20:13:37.405Z,1643055217.405 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-01-24T20:13:37.412Z,1643055217.412 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-01-24T20:13:37.413Z,1643055217.413 [MassServo](DEBUG): Initializing EZServoServo.
2022-01-24T20:13:37.420Z,1643055217.420 [MassServo](DEBUG): Initializing MassServo.
2022-01-24T20:13:37.421Z,1643055217.421 [RudderServo](DEBUG): Initializing EZServoServo.
2022-01-24T20:13:37.428Z,1643055217.428 [RudderServo](DEBUG): Initializing RudderServo.
2022-01-24T20:13:37.429Z,1643055217.429 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-01-24T20:13:37.437Z,1643055217.437 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-01-24T20:13:38.324Z,1643055218.324 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-01-24T20:13:38.324Z,1643055218.324 [RudderServo](FAULT): Rudder failed to initialize
2022-01-24T20:13:38.324Z,1643055218.324 [RudderServo] Communications Fault, FailCount= 1
2022-01-24T20:13:38.324Z,1643055218.324 [RudderServo](ERROR): Communications Fault
2022-01-24T20:13:38.328Z,1643055218.328 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-01-24T20:13:38.538Z,1643055218.538 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-01-24T20:13:38.539Z,1643055218.539 [RudderServo](INFO): Powering down
2022-01-24T20:13:39.228Z,1643055219.228 [RudderServo](DEBUG): Initializing EZServoServo.
2022-01-24T20:13:39.349Z,1643055219.349 [RudderServo](DEBUG): Initializing RudderServo.
2022-01-24T20:13:39.353Z,1643055219.353 [CBIT](INFO): Clearing failed state for component RudderServo
2022-01-24T20:13:39.353Z,1643055219.353 [RudderServo] No Fault, FailCount= 1
2022-01-24T20:13:43.200Z,1643055223.200 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-01-24T20:14:04.669Z,1643055244.669 [NAL9602](INFO): Powering up NAL9602
2022-01-24T20:14:15.578Z,1643055255.578 [NAL9602](INFO): NAL9602 initialized
2022-01-24T20:14:21.259Z,1643055261.259 [SBIT](IMPORTANT): Beginning Startup BIT
2022-01-24T20:14:21.267Z,1643055261.267 [CBIT](IMPORTANT): Beginning ground fault scan
2022-01-24T20:14:28.109Z,1643055268.109 [NAL9602](INFO): SBD MO Status=0, MOMSN=32295, MT Status=0, MTMSN=0
2022-01-24T20:14:28.109Z,1643055268.109 [NAL9602](INFO): No messages in MT queue
2022-01-24T20:14:32.304Z,1643055272.304 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.453683
CHAN A1 (24V): 0.663347
CHAN A2 (12V): 0.320342
CHAN A3 (5V): 0.098557
CHAN B0 (3.3V): 0.054310
CHAN B1 (3.15aV): 0.056058
CHAN B2 (3.15bV): 0.057329
CHAN B3 (GND): -0.012737
OPEN: 0.011489
Full Scale: +/- 1 mA
2022-01-24T20:15:15.396Z,1643055315.396 [SBIT](IMPORTANT): SBIT PASSED
2022-01-24T20:15:15.396Z,1643055315.396 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-01-24T20:15:15.398Z,1643055315.398 [SBIT](IMPORTANT): BuoyancyServo.fastPumpCoefficient=2 none;

2022-01-24T20:15:15.398Z,1643055315.398 [SBIT](IMPORTANT): BuoyancyServo.velocity=800 none;

2022-01-24T20:15:15.398Z,1643055315.398 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2022-01-24T20:15:15.398Z,1643055315.398 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2022-01-24T20:15:15.398Z,1643055315.398 [SBIT](IMPORTANT): DataOverHttps.loadAtStartup=0 bool;

2022-01-24T20:15:15.400Z,1643055315.400 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2022-01-24T20:15:15.400Z,1643055315.400 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_temperature;

2022-01-24T20:15:15.400Z,1643055315.400 [SBIT](IMPORTANT): Express none WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water;

2022-01-24T20:15:15.401Z,1643055315.401 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.000020 kilogram_per_cubic_meter;

2022-01-24T20:15:15.401Z,1643055315.401 [SBIT](IMPORTANT): Express none platform_average_current;

2022-01-24T20:15:15.401Z,1643055315.401 [SBIT](IMPORTANT): Micromodem.loadAtStartup=0 bool;

2022-01-24T20:15:15.401Z,1643055315.401 [SBIT](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2022-01-24T20:15:15.401Z,1643055315.401 [SBIT](IMPORTANT): PAR_Licor.loadAtStartup=0 bool;

2022-01-24T20:15:15.401Z,1643055315.401 [SBIT](IMPORTANT): RDI_Pathfinder.loadAtStartup=1 bool;

2022-01-24T20:15:15.401Z,1643055315.401 [SBIT](IMPORTANT): RDI_PathfinderUp.loadAtStartup=0 bool;

2022-01-24T20:15:15.401Z,1643055315.401 [SBIT](IMPORTANT): Radio_Surface.loadAtStartup=0 bool;

2022-01-24T20:15:15.402Z,1643055315.402 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=154 cubic_centimeter;

2022-01-24T20:15:15.402Z,1643055315.402 [SBIT](IMPORTANT): VerticalControl.massDefault=6 millimeter;

2022-01-24T20:15:15.402Z,1643055315.402 [SBIT](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup=1 bool;

2022-01-24T20:15:15.809Z,1643055315.809 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2022-01-24T20:15:15.811Z,1643055315.811 [WorkSite](IMPORTANT): WorkSite fix at 20220124T201250: (40.110693, -69.919001)
2022-01-24T20:15:15.817Z,1643055315.817 [MissionManager](IMPORTANT): Started mission Startup
2022-01-24T20:15:15.817Z,1643055315.817 [Startup] Running Loop=1
2022-01-24T20:15:15.818Z,1643055315.818 [Startup](DEBUG): Aggregate::initialize Startup
2022-01-24T20:15:15.818Z,1643055315.818 [Startup:A.GoToSurface] Running Loop=1
2022-01-24T20:15:15.818Z,1643055315.818 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-01-24T20:15:15.818Z,1643055315.818 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-01-24T20:15:15.819Z,1643055315.819 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-01-24T20:15:15.819Z,1643055315.819 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-01-24T20:15:15.819Z,1643055315.819 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-01-24T20:15:15.824Z,1643055315.824 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-01-24T20:15:15.825Z,1643055315.825 [Startup:StartupSatComms] Running Loop=1
2022-01-24T20:15:15.826Z,1643055315.826 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-01-24T20:15:15.826Z,1643055315.826 [Startup:StartupSatComms:A] Running Loop=1
2022-01-24T20:15:16.212Z,1643055316.211 [LBLNavigation](INFO): Reset ping filters
2022-01-24T20:15:16.228Z,1643055316.228 [LBLNavigation](INFO): Reset fix filter
2022-01-24T20:15:16.230Z,1643055316.230 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-01-24T20:16:16.020Z,1643055376.020 [Startup:StartupSatComms:A](INFO): Timed out from 2022-01-24T20:15:15.8Z
2022-01-24T20:16:16.020Z,1643055376.020 [Startup:StartupSatComms:A] Stopped
2022-01-24T20:16:16.020Z,1643055376.020 [Startup:StartupSatComms:B] Running Loop=1
2022-01-24T20:16:16.429Z,1643055376.429 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-01-24T20:16:27.342Z,1643055387.342 [NAL9602](INFO): SBD MO Status=1, MOMSN=32296, MT Status=0, MTMSN=0
2022-01-24T20:16:27.392Z,1643055387.392 [NAL9602](INFO): Sent 52 bytes from file Logs/20220124T195829/Courier0012.lzma
2022-01-24T20:16:27.392Z,1643055387.392 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:16:38.707Z,1643055398.707 [NAL9602](INFO): SBD MO Status=1, MOMSN=32297, MT Status=0, MTMSN=0
2022-01-24T20:16:38.768Z,1643055398.768 [NAL9602](INFO): Sent 184 bytes from file Logs/20220124T201325/Courier0000.lzma
2022-01-24T20:16:38.768Z,1643055398.768 [NAL9602](INFO): Packets left to send: 1
2022-01-24T20:16:49.298Z,1643055409.298 [NAL9602](INFO): SBD MO Status=1, MOMSN=32298, MT Status=0, MTMSN=0
2022-01-24T20:16:49.360Z,1643055409.360 [NAL9602](INFO): Sent 78 bytes from file Logs/20220124T201325/Courier0000.lzma
2022-01-24T20:16:49.360Z,1643055409.360 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:17:00.664Z,1643055420.664 [NAL9602](INFO): SBD MO Status=1, MOMSN=32299, MT Status=0, MTMSN=0
2022-01-24T20:17:00.720Z,1643055420.720 [NAL9602](INFO): Sent 120 bytes from file Logs/20220124T195829/Express0010.lzma
2022-01-24T20:17:00.720Z,1643055420.720 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:17:10.476Z,1643055430.476 [NAL9602](INFO): SBD MO Status=1, MOMSN=32300, MT Status=0, MTMSN=0
2022-01-24T20:17:10.525Z,1643055430.525 [NAL9602](INFO): Sent 144 bytes from file Logs/20220124T195829/Express0013.lzma
2022-01-24T20:17:10.525Z,1643055430.525 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:17:16.347Z,1643055436.347 [Startup:StartupSatComms:B](INFO): Timed out from 2022-01-24T20:16:16.0Z
2022-01-24T20:17:16.347Z,1643055436.347 [Startup:StartupSatComms:B] Stopped
2022-01-24T20:17:16.347Z,1643055436.347 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-01-24T20:17:16.347Z,1643055436.347 [Startup:StartupSatComms] Stopped
2022-01-24T20:17:16.348Z,1643055436.348 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-01-24T20:17:16.348Z,1643055436.348 [Startup](INFO): Completed Startup
2022-01-24T20:17:16.349Z,1643055436.349 [MissionManager](INFO): Startup is completed.
2022-01-24T20:17:16.349Z,1643055436.349 [MissionManager](INFO): Uninitializing Mission Startup
2022-01-24T20:17:16.349Z,1643055436.349 [Startup] Stopped
2022-01-24T20:17:16.349Z,1643055436.349 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-01-24T20:17:16.349Z,1643055436.349 [Startup:A.GoToSurface] Stopped
2022-01-24T20:17:16.349Z,1643055436.349 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-01-24T20:17:16.758Z,1643055436.758 [MissionManager](IMPORTANT): Started mission Default
2022-01-24T20:17:16.758Z,1643055436.758 [Default] Running Loop=1
2022-01-24T20:17:16.758Z,1643055436.758 [Default](DEBUG): Aggregate::initialize Default
2022-01-24T20:17:16.758Z,1643055436.758 [Default:B.GoToSurface] Running Loop=1
2022-01-24T20:17:16.758Z,1643055436.758 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-01-24T20:17:16.758Z,1643055436.758 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-01-24T20:17:16.759Z,1643055436.759 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-01-24T20:17:16.759Z,1643055436.759 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-01-24T20:17:16.759Z,1643055436.759 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-01-24T20:17:16.760Z,1643055436.760 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-01-24T20:17:16.760Z,1643055436.760 [Default:A.Wait] Running Loop=1
2022-01-24T20:17:16.760Z,1643055436.760 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-01-24T20:17:21.991Z,1643055441.991 [NAL9602](INFO): SBD MO Status=1, MOMSN=32301, MT Status=0, MTMSN=0
2022-01-24T20:17:22.044Z,1643055442.044 [NAL9602](INFO): Sent 184 bytes from file Logs/20220124T201325/Express0001.lzma
2022-01-24T20:17:22.044Z,1643055442.044 [NAL9602](INFO): Packets left to send: 6
2022-01-24T20:17:30.122Z,1643055450.122 [Default:A.Wait](INFO): Done Waiting.
2022-01-24T20:17:30.122Z,1643055450.122 [Default:A.Wait] Stopped
2022-01-24T20:17:30.122Z,1643055450.122 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-01-24T20:17:30.491Z,1643055450.491 [Default:CheckIn] Running Loop=1
2022-01-24T20:17:30.491Z,1643055450.491 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-01-24T20:17:30.491Z,1643055450.491 [Default:CheckIn:Read_GPS] Running Loop=1
2022-01-24T20:17:30.900Z,1643055450.900 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-01-24T20:19:28.439Z,1643055568.439 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2022-01-24T20:19:58.743Z,1643055598.743 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201958.00,A,4006.68649,N,06955.13118,W,0.855,0.00,240122,,,A*76
2022-01-24T20:19:58.746Z,1643055598.746 [NAL9602](INFO): GPS fix at 20220124T201958: (40.111441, -69.918853)
2022-01-24T20:19:58.779Z,1643055598.779 [Default:CheckIn:Read_GPS] Stopped
2022-01-24T20:19:58.780Z,1643055598.780 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-01-24T20:19:59.190Z,1643055599.190 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-01-24T20:20:12.947Z,1643055612.947 [NAL9602](INFO): SBD MO Status=1, MOMSN=32302, MT Status=0, MTMSN=0
2022-01-24T20:20:12.992Z,1643055612.992 [NAL9602](INFO): Sent 72 bytes from file Logs/20220124T201325/Courier0004.lzma
2022-01-24T20:20:12.993Z,1643055612.993 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:20:28.777Z,1643055628.777 [NAL9602](INFO): SBD MO Status=1, MOMSN=32303, MT Status=0, MTMSN=0
2022-01-24T20:20:28.832Z,1643055628.832 [NAL9602](INFO): Sent 184 bytes from file Logs/20220124T201325/Express0001.lzma
2022-01-24T20:20:28.832Z,1643055628.832 [NAL9602](INFO): Packets left to send: 5
2022-01-24T20:20:42.611Z,1643055642.611 [NAL9602](INFO): SBD MO Status=1, MOMSN=32304, MT Status=0, MTMSN=0
2022-01-24T20:20:42.664Z,1643055642.664 [NAL9602](INFO): Sent 184 bytes from file Logs/20220124T201325/Express0001.lzma
2022-01-24T20:20:42.664Z,1643055642.664 [NAL9602](INFO): Packets left to send: 4
2022-01-24T20:20:56.823Z,1643055656.823 [NAL9602](INFO): SBD MO Status=1, MOMSN=32305, MT Status=0, MTMSN=0
2022-01-24T20:20:56.877Z,1643055656.877 [NAL9602](INFO): Sent 184 bytes from file Logs/20220124T201325/Express0001.lzma
2022-01-24T20:20:56.877Z,1643055656.877 [NAL9602](INFO): Packets left to send: 3
2022-01-24T20:21:00.946Z,1643055660.946 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2022-01-24T20:21:00.949Z,1643055660.949 [BPC1](INFO): Received data from all battery sticks.
2022-01-24T20:21:16.701Z,1643055676.701 [NAL9602](INFO): SBD MO Status=2, MOMSN=32306, MT Status=2, MTMSN=0
2022-01-24T20:21:16.701Z,1643055676.701 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-24T20:21:32.118Z,1643055692.118 [NAL9602](INFO): SBD MO Status=1, MOMSN=32306, MT Status=0, MTMSN=0
2022-01-24T20:21:32.172Z,1643055692.172 [NAL9602](INFO): Sent 184 bytes from file Logs/20220124T201325/Express0001.lzma
2022-01-24T20:21:32.172Z,1643055692.172 [NAL9602](INFO): Packets left to send: 2
2022-01-24T20:21:41.079Z,1643055701.079 [NAL9602](INFO): SBD MO Status=1, MOMSN=32307, MT Status=0, MTMSN=0
2022-01-24T20:21:41.130Z,1643055701.130 [NAL9602](INFO): Sent 184 bytes from file Logs/20220124T201325/Express0001.lzma
2022-01-24T20:21:41.130Z,1643055701.130 [NAL9602](INFO): Packets left to send: 1
2022-01-24T20:21:49.243Z,1643055709.243 [NAL9602](INFO): SBD MO Status=1, MOMSN=32308, MT Status=0, MTMSN=0
2022-01-24T20:21:49.292Z,1643055709.292 [NAL9602](INFO): Sent 91 bytes from file Logs/20220124T201325/Express0001.lzma
2022-01-24T20:21:49.292Z,1643055709.292 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:21:56.574Z,1643055716.574 [NAL9602](INFO): SBD MO Status=1, MOMSN=32309, MT Status=0, MTMSN=0
2022-01-24T20:21:56.628Z,1643055716.628 [NAL9602](INFO): Sent 95 bytes from file Logs/20220124T201325/Express0005.lzma
2022-01-24T20:21:56.628Z,1643055716.628 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:22:07.078Z,1643055727.078 [NAL9602](INFO): SBD MO Status=0, MOMSN=32310, MT Status=0, MTMSN=0
2022-01-24T20:22:07.156Z,1643055727.156 [Default:CheckIn:Read_Iridium] Stopped
2022-01-24T20:22:07.156Z,1643055727.156 [Default:CheckIn:C.Wait] Running Loop=1
2022-01-24T20:22:07.156Z,1643055727.156 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-01-24T20:22:37.781Z,1643055757.781 [NAL9602](INFO): Not Powering down - fast GPS
2022-01-24T20:27:07.663Z,1643056027.663 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2022-01-24T20:27:07.663Z,1643056027.663 [Default:CheckIn:C.Wait] Stopped
2022-01-24T20:27:07.663Z,1643056027.663 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-01-24T20:27:07.663Z,1643056027.663 [Default:CheckIn:D] Running Loop=1
2022-01-24T20:27:08.106Z,1643056028.106 [Default:CheckIn:D] Stopped
2022-01-24T20:27:08.106Z,1643056028.106 [Default:CheckIn:E] Running Loop=1
2022-01-24T20:27:08.471Z,1643056028.471 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 9.855797 min 
2022-01-24T20:27:08.471Z,1643056028.471 [Default:CheckIn:E] Stopped
2022-01-24T20:27:08.471Z,1643056028.471 [Default:CheckIn](INFO): Completed Default:CheckIn
2022-01-24T20:27:08.471Z,1643056028.471 [Default:CheckIn] Stopped
2022-01-24T20:27:08.471Z,1643056028.471 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-01-24T20:27:08.471Z,1643056028.471 [Default:CheckIn](INFO): Running loop #2
2022-01-24T20:27:08.471Z,1643056028.471 [Default:CheckIn] Running Loop=2
2022-01-24T20:27:08.471Z,1643056028.471 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-01-24T20:27:08.472Z,1643056028.472 [Default:CheckIn:Read_GPS] Running Loop=1
2022-01-24T20:27:10.477Z,1643056030.477 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202710.00,A,4006.72256,N,06955.11035,W,0.914,349.84,240122,,,A*7C
2022-01-24T20:27:10.479Z,1643056030.479 [NAL9602](INFO): GPS fix at 20220124T202710: (40.112043, -69.918506)
2022-01-24T20:27:10.506Z,1643056030.506 [Default:CheckIn:Read_GPS] Stopped
2022-01-24T20:27:10.506Z,1643056030.506 [Default:CheckIn:Read_Iridium] Running Loop=1
2022-01-24T20:27:41.241Z,1643056061.241 [NAL9602](INFO): SBD MO Status=2, MOMSN=32311, MT Status=2, MTMSN=0
2022-01-24T20:27:41.241Z,1643056061.241 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-24T20:28:06.351Z,1643056086.351 [NAL9602](INFO): SBD MO Status=2, MOMSN=32311, MT Status=2, MTMSN=0
2022-01-24T20:28:06.351Z,1643056086.351 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-24T20:28:25.003Z,1643056105.003 [NAL9602](INFO): SBD MO Status=2, MOMSN=32311, MT Status=2, MTMSN=0
2022-01-24T20:28:25.003Z,1643056105.003 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-24T20:28:45.301Z,1643056125.301 [NAL9602](INFO): SBD MO Status=2, MOMSN=32311, MT Status=2, MTMSN=0
2022-01-24T20:28:45.301Z,1643056125.301 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-01-24T20:29:06.779Z,1643056146.779 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=32311, MT Status=1, MTMSN=1179
2022-01-24T20:29:06.826Z,1643056146.826 [NAL9602](INFO): Sent 184 bytes from file Logs/20220124T201325/Courier0007.lzma
2022-01-24T20:29:06.826Z,1643056146.826 [NAL9602](INFO): Packets left to send: 1
2022-01-24T20:29:07.285Z,1643056147.285 [NAL9602](INFO): Received command: ! echo i > /dev/loadA7
2022-01-24T20:29:07.298Z,1643056147.298 [CommandExec](IMPORTANT): got command ! echo i > /dev/loadA7
2022-01-24T20:29:17.746Z,1643056157.746 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=32312, MT Status=1, MTMSN=1180
2022-01-24T20:29:17.808Z,1643056157.808 [NAL9602](INFO): Sent 17 bytes from file Logs/20220124T201325/Courier0007.lzma
2022-01-24T20:29:17.809Z,1643056157.809 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:29:18.244Z,1643056158.244 [NAL9602](INFO): Received command: gfscan
2022-01-24T20:29:18.293Z,1643056158.293 [CommandExec](IMPORTANT): got command gfscan
2022-01-24T20:29:18.309Z,1643056158.309 [CBIT](IMPORTANT): Beginning ground fault scan
2022-01-24T20:29:30.825Z,1643056170.825 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.527102
CHAN A1 (24V): 0.621872
CHAN A2 (12V): 0.324641
CHAN A3 (5V): 0.093719
CHAN B0 (3.3V): 0.047813
CHAN B1 (3.15aV): 0.049466
CHAN B2 (3.15bV): 0.051620
CHAN B3 (GND): -0.022512
OPEN: 0.014472
Full Scale: +/- 1 mA
2022-01-24T20:29:38.483Z,1643056178.483 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=32313, MT Status=1, MTMSN=1181
2022-01-24T20:29:38.536Z,1643056178.536 [NAL9602](INFO): Sent 151 bytes from file Logs/20220124T201325/Express0008.lzma
2022-01-24T20:29:38.536Z,1643056178.536 [NAL9602](INFO): Packets left to send: 0
2022-01-24T20:29:39.173Z,1643056179.173 [NAL9602](INFO): Received command: load Transport/transit.xml;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 40.09921 degree;set transit.Longitude -69.9185 degree;set transit.Depth 15 m;run
2022-01-24T20:29:39.203Z,1643056179.203 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.xml
2022-01-24T20:29:39.204Z,1643056179.204 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.xml
2022-01-24T20:29:39.355Z,1643056179.355 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2022-01-24T20:29:39.359Z,1643056179.359 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2022-01-24T20:29:39.362Z,1643056179.362 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2022-01-24T20:29:39.366Z,1643056179.366 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2022-01-24T20:29:39.369Z,1643056179.369 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2022-01-24T20:29:39.372Z,1643056179.372 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2022-01-24T20:29:39.375Z,1643056179.375 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2022-01-24T20:29:39.378Z,1643056179.378 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2022-01-24T20:29:39.381Z,1643056179.381 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2022-01-24T20:29:39.383Z,1643056179.383 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2022-01-24T20:29:39.391Z,1643056179.391 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2022-01-24T20:29:39.410Z,1643056179.410 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2022-01-24T20:29:39.417Z,1643056179.417 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2022-01-24T20:29:39.417Z,1643056179.417 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2022-01-24T20:29:39.501Z,1643056179.501 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h
2022-01-24T20:29:39.503Z,1643056179.503 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2022-01-24T20:29:39.514Z,1643056179.514 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2022-01-24T20:29:39.517Z,1643056179.517 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2022-01-24T20:29:39.524Z,1643056179.524 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2022-01-24T20:29:39.527Z,1643056179.527 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2022-01-24T20:29:39.534Z,1643056179.534 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2022-01-24T20:29:39.549Z,1643056179.549 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-01-24T20:29:39.591Z,1643056179.591 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml
2022-01-24T20:29:39.623Z,1643056179.623 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2022-01-24T20:29:39.630Z,1643056179.630 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2022-01-24T20:29:39.637Z,1643056179.637 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2022-01-24T20:29:39.639Z,1643056179.639 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-01-24T20:29:39.654Z,1643056179.654 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-01-24T20:29:39.663Z,1643056179.663 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-01-24T20:29:39.723Z,1643056179.723 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2022-01-24T20:29:39.744Z,1643056179.744 [transit:MassHold.Pitch](DEBUG): Construct.
2022-01-24T20:29:39.751Z,1643056179.751 [transit:Transit:A.Pitch](DEBUG): Construct.
2022-01-24T20:29:39.774Z,1643056179.774 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2022-01-24T20:29:39.777Z,1643056179.777 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2022-01-24T20:29:39.833Z,1643056179.833 [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>


2022-01-24T20:29:39.833Z,1643056179.833 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.xml
2022-01-24T20:29:46.378Z,1643056186.378 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2022-01-24T20:29:46.379Z,1643056186.379 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2022-01-24T20:29:46.380Z,1643056186.380 [CommandExec](IMPORTANT): got command set transit.Latitude 40.09921 degree
2022-01-24T20:29:46.381Z,1643056186.381 [CommandExec](IMPORTANT): got command set transit.Longitude -69.9185 degree
2022-01-24T20:29:46.381Z,1643056186.381 [CommandExec](IMPORTANT): got command set transit.Depth 15 meter
2022-01-24T20:29:46.382Z,1643056186.382 [CommandExec](IMPORTANT): got command run
2022-01-24T20:29:46.384Z,1643056186.384 [CommandExec](IMPORTANT): Running 
2022-01-24T20:29:46.587Z,1643056186.587 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=32314, MT Status=1, MTMSN=1182
2022-01-24T20:29:46.652Z,1643056186.652 [Default] Stopped
2022-01-24T20:29:46.653Z,1643056186.653 [Default](DEBUG): Aggregate::uninitialize Default
2022-01-24T20:29:46.653Z,1643056186.653 [Default:B.GoToSurface] Stopped
2022-01-24T20:29:46.653Z,1643056186.653 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-01-24T20:29:46.653Z,1643056186.653 [Default:CheckIn] Stopped
2022-01-24T20:29:46.653Z,1643056186.653 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-01-24T20:29:46.653Z,1643056186.653 [Default:CheckIn:Read_Iridium] Stopped
2022-01-24T20:29:46.653Z,1643056186.653 [MissionManager](IMPORTANT): Started mission transit
2022-01-24T20:29:46.653Z,1643056186.653 [transit] Running Loop=1
2022-01-24T20:29:46.654Z,1643056186.654 [transit](DEBUG): Aggregate::initialize transit
2022-01-24T20:29:46.654Z,1643056186.654 [transit:StandardEnvelopes] Running Loop=1
2022-01-24T20:29:46.654Z,1643056186.654 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2022-01-24T20:29:46.654Z,1643056186.654 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2022-01-24T20:29:46.654Z,1643056186.654 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-01-24T20:29:46.654Z,1643056186.654 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2022-01-24T20:29:46.654Z,1643056186.654 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-01-24T20:29:46.654Z,1643056186.654 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2022-01-24T20:29:46.655Z,1643056186.655 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-01-24T20:29:46.655Z,1643056186.655 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2022-01-24T20:29:46.655Z,1643056186.655 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-01-24T20:29:46.655Z,1643056186.655 [transit:MassHold.Pitch] Running Loop=1
2022-01-24T20:29:46.655Z,1643056186.655 [transit:MassHold.Pitch](DEBUG): Initialize.
2022-01-24T20:29:46.655Z,1643056186.655 [transit:B] Running Loop=1
2022-01-24T20:29:46.656Z,1643056186.656 [transit:MassHold.Pitch] Running Loop=1
2022-01-24T20:29:46.656Z,1643056186.656 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2022-01-24T20:29:46.657Z,1643056186.657 [transit:StandardEnvelopes] Running Loop=1
2022-01-24T20:29:46.657Z,1643056186.657 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2022-01-24T20:29:46.657Z,1643056186.657 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2022-01-24T20:29:46.658Z,1643056186.658 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2022-01-24T20:29:46.658Z,1643056186.658 [transit:B] Stopped
2022-01-24T20:29:46.659Z,1643056186.659 [transit:C] Running Loop=1
2022-01-24T20:29:47.068Z,1643056187.068 [NAL9602](INFO): Received command: restart logs