2025-01-15T23:14:45.897Z,1736982885.897 [CommandExec](IMPORTANT): got command set control_test_straight.Lat 36.797 degree
2025-01-15T23:14:45.898Z,1736982885.898 [CommandExec](IMPORTANT): got command set control_test_straight.Lon -121.847 degree
2025-01-15T23:14:45.899Z,1736982885.899 [CommandExec](IMPORTANT): got command set control_test_straight.LegDuration 5 minute
2025-01-15T23:14:45.900Z,1736982885.900 [CommandExec](IMPORTANT): got command set control_test_straight.Depth1 20 meter
2025-01-15T23:14:45.902Z,1736982885.902 [CommandExec](IMPORTANT): got command restart logs
2025-01-15T23:14:55.812Z,1736982895.812 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250115T224741/Courier0021.lzma
2025-01-15T23:14:56.814Z,1736982896.814 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Courier0021.lzma.bak
2025-01-15T23:14:56.815Z,1736982896.815 [DataOverHttps](INFO): SBD MOMSN=23907935
2025-01-15T23:15:27.496Z,1736982927.496 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250115T224741/Courier0024.lzma
2025-01-15T23:15:28.499Z,1736982928.499 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Courier0024.lzma.bak
2025-01-15T23:15:28.499Z,1736982928.499 [DataOverHttps](INFO): SBD MOMSN=23907937
2025-01-15T23:15:30.820Z,1736982930.820 [CommandExec](IMPORTANT): got command set control_test_straight.Depth2 20 meter
2025-01-15T23:15:30.821Z,1736982930.821 [CommandExec](IMPORTANT): got command set control_test_straight.Depth3 20 meter
2025-01-15T23:15:30.821Z,1736982930.821 [CommandExec](IMPORTANT): got command set control_test_straight.Depth4 20 meter
2025-01-15T23:15:30.822Z,1736982930.822 [CommandExec](IMPORTANT): got command set control_test_straight.Depth5 20 meter
2025-01-15T23:15:30.823Z,1736982930.823 [CommandExec](IMPORTANT): got command set control_test_straight.Speed1 .7 meter_per_second
2025-01-15T23:15:30.823Z,1736982930.823 [CommandExec](IMPORTANT): got command set control_test_straight.Speed2 .8 meter_per_second
2025-01-15T23:15:51.419Z,1736982951.419 [CommandExec](IMPORTANT): got command set control_test_straight.Speed3 .9 meter_per_second
2025-01-15T23:15:51.419Z,1736982951.419 [CommandExec](IMPORTANT): got command set control_test_straight.Speed5 1.1 meter_per_second
2025-01-15T23:15:51.420Z,1736982951.420 [CommandExec](IMPORTANT): got command set control_test_straight.MaxDepth 30 meter
2025-01-15T23:15:51.421Z,1736982951.421 [CommandExec](IMPORTANT): got command set control_test_straight:BackseatDriver.EnableBackseat 1 bool
2025-01-15T23:15:51.421Z,1736982951.421 [CommandExec](IMPORTANT): got command run
2025-01-15T23:15:51.449Z,1736982951.449 [CommandExec](IMPORTANT): Running 
2025-01-15T23:15:51.701Z,1736982951.701 [Default] Stopped
2025-01-15T23:15:51.702Z,1736982951.702 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-15T23:15:51.702Z,1736982951.702 [Default:B.GoToSurface] Stopped
2025-01-15T23:15:51.702Z,1736982951.702 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-15T23:15:51.702Z,1736982951.702 [Default:CheckIn] Stopped
2025-01-15T23:15:51.702Z,1736982951.702 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-15T23:15:51.702Z,1736982951.702 [Default:CheckIn:Read_Iridium] Stopped
2025-01-15T23:15:51.702Z,1736982951.702 [MissionManager](IMPORTANT): Started mission control_test_straight
2025-01-15T23:15:51.702Z,1736982951.702 [control_test_straight] Running Loop=1
2025-01-15T23:15:51.702Z,1736982951.702 [control_test_straight](DEBUG): Aggregate::initialize control_test_straight
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science](DEBUG): Aggregate::initialize control_test_straight:Science
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:A] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:B] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:C] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:D] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:E] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:F] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:Read_Oil] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:PeakDetectChl] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:PeakDetectChl](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectChl
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.703Z,1736982951.703 [control_test_straight:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.706Z,1736982951.706 [control_test_straight:Science:HighestChlPeakReport] Running Loop=1
2025-01-15T23:15:51.706Z,1736982951.706 [control_test_straight:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize control_test_straight:Science:HighestChlPeakReport
2025-01-15T23:15:51.706Z,1736982951.706 [control_test_straight:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-15T23:15:51.706Z,1736982951.706 [control_test_straight:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-15T23:15:51.706Z,1736982951.706 [control_test_straight:Science:PeakDetectNO3] Running Loop=1
2025-01-15T23:15:51.706Z,1736982951.706 [control_test_straight:Science:PeakDetectNO3](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectNO3
2025-01-15T23:15:51.707Z,1736982951.707 [control_test_straight:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.707Z,1736982951.707 [control_test_straight:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.717Z,1736982951.717 [control_test_straight:Science:PeakDetectOil] Running Loop=1
2025-01-15T23:15:51.717Z,1736982951.717 [control_test_straight:Science:PeakDetectOil](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectOil
2025-01-15T23:15:51.717Z,1736982951.717 [control_test_straight:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.717Z,1736982951.717 [control_test_straight:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.719Z,1736982951.719 [control_test_straight:Science:HighestOilPeakReport] Running Loop=1
2025-01-15T23:15:51.719Z,1736982951.719 [control_test_straight:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize control_test_straight:Science:HighestOilPeakReport
2025-01-15T23:15:51.720Z,1736982951.720 [control_test_straight:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-15T23:15:51.720Z,1736982951.720 [control_test_straight:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-15T23:15:51.725Z,1736982951.725 [control_test_straight:Science:PeakDetectFDOM] Running Loop=1
2025-01-15T23:15:51.725Z,1736982951.725 [control_test_straight:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectFDOM
2025-01-15T23:15:51.725Z,1736982951.725 [control_test_straight:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.725Z,1736982951.725 [control_test_straight:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.728Z,1736982951.728 [control_test_straight:Science:PeakDetectSalinity] Running Loop=1
2025-01-15T23:15:51.733Z,1736982951.733 [control_test_straight:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectSalinity
2025-01-15T23:15:51.733Z,1736982951.733 [control_test_straight:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.733Z,1736982951.733 [control_test_straight:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.735Z,1736982951.735 [control_test_straight:Science:HighestSaltPeakReport] Running Loop=1
2025-01-15T23:15:51.735Z,1736982951.735 [control_test_straight:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize control_test_straight:Science:HighestSaltPeakReport
2025-01-15T23:15:51.735Z,1736982951.735 [control_test_straight:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-15T23:15:51.735Z,1736982951.735 [control_test_straight:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-15T23:15:51.735Z,1736982951.735 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-15T23:15:51.735Z,1736982951.735 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectPlanktivoreLMavgROI
2025-01-15T23:15:51.735Z,1736982951.735 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.736Z,1736982951.736 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.736Z,1736982951.736 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-15T23:15:51.749Z,1736982951.749 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-15T23:15:51.749Z,1736982951.749 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectPlanktivoreHMavgROI
2025-01-15T23:15:51.749Z,1736982951.749 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.749Z,1736982951.749 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.750Z,1736982951.750 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-15T23:15:51.751Z,1736982951.751 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-15T23:15:51.751Z,1736982951.751 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectPlanktivoreDiatoms
2025-01-15T23:15:51.751Z,1736982951.751 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.751Z,1736982951.751 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.751Z,1736982951.751 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-15T23:15:51.760Z,1736982951.760 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250115T224741/Courier0027.lzma
2025-01-15T23:15:51.762Z,1736982951.762 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-15T23:15:51.762Z,1736982951.762 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-15T23:15:51.762Z,1736982951.762 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-15T23:15:51.762Z,1736982951.762 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-15T23:15:51.763Z,1736982951.763 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-15T23:15:51.764Z,1736982951.764 [control_test_straight:Science:ChlThreshTrigger] Running Loop=1
2025-01-15T23:15:51.764Z,1736982951.764 [control_test_straight:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize control_test_straight:Science:ChlThreshTrigger
2025-01-15T23:15:51.764Z,1736982951.764 [control_test_straight:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-15T23:15:51.764Z,1736982951.764 [control_test_straight:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:Science:OceanCurrent] Running Loop=1
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:Science:OceanCurrent](DEBUG): Aggregate::initialize control_test_straight:Science:OceanCurrent
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:Science:OceanCurrent:A.] Running Loop=1
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:StandardEnvelopes] Running Loop=1
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:StandardEnvelopes](DEBUG): Aggregate::initialize control_test_straight:StandardEnvelopes
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-15T23:15:51.769Z,1736982951.769 [control_test_straight:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:BackseatDriver] Running Loop=1
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:BackseatDriver](DEBUG): Aggregate::initialize control_test_straight:BackseatDriver
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:PowerOnly] Running Loop=1
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:PowerOnly](DEBUG): Aggregate::initialize control_test_straight:PowerOnly
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:PowerOnly:A] Running Loop=1
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:PowerOnly:B] Running Loop=1
2025-01-15T23:15:51.770Z,1736982951.770 [control_test_straight:PowerOnly:C] Running Loop=1
2025-01-15T23:15:51.771Z,1736982951.771 [control_test_straight:PowerOnly:D] Running Loop=1
2025-01-15T23:15:51.771Z,1736982951.771 [control_test_straight:PowerOnly:E.Wait] Running Loop=1
2025-01-15T23:15:51.771Z,1736982951.771 [control_test_straight:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-15T23:15:51.771Z,1736982951.771 [control_test_straight:UseWaypoint] Running Loop=1
2025-01-15T23:15:51.771Z,1736982951.771 [control_test_straight:UseWaypoint](DEBUG): Aggregate::initialize control_test_straight:UseWaypoint
2025-01-15T23:15:51.771Z,1736982951.771 [control_test_straight:UseWaypoint:A.Waypoint] Running Loop=1
2025-01-15T23:15:51.771Z,1736982951.771 [control_test_straight:UseWaypoint:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-15T23:15:51.772Z,1736982951.772 [control_test_straight:UseWaypoint:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-01-15T23:15:51.772Z,1736982951.772 [control_test_straight:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-15T23:15:51.777Z,1736982951.777 [control_test_straight:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-15T23:15:51.777Z,1736982951.777 [control_test_straight:MassHold.Pitch] Running Loop=1
2025-01-15T23:15:51.777Z,1736982951.777 [control_test_straight:MassHold.Pitch](DEBUG): Initialize.
2025-01-15T23:15:51.777Z,1736982951.777 [control_test_straight:ElevatorHold.Pitch] Running Loop=1
2025-01-15T23:15:51.777Z,1736982951.777 [control_test_straight:ElevatorHold.Pitch](DEBUG): Initialize.
2025-01-15T23:15:51.778Z,1736982951.778 [control_test_straight:D] Running Loop=1
2025-01-15T23:15:51.779Z,1736982951.779 [control_test_straight:ElevatorHold.Pitch] Stopped
2025-01-15T23:15:51.779Z,1736982951.779 [control_test_straight:MassHold.Pitch] Running Loop=1
2025-01-15T23:15:51.779Z,1736982951.779 [control_test_straight:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-15T23:15:51.780Z,1736982951.780 [control_test_straight:UseWaypoint] Running Loop=1
2025-01-15T23:15:51.785Z,1736982951.785 [control_test_straight:UseWaypoint:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-01-15T23:15:51.785Z,1736982951.785 [control_test_straight:PowerOnly] Running Loop=1
2025-01-15T23:15:51.786Z,1736982951.786 [control_test_straight:PowerOnly:D] Stopped
2025-01-15T23:15:51.786Z,1736982951.786 [control_test_straight:PowerOnly:C] Stopped
2025-01-15T23:15:51.786Z,1736982951.786 [control_test_straight:PowerOnly:B] Stopped
2025-01-15T23:15:51.786Z,1736982951.786 [control_test_straight:PowerOnly:A] Stopped
2025-01-15T23:15:51.786Z,1736982951.786 [control_test_straight:BackseatDriver] Running Loop=1
2025-01-15T23:15:51.786Z,1736982951.786 [control_test_straight:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-15T23:15:51.827Z,1736982951.827 [control_test_straight:D] Stopped
2025-01-15T23:15:51.827Z,1736982951.827 [control_test_straight:E] Running Loop=1
2025-01-15T23:15:51.827Z,1736982951.827 [control_test_straight:StandardEnvelopes] Running Loop=1
2025-01-15T23:15:51.827Z,1736982951.827 [control_test_straight:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-15T23:15:51.827Z,1736982951.827 [control_test_straight:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-15T23:15:51.828Z,1736982951.828 [control_test_straight:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-15T23:15:51.828Z,1736982951.828 [control_test_straight:Science] Running Loop=1
2025-01-15T23:15:51.829Z,1736982951.829 [control_test_straight:Science:ChlThreshTrigger] Stopped
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize control_test_straight:Science:ChlThreshTrigger
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectPlanktivoreDiatoms
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.830Z,1736982951.830 [control_test_straight:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectPlanktivoreHMavgROI
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectPlanktivoreLMavgROI
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:HighestSaltPeakReport] Stopped
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize control_test_straight:Science:HighestSaltPeakReport
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-15T23:15:51.831Z,1736982951.831 [control_test_straight:Science:PeakDetectSalinity] Stopped
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectSalinity
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:PeakDetectFDOM] Stopped
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectFDOM
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:HighestOilPeakReport] Stopped
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize control_test_straight:Science:HighestOilPeakReport
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-15T23:15:51.832Z,1736982951.832 [control_test_straight:Science:PeakDetectOil] Stopped
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectOil
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectNO3] Stopped
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectNO3
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:HighestChlPeakReport] Stopped
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize control_test_straight:Science:HighestChlPeakReport
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectChl] Stopped
2025-01-15T23:15:51.833Z,1736982951.833 [control_test_straight:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize control_test_straight:Science:PeakDetectChl
2025-01-15T23:15:51.834Z,1736982951.834 [control_test_straight:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-15T23:15:51.834Z,1736982951.834 [control_test_straight:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-15T23:15:51.834Z,1736982951.834 [control_test_straight:Science:OceanCurrent:A.] Running Loop=1
2025-01-15T23:15:51.834Z,1736982951.834 [control_test_straight:Science:Read_Oil] Stopped
2025-01-15T23:15:51.834Z,1736982951.834 [control_test_straight:Science:F] Stopped
2025-01-15T23:15:51.834Z,1736982951.834 [control_test_straight:Science:E] Running Loop=1
2025-01-15T23:15:51.835Z,1736982951.835 [control_test_straight:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-01-15T23:15:51.835Z,1736982951.835 [control_test_straight:Science:D] Stopped
2025-01-15T23:15:51.835Z,1736982951.835 [control_test_straight:Science:C] Running Loop=1
2025-01-15T23:15:51.836Z,1736982951.836 [control_test_straight:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-01-15T23:15:51.836Z,1736982951.836 [control_test_straight:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-01-15T23:15:51.837Z,1736982951.837 [control_test_straight:Science:B] Running Loop=1
2025-01-15T23:15:51.838Z,1736982951.838 [control_test_straight:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-01-15T23:15:51.838Z,1736982951.838 [control_test_straight:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-01-15T23:15:51.838Z,1736982951.838 [control_test_straight:Science:A] Stopped
2025-01-15T23:15:51.981Z,1736982951.981 [BackseatComponent](INFO): Powering up
2025-01-15T23:15:51.981Z,1736982951.981 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-15T23:15:52.105Z,1736982952.105 [control_test_straight:E] Stopped
2025-01-15T23:15:52.105Z,1736982952.105 [control_test_straight:StartingMission] Running Loop=1
2025-01-15T23:15:52.105Z,1736982952.105 [control_test_straight:StartingMission](DEBUG): Aggregate::initialize control_test_straight:StartingMission
2025-01-15T23:15:52.322Z,1736982952.322 [WetLabsBB2FL](INFO): Powering up
2025-01-15T23:15:52.497Z,1736982952.497 [control_test_straight:NeedComms] Running Loop=1
2025-01-15T23:15:52.497Z,1736982952.497 [control_test_straight:NeedComms](DEBUG): Aggregate::initialize control_test_straight:NeedComms
2025-01-15T23:15:52.498Z,1736982952.498 [control_test_straight:NeedComms:B.GoToSurface] Running Loop=1
2025-01-15T23:15:52.498Z,1736982952.498 [control_test_straight:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-15T23:15:52.498Z,1736982952.498 [control_test_straight:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-15T23:15:52.498Z,1736982952.498 [control_test_straight:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-15T23:15:52.499Z,1736982952.499 [control_test_straight:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-15T23:15:52.499Z,1736982952.499 [control_test_straight:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-15T23:15:52.499Z,1736982952.499 [control_test_straight:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-15T23:15:52.500Z,1736982952.500 [control_test_straight:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-15T23:15:52.500Z,1736982952.500 [control_test_straight:NeedComms:A] Running Loop=1
2025-01-15T23:15:52.517Z,1736982952.517 [control_test_straight:NeedComms:A](INFO): last time_fix was:  1736982813.000000 second since 1970/01/01T00:00:00Z 
2025-01-15T23:15:52.518Z,1736982952.518 [control_test_straight:NeedComms:A] Stopped
2025-01-15T23:15:52.762Z,1736982952.762 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Courier0027.lzma.bak
2025-01-15T23:15:52.763Z,1736982952.763 [DataOverHttps](INFO): SBD MOMSN=23907939
2025-01-15T23:15:52.910Z,1736982952.910 [control_test_straight:NeedComms:C] Running Loop=1
2025-01-15T23:15:53.318Z,1736982953.318 [control_test_straight:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-15T23:15:54.908Z,1736982954.908 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231554.00,A,3647.97527,N,12148.92353,W,0.175,248.68,150125,,,A*71
2025-01-15T23:15:54.910Z,1736982954.910 [NAL9602](INFO): GPS fix at 20250115T231554: (36.799588, -121.815392)
2025-01-15T23:15:54.942Z,1736982954.942 [control_test_straight:NeedComms:C] Stopped
2025-01-15T23:15:54.942Z,1736982954.942 [control_test_straight:NeedComms:D] Running Loop=1
2025-01-15T23:15:55.366Z,1736982955.366 [control_test_straight:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-15T23:15:55.666Z,1736982955.666 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-01-15T23:16:12.270Z,1736982972.270 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250115T224741/Courier0030.lzma
2025-01-15T23:16:13.272Z,1736982973.272 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Courier0030.lzma.bak
2025-01-15T23:16:13.272Z,1736982973.272 [DataOverHttps](INFO): SBD MOMSN=23907941
2025-01-15T23:16:30.356Z,1736982990.356 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250115T224741/Courier0033.lzma
2025-01-15T23:16:31.358Z,1736982991.358 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Courier0033.lzma.bak
2025-01-15T23:16:31.359Z,1736982991.359 [DataOverHttps](INFO): SBD MOMSN=23907943
2025-01-15T23:16:37.343Z,1736982997.343 [NAL9602](INFO): SBD MO Status=0, MOMSN=11745, MT Status=0, MTMSN=0
2025-01-15T23:16:37.343Z,1736982997.343 [NAL9602](INFO): No messages in MT queue
2025-01-15T23:16:48.157Z,1736983008.157 [DataOverHttps](INFO): Sending 270 bytes from file Logs/20250115T231445/Courier0000.lzma
2025-01-15T23:16:49.158Z,1736983009.158 [DataOverHttps](INFO): Moved sent file to Logs/20250115T231445/Courier0000.lzma.bak
2025-01-15T23:16:49.159Z,1736983009.159 [DataOverHttps](INFO): SBD MOMSN=23907945
2025-01-15T23:17:00.768Z,1736983020.768 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250115T231658
2025-01-15T23:17:08.134Z,1736983028.134 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-15T23:17:12.016Z,1736983032.016 [DataOverHttps](INFO): Sending 2127 bytes from file Logs/20250115T224741/Express0007.lzma
2025-01-15T23:17:13.014Z,1736983033.014 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0007.lzma.bak
2025-01-15T23:17:13.015Z,1736983033.015 [DataOverHttps](INFO): SBD MOMSN=23907950
2025-01-15T23:17:30.842Z,1736983050.842 [DataOverHttps](INFO): Sending 608 bytes from file Logs/20250115T224741/Express0010.lzma
2025-01-15T23:17:31.843Z,1736983051.843 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0010.lzma.bak
2025-01-15T23:17:31.843Z,1736983051.843 [DataOverHttps](INFO): SBD MOMSN=23907982
2025-01-15T23:17:48.832Z,1736983068.832 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250115T224741/Express0013.lzma
2025-01-15T23:17:49.836Z,1736983069.836 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0013.lzma.bak
2025-01-15T23:17:49.836Z,1736983069.836 [DataOverHttps](INFO): SBD MOMSN=23907997
2025-01-15T23:17:57.885Z,1736983077.885 [control_test_straight:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2043
2025-01-15T23:17:58.223Z,1736983078.223 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-01-15T23:18:07.849Z,1736983087.849 [DataOverHttps](INFO): Sending 339 bytes from file Logs/20250115T224741/Express0016.lzma
2025-01-15T23:18:08.851Z,1736983088.851 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0016.lzma.bak
2025-01-15T23:18:08.851Z,1736983088.851 [DataOverHttps](INFO): SBD MOMSN=23907999
2025-01-15T23:18:25.844Z,1736983105.844 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20250115T224741/Express0019.lzma
2025-01-15T23:18:26.847Z,1736983106.847 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0019.lzma.bak
2025-01-15T23:18:26.847Z,1736983106.847 [DataOverHttps](INFO): SBD MOMSN=23908010
2025-01-15T23:18:43.965Z,1736983123.965 [DataOverHttps](INFO): Sending 392 bytes from file Logs/20250115T224741/Express0022.lzma
2025-01-15T23:18:44.966Z,1736983124.966 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0022.lzma.bak
2025-01-15T23:18:44.967Z,1736983124.967 [DataOverHttps](INFO): SBD MOMSN=23908012
2025-01-15T23:19:06.889Z,1736983146.889 [DataOverHttps](INFO): Sending 315 bytes from file Logs/20250115T224741/Express0025.lzma
2025-01-15T23:19:07.891Z,1736983147.891 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0025.lzma.bak
2025-01-15T23:19:07.891Z,1736983147.891 [DataOverHttps](INFO): SBD MOMSN=23908018
2025-01-15T23:19:26.281Z,1736983166.281 [DataOverHttps](INFO): Sending 380 bytes from file Logs/20250115T224741/Express0028.lzma
2025-01-15T23:19:27.283Z,1736983167.283 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0028.lzma.bak
2025-01-15T23:19:27.283Z,1736983167.283 [DataOverHttps](INFO): SBD MOMSN=23908024
2025-01-15T23:19:44.412Z,1736983184.412 [DataOverHttps](INFO): Sending 215 bytes from file Logs/20250115T224741/Express0031.lzma
2025-01-15T23:19:45.769Z,1736983185.769 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0031.lzma.bak
2025-01-15T23:19:45.769Z,1736983185.769 [DataOverHttps](INFO): SBD MOMSN=23908031
2025-01-15T23:20:05.648Z,1736983205.648 [DataOverHttps](INFO): Sending 122 bytes from file Logs/20250115T224741/Express0034.lzma
2025-01-15T23:20:06.650Z,1736983206.650 [DataOverHttps](INFO): Moved sent file to Logs/20250115T224741/Express0034.lzma.bak
2025-01-15T23:20:06.651Z,1736983206.651 [DataOverHttps](INFO): SBD MOMSN=23908035
2025-01-15T23:20:27.978Z,1736983227.978 [DataOverHttps](INFO): Sending 895 bytes from file Logs/20250115T231445/Express0001.lzma
2025-01-15T23:20:28.978Z,1736983228.978 [DataOverHttps](INFO): Moved sent file to Logs/20250115T231445/Express0001.lzma.bak
2025-01-15T23:20:28.979Z,1736983228.979 [DataOverHttps](INFO): SBD MOMSN=23908037
2025-01-15T23:20:30.325Z,1736983230.325 [control_test_straight:NeedComms:D] Stopped
2025-01-15T23:20:30.326Z,1736983230.326 [control_test_straight:NeedComms:E] Running Loop=1
2025-01-15T23:20:30.743Z,1736983230.743 [control_test_straight:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-15T23:20:32.312Z,1736983232.312 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232031.00,A,3647.96183,N,12148.93177,W,0.544,184.16,150125,,,D*73
2025-01-15T23:20:32.315Z,1736983232.315 [NAL9602](INFO): GPS fix at 20250115T232031: (36.799364, -121.815529)
2025-01-15T23:20:32.378Z,1736983232.378 [control_test_straight:NeedComms:E] Stopped
2025-01-15T23:20:32.378Z,1736983232.378 [control_test_straight:NeedComms](INFO): Completed control_test_straight:NeedComms
2025-01-15T23:20:32.379Z,1736983232.379 [control_test_straight:NeedComms] Stopped
2025-01-15T23:20:32.379Z,1736983232.379 [control_test_straight:NeedComms](DEBUG): Aggregate::uninitialize control_test_straight:NeedComms
2025-01-15T23:20:32.379Z,1736983232.379 [control_test_straight:NeedComms:B.GoToSurface] Stopped
2025-01-15T23:20:32.379Z,1736983232.379 [control_test_straight:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-15T23:20:32.768Z,1736983232.768 [control_test_straight:StartingMission](INFO): Completed control_test_straight:StartingMission
2025-01-15T23:20:32.789Z,1736983232.789 [control_test_straight:StartingMission] Stopped
2025-01-15T23:20:32.789Z,1736983232.789 [control_test_straight:StartingMission](DEBUG): Aggregate::uninitialize control_test_straight:StartingMission
2025-01-15T23:20:32.789Z,1736983232.789 [control_test_straight:Lap] Running Loop=1
2025-01-15T23:20:32.789Z,1736983232.789 [control_test_straight:Lap](DEBUG): Aggregate::initialize control_test_straight:Lap
2025-01-15T23:20:32.789Z,1736983232.789 [control_test_straight:Lap:InitialSink] Running Loop=1
2025-01-15T23:20:32.789Z,1736983232.789 [control_test_straight:Lap:InitialSink](DEBUG): Aggregate::initialize control_test_straight:Lap:InitialSink
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:InitialSink:A] Running Loop=1
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:InitialSink:A](DEBUG): Aggregate::initialize control_test_straight:Lap:InitialSink:A
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:Leg1] Running Loop=1
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:Leg1](DEBUG): Aggregate::initialize control_test_straight:Lap:Leg1
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:Leg1:B.Point] Running Loop=1
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:Leg1:B.Point](DEBUG): Initialize.
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:Leg1:C.SetSpeed] Running Loop=1
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:Leg1:C.SetSpeed](DEBUG): Initialize.
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:Leg1:D.Pitch] Running Loop=1
2025-01-15T23:20:32.790Z,1736983232.790 [control_test_straight:Lap:Leg1:D.Pitch](DEBUG): Initialize.
2025-01-15T23:20:32.791Z,1736983232.791 [control_test_straight:Lap:Leg1:A] Running Loop=1
2025-01-15T23:20:33.185Z,1736983233.185 [control_test_straight:Lap:Leg1:D.Pitch] Running Loop=1
2025-01-15T23:20:33.185Z,1736983233.185 [control_test_straight:Lap:Leg1:C.SetSpeed] Running Loop=1
2025-01-15T23:20:33.186Z,1736983233.186 [control_test_straight:Lap:Leg1:B.Point] Stopped
2025-01-15T23:20:33.186Z,1736983233.186 [control_test_straight:Lap:Leg1:A](INFO): Running leg at depth 20.000000 m 
2025-01-15T23:20:33.186Z,1736983233.186 [control_test_straight:Lap:Leg1:A] Stopped
2025-01-15T23:20:33.186Z,1736983233.186 [control_test_straight:Lap:Leg1:E.Wait] Running Loop=1
2025-01-15T23:20:33.186Z,1736983233.186 [control_test_straight:Lap:Leg1:E.Wait](DEBUG): Initialize Wait Component.
2025-01-15T23:20:33.186Z,1736983233.186 [control_test_straight:Lap:InitialSink] Stopped
2025-01-15T23:20:33.187Z,1736983233.187 [control_test_straight:Lap:InitialSink](DEBUG): Aggregate::uninitialize control_test_straight:Lap:InitialSink
2025-01-15T23:20:33.187Z,1736983233.187 [control_test_straight:Lap:InitialSink:A] Stopped
2025-01-15T23:20:33.187Z,1736983233.187 [control_test_straight:Lap:InitialSink:A](DEBUG): Aggregate::uninitialize control_test_straight:Lap:InitialSink:A
2025-01-15T23:20:45.909Z,1736983245.909 [NAL9602](INFO): SBD MO Status=0, MOMSN=11746, MT Status=0, MTMSN=0
2025-01-15T23:20:45.909Z,1736983245.909 [NAL9602](INFO): No messages in MT queue
2025-01-15T23:21:16.430Z,1736983276.430 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-15T23:22:00.268Z,1736983320.268 [control_test_straight:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2044
2025-01-15T23:22:31.073Z,1736983351.073 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-15T23:22:47.289Z,1736983367.289 [Radio_Surface](INFO): Powering down
2025-01-15T23:23:02.201Z,1736983382.201 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-15T23:23:03.205Z,1736983383.205 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-15T23:24:39.617Z,1736983479.617 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.759140
2025-01-15T23:25:33.261Z,1736983533.261 [control_test_straight:Lap:Leg1:E.Wait](INFO): Timed out from 2025-01-15T23:20:33.2Z
2025-01-15T23:25:33.261Z,1736983533.261 [control_test_straight:Lap:Leg1:E.Wait] Stopped
2025-01-15T23:25:33.261Z,1736983533.261 [control_test_straight:Lap:Leg1:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-15T23:25:33.263Z,1736983533.263 [control_test_straight:Lap:Leg1](INFO): Completed control_test_straight:Lap:Leg1
2025-01-15T23:25:33.263Z,1736983533.263 [control_test_straight:Lap:Leg1] Stopped
2025-01-15T23:25:33.264Z,1736983533.264 [control_test_straight:Lap:Leg1](DEBUG): Aggregate::uninitialize control_test_straight:Lap:Leg1
2025-01-15T23:25:33.264Z,1736983533.264 [control_test_straight:Lap:Leg1:C.SetSpeed] Stopped
2025-01-15T23:25:33.264Z,1736983533.264 [control_test_straight:Lap:Leg1:C.SetSpeed](DEBUG): Uninitialize.
2025-01-15T23:25:33.264Z,1736983533.264 [control_test_straight:Lap:Leg1:D.Pitch] Stopped
2025-01-15T23:25:33.264Z,1736983533.264 [control_test_straight:Lap:Leg2] Running Loop=1
2025-01-15T23:25:33.264Z,1736983533.264 [control_test_straight:Lap:Leg2](DEBUG): Aggregate::initialize control_test_straight:Lap:Leg2
2025-01-15T23:25:33.264Z,1736983533.264 [control_test_straight:Lap:Leg2:B.Point] Running Loop=1
2025-01-15T23:25:33.265Z,1736983533.265 [control_test_straight:Lap:Leg2:B.Point](DEBUG): Initialize.
2025-01-15T23:25:33.265Z,1736983533.265 [control_test_straight:Lap:Leg2:C.SetSpeed] Running Loop=1
2025-01-15T23:25:33.265Z,1736983533.265 [control_test_straight:Lap:Leg2:C.SetSpeed](DEBUG): Initialize.
2025-01-15T23:25:33.265Z,1736983533.265 [control_test_straight:Lap:Leg2:D.Pitch] Running Loop=1
2025-01-15T23:25:33.265Z,1736983533.265 [control_test_straight:Lap:Leg2:D.Pitch](DEBUG): Initialize.
2025-01-15T23:25:33.266Z,1736983533.266 [control_test_straight:Lap:Leg2:A] Running Loop=1
2025-01-15T23:25:33.655Z,1736983533.655 [control_test_straight:Lap:Leg2:D.Pitch] Running Loop=1
2025-01-15T23:25:33.655Z,1736983533.655 [control_test_straight:Lap:Leg2:C.SetSpeed] Running Loop=1
2025-01-15T23:25:33.656Z,1736983533.656 [control_test_straight:Lap:Leg2:B.Point] Stopped
2025-01-15T23:25:33.656Z,1736983533.656 [control_test_straight:Lap:Leg2:A](INFO): Running leg at depth 20.000000 m 
2025-01-15T23:25:33.656Z,1736983533.656 [control_test_straight:Lap:Leg2:A] Stopped
2025-01-15T23:25:33.669Z,1736983533.669 [control_test_straight:Lap:Leg2:E.Wait] Running Loop=1
2025-01-15T23:25:33.669Z,1736983533.669 [control_test_straight:Lap:Leg2:E.Wait](DEBUG): Initialize Wait Component.
2025-01-15T23:30:33.858Z,1736983833.858 [control_test_straight:Lap:Leg2:E.Wait](INFO): Timed out from 2025-01-15T23:25:33.7Z
2025-01-15T23:30:33.858Z,1736983833.858 [control_test_straight:Lap:Leg2:E.Wait] Stopped
2025-01-15T23:30:33.858Z,1736983833.858 [control_test_straight:Lap:Leg2:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-15T23:30:33.859Z,1736983833.859 [control_test_straight:Lap:Leg2](INFO): Completed control_test_straight:Lap:Leg2
2025-01-15T23:30:33.859Z,1736983833.859 [control_test_straight:Lap:Leg2] Stopped
2025-01-15T23:30:33.859Z,1736983833.859 [control_test_straight:Lap:Leg2](DEBUG): Aggregate::uninitialize control_test_straight:Lap:Leg2
2025-01-15T23:30:33.859Z,1736983833.859 [control_test_straight:Lap:Leg2:C.SetSpeed] Stopped
2025-01-15T23:30:33.859Z,1736983833.859 [control_test_straight:Lap:Leg2:C.SetSpeed](DEBUG): Uninitialize.
2025-01-15T23:30:33.859Z,1736983833.859 [control_test_straight:Lap:Leg2:D.Pitch] Stopped
2025-01-15T23:30:33.859Z,1736983833.859 [control_test_straight:Lap:Leg3] Running Loop=1
2025-01-15T23:30:33.859Z,1736983833.859 [control_test_straight:Lap:Leg3](DEBUG): Aggregate::initialize control_test_straight:Lap:Leg3
2025-01-15T23:30:33.860Z,1736983833.860 [control_test_straight:Lap:Leg3:B.Point] Running Loop=1
2025-01-15T23:30:33.860Z,1736983833.860 [control_test_straight:Lap:Leg3:B.Point](DEBUG): Initialize.
2025-01-15T23:30:33.860Z,1736983833.860 [control_test_straight:Lap:Leg3:C.SetSpeed] Running Loop=1
2025-01-15T23:30:33.860Z,1736983833.860 [control_test_straight:Lap:Leg3:C.SetSpeed](DEBUG): Initialize.
2025-01-15T23:30:33.860Z,1736983833.860 [control_test_straight:Lap:Leg3:D.Pitch] Running Loop=1
2025-01-15T23:30:33.860Z,1736983833.860 [control_test_straight:Lap:Leg3:D.Pitch](DEBUG): Initialize.
2025-01-15T23:30:33.860Z,1736983833.860 [control_test_straight:Lap:Leg3:A] Running Loop=1
2025-01-15T23:30:34.271Z,1736983834.271 [control_test_straight:Lap:Leg3:D.Pitch] Running Loop=1
2025-01-15T23:30:34.271Z,1736983834.271 [control_test_straight:Lap:Leg3:C.SetSpeed] Running Loop=1
2025-01-15T23:30:34.272Z,1736983834.272 [control_test_straight:Lap:Leg3:B.Point] Stopped
2025-01-15T23:30:34.272Z,1736983834.272 [control_test_straight:Lap:Leg3:A](INFO): Running leg at depth 20.000000 m 
2025-01-15T23:30:34.272Z,1736983834.272 [control_test_straight:Lap:Leg3:A] Stopped
2025-01-15T23:30:34.273Z,1736983834.273 [control_test_straight:Lap:Leg3:E.Wait] Running Loop=1
2025-01-15T23:30:34.273Z,1736983834.273 [control_test_straight:Lap:Leg3:E.Wait](DEBUG): Initialize Wait Component.
2025-01-15T23:35:34.494Z,1736984134.494 [control_test_straight:Lap:Leg3:E.Wait](INFO): Timed out from 2025-01-15T23:30:34.3Z
2025-01-15T23:35:34.494Z,1736984134.494 [control_test_straight:Lap:Leg3:E.Wait] Stopped
2025-01-15T23:35:34.494Z,1736984134.494 [control_test_straight:Lap:Leg3:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-15T23:35:34.495Z,1736984134.495 [control_test_straight:Lap:Leg3](INFO): Completed control_test_straight:Lap:Leg3
2025-01-15T23:35:34.495Z,1736984134.495 [control_test_straight:Lap:Leg3] Stopped
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg3](DEBUG): Aggregate::uninitialize control_test_straight:Lap:Leg3
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg3:C.SetSpeed] Stopped
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg3:C.SetSpeed](DEBUG): Uninitialize.
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg3:D.Pitch] Stopped
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg4] Running Loop=1
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg4](DEBUG): Aggregate::initialize control_test_straight:Lap:Leg4
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg4:B.Point] Running Loop=1
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg4:B.Point](DEBUG): Initialize.
2025-01-15T23:35:34.496Z,1736984134.496 [control_test_straight:Lap:Leg4:C.SetSpeed] Running Loop=1
2025-01-15T23:35:34.497Z,1736984134.497 [control_test_straight:Lap:Leg4:C.SetSpeed](DEBUG): Initialize.
2025-01-15T23:35:34.497Z,1736984134.497 [control_test_straight:Lap:Leg4:D.Pitch] Running Loop=1
2025-01-15T23:35:34.497Z,1736984134.497 [control_test_straight:Lap:Leg4:D.Pitch](DEBUG): Initialize.
2025-01-15T23:35:34.497Z,1736984134.497 [control_test_straight:Lap:Leg4:A] Running Loop=1
2025-01-15T23:35:34.899Z,1736984134.899 [control_test_straight:Lap:Leg4:D.Pitch] Running Loop=1
2025-01-15T23:35:34.900Z,1736984134.900 [control_test_straight:Lap:Leg4:C.SetSpeed] Running Loop=1
2025-01-15T23:35:34.900Z,1736984134.900 [control_test_straight:Lap:Leg4:B.Point] Stopped
2025-01-15T23:35:34.901Z,1736984134.901 [control_test_straight:Lap:Leg4:A](INFO): Running leg at depth 20.000000 m 
2025-01-15T23:35:34.901Z,1736984134.901 [control_test_straight:Lap:Leg4:A] Stopped
2025-01-15T23:35:34.901Z,1736984134.901 [control_test_straight:Lap:Leg4:E.Wait] Running Loop=1
2025-01-15T23:35:34.901Z,1736984134.901 [control_test_straight:Lap:Leg4:E.Wait](DEBUG): Initialize Wait Component.
2025-01-15T23:40:35.135Z,1736984435.135 [control_test_straight:Lap:Leg4:E.Wait](INFO): Timed out from 2025-01-15T23:35:34.9Z
2025-01-15T23:40:35.135Z,1736984435.135 [control_test_straight:Lap:Leg4:E.Wait] Stopped
2025-01-15T23:40:35.135Z,1736984435.135 [control_test_straight:Lap:Leg4:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-15T23:40:35.136Z,1736984435.136 [control_test_straight:Lap:Leg4](INFO): Completed control_test_straight:Lap:Leg4
2025-01-15T23:40:35.136Z,1736984435.136 [control_test_straight:Lap:Leg4] Stopped
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg4](DEBUG): Aggregate::uninitialize control_test_straight:Lap:Leg4
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg4:C.SetSpeed] Stopped
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg4:C.SetSpeed](DEBUG): Uninitialize.
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg4:D.Pitch] Stopped
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg5] Running Loop=1
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg5](DEBUG): Aggregate::initialize control_test_straight:Lap:Leg5
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg5:B.Point] Running Loop=1
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg5:B.Point](DEBUG): Initialize.
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg5:C.SetSpeed] Running Loop=1
2025-01-15T23:40:35.137Z,1736984435.137 [control_test_straight:Lap:Leg5:C.SetSpeed](DEBUG): Initialize.
2025-01-15T23:40:35.138Z,1736984435.138 [control_test_straight:Lap:Leg5:D.Pitch] Running Loop=1
2025-01-15T23:40:35.138Z,1736984435.138 [control_test_straight:Lap:Leg5:D.Pitch](DEBUG): Initialize.
2025-01-15T23:40:35.138Z,1736984435.138 [control_test_straight:Lap:Leg5:A] Running Loop=1
2025-01-15T23:40:35.502Z,1736984435.502 [control_test_straight:Lap:Leg5:D.Pitch] Running Loop=1
2025-01-15T23:40:35.503Z,1736984435.503 [control_test_straight:Lap:Leg5:C.SetSpeed] Running Loop=1
2025-01-15T23:40:35.503Z,1736984435.503 [control_test_straight:Lap:Leg5:B.Point] Stopped
2025-01-15T23:40:35.504Z,1736984435.504 [control_test_straight:Lap:Leg5:A](INFO): Running leg at depth 20.000000 m 
2025-01-15T23:40:35.504Z,1736984435.504 [control_test_straight:Lap:Leg5:A] Stopped
2025-01-15T23:40:35.504Z,1736984435.504 [control_test_straight:Lap:Leg5:E.Wait] Running Loop=1
2025-01-15T23:40:35.504Z,1736984435.504 [control_test_straight:Lap:Leg5:E.Wait](DEBUG): Initialize Wait Component.
2025-01-15T23:40:40.445Z,1736984440.445 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-01-15T23:40:40.532Z,1736984440.532 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-01-15T23:40:40.533Z,1736984440.533 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-01-15T23:40:40.533Z,1736984440.533 [ThrusterHE] Communications Fault, FailCount= 1
2025-01-15T23:40:40.533Z,1736984440.533 [ThrusterHE](ERROR): Communications Fault
2025-01-15T23:40:40.537Z,1736984440.537 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-01-15T23:40:40.749Z,1736984440.749 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-15T23:40:40.749Z,1736984440.749 [ThrusterHE](INFO): Powering down
2025-01-15T23:40:41.566Z,1736984441.566 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-15T23:40:41.682Z,1736984441.682 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-15T23:40:41.686Z,1736984441.686 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-01-15T23:40:41.686Z,1736984441.686 [ThrusterHE] No Fault, FailCount= 1
2025-01-15T23:40:49.025Z,1736984449.025 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-01-15T23:40:49.120Z,1736984449.120 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-01-15T23:40:49.121Z,1736984449.121 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-01-15T23:40:49.121Z,1736984449.121 [ThrusterHE] Communications Fault, FailCount= 2
2025-01-15T23:40:49.121Z,1736984449.121 [ThrusterHE](ERROR): Communications Fault
2025-01-15T23:40:49.125Z,1736984449.125 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-01-15T23:40:49.234Z,1736984449.234 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-15T23:40:49.234Z,1736984449.234 [ThrusterHE](INFO): Powering down
2025-01-15T23:40:50.042Z,1736984450.042 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-15T23:40:50.169Z,1736984450.169 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-15T23:40:50.173Z,1736984450.173 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-01-15T23:40:50.173Z,1736984450.173 [ThrusterHE] No Fault, FailCount= 2
2025-01-15T23:40:57.791Z,1736984457.791 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-01-15T23:40:57.889Z,1736984457.889 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-01-15T23:40:57.889Z,1736984457.889 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-01-15T23:40:57.889Z,1736984457.889 [ThrusterHE] Communications Fault, FailCount= 3
2025-01-15T23:40:57.889Z,1736984457.889 [ThrusterHE](ERROR): Communications Fault
2025-01-15T23:40:57.896Z,1736984457.896 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-01-15T23:40:58.114Z,1736984458.114 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-15T23:40:58.114Z,1736984458.114 [ThrusterHE](INFO): Powering down
2025-01-15T23:40:58.932Z,1736984458.932 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-15T23:40:59.050Z,1736984459.050 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-15T23:40:59.053Z,1736984459.053 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-01-15T23:40:59.053Z,1736984459.053 [ThrusterHE] No Fault, FailCount= 3
2025-01-15T23:41:06.697Z,1736984466.697 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-01-15T23:41:06.793Z,1736984466.793 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-01-15T23:41:06.793Z,1736984466.793 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-01-15T23:41:06.793Z,1736984466.793 [ThrusterHE] Communications Fault, FailCount= 4
2025-01-15T23:41:06.793Z,1736984466.793 [ThrusterHE](ERROR): Communications Fault
2025-01-15T23:41:06.797Z,1736984466.797 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-01-15T23:41:07.002Z,1736984467.002 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-15T23:41:07.002Z,1736984467.002 [ThrusterHE](INFO): Powering down
2025-01-15T23:41:07.823Z,1736984467.823 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-15T23:41:07.942Z,1736984467.942 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-15T23:41:07.946Z,1736984467.946 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-01-15T23:41:07.946Z,1736984467.946 [ThrusterHE] No Fault, FailCount= 4
2025-01-15T23:41:15.305Z,1736984475.305 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-01-15T23:41:15.401Z,1736984475.401 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-01-15T23:41:15.401Z,1736984475.401 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-01-15T23:41:15.401Z,1736984475.401 [ThrusterHE] Communications Fault, FailCount= 5
2025-01-15T23:41:15.401Z,1736984475.401 [ThrusterHE](ERROR): Communications Fault
2025-01-15T23:41:15.405Z,1736984475.405 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-01-15T23:41:15.405Z,1736984475.405 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE
2025-01-15T23:41:15.682Z,1736984475.682 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-15T23:41:15.682Z,1736984475.682 [ThrusterHE](INFO): Powering down
2025-01-15T23:41:15.684Z,1736984475.684 [CommandExec](FAULT): Scheduling is paused
2025-01-15T23:41:15.684Z,1736984475.684 [CBIT](INFO): Critical error at 20250115T234115
2025-01-15T23:41:15.685Z,1736984475.685 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-01-15T23:41:15.923Z,1736984475.923 [MissionManager](INFO): MissionManager is completed.
2025-01-15T23:41:15.923Z,1736984475.923 [MissionManager](INFO): Uninitializing Mission control_test_straight
2025-01-15T23:41:15.923Z,1736984475.923 [control_test_straight] Stopped
2025-01-15T23:41:15.923Z,1736984475.923 [control_test_straight](DEBUG): Aggregate::uninitialize control_test_straight
2025-01-15T23:41:15.923Z,1736984475.923 [control_test_straight:Science] Stopped
2025-01-15T23:41:15.923Z,1736984475.923 [control_test_straight:Science](DEBUG): Aggregate::uninitialize control_test_straight:Science
2025-01-15T23:41:15.923Z,1736984475.923 [control_test_straight:Science:B] Stopped
2025-01-15T23:41:15.923Z,1736984475.923 [control_test_straight:Science:C] Stopped
2025-01-15T23:41:15.923Z,1736984475.923 [control_test_straight:Science:E] Stopped
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:Science:OceanCurrent] Stopped
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:Science:OceanCurrent](DEBUG): Aggregate::uninitialize control_test_straight:Science:OceanCurrent
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:Science:OceanCurrent:A.] Stopped
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:StandardEnvelopes] Stopped
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:StandardEnvelopes](DEBUG): Aggregate::uninitialize control_test_straight:StandardEnvelopes
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-15T23:41:15.924Z,1736984475.924 [control_test_straight:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-15T23:41:15.927Z,1736984475.927 [control_test_straight:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-15T23:41:15.927Z,1736984475.927 [control_test_straight:BackseatDriver] Stopped
2025-01-15T23:41:15.927Z,1736984475.927 [control_test_straight:BackseatDriver](DEBUG): Aggregate::uninitialize control_test_straight:BackseatDriver
2025-01-15T23:41:15.927Z,1736984475.927 [control_test_straight:BackseatDriver:A.BackseatDriver] Stopped
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:PowerOnly] Stopped
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:PowerOnly](DEBUG): Aggregate::uninitialize control_test_straight:PowerOnly
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:PowerOnly:E.Wait] Stopped
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:UseWaypoint] Stopped
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:UseWaypoint](DEBUG): Aggregate::uninitialize control_test_straight:UseWaypoint
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:UseWaypoint:A.Waypoint] Stopped
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:UseWaypoint:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-15T23:41:15.928Z,1736984475.928 [control_test_straight:BuoyancyHold.Buoyancy] Stopped
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:MassHold.Pitch] Stopped
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap] Stopped
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap](DEBUG): Aggregate::uninitialize control_test_straight:Lap
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap:Leg5] Stopped
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap:Leg5](DEBUG): Aggregate::uninitialize control_test_straight:Lap:Leg5
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap:Leg5:C.SetSpeed] Stopped
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap:Leg5:C.SetSpeed](DEBUG): Uninitialize.
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap:Leg5:D.Pitch] Stopped
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap:Leg5:E.Wait] Stopped
2025-01-15T23:41:15.933Z,1736984475.933 [control_test_straight:Lap:Leg5:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-15T23:41:16.261Z,1736984476.261 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-01-15T23:41:16.292Z,1736984476.292 [MissionManager](IMPORTANT): Started mission Default
2025-01-15T23:41:16.292Z,1736984476.292 [Default] Running Loop=1
2025-01-15T23:41:16.293Z,1736984476.293 [Default](DEBUG): Aggregate::initialize Default
2025-01-15T23:41:16.293Z,1736984476.293 [Default:B.GoToSurface] Running Loop=1
2025-01-15T23:41:16.293Z,1736984476.293 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-15T23:41:16.293Z,1736984476.293 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-15T23:41:16.293Z,1736984476.293 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-15T23:41:16.294Z,1736984476.294 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-15T23:41:16.294Z,1736984476.294 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-15T23:41:16.294Z,1736984476.294 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-15T23:41:16.294Z,1736984476.294 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-15T23:41:16.295Z,1736984476.295 [Default:A.Wait] Running Loop=1
2025-01-15T23:41:16.295Z,1736984476.295 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-15T23:41:16.304Z,1736984476.304 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-15T23:41:16.426Z,1736984476.426 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-15T23:41:16.481Z,1736984476.481 [WetLabsBB2FL](INFO): Powering down
2025-01-15T23:41:16.833Z,1736984476.833 [Radio_Surface](INFO): Powering up
2025-01-15T23:41:18.094Z,1736984478.094 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-15T23:41:18.095Z,1736984478.095 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-15T23:41:22.773Z,1736984482.773 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-15T23:41:29.673Z,1736984489.673 [Default:A.Wait](INFO): Done Waiting.
2025-01-15T23:41:29.674Z,1736984489.674 [Default:A.Wait] Stopped
2025-01-15T23:41:29.674Z,1736984489.674 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-15T23:41:36.277Z,1736984496.277 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-01-15T23:41:36.278Z,1736984496.278 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-01-15T23:41:36.278Z,1736984496.278 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-01-15T23:41:52.893Z,1736984512.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-15T23:41:59.914Z,1736984519.914 [Default:CheckIn] Running Loop=1
2025-01-15T23:41:59.914Z,1736984519.914 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-15T23:41:59.914Z,1736984519.914 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-15T23:42:00.782Z,1736984520.782 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-01-15T23:42:00.782Z,1736984520.782 [ThrusterHE] No Fault, FailCount= 5
2025-01-15T23:42:24.017Z,1736984544.017 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-15T23:42:49.656Z,1736984569.656 [NAL9602](INFO): SBD MO Status=0, MOMSN=11747, MT Status=0, MTMSN=0
2025-01-15T23:42:49.656Z,1736984569.656 [NAL9602](INFO): No messages in MT queue
2025-01-15T23:42:50.828Z,1736984570.828 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234250.00,A,3647.85690,N,12149.59229,W,1.147,282.88,150125,,,A*79
2025-01-15T23:42:50.830Z,1736984570.830 [NAL9602](INFO): GPS fix at 20250115T234250: (36.797615, -121.826538)
2025-01-15T23:42:50.867Z,1736984570.867 [UniversalFixResidualReporter](INFO): Fix residual: 13.5 %DT, over the last 1083.5 m. Residual distance 146.3 m at bearing -27.4 degrees. Fix at (36.7976, -121.8265) with 999.3 m made good.
2025-01-15T23:42:50.867Z,1736984570.867 [Default:CheckIn:Read_GPS] Stopped
2025-01-15T23:42:50.868Z,1736984570.868 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-15T23:42:55.153Z,1736984575.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-15T23:43:12.311Z,1736984592.311 [NAL9602](INFO): SBD MO Status=1, MOMSN=11748, MT Status=0, MTMSN=0
2025-01-15T23:43:12.373Z,1736984592.373 [NAL9602](INFO): Sent 267 bytes from file Logs/20250115T231445/Courier0003.lzma
2025-01-15T23:43:12.373Z,1736984592.373 [NAL9602](INFO): Packets left to send: 0
2025-01-15T23:43:26.277Z,1736984606.277 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-15T23:43:30.583Z,1736984610.583 [NAL9602](INFO): SBD MO Status=1, MOMSN=11749, MT Status=0, MTMSN=0
2025-01-15T23:43:30.641Z,1736984610.641 [NAL9602](INFO): Sent 332 bytes from file Logs/20250115T231445/Express0004.lzma
2025-01-15T23:43:30.641Z,1736984610.641 [NAL9602](INFO): Packets left to send: 6
2025-01-15T23:43:34.805Z,1736984614.805 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003391
2025-01-15T23:43:44.185Z,1736984624.185 [DataOverHttps](INFO): Sending 2247 bytes from file Logs/20250115T231445/Express0004.lzma
2025-01-15T23:43:45.183Z,1736984625.183 [DataOverHttps](INFO): Moved sent file to Logs/20250115T231445/Express0004.lzma.bak
2025-01-15T23:43:45.183Z,1736984625.183 [DataOverHttps](INFO): SBD MOMSN=23908090
2025-01-15T23:43:46.538Z,1736984626.538 [Default:CheckIn:Read_Iridium] Stopped
2025-01-15T23:43:46.539Z,1736984626.539 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-15T23:43:46.539Z,1736984626.539 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-15T23:43:47.700Z,1736984627.700 [NAL9602](INFO): SBD MO Status=2, MOMSN=11750, MT Status=2, MTMSN=0
2025-01-15T23:43:47.700Z,1736984627.700 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-15T23:43:48.293Z,1736984628.293 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2025-01-15T23:43:48.293Z,1736984628.293 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2025-01-15T23:43:48.293Z,1736984628.293 [BuoyancyServo] Communications Fault, FailCount= 1
2025-01-15T23:43:48.293Z,1736984628.293 [BuoyancyServo](ERROR): Communications Fault
2025-01-15T23:43:48.298Z,1736984628.298 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2025-01-15T23:43:50.174Z,1736984630.174 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-15T23:43:50.175Z,1736984630.175 [BuoyancyServo](INFO): Powering down
2025-01-15T23:43:50.959Z,1736984630.959 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-15T23:43:50.959Z,1736984630.959 [BuoyancyServo] No Fault, FailCount= 1
2025-01-15T23:43:51.342Z,1736984631.342 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-15T23:43:51.349Z,1736984631.349 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-15T23:44:18.326Z,1736984658.326 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-15T23:46:58.195Z,1736984818.195 [DataOverHttps](IMPORTANT): SBD MTMSN=20250115T234657
2025-01-15T23:47:09.717Z,1736984829.717 [DataOverHttps](INFO): Received command: sched asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.797 degree;set optimize_roll_speed.Longitude -121.847 degree;set optimize_roll_speed.RollError 0.5 degree" 7e1o 1 2
2025-01-15T23:47:09.747Z,1736984829.747 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.797 degree;set optimize_roll_speed.Longitude -121.847 degree;set optimize_roll_speed.RollError 0.5 degree" 7e1o 1 2.000000
2025-01-15T23:47:09.747Z,1736984829.747 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=7e1o
2025-01-15T23:47:09.748Z,1736984829.748 [CommandExec](IMPORTANT): Scheduled #12 (#1 of 2 with id='7e1o'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.797 degree;set optimize_roll_speed.Longitude -121.847 degree;set optimize_roll_speed.RollError 0.5 degree", ASAP
2025-01-15T23:47:10.718Z,1736984830.718 [DataOverHttps](IMPORTANT): SBD MTMSN=20250115T234709
2025-01-15T23:47:18.488Z,1736984838.488 [DataOverHttps](INFO): Received command: sched asap "set optimize_roll_speed.WindowLen 10 min;run" 7e1o 2 2
2025-01-15T23:47:18.548Z,1736984838.548 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed.WindowLen 10 min;run" 7e1o 2 2.000000
2025-01-15T23:47:18.548Z,1736984838.548 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=7e1o
2025-01-15T23:47:18.549Z,1736984838.549 [CommandExec](IMPORTANT): Scheduled #13 (#2 of 2 with id='7e1o'): "set optimize_roll_speed.WindowLen 10 min;run", ASAP
2025-01-15T23:47:18.682Z,1736984838.682 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-15T23:47:18.683Z,1736984838.683 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-15T23:47:18.683Z,1736984838.683 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-15T23:47:18.688Z,1736984838.688 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-15T23:47:19.498Z,1736984839.498 [DataOverHttps](IMPORTANT): SBD MTMSN=20250115T234718
2025-01-15T23:47:19.544Z,1736984839.544 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="optimize_roll_speed">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="StartSpeed">
        <Units:meter_per_second />
        <Value>0.9</Value>
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="WindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="InitStep">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="MinStep">
        <Units:meter_per_second />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="Verbose">
        <True />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <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:SetRollSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetRollSpeed.targetRoll />
                <Arg Name="TargetRollAngle" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.rollError />
                <Arg Name="RollError" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.maxSpeed />
                <Arg Name="MaxSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.startSpeed />
                <Arg Name="StartSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minSpeed />
                <Arg Name="MinSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.estimationWindow />
                <Arg Name="WindowLen" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.initStep />
                <Arg Name="InitStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minStep />
                <Arg Name="MinStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.verbose />
                <Arg Name="Verbose" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.persistResult />
                <True />
            </Setting>
        </Guidance:SetRollSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-01-15T23:47:19.551Z,1736984839.551 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-01-15T23:47:19.554Z,1736984839.554 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-01-15T23:47:19.558Z,1736984839.558 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-01-15T23:47:19.562Z,1736984839.562 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-01-15T23:47:19.565Z,1736984839.565 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-01-15T23:47:19.568Z,1736984839.568 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-01-15T23:47:19.572Z,1736984839.572 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-01-15T23:47:19.575Z,1736984839.575 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-01-15T23:47:19.578Z,1736984839.578 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-01-15T23:47:19.605Z,1736984839.605 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-01-15T23:47:19.611Z,1736984839.611 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-01-15T23:47:19.623Z,1736984839.623 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-01-15T23:47:19.626Z,1736984839.626 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-01-15T23:47:19.634Z,1736984839.634 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-01-15T23:47:19.644Z,1736984839.644 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-01-15T23:47:19.651Z,1736984839.651 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-01-15T23:47:19.655Z,1736984839.655 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-01-15T23:47:19.666Z,1736984839.666 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-01-15T23:47:19.670Z,1736984839.670 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-01-15T23:47:19.671Z,1736984839.671 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-15T23:47:19.671Z,1736984839.671 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-15T23:47:19.672Z,1736984839.672 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-15T23:47:20.070Z,1736984840.070 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-15T23:47:20.076Z,1736984840.076 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-01-15T23:47:20.079Z,1736984840.079 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-15T23:47:20.106Z,1736984840.106 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-15T23:47:20.112Z,1736984840.112 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-01-15T23:47:20.115Z,1736984840.115 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-15T23:47:20.118Z,1736984840.118 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-15T23:47:20.122Z,1736984840.122 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-01-15T23:47:20.125Z,1736984840.125 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-01-15T23:47:20.132Z,1736984840.132 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-15T23:47:20.252Z,1736984840.252 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-15T23:47:20.252Z,1736984840.252 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-15T23:47:20.259Z,1736984840.259 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-15T23:47:20.422Z,1736984840.422 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-15T23:47:20.430Z,1736984840.430 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-15T23:47:20.449Z,1736984840.449 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-15T23:47:20.454Z,1736984840.454 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-15T23:47:20.457Z,1736984840.457 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-15T23:47:20.459Z,1736984840.459 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-15T23:47:20.472Z,1736984840.472 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-15T23:47:20.497Z,1736984840.497 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-15T23:47:20.523Z,1736984840.523 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-15T23:47:20.524Z,1736984840.524 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-15T23:47:20.529Z,1736984840.529 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-15T23:47:20.563Z,1736984840.563 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-15T23:47:20.571Z,1736984840.571 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-01-15T23:47:20.605Z,1736984840.605 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-15T23:47:20.608Z,1736984840.608 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-15T23:47:20.608Z,1736984840.608 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-15T23:47:20.619Z,1736984840.619 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-15T23:47:20.842Z,1736984840.842 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-15T23:47:20.850Z,1736984840.850 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-01-15T23:47:20.861Z,1736984840.861 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-01-15T23:47:20.864Z,1736984840.864 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-01-15T23:47:20.867Z,1736984840.867 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-01-15T23:47:20.871Z,1736984840.871 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-15T23:47:20.891Z,1736984840.891 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-15T23:47:20.898Z,1736984840.898 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-15T23:47:20.906Z,1736984840.906 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-01-15T23:47:20.926Z,1736984840.926 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-01-15T23:47:20.941Z,1736984840.941 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-01-15T23:47:20.958Z,1736984840.958 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-15T23:47:21.047Z,1736984841.047 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission optimize_roll_speed {
  """
  Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Depth = 30 meter
      """
      Depth of flat and level flight during the mission.
      """

    StartSpeed = 0.9 meter_per_second
      """
      Initial speed for roll optimization.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    WindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    InitStep = 0.05 meter_per_second
      """
      Initial step size for roll speed optimization.
      """

    MinStep = 0.025 meter_per_second
      """
      Minimum step size for roll speed optimization.
      """

    Verbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    MaxDepth = 35 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  call id="StartingMission" refId="NeedComms"

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetRollSpeed {
      run in parallel

      set targetRoll = TargetRollAngle
      set rollError = RollError
      set maxSpeed = MaxSpeed
      set startSpeed = StartSpeed
      set minSpeed = MinSpeed
      set estimationWindow = WindowLen
      set initStep = InitStep
      set minStep = MinStep
      set verbose = Verbose
      set persistResult = true
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-01-15T23:47:21.047Z,1736984841.047 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-01-15T23:47:31.064Z,1736984851.064 [DataOverHttps](INFO): Received command: restart logs