diff --git a/PlanConfigure.json b/PlanConfigure.json
deleted file mode 100644
index 861e03d..0000000
--- a/PlanConfigure.json
+++ /dev/null
@@ -1,175 +0,0 @@
-{
-	"east_waypt_survey" : 
-	{
-		"boardStamp" : 1698135269.1985879,
-		"clientStamp" : 1698135269.1812179,
-		"closedLoop" : true,
-		"constSpeed" : -1.0,
-		"duration" : -1.0,
-		"maxDepth" : -1.0,
-		"minDepth" : -1.0,
-		"origin" : 
-		{
-			"altitude" : 0.0,
-			"lat" : 43.825298309326172,
-			"lon" : -70.330398559570312
-		},
-		"perpetual" : false,
-		"points" : 
-		[
-			{
-				"depth" : 9.0,
-				"east" : 121.51780491942634,
-				"lat" : 43.824428558349609,
-				"lon" : -70.328887939453125,
-				"name" : "station_1",
-				"north" : -96.635898081838207,
-				"speed" : 2.0,
-				"type" : "point"
-			},
-			{
-				"depth" : 7.0,
-				"east" : 201.91511278899367,
-				"lat" : 43.824676513671875,
-				"lon" : -70.327888488769531,
-				"name" : "station_2",
-				"north" : -69.083922179977421,
-				"speed" : 2.5,
-				"type" : "point"
-			}
-		],
-		"priority" : 10,
-		"repeat" : 3,
-		"sourceAddress" : "10.25.0.160",
-		"sourceName" : "CCU Neptus 0_163",
-		"taskId" : "1",
-		"taskName" : "east_waypt_survey"
-	},
-	"plan1_toMoos" : 
-	{
-		"boardStamp" : 1699602762.2845099,
-		"clientStamp" : 1699602762.7520001,
-		"closedLoop" : false,
-		"duration" : -1.0,
-		"maxDepth" : -1.0,
-		"minDepth" : -1.0,
-		"origin" : 
-		{
-			"altitude" : 0.0,
-			"lat" : 43.825299999999999,
-			"lon" : -70.330399999999997
-		},
-		"perpetual" : false,
-		"points" : 
-		[
-			{
-				"depth" : 2.0,
-				"east" : 117.83291847226671,
-				"lat" : 43.825713999999998,
-				"lon" : -70.32893,
-				"name" : "Goto1",
-				"north" : 46.200319317940647,
-				"speed" : 2.0,
-				"type" : "point"
-			},
-			{
-				"depth" : 2.0,
-				"east" : -17.18366087421261,
-				"lat" : 43.826782000000001,
-				"lon" : -70.330609999999993,
-				"name" : "Goto2",
-				"north" : 164.87635389378988,
-				"speed" : 2.0,
-				"type" : "point"
-			},
-			{
-				"depth" : 2.0,
-				"east" : -241.19025325837993,
-				"lat" : 43.825465999999999,
-				"lon" : -70.333399999999997,
-				"name" : "Goto3",
-				"north" : 18.653618776002617,
-				"speed" : 2.0,
-				"type" : "point"
-			},
-			{
-				"depth" : 2.0,
-				"east" : -203.76118848802312,
-				"lat" : 43.823234999999997,
-				"lon" : -70.332930000000005,
-				"name" : "Goto4",
-				"north" : -229.29782627916489,
-				"speed" : 2.0,
-				"type" : "point"
-			}
-		],
-		"priority" : 10,
-		"repeat" : 1,
-		"sourceAddress" : "10.25.0.163",
-		"sourceName" : "CCU JHL 0_163",
-		"taskId" : "0,106,3,-96,8,-103,13,6,9,32,50,-13,47,-71,61,1",
-		"taskName" : "plan1_toMoos"
-	},
-	"west_waypt_survey" : 
-	{
-		"boardStamp" : 1698135268.3958621,
-		"clientStamp" : 1698135268.2057669,
-		"closedLoop" : true,
-		"constSpeed" : -1.0,
-		"duration" : -1.0,
-		"maxDepth" : -1.0,
-		"minDepth" : -1.0,
-		"origin" : 
-		{
-			"altitude" : 0.0,
-			"lat" : 43.825298309326172,
-			"lon" : -70.330398559570312
-		},
-		"perpetual" : true,
-		"points" : 
-		[
-			{
-				"depth" : 9.0,
-				"east" : -91.445572043530944,
-				"lat" : 43.824195861816406,
-				"lon" : -70.331535339355469,
-				"name" : "station_1",
-				"north" : -122.49101460421512,
-				"speed" : 4.0
-			},
-			{
-				"depth" : 7.0,
-				"east" : 5.5235485468483718,
-				"lat" : 43.824298858642578,
-				"lon" : -70.330329895019531,
-				"name" : "station_2",
-				"north" : -111.04778559533926,
-				"speed" : 6.0
-			},
-			{
-				"depth" : 5.0,
-				"east" : 4.2961493948725868,
-				"lat" : 43.823516845703125,
-				"lon" : -70.330345153808594,
-				"name" : "station_3",
-				"north" : -197.93630920628678,
-				"speed" : 8.0
-			},
-			{
-				"depth" : 3.0,
-				"east" : -81.013520711457318,
-				"lat" : 43.823207855224609,
-				"lon" : -70.331405639648438,
-				"name" : "station_4",
-				"north" : -232.26737690334403,
-				"speed" : 10.0
-			}
-		],
-		"priority" : 10,
-		"repeat" : -1,
-		"sourceAddress" : "10.25.0.160",
-		"sourceName" : "CCU Neptus 0_163",
-		"taskId" : "2",
-		"taskName" : "west_waypt_survey"
-	}
-}
diff --git a/src/pStateManagement/CMakeLists.txt b/src/pStateManagement/CMakeLists.txt
index bde6d92..0e5676b 100755
--- a/src/pStateManagement/CMakeLists.txt
+++ b/src/pStateManagement/CMakeLists.txt
@@ -17,6 +17,9 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 
 #find_package (jsoncpp NO_MODULE REQUIRED)
 
+find_package (GeographicLib REQUIRED)
+include_directories(${GeographicLib_INCLUDE_DIRS})
+
 include_directories(/usr/include/jsoncpp/)
 link_directories(/usr/local/lib/)
 
@@ -26,7 +29,8 @@ TARGET_LINK_LIBRARIES(pStateManagement
    ${MOOS_LIBRARIES}
    ${CMAKE_DL_LIBS}
    ${SYSTEM_LIBS} 
-   ${DUNE_LIB}       
+   ${DUNE_LIB} 
+   ${GeographicLib_LIBRARIES}       
    mbutil
    m
    pthread
diff --git a/src/pStateManagement/StateManagement.cpp b/src/pStateManagement/StateManagement.cpp
index e6b2027..b503f49 100755
--- a/src/pStateManagement/StateManagement.cpp
+++ b/src/pStateManagement/StateManagement.cpp
@@ -9,6 +9,7 @@
 #include "MBUtils.h"
 #include "StateManagement.h"
 #include <json/json.h>
+#include <cmath>
 
 using namespace std;
 
@@ -48,6 +49,7 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
     Json::Value deviceState;
     std::string manualState;
     int missionState;
+    int missionState;
 
     if(key == "uManual_enable_cmd")
     {
@@ -76,15 +78,16 @@ bool StateManagement::OnNewMail(MOOSMSG_LIST &NewMail)
     {
       if(missionState == 0)
       {
+      case 0:
         deviceState["opMode"] = opModeLists.error;
-      }
-      if(missionState == 1)
-      {
+        break;
+      case 1:
         deviceState["opMode"] = opModeLists.service;
       }
       if((missionState == 3) )
       {
         deviceState["opMode"] = opModeLists.maneuver;
+        break;
       }
     }
 
diff --git a/src/pStateManagement/StateManagement.h b/src/pStateManagement/StateManagement.h
index 5da5f97..6635540 100755
--- a/src/pStateManagement/StateManagement.h
+++ b/src/pStateManagement/StateManagement.h
@@ -9,6 +9,12 @@
 #define StateManagement_HEADER
 
 #include "MOOS/libMOOS/MOOSLib.h"
+#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include <DUNE/DUNE.hpp>
+#include <GeographicLib/LocalCartesian.hpp>
+#include <json/json.h>
+#include <thread>
+#include <chrono>
 
 class StateManagement : public CMOOSApp
 {