2025-01-16T04:26:32.226Z,1737001592.226 [Supervisor](DEBUG): Initializing supervisor.
2025-01-16T04:26:32.230Z,1737001592.230 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-01-16T04:26:32.231Z,1737001592.231 [SyncHandler](INFO): Protected caller Thread ID is 837
2025-01-16T04:26:32.231Z,1737001592.231 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-01-16T04:26:32.232Z,1737001592.232 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-01-16T04:26:32.233Z,1737001592.233 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 838
2025-01-16T04:26:32.236Z,1737001592.236 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-01-16T04:26:32.254Z,1737001592.254 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-01-16T04:26:32.255Z,1737001592.255 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-01-16T04:26:32.255Z,1737001592.255 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 839
2025-01-16T04:26:32.259Z,1737001592.259 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-01-16T04:26:32.260Z,1737001592.260 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-01-16T04:26:32.260Z,1737001592.260 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 840
2025-01-16T04:26:32.262Z,1737001592.262 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-01-16T04:26:32.263Z,1737001592.263 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-01-16T04:26:32.264Z,1737001592.264 [logger ThreadHandler](INFO): Protected caller Thread ID is 841
2025-01-16T04:26:32.267Z,1737001592.267 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-01-16T04:26:32.268Z,1737001592.268 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-01-16T04:26:32.272Z,1737001592.272 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-01-16T04:26:32.512Z,1737001592.512 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-01-16T04:26:32.514Z,1737001592.514 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-01-16T04:26:32.732Z,1737001592.732 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-01-16T04:26:32.734Z,1737001592.734 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-01-16T04:26:32.838Z,1737001592.838 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-01-16T04:26:32.839Z,1737001592.839 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-01-16T04:26:33.028Z,1737001593.028 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-01-16T04:26:33.029Z,1737001593.029 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-01-16T04:26:33.523Z,1737001593.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-01-16T04:26:33.525Z,1737001593.525 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-01-16T04:26:33.646Z,1737001593.646 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-01-16T04:26:33.646Z,1737001593.646 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-01-16T04:26:33.924Z,1737001593.924 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-01-16T04:26:33.924Z,1737001593.924 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-01-16T04:26:34.142Z,1737001594.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-01-16T04:26:34.143Z,1737001594.143 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-01-16T04:26:34.680Z,1737001594.680 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-01-16T04:26:34.680Z,1737001594.680 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-01-16T04:26:35.099Z,1737001595.099 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-01-16T04:26:35.101Z,1737001595.101 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-01-16T04:26:35.191Z,1737001595.191 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-01-16T04:26:35.591Z,1737001595.591 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-01-16T04:26:35.592Z,1737001595.592 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-01-16T04:26:35.806Z,1737001595.806 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-01-16T04:26:35.806Z,1737001595.806 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-01-16T04:26:45.745Z,1737001605.745 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-01-16T04:26:45.746Z,1737001605.746 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-01-16T04:26:46.098Z,1737001606.098 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-01-16T04:26:46.100Z,1737001606.100 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-01-16T04:26:46.194Z,1737001606.194 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-01-16T04:26:46.196Z,1737001606.196 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-01-16T04:26:46.290Z,1737001606.290 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-01-16T04:26:46.404Z,1737001606.404 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-01-16T04:26:46.517Z,1737001606.517 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-01-16T04:26:46.614Z,1737001606.614 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-01-16T04:26:46.708Z,1737001606.708 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-01-16T04:26:46.837Z,1737001606.837 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-01-16T04:26:46.988Z,1737001606.988 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-01-16T04:26:47.161Z,1737001607.161 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-01-16T04:26:47.267Z,1737001607.267 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-01-16T04:26:47.542Z,1737001607.542 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-01-16T04:26:47.542Z,1737001607.542 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-01-16T04:26:47.554Z,1737001607.554 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-01-16T04:26:47.975Z,1737001607.975 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-01-16T04:26:47.977Z,1737001607.977 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-01-16T04:26:48.801Z,1737001608.801 [AHRS_M2] Loaded
2025-01-16T04:26:48.801Z,1737001608.801 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-01-16T04:26:49.053Z,1737001609.053 [BackseatComponent] Loaded
2025-01-16T04:26:49.054Z,1737001609.054 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-01-16T04:26:49.055Z,1737001609.055 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408A64E0
2025-01-16T04:26:49.055Z,1737001609.055 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 920
2025-01-16T04:26:49.058Z,1737001609.058 [LcmUniversalReporter] Loaded
2025-01-16T04:26:49.058Z,1737001609.058 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-01-16T04:26:49.064Z,1737001609.064 [BioacousticsDataBridge] Loaded
2025-01-16T04:26:49.065Z,1737001609.065 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread.
2025-01-16T04:26:49.904Z,1737001609.904 [BPC1] Loaded
2025-01-16T04:26:49.905Z,1737001609.905 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-01-16T04:26:49.998Z,1737001609.998 [DAT] Loaded
2025-01-16T04:26:49.998Z,1737001609.998 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-01-16T04:26:49.999Z,1737001609.999 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408D64E0
2025-01-16T04:26:49.000Z,1737001610.000 [DAT ThreadHandler](INFO): Protected caller Thread ID is 922
2025-01-16T04:26:50.146Z,1737001610.146 [DataOverHttps] Loaded
2025-01-16T04:26:50.146Z,1737001610.146 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-01-16T04:26:50.147Z,1737001610.147 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409064E0
2025-01-16T04:26:50.148Z,1737001610.148 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 923
2025-01-16T04:26:50.170Z,1737001610.170 [Depth_Keller] Loaded
2025-01-16T04:26:50.170Z,1737001610.170 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-01-16T04:26:50.175Z,1737001610.175 [DropWeight] Loaded
2025-01-16T04:26:50.175Z,1737001610.175 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-01-16T04:26:50.238Z,1737001610.238 [NAL9602] Loaded
2025-01-16T04:26:50.238Z,1737001610.238 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-01-16T04:26:50.268Z,1737001610.268 [Onboard] Loaded
2025-01-16T04:26:50.268Z,1737001610.268 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-01-16T04:26:50.269Z,1737001610.269 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409364E0
2025-01-16T04:26:50.269Z,1737001610.269 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 924
2025-01-16T04:26:50.283Z,1737001610.283 [Power24vConverter] Loaded
2025-01-16T04:26:50.283Z,1737001610.283 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-01-16T04:26:50.300Z,1737001610.300 [Radio_Surface] Loaded
2025-01-16T04:26:50.300Z,1737001610.300 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-01-16T04:26:50.301Z,1737001610.301 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409664E0
2025-01-16T04:26:50.302Z,1737001610.302 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 925
2025-01-16T04:26:50.317Z,1737001610.317 [Sonardyne_Nano] Loaded
2025-01-16T04:26:50.317Z,1737001610.317 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-01-16T04:26:50.317Z,1737001610.317 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-01-16T04:26:50.318Z,1737001610.318 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-01-16T04:26:52.284Z,1737001612.284 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-01-16T04:26:52.285Z,1737001612.285 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-01-16T04:26:53.244Z,1737001613.244 [VerticalControl](DEBUG): Construct VerticalControl.
2025-01-16T04:26:53.303Z,1737001613.303 [VerticalControl] Loaded
2025-01-16T04:26:53.303Z,1737001613.303 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-01-16T04:26:53.306Z,1737001613.306 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-01-16T04:26:53.354Z,1737001613.354 [HorizontalControl] Loaded
2025-01-16T04:26:53.355Z,1737001613.355 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-01-16T04:26:53.357Z,1737001613.357 [SpeedControl](DEBUG): Construct SpeedControl.
2025-01-16T04:26:53.360Z,1737001613.360 [SpeedControl] Loaded
2025-01-16T04:26:53.360Z,1737001613.360 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-01-16T04:26:53.363Z,1737001613.363 [LoopControl](DEBUG): Construct LoopControl.
2025-01-16T04:26:53.363Z,1737001613.363 [LoopControl] Loaded
2025-01-16T04:26:53.364Z,1737001613.364 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-01-16T04:26:53.364Z,1737001613.364 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-01-16T04:26:53.365Z,1737001613.365 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-01-16T04:26:53.380Z,1737001613.380 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-01-16T04:26:53.381Z,1737001613.381 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-01-16T04:26:53.426Z,1737001613.426 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-01-16T04:26:53.426Z,1737001613.426 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-01-16T04:26:53.569Z,1737001613.569 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-01-16T04:26:53.569Z,1737001613.569 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-01-16T04:26:53.583Z,1737001613.583 [NavChart] Loaded
2025-01-16T04:26:53.583Z,1737001613.583 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-01-16T04:26:53.589Z,1737001613.589 [UniversalFixResidualReporter] Loaded
2025-01-16T04:26:53.589Z,1737001613.589 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-01-16T04:26:53.590Z,1737001613.590 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-01-16T04:26:53.591Z,1737001613.591 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-01-16T04:26:53.762Z,1737001613.762 [SBIT](DEBUG): Construct Startup Built In Test.
2025-01-16T04:26:53.771Z,1737001613.771 [SBIT] Loaded
2025-01-16T04:26:53.771Z,1737001613.771 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-01-16T04:26:53.774Z,1737001613.774 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-01-16T04:26:53.786Z,1737001613.786 [IBIT] Loaded
2025-01-16T04:26:53.786Z,1737001613.786 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-01-16T04:26:53.792Z,1737001613.792 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-01-16T04:26:53.897Z,1737001613.897 [CBIT] Loaded
2025-01-16T04:26:53.897Z,1737001613.897 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-01-16T04:26:53.897Z,1737001613.897 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-01-16T04:26:53.898Z,1737001613.898 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-01-16T04:26:54.113Z,1737001614.113 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-01-16T04:26:54.113Z,1737001614.113 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-01-16T04:26:54.280Z,1737001614.280 [BuoyancyServo] Loaded
2025-01-16T04:26:54.280Z,1737001614.280 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-01-16T04:26:54.303Z,1737001614.303 [ElevatorServo] Loaded
2025-01-16T04:26:54.303Z,1737001614.303 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-01-16T04:26:54.324Z,1737001614.324 [MassServo] Loaded
2025-01-16T04:26:54.325Z,1737001614.325 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-01-16T04:26:54.346Z,1737001614.346 [RudderServo] Loaded
2025-01-16T04:26:54.346Z,1737001614.346 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-01-16T04:26:54.363Z,1737001614.363 [ThrusterHE] Loaded
2025-01-16T04:26:54.363Z,1737001614.363 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-01-16T04:26:54.364Z,1737001614.364 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-01-16T04:26:54.364Z,1737001614.364 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-01-16T04:26:54.593Z,1737001614.593 [CTD_Seabird] Loaded
2025-01-16T04:26:54.593Z,1737001614.593 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-01-16T04:26:54.594Z,1737001614.594 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40B904E0
2025-01-16T04:26:54.594Z,1737001614.594 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 926
2025-01-16T04:26:54.616Z,1737001614.616 [PAR_Licor] Loaded
2025-01-16T04:26:54.617Z,1737001614.617 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-01-16T04:26:54.661Z,1737001614.661 [WetLabsBB2FL] Loaded
2025-01-16T04:26:54.661Z,1737001614.661 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-01-16T04:26:54.662Z,1737001614.662 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BC04E0
2025-01-16T04:26:54.662Z,1737001614.662 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 927
2025-01-16T04:26:54.663Z,1737001614.663 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-01-16T04:26:54.664Z,1737001614.664 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-01-16T04:26:54.735Z,1737001614.735 [DepthRateCalculator] Loaded
2025-01-16T04:26:54.735Z,1737001614.735 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-01-16T04:26:54.740Z,1737001614.740 [PitchRateCalculator] Loaded
2025-01-16T04:26:54.741Z,1737001614.741 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-01-16T04:26:54.749Z,1737001614.749 [SpeedCalculator] Loaded
2025-01-16T04:26:54.750Z,1737001614.750 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-01-16T04:26:54.754Z,1737001614.754 [YawRateCalculator] Loaded
2025-01-16T04:26:54.754Z,1737001614.754 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-01-16T04:26:54.773Z,1737001614.773 [ElevatorOffsetCalculator] Loaded
2025-01-16T04:26:54.774Z,1737001614.774 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-01-16T04:26:54.774Z,1737001614.774 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-01-16T04:26:54.775Z,1737001614.775 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-01-16T04:26:54.863Z,1737001614.863 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-01-16T04:26:54.869Z,1737001614.869 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-01-16T04:26:54.872Z,1737001614.872 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-01-16T04:26:54.883Z,1737001614.883 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-01-16T04:26:54.884Z,1737001614.884 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C4E4E0
2025-01-16T04:26:54.885Z,1737001614.885 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 928
2025-01-16T04:26:54.889Z,1737001614.889 [Supervisor](INFO): Main Thread ID is 828
2025-01-16T04:26:54.889Z,1737001614.889 [Supervisor](DEBUG): Running supervisor.
2025-01-16T04:26:54.890Z,1737001614.890 [CommandExec ThreadHandler](INFO): Handler Thread ID is 929
2025-01-16T04:26:54.890Z,1737001614.890 [CommandExec](INFO): Initializing the command executive.
2025-01-16T04:26:54.892Z,1737001614.892 [CommandLine ThreadHandler](INFO): Handler Thread ID is 930
2025-01-16T04:26:54.894Z,1737001614.894 [controlThread ThreadHandler](INFO): Handler Thread ID is 931
2025-01-16T04:26:54.894Z,1737001614.894 [controlThread](DEBUG): Initializing ControlThread
2025-01-16T04:26:54.899Z,1737001614.899 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-01-16T04:26:54.900Z,1737001614.900 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-01-16T04:26:54.901Z,1737001614.901 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-01-16T04:26:54.902Z,1737001614.902 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-01-16T04:26:54.902Z,1737001614.902 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-01-16T04:26:54.903Z,1737001614.903 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-01-16T04:26:54.903Z,1737001614.903 [SBIT](INFO): Initialize SBIT Component.
2025-01-16T04:26:54.903Z,1737001614.903 [SBIT](IMPORTANT): git: 2025-01-09_B
2025-01-16T04:26:54.904Z,1737001614.904 [SBIT](INFO): git hash: 1f9780a539b09f05de89865a2e326c5f9ffadbdc
2025-01-16T04:26:54.904Z,1737001614.904 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-01-16T04:26:54.905Z,1737001614.905 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Dec 4 01:17:04 UTC 2024
2025-01-16T04:26:54.906Z,1737001614.906 [SBIT](INFO): Beginning SBIT in 52.000000 seconds.
2025-01-16T04:26:54.907Z,1737001614.907 [IBIT](INFO): Initialize IBIT Component.
2025-01-16T04:26:54.908Z,1737001614.908 [CBIT](DEBUG): Initialize CBIT Component.
2025-01-16T04:26:54.909Z,1737001614.909 [logger ThreadHandler](INFO): Handler Thread ID is 932
2025-01-16T04:26:54.921Z,1737001614.921 [CBIT](DEBUG): Initialized mux pins.
2025-01-16T04:26:54.921Z,1737001614.921 [CBIT](DEBUG): Initializing the watchdog timer.
2025-01-16T04:26:54.929Z,1737001614.929 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 933
2025-01-16T04:26:54.945Z,1737001614.945 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-01-16T04:26:54.946Z,1737001614.946 [CBIT](DEBUG): Initializing heartbeat.
2025-01-16T04:26:54.941Z,1737001614.941 [DAT ThreadHandler](INFO): Handler Thread ID is 934
2025-01-16T04:26:54.946Z,1737001614.946 [DAT](INFO): Powering up
2025-01-16T04:26:54.947Z,1737001614.947 [DAT](DEBUG): Initializing DAT.
2025-01-16T04:26:54.950Z,1737001614.950 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 936
2025-01-16T04:26:54.952Z,1737001614.952 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-01-16T04:26:54.973Z,1737001614.973 [Onboard ThreadHandler](INFO): Handler Thread ID is 937
2025-01-16T04:26:54.991Z,1737001614.991 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 938
2025-01-16T04:26:55.011Z,1737001615.011 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 939
2025-01-16T04:26:55.012Z,1737001615.012 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-01-16T04:26:55.017Z,1737001615.017 [CBIT](DEBUG): Deactivating GF circuits.
2025-01-16T04:26:55.017Z,1737001615.017 [CBIT](DEBUG): Deactivating emergency mode.
2025-01-16T04:26:55.019Z,1737001615.019 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 941
2025-01-16T04:26:55.021Z,1737001615.021 [WetLabsBB2FL](INFO): Powering up
2025-01-16T04:26:55.023Z,1737001615.023 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 943
2025-01-16T04:26:55.034Z,1737001615.034 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-01-16T04:26:55.034Z,1737001615.034 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-01-16T04:26:55.034Z,1737001615.034 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-01-16T04:26:55.034Z,1737001615.034 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-01-16T04:26:55.034Z,1737001615.034 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-01-16T04:26:55.034Z,1737001615.034 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-01-16T04:26:55.035Z,1737001615.035 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-01-16T04:26:55.035Z,1737001615.035 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-01-16T04:26:55.057Z,1737001615.057 [CBIT](DEBUG): Backplane powered.
2025-01-16T04:26:55.061Z,1737001615.061 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-01-16T04:26:55.062Z,1737001615.062 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-01-16T04:26:55.062Z,1737001615.062 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-01-16T04:26:55.062Z,1737001615.062 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-01-16T04:26:55.063Z,1737001615.063 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-01-16T04:26:55.064Z,1737001615.064 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-01-16T04:26:55.065Z,1737001615.065 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-01-16T04:26:55.065Z,1737001615.065 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-01-16T04:26:55.082Z,1737001615.082 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-01-16T04:26:55.127Z,1737001615.127 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
2025-01-16T04:26:55.132Z,1737001615.132 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T04:26:55.183Z,1737001615.183 [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 Startup {
behavior Guidance:GoToSurface {
run in progression
}
aggregate StartupSatComms {
run in sequence
readDatum {
timeout duration=P1M
Universal:latitude_fix
}
readDatum {
timeout duration=P1M
Universal:platform_communications
}
}
}
2025-01-16T04:26:55.184Z,1737001615.184 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-01-16T04:26:55.184Z,1737001615.184 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-01-16T04:26:55.194Z,1737001615.194 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-01-16T04:26:55.397Z,1737001615.397 [Radio_Surface](INFO): Powering up
2025-01-16T04:26:55.476Z,1737001615.476 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
0
13
Burn on
Dropped weight due to communications timeout.
5
Default mission has been running for
Restarting logs and Default mission.
restart logs
2025-01-16T04:26:55.493Z,1737001615.493 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-01-16T04:26:55.495Z,1737001615.495 [Default:A.Wait](DEBUG): Construct Wait.
2025-01-16T04:26:55.497Z,1737001615.497 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T04:26:55.538Z,1737001615.538 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-01-16T04:26:55.540Z,1737001615.540 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-01-16T04:26:55.562Z,1737001615.562 [Default:E.Execute](DEBUG): Construct Execute.
2025-01-16T04:26:55.581Z,1737001615.581 [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 Default {
arguments {
ElapsedSinceDefaultStarted = 0 minute
}
behavior Guidance:Wait {
"""
Wait a moment to see if the scheduler starts a new mission before
starting to actually run Default.
"""
run in sequence
set duration = 13 second
}
behavior Guidance:GoToSurface {
run in progression
}
aggregate CheckIn {
run in sequence repeat=288
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P4H {
behavior Guidance:Execute {
run in sequence
set command = "Burn on"
}
syslog critical "Dropped weight due to communications timeout."
}
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )
syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
}
syslog important "Restarting logs and Default mission."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
2025-01-16T04:26:55.586Z,1737001615.586 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BioacousticsDataBridge,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2025-01-16T04:26:55.594Z,1737001615.594 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-01-16T04:26:55.768Z,1737001615.768 [Power24vConverter](INFO): Powering up.
2025-01-16T04:26:55.769Z,1737001615.769 [Sonardyne_Nano](INFO): Initializing.
2025-01-16T04:26:55.828Z,1737001615.828 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T04:26:55.837Z,1737001615.837 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T04:26:55.838Z,1737001615.838 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-01-16T04:26:55.845Z,1737001615.845 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-01-16T04:26:55.846Z,1737001615.846 [MassServo](DEBUG): Initializing EZServoServo.
2025-01-16T04:26:55.853Z,1737001615.853 [MassServo](DEBUG): Initializing MassServo.
2025-01-16T04:26:55.854Z,1737001615.854 [RudderServo](DEBUG): Initializing EZServoServo.
2025-01-16T04:26:55.861Z,1737001615.861 [RudderServo](DEBUG): Initializing RudderServo.
2025-01-16T04:26:55.862Z,1737001615.862 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-16T04:26:55.869Z,1737001615.869 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-16T04:26:57.129Z,1737001617.129 [WetLabsBB2FL](INFO): Powering down
2025-01-16T04:26:58.020Z,1737001618.020 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-01-16T04:26:59.258Z,1737001619.258 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2409
2025-01-16T04:27:01.486Z,1737001621.486 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-01-16T04:27:02.041Z,1737001622.041 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-01-16T04:27:07.294Z,1737001627.294 [DAT](INFO): DAT read:
2025-01-16T04:27:07.295Z,1737001627.295 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series
2025-01-16T04:27:08.806Z,1737001628.806 [DAT](INFO): DAT read: MF Frequency Band
2025-01-16T04:27:08.807Z,1737001628.807 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0
2025-01-16T04:27:08.808Z,1737001628.808 [DAT](INFO): DAT read: Jan 16 2025 04:25:22
2025-01-16T04:27:10.066Z,1737001630.066 [DAT](INFO): DAT read: Features enabled [Bearing]
2025-01-16T04:27:10.067Z,1737001630.067 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP
2025-01-16T04:27:10.068Z,1737001630.068 [DAT](INFO): commRate: 800
2025-01-16T04:27:12.133Z,1737001632.133 [DAT](INFO): entering command mode
2025-01-16T04:27:12.338Z,1737001632.338 [DAT](INFO): DAT read:
2025-01-16T04:27:12.339Z,1737001632.339 [DAT](INFO): DAT read: user:1>
2025-01-16T04:27:12.339Z,1737001632.339 [DAT](INFO): setting verbose to 3
2025-01-16T04:27:12.590Z,1737001632.590 [DAT](INFO): DAT read: user:1>
2025-01-16T04:27:12.591Z,1737001632.591 [DAT](INFO): DAT read: Verbose | 3
2025-01-16T04:27:12.591Z,1737001632.591 [DAT](INFO): set verbose to 3
2025-01-16T04:27:12.591Z,1737001632.591 [DAT](INFO): setting DatVerbose to 27440
2025-01-16T04:27:12.842Z,1737001632.842 [DAT](INFO): DAT read: user:2>
2025-01-16T04:27:12.843Z,1737001632.843 [DAT](INFO): DAT read: DatVerbose | 27440
2025-01-16T04:27:12.843Z,1737001632.843 [DAT](INFO): set DatVerbose to 27440
2025-01-16T04:27:12.844Z,1737001632.844 [DAT](INFO): setting transmit power to 8
2025-01-16T04:27:13.094Z,1737001633.094 [DAT](INFO): DAT read: user:3>
2025-01-16T04:27:13.095Z,1737001633.095 [DAT](INFO): DAT read: TxPower | 8 (Max)
2025-01-16T04:27:13.095Z,1737001633.095 [DAT](INFO): set transmit power to 8
2025-01-16T04:27:13.095Z,1737001633.095 [DAT](INFO): setting local address to 2
2025-01-16T04:27:13.346Z,1737001633.346 [DAT](INFO): DAT read: user:4>
2025-01-16T04:27:13.347Z,1737001633.347 [DAT](INFO): DAT read: LocalAddr | 2
2025-01-16T04:27:13.347Z,1737001633.347 [DAT](INFO): set local address to 2
2025-01-16T04:27:13.348Z,1737001633.348 [DAT](INFO): Setting time to: 4:27:13 And date to:1/16/2025
2025-01-16T04:27:13.598Z,1737001633.598 [DAT](INFO): DAT read: user:5>
2025-01-16T04:27:13.599Z,1737001633.599 [DAT](INFO): DAT read: Thu Jan 16, 2025 04:27:13
2025-01-16T04:27:13.599Z,1737001633.599 [DAT](INFO): Local DAT time set to Thu Jan 16, 2025 04:27:13
2025-01-16T04:27:20.243Z,1737001640.243 [NAL9602](INFO): Powering up NAL9602
2025-01-16T04:27:31.155Z,1737001651.155 [NAL9602](INFO): NAL9602 initialized
2025-01-16T04:27:46.109Z,1737001666.109 [NAL9602](INFO): SBD MO Status=0, MOMSN=11789, MT Status=0, MTMSN=0
2025-01-16T04:27:46.109Z,1737001666.109 [NAL9602](INFO): No messages in MT queue
2025-01-16T04:27:47.362Z,1737001667.362 [SBIT](IMPORTANT): Beginning Startup BIT
2025-01-16T04:27:47.366Z,1737001667.366 [CBIT](IMPORTANT): Beginning ground fault scan
2025-01-16T04:27:56.229Z,1737001676.229 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042752.00,A,3647.96913,N,12152.61553,W,0.214,0.00,160125,,,A*7F
2025-01-16T04:27:56.232Z,1737001676.232 [NAL9602](INFO): GPS fix at 20250116T042752: (36.799486, -121.876925)
2025-01-16T04:27:58.705Z,1737001678.705 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000976
CHAN A1 (24V): -0.000392
CHAN A2 (12V): 0.000510
CHAN A3 (5V): -0.001898
CHAN B0 (3.3V): -0.000969
CHAN B1 (3.15aV): -0.001281
CHAN B2 (3.15bV): -0.000872
CHAN B3 (GND): -0.001999
OPEN: 0.004681
Full Scale: +/- 1 mA
2025-01-16T04:28:28.581Z,1737001708.581 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T04:28:41.274Z,1737001721.274 [SBIT](IMPORTANT): SBIT PASSED
2025-01-16T04:28:41.274Z,1737001721.274 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-01-16T04:28:41.275Z,1737001721.275 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;
2025-01-16T04:28:41.275Z,1737001721.275 [SBIT](IMPORTANT): Express linearApproximation platform_roll_angle 5.000000 degree;
2025-01-16T04:28:41.275Z,1737001721.275 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=381.307537 cubic_centimeter;
2025-01-16T04:28:41.275Z,1737001721.275 [SBIT](IMPORTANT): VerticalControl.massDefault=8.173285 millimeter;
2025-01-16T04:28:41.536Z,1737001721.536 [MissionManager](IMPORTANT): Started mission Startup
2025-01-16T04:28:41.536Z,1737001721.536 [Startup] Running Loop=1
2025-01-16T04:28:41.536Z,1737001721.536 [Startup](DEBUG): Aggregate::initialize Startup
2025-01-16T04:28:41.536Z,1737001721.536 [Startup:A.GoToSurface] Running Loop=1
2025-01-16T04:28:41.537Z,1737001721.537 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T04:28:41.537Z,1737001721.537 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T04:28:41.538Z,1737001721.538 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T04:28:41.538Z,1737001721.538 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T04:28:41.538Z,1737001721.538 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T04:28:41.539Z,1737001721.539 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T04:28:41.539Z,1737001721.539 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T04:28:41.541Z,1737001721.541 [Startup:StartupSatComms] Running Loop=1
2025-01-16T04:28:41.541Z,1737001721.541 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-01-16T04:28:41.541Z,1737001721.541 [Startup:StartupSatComms:A] Running Loop=1
2025-01-16T04:28:41.939Z,1737001721.939 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-01-16T04:28:43.605Z,1737001723.605 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042839.00,A,3647.96542,N,12152.61735,W,0.622,253.97,160125,,,A*7C
2025-01-16T04:28:43.607Z,1737001723.607 [NAL9602](INFO): GPS fix at 20250116T042839: (36.799424, -121.876956)
2025-01-16T04:28:43.618Z,1737001723.618 [Startup:StartupSatComms:A] Stopped
2025-01-16T04:28:43.618Z,1737001723.618 [Startup:StartupSatComms:B] Running Loop=1
2025-01-16T04:28:43.982Z,1737001723.982 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T04:29:08.383Z,1737001748.383 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004435
2025-01-16T04:29:09.816Z,1737001749.816 [NAL9602](INFO): SBD MO Status=1, MOMSN=11790, MT Status=0, MTMSN=0
2025-01-16T04:29:09.870Z,1737001749.870 [NAL9602](INFO): Sent 39 bytes from file Logs/20250116T003918/Courier0051.lzma
2025-01-16T04:29:09.870Z,1737001749.870 [NAL9602](INFO): Packets left to send: 0
2025-01-16T04:29:10.046Z,1737001750.046 [Startup:StartupSatComms:B] Stopped
2025-01-16T04:29:10.046Z,1737001750.046 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-01-16T04:29:10.046Z,1737001750.046 [Startup:StartupSatComms] Stopped
2025-01-16T04:29:10.047Z,1737001750.047 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-01-16T04:29:10.047Z,1737001750.047 [Startup](INFO): Completed Startup
2025-01-16T04:29:10.048Z,1737001750.048 [MissionManager](INFO): Startup is completed.
2025-01-16T04:29:10.048Z,1737001750.048 [MissionManager](INFO): Uninitializing Mission Startup
2025-01-16T04:29:10.048Z,1737001750.048 [Startup] Stopped
2025-01-16T04:29:10.048Z,1737001750.048 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-01-16T04:29:10.048Z,1737001750.048 [Startup:A.GoToSurface] Stopped
2025-01-16T04:29:10.048Z,1737001750.048 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T04:29:10.890Z,1737001750.890 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T04:29:10.891Z,1737001750.891 [Default] Running Loop=1
2025-01-16T04:29:10.891Z,1737001750.891 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T04:29:10.891Z,1737001750.891 [Default:B.GoToSurface] Running Loop=1
2025-01-16T04:29:10.891Z,1737001750.891 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T04:29:10.891Z,1737001750.891 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T04:29:10.891Z,1737001750.891 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T04:29:10.892Z,1737001750.892 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T04:29:10.892Z,1737001750.892 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T04:29:10.892Z,1737001750.892 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T04:29:10.893Z,1737001750.893 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T04:29:10.965Z,1737001750.965 [Default:A.Wait] Running Loop=1
2025-01-16T04:29:10.965Z,1737001750.965 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T04:29:20.967Z,1737001760.967 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250116T003918/Courier0051.lzma
2025-01-16T04:29:20.967Z,1737001760.967 [DataOverHttps](FAULT): Could not open file Logs/20250116T003918/Courier0051.lzma
2025-01-16T04:29:24.471Z,1737001764.471 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T04:29:24.471Z,1737001764.471 [Default:A.Wait] Stopped
2025-01-16T04:29:24.471Z,1737001764.471 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T04:29:24.914Z,1737001764.914 [Default:CheckIn] Running Loop=1
2025-01-16T04:29:24.914Z,1737001764.914 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T04:29:24.914Z,1737001764.914 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T04:29:25.473Z,1737001765.473 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T04:29:28.863Z,1737001768.863 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042924.00,A,3647.96160,N,12152.61811,W,0.408,209.10,160125,,,A*76
2025-01-16T04:29:28.902Z,1737001768.902 [NAL9602](INFO): GPS fix at 20250116T042924: (36.799360, -121.876969)
2025-01-16T04:29:29.075Z,1737001769.075 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T04:29:29.075Z,1737001769.075 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T04:29:29.347Z,1737001769.347 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T04:29:36.593Z,1737001776.593 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250116T042632/Courier0000.lzma
2025-01-16T04:29:37.595Z,1737001777.595 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Courier0000.lzma.bak
2025-01-16T04:29:37.595Z,1737001777.595 [DataOverHttps](INFO): SBD MOMSN=23908845
2025-01-16T04:29:53.810Z,1737001793.810 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250116T042632/Courier0004.lzma
2025-01-16T04:29:54.812Z,1737001794.812 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Courier0004.lzma.bak
2025-01-16T04:29:54.812Z,1737001794.812 [DataOverHttps](INFO): SBD MOMSN=23908851
2025-01-16T04:30:01.507Z,1737001801.507 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T04:30:10.936Z,1737001810.936 [DataOverHttps](INFO): Sending 131 bytes from file Logs/20250116T003918/Express0049.lzma
2025-01-16T04:30:11.936Z,1737001811.936 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0049.lzma.bak
2025-01-16T04:30:11.936Z,1737001811.936 [DataOverHttps](INFO): SBD MOMSN=23908854
2025-01-16T04:30:27.864Z,1737001827.864 [DataOverHttps](INFO): Sending 148 bytes from file Logs/20250116T003918/Express0052.lzma
2025-01-16T04:30:28.864Z,1737001828.864 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0052.lzma.bak
2025-01-16T04:30:28.864Z,1737001828.864 [DataOverHttps](INFO): SBD MOMSN=23908857
2025-01-16T04:30:46.255Z,1737001846.255 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250116T003918/Express0055.lzma
2025-01-16T04:30:48.731Z,1737001848.731 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0055.lzma.bak
2025-01-16T04:30:48.731Z,1737001848.731 [DataOverHttps](IMPORTANT): SBD MOMSN=23908862, MTMSN=20250116T043046
2025-01-16T04:31:01.155Z,1737001861.155 [DataOverHttps](INFO): Received command: sched asap "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist" 7r79 1 2
2025-01-16T04:31:01.192Z,1737001861.192 [CommandExec](IMPORTANT): got command schedule asap "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist" 7r79 1 2.000000
2025-01-16T04:31:01.193Z,1737001861.193 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=7r79
2025-01-16T04:31:01.194Z,1737001861.194 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='7r79'): "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist", ASAP
2025-01-16T04:31:02.567Z,1737001862.567 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T043101
2025-01-16T04:31:13.260Z,1737001873.260 [DataOverHttps](INFO): Sending 1057 bytes from file Logs/20250116T042632/Express0001.lzma
2025-01-16T04:31:13.265Z,1737001873.265 [DataOverHttps](INFO): Received command: sched asap " configset VerticalControl.massOnlyForceInt 1 bool persist" 7r79 2 2
2025-01-16T04:31:13.286Z,1737001873.286 [CommandExec](IMPORTANT): got command schedule asap " configset VerticalControl.massOnlyForceInt 1 bool persist" 7r79 2 2.000000
2025-01-16T04:31:13.286Z,1737001873.286 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=7r79
2025-01-16T04:31:13.287Z,1737001873.287 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='7r79'): " configset VerticalControl.massOnlyForceInt 1 bool persist", ASAP
2025-01-16T04:31:15.001Z,1737001875.001 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Express0001.lzma.bak
2025-01-16T04:31:15.001Z,1737001875.001 [DataOverHttps](INFO): SBD MOMSN=23908865
2025-01-16T04:31:17.201Z,1737001877.201 [CommandExec](IMPORTANT): got command configSet VerticalControl.kpPitchMass 0.1 none persist
2025-01-16T04:31:17.228Z,1737001877.228 [CommandExec](IMPORTANT): got command configSet VerticalControl.kiPitchMass 0.001 reciprocal_second persist
2025-01-16T04:31:17.239Z,1737001877.239 [CommandExec](IMPORTANT): got command configSet VerticalControl.kdPitchMass 0.1 second persist
2025-01-16T04:31:17.241Z,1737001877.241 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDeadband 0.0 millimeter persist
2025-01-16T04:31:18.722Z,1737001878.722 [CommandExec](IMPORTANT): got command configSet VerticalControl.massOnlyForceInt 1 bool persist
2025-01-16T04:31:31.291Z,1737001891.291 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250116T042632/Courier0007.lzma
2025-01-16T04:31:32.292Z,1737001892.292 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Courier0007.lzma.bak
2025-01-16T04:31:32.292Z,1737001892.292 [DataOverHttps](INFO): SBD MOMSN=23908883
2025-01-16T04:31:49.038Z,1737001909.038 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250116T042632/Courier0010.lzma
2025-01-16T04:31:50.040Z,1737001910.040 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Courier0010.lzma.bak
2025-01-16T04:31:50.040Z,1737001910.040 [DataOverHttps](INFO): SBD MOMSN=23908885
2025-01-16T04:32:06.399Z,1737001926.399 [DataOverHttps](INFO): Sending 415 bytes from file Logs/20250116T042632/Express0005.lzma
2025-01-16T04:32:07.404Z,1737001927.404 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Express0005.lzma.bak
2025-01-16T04:32:07.404Z,1737001927.404 [DataOverHttps](INFO): SBD MOMSN=23908887
2025-01-16T04:32:23.569Z,1737001943.569 [DataOverHttps](INFO): Sending 507 bytes from file Logs/20250116T042632/Express0008.lzma
2025-01-16T04:32:24.569Z,1737001944.569 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Express0008.lzma.bak
2025-01-16T04:32:24.570Z,1737001944.570 [DataOverHttps](INFO): SBD MOMSN=23908892
2025-01-16T04:32:40.814Z,1737001960.814 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250116T042632/Express0011.lzma
2025-01-16T04:32:41.816Z,1737001961.816 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Express0011.lzma.bak
2025-01-16T04:32:41.816Z,1737001961.816 [DataOverHttps](INFO): SBD MOMSN=23908898
2025-01-16T04:32:43.242Z,1737001963.242 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T04:32:43.242Z,1737001963.242 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T04:32:43.242Z,1737001963.242 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T04:37:43.891Z,1737002263.891 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-01-16T04:37:43.891Z,1737002263.891 [Default:CheckIn:C.Wait] Stopped
2025-01-16T04:37:43.891Z,1737002263.891 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T04:37:43.891Z,1737002263.891 [Default:CheckIn:D] Running Loop=1
2025-01-16T04:37:44.290Z,1737002264.290 [Default:CheckIn:D] Stopped
2025-01-16T04:37:44.290Z,1737002264.290 [Default:CheckIn:E] Running Loop=1
2025-01-16T04:37:44.690Z,1737002264.690 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 8.556648 min
2025-01-16T04:37:44.691Z,1737002264.691 [Default:CheckIn:E] Stopped
2025-01-16T04:37:44.691Z,1737002264.691 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-01-16T04:37:44.691Z,1737002264.691 [Default:CheckIn] Stopped
2025-01-16T04:37:44.691Z,1737002264.691 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T04:37:44.691Z,1737002264.691 [Default:CheckIn](INFO): Running loop #2
2025-01-16T04:37:44.691Z,1737002264.691 [Default:CheckIn] Running Loop=2
2025-01-16T04:37:44.691Z,1737002264.691 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T04:37:44.691Z,1737002264.691 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T04:37:46.711Z,1737002266.711 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043746.00,A,3647.91924,N,12152.62847,W,0.739,127.70,160125,,,D*7F
2025-01-16T04:37:46.713Z,1737002266.713 [NAL9602](INFO): GPS fix at 20250116T043746: (36.798654, -121.877141)
2025-01-16T04:37:46.730Z,1737002266.730 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T04:37:46.730Z,1737002266.730 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T04:37:54.366Z,1737002274.366 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T042632/Courier0013.lzma
2025-01-16T04:37:55.368Z,1737002275.368 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Courier0013.lzma.bak
2025-01-16T04:37:55.368Z,1737002275.368 [DataOverHttps](INFO): SBD MOMSN=23908917
2025-01-16T04:38:02.913Z,1737002282.913 [NAL9602](INFO): SBD MO Status=0, MOMSN=11791, MT Status=0, MTMSN=0
2025-01-16T04:38:02.913Z,1737002282.913 [NAL9602](INFO): No messages in MT queue
2025-01-16T04:38:11.559Z,1737002291.559 [DataOverHttps](INFO): Sending 892 bytes from file Logs/20250116T042632/Express0014.lzma
2025-01-16T04:38:12.560Z,1737002292.560 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Express0014.lzma.bak
2025-01-16T04:38:12.560Z,1737002292.560 [DataOverHttps](INFO): SBD MOMSN=23908920
2025-01-16T04:38:13.795Z,1737002293.795 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T04:38:13.795Z,1737002293.795 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T04:38:13.795Z,1737002293.795 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T04:38:33.573Z,1737002313.573 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T04:41:57.032Z,1737002517.032 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T044156
2025-01-16T04:42:04.838Z,1737002524.838 [DataOverHttps](INFO): Received command: configset speedcontrol.rolloptimum 0.925 m/s persist
2025-01-16T04:42:05.231Z,1737002525.231 [CommandExec](IMPORTANT): got command configSet SpeedControl.rollOptimum 0.925 meter_per_second persist
2025-01-16T04:43:14.392Z,1737002594.392 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-01-16T04:43:14.392Z,1737002594.392 [Default:CheckIn:C.Wait] Stopped
2025-01-16T04:43:14.392Z,1737002594.392 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T04:43:14.392Z,1737002594.392 [Default:CheckIn:D] Running Loop=1
2025-01-16T04:43:14.793Z,1737002594.793 [Default:CheckIn:D] Stopped
2025-01-16T04:43:14.794Z,1737002594.794 [Default:CheckIn:E] Running Loop=1
2025-01-16T04:43:15.202Z,1737002595.202 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 14.065046 min
2025-01-16T04:43:15.202Z,1737002595.202 [Default:CheckIn:E] Stopped
2025-01-16T04:43:15.202Z,1737002595.202 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-01-16T04:43:15.202Z,1737002595.202 [Default:CheckIn] Stopped
2025-01-16T04:43:15.202Z,1737002595.202 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T04:43:15.202Z,1737002595.202 [Default:CheckIn](INFO): Running loop #3
2025-01-16T04:43:15.202Z,1737002595.202 [Default:CheckIn] Running Loop=3
2025-01-16T04:43:15.203Z,1737002595.203 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T04:43:15.203Z,1737002595.203 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T04:43:17.205Z,1737002597.205 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,044316.00,A,3647.89607,N,12152.64110,W,0.369,234.68,160125,,,D*7A
2025-01-16T04:43:17.207Z,1737002597.207 [NAL9602](INFO): GPS fix at 20250116T044316: (36.798268, -121.877352)
2025-01-16T04:43:17.255Z,1737002597.255 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T04:43:17.255Z,1737002597.255 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T04:43:25.459Z,1737002605.459 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250116T042632/Courier0016.lzma
2025-01-16T04:43:26.462Z,1737002606.462 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Courier0016.lzma.bak
2025-01-16T04:43:26.462Z,1737002606.462 [DataOverHttps](INFO): SBD MOMSN=23908945
2025-01-16T04:43:26.497Z,1737002606.497 [NAL9602](INFO): SBD MO Status=0, MOMSN=11792, MT Status=0, MTMSN=0
2025-01-16T04:43:26.497Z,1737002606.497 [NAL9602](INFO): No messages in MT queue
2025-01-16T04:43:43.068Z,1737002623.068 [DataOverHttps](INFO): Sending 793 bytes from file Logs/20250116T042632/Express0017.lzma
2025-01-16T04:43:44.060Z,1737002624.060 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Express0017.lzma.bak
2025-01-16T04:43:44.060Z,1737002624.060 [DataOverHttps](INFO): SBD MOMSN=23908948
2025-01-16T04:43:57.223Z,1737002637.223 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T04:44:01.606Z,1737002641.606 [DataOverHttps](INFO): Sending 69 bytes from file Logs/20250116T042632/Express0020.lzma
2025-01-16T04:44:02.608Z,1737002642.608 [DataOverHttps](INFO): Moved sent file to Logs/20250116T042632/Express0020.lzma.bak
2025-01-16T04:44:02.608Z,1737002642.608 [DataOverHttps](INFO): SBD MOMSN=23908954
2025-01-16T04:44:03.721Z,1737002643.721 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T04:44:03.721Z,1737002643.721 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T04:44:03.721Z,1737002643.721 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T04:45:12.977Z,1737002712.977 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T044512
2025-01-16T04:45:20.854Z,1737002720.854 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 4 h;set sci2_slowyo_test.Lat1 36.79636 degree;set sci2_slowyo_test.Lon1 -121.90301 degree;set sci2_slowyo_test.Lat2 36.797 degree" 7rv8 1 3
2025-01-16T04:45:20.895Z,1737002720.895 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 4 h;set sci2_slowyo_test.Lat1 36.79636 degree;set sci2_slowyo_test.Lon1 -121.90301 degree;set sci2_slowyo_test.Lat2 36.797 degree" 7rv8 1 3.000000
2025-01-16T04:45:20.895Z,1737002720.895 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=7rv8
2025-01-16T04:45:20.899Z,1737002720.899 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 3 with id='7rv8'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 4 h;set sci2_slowyo_test.Lat1 36.79636 degree;set sci2_slowyo_test.Lon1 -121.90301 degree;set sci2_slowyo_test.Lat2 36.797 degree", ASAP
2025-01-16T04:45:21.857Z,1737002721.857 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T044520
2025-01-16T04:45:29.530Z,1737002729.530 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.Lon2 -121.847 degree;set sci2_slowyo_test.Speed 0.925 m/s;set sci2_slowyo_test.SlowYoMaxDepth 150 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm" 7rv8 2 3
2025-01-16T04:45:29.559Z,1737002729.559 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.Lon2 -121.847 degree;set sci2_slowyo_test.Speed 0.925 m/s;set sci2_slowyo_test.SlowYoMaxDepth 150 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm" 7rv8 2 3.000000
2025-01-16T04:45:29.560Z,1737002729.560 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=7rv8
2025-01-16T04:45:29.560Z,1737002729.560 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 3 with id='7rv8'): "set sci2_slowyo_test.Lon2 -121.847 degree;set sci2_slowyo_test.Speed 0.925 m/s;set sci2_slowyo_test.SlowYoMaxDepth 150 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm", ASAP
2025-01-16T04:45:30.532Z,1737002730.532 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T044529
2025-01-16T04:45:38.323Z,1737002738.323 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 170 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 7rv8 3 3
2025-01-16T04:45:38.437Z,1737002738.437 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 170 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 7rv8 3 3.000000
2025-01-16T04:45:38.437Z,1737002738.437 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=7rv8
2025-01-16T04:45:38.438Z,1737002738.438 [CommandExec](IMPORTANT): Scheduled #5 (#3 of 3 with id='7rv8'): "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 170 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-01-16T04:45:38.572Z,1737002738.572 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T04:45:38.573Z,1737002738.573 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T04:45:38.573Z,1737002738.573 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T04:45:38.577Z,1737002738.577 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T04:45:39.324Z,1737002739.324 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T044538
2025-01-16T04:45:41.944Z,1737002741.944 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_slowyo_test.tl translated into:
2
60
0.3
1
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
15
15
1.0
10
40
1
10
10
10
NaN
NaN
NaN
NaN
NaN
5
0
7
60
2
0
0
1
2
3
NaN
0
Sinking to
Timed out while trying to reach target sink depth at current depth of
Waiting for 1 minute while pumping down to neutral.
1
Moving to
Timed out while trying to reach target depth at current depth of
stop
stop
2025-01-16T04:45:41.958Z,1737002741.958 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-01-16T04:45:41.977Z,1737002741.977 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-01-16T04:45:41.991Z,1737002741.991 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-01-16T04:45:41.998Z,1737002741.998 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-01-16T04:45:42.001Z,1737002742.001 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-01-16T04:45:42.008Z,1737002742.008 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-01-16T04:45:42.015Z,1737002742.015 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-01-16T04:45:42.018Z,1737002742.018 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-01-16T04:45:42.032Z,1737002742.032 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-01-16T04:45:42.039Z,1737002742.039 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-01-16T04:45:42.042Z,1737002742.042 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-01-16T04:45:42.057Z,1737002742.057 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-01-16T04:45:42.060Z,1737002742.060 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-01-16T04:45:42.073Z,1737002742.073 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-01-16T04:45:42.076Z,1737002742.076 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-01-16T04:45:42.079Z,1737002742.079 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-01-16T04:45:42.081Z,1737002742.081 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-01-16T04:45:42.093Z,1737002742.093 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-01-16T04:45:42.096Z,1737002742.096 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-01-16T04:45:42.119Z,1737002742.119 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-01-16T04:45:42.122Z,1737002742.122 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-01-16T04:45:42.124Z,1737002742.124 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-01-16T04:45:42.148Z,1737002742.148 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-01-16T04:45:42.155Z,1737002742.155 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-01-16T04:45:42.158Z,1737002742.158 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-01-16T04:45:42.161Z,1737002742.161 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-01-16T04:45:42.163Z,1737002742.163 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-01-16T04:45:42.175Z,1737002742.175 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-01-16T04:45:42.178Z,1737002742.178 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-01-16T04:45:42.180Z,1737002742.180 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-01-16T04:45:42.189Z,1737002742.189 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-01-16T04:45:42.191Z,1737002742.191 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-01-16T04:45:42.207Z,1737002742.207 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-01-16T04:45:42.210Z,1737002742.210 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-01-16T04:45:42.213Z,1737002742.213 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-01-16T04:45:42.215Z,1737002742.215 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-01-16T04:45:42.227Z,1737002742.227 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 381.307526 cc
2025-01-16T04:45:42.230Z,1737002742.230 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-01-16T04:45:42.238Z,1737002742.238 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 0.817328 cm
2025-01-16T04:45:42.241Z,1737002742.241 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-01-16T04:45:42.244Z,1737002742.244 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-01-16T04:45:42.263Z,1737002742.263 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-01-16T04:45:42.270Z,1737002742.270 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-01-16T04:45:42.273Z,1737002742.273 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-01-16T04:45:42.323Z,1737002742.323 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-01-16T04:45:42.335Z,1737002742.335 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-01-16T04:45:42.338Z,1737002742.338 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-01-16T04:45:42.370Z,1737002742.370 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-16T04:45:42.370Z,1737002742.370 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-16T04:45:42.373Z,1737002742.373 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-16T04:45:46.803Z,1737002746.803 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
NaN
5
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
_.planktivore_LM_AvgRois
_.planktivore_HM_AvgRois
_.planktivore_diatoms
_.planktivore_dinoflagellates
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-01-16T04:45:46.889Z,1737002746.889 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-01-16T04:45:46.896Z,1737002746.896 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-01-16T04:45:46.903Z,1737002746.903 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-01-16T04:45:46.905Z,1737002746.905 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-01-16T04:45:46.912Z,1737002746.912 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-01-16T04:45:46.919Z,1737002746.919 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-01-16T04:45:46.922Z,1737002746.922 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-01-16T04:45:46.945Z,1737002746.945 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-16T04:45:46.960Z,1737002746.960 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-16T04:45:46.971Z,1737002746.971 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-01-16T04:45:46.984Z,1737002746.984 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-01-16T04:45:47.002Z,1737002747.002 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-01-16T04:45:47.005Z,1737002747.005 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-01-16T04:45:47.012Z,1737002747.012 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-16T04:45:47.027Z,1737002747.027 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-16T04:45:47.030Z,1737002747.030 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-16T04:45:47.040Z,1737002747.040 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-16T04:45:47.048Z,1737002747.048 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-16T04:45:47.075Z,1737002747.075 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-01-16T04:45:47.079Z,1737002747.079 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-01-16T04:45:47.082Z,1737002747.082 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-01-16T04:45:47.093Z,1737002747.093 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-16T04:45:47.101Z,1737002747.101 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-16T04:45:47.120Z,1737002747.120 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-01-16T04:45:47.123Z,1737002747.123 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-01-16T04:45:47.194Z,1737002747.194 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-01-16T04:45:47.197Z,1737002747.197 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakShallowBound = nan m
2025-01-16T04:45:47.227Z,1737002747.227 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDeepBound = nan m
2025-01-16T04:45:47.230Z,1737002747.230 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-16T04:45:47.247Z,1737002747.247 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-01-16T04:45:47.249Z,1737002747.249 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-01-16T04:45:47.257Z,1737002747.257 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-01-16T04:45:47.276Z,1737002747.276 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-01-16T04:45:47.284Z,1737002747.284 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-01-16T04:45:47.303Z,1737002747.303 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-01-16T04:45:47.306Z,1737002747.306 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-01-16T04:45:47.317Z,1737002747.317 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-01-16T04:45:47.328Z,1737002747.328 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-01-16T04:45:47.336Z,1737002747.336 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-01-16T04:45:47.371Z,1737002747.371 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-01-16T04:45:47.383Z,1737002747.383 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-01-16T04:45:47.394Z,1737002747.394 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-01-16T04:45:47.397Z,1737002747.397 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-01-16T04:45:47.408Z,1737002747.408 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-01-16T04:45:47.416Z,1737002747.416 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-01-16T04:45:47.447Z,1737002747.447 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-01-16T04:45:47.450Z,1737002747.450 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-01-16T04:45:47.465Z,1737002747.465 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-01-16T04:45:47.472Z,1737002747.472 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-01-16T04:45:47.487Z,1737002747.487 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-01-16T04:45:47.502Z,1737002747.502 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-01-16T04:45:47.505Z,1737002747.505 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-01-16T04:45:47.516Z,1737002747.516 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-01-16T04:45:47.536Z,1737002747.536 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-01-16T04:45:47.573Z,1737002747.573 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-01-16T04:45:47.680Z,1737002747.680 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-01-16T04:45:47.691Z,1737002747.691 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-16T04:45:47.694Z,1737002747.694 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-16T04:45:47.705Z,1737002747.705 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-16T04:45:47.712Z,1737002747.712 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-16T04:45:47.732Z,1737002747.732 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-16T04:45:47.743Z,1737002747.743 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-16T04:45:47.746Z,1737002747.746 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-16T04:45:47.778Z,1737002747.778 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-16T04:45:47.797Z,1737002747.797 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-16T04:45:47.812Z,1737002747.812 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-16T04:45:47.840Z,1737002747.840 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-16T04:45:47.875Z,1737002747.875 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-16T04:45:47.878Z,1737002747.878 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-16T04:45:47.897Z,1737002747.897 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-16T04:45:47.904Z,1737002747.904 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-16T04:45:47.931Z,1737002747.931 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-16T04:45:47.938Z,1737002747.938 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-16T04:45:47.941Z,1737002747.941 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-16T04:45:47.977Z,1737002747.977 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-16T04:45:47.992Z,1737002747.992 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-16T04:45:48.004Z,1737002748.004 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-01-16T04:45:48.021Z,1737002748.021 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-01-16T04:45:48.032Z,1737002748.032 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-01-16T04:45:48.052Z,1737002748.052 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-01-16T04:45:48.064Z,1737002748.064 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-01-16T04:45:48.080Z,1737002748.080 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-01-16T04:45:48.095Z,1737002748.095 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-01-16T04:45:48.110Z,1737002748.110 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-01-16T04:45:48.113Z,1737002748.113 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-01-16T04:45:48.125Z,1737002748.125 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-01-16T04:45:48.140Z,1737002748.140 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-01-16T04:45:48.143Z,1737002748.143 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-01-16T04:45:48.146Z,1737002748.146 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-01-16T04:45:48.188Z,1737002748.188 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-01-16T04:45:48.207Z,1737002748.207 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-01-16T04:45:48.210Z,1737002748.210 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-01-16T04:45:48.213Z,1737002748.213 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-01-16T04:45:48.328Z,1737002748.328 [sci2_slowyo_test:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:48.428Z,1737002748.428 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T04:45:48.478Z,1737002748.478 [sci2_slowyo_test:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:48.542Z,1737002748.542 [sci2_slowyo_test:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:48.582Z,1737002748.582 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T04:45:48.629Z,1737002748.629 [sci2_slowyo_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:48.672Z,1737002748.672 [sci2_slowyo_test:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:48.713Z,1737002748.713 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T04:45:48.786Z,1737002748.786 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:48.885Z,1737002748.885 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:48.947Z,1737002748.947 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:49.011Z,1737002749.011 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T04:45:49.065Z,1737002749.065 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-16T04:45:49.102Z,1737002749.102 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-01-16T04:45:49.116Z,1737002749.116 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-01-16T04:45:49.117Z,1737002749.117 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-01-16T04:45:49.128Z,1737002749.128 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-01-16T04:45:49.130Z,1737002749.130 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-01-16T04:45:49.148Z,1737002749.148 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-01-16T04:45:49.150Z,1737002749.150 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-01-16T04:45:49.150Z,1737002749.150 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T04:45:49.186Z,1737002749.186 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T04:45:49.188Z,1737002749.188 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T04:45:50.022Z,1737002750.022 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1000
7
30
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2025-01-16T04:45:50.056Z,1737002750.056 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-01-16T04:45:50.075Z,1737002750.075 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T04:45:50.078Z,1737002750.078 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T04:45:50.089Z,1737002750.089 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T04:45:50.096Z,1737002750.096 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T04:45:50.104Z,1737002750.104 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T04:45:50.123Z,1737002750.123 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T04:45:50.126Z,1737002750.126 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T04:45:50.153Z,1737002750.153 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T04:45:50.217Z,1737002750.217 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T04:45:50.218Z,1737002750.218 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T04:45:50.231Z,1737002750.231 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T04:45:50.450Z,1737002750.450 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2025-01-16T04:45:50.479Z,1737002750.479 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T04:45:50.482Z,1737002750.482 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T04:45:50.493Z,1737002750.493 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T04:45:50.526Z,1737002750.526 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T04:45:50.527Z,1737002750.527 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T04:45:50.555Z,1737002750.555 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T04:45:50.615Z,1737002750.615 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T04:45:50.655Z,1737002750.655 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T04:45:50.656Z,1737002750.656 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T04:45:50.657Z,1737002750.657 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T04:45:50.740Z,1737002750.740 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-01-16T04:45:50.744Z,1737002750.744 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T04:45:50.763Z,1737002750.763 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T04:45:50.766Z,1737002750.766 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T04:45:50.766Z,1737002750.766 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T04:45:50.767Z,1737002750.767 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T04:45:51.159Z,1737002751.159 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-01-16T04:45:51.168Z,1737002751.168 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-01-16T04:45:51.195Z,1737002751.195 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T04:45:51.197Z,1737002751.197 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T04:45:51.231Z,1737002751.231 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T04:45:51.234Z,1737002751.234 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T04:45:51.265Z,1737002751.265 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T04:45:51.348Z,1737002751.348 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T04:45:51.360Z,1737002751.360 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-01-16T04:45:51.372Z,1737002751.372 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-01-16T04:45:51.438Z,1737002751.438 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-01-16T04:45:51.441Z,1737002751.441 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T04:45:51.457Z,1737002751.457 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-01-16T04:45:51.469Z,1737002751.469 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-01-16T04:45:51.480Z,1737002751.480 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-01-16T04:45:51.508Z,1737002751.508 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-16T04:45:51.531Z,1737002751.531 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T04:45:51.533Z,1737002751.533 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-01-16T04:45:51.559Z,1737002751.559 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-01-16T04:45:51.571Z,1737002751.571 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-01-16T04:45:51.606Z,1737002751.606 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-01-16T04:45:51.656Z,1737002751.656 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T04:45:51.675Z,1737002751.675 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T04:45:51.710Z,1737002751.710 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T04:45:51.725Z,1737002751.725 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T04:45:51.748Z,1737002751.748 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T04:45:51.776Z,1737002751.776 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T04:45:51.793Z,1737002751.793 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T04:45:51.938Z,1737002751.938 [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.
#! TethysL version initially based on automated translation from original Science/sci2.xml
#! and then (syntactically) simplified with use of array/macro extensions in TethysL.
mission sci2_slowyo_test {
"""
Vehicle yo-yo's to the specified waypoints, with science turned on.
"""
arguments {
MissionTimeout = 2 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 60 minute
"""
How often to surface for communications
"""
NeedCommsSurfaceDepthRate = 0.3 meter_per_second
"""
How quickly to ascend for comms
"""
Repeat = 1 count
"""
Number of times the vehicle should try to cycle through waypoints..
"""
Lat[1..7] = NaN degree
"""
Latitude of waypoint {$}. If nan, waypoint is skipped.
"""
Lon[1..7] = NaN degree
"""
Longitude of waypoint {$}. If nan, waypoint is skipped.
"""
ApproachDepthTimeout = 15 minute
"""
Maximum time duration for the vehicle to reach the target depth
"""
SlowYoDiveAngle = 15 degree
"""
Dive Angle while performing SlowYo
"""
Speed = 1.0 meter_per_second
"""
Speed while performing the YoYo behavior.
"""
SlowYoMinDepth = 10 meter
"""
Min Depth while performing SlowYo
"""
SlowYoMaxDepth = 40 meter
"""
Max Depth while performing SlowYo
"""
SlowYoNumYoYos = 1 count
"""
Min number of SlowYos for success
"""
SlowYoTurningWindow = 10 meter
"""
Distance from min or max depth to start a smooth transition
"""
SinkOffSurface = false
"""
If true, use buoyancy only to decend to SinkDepth before driving to first target depth
"""
SinkDepth = 10 meter
"""
Initial depth to decend using only buoyancy before driving
"""
SinkDepthTimeout = 10 minute
"""
Max wait time for the vehicle to reach the target depth
"""
CaptureRadius = NaN meter
"""
Acceptable distance from waypoint.
"""
PeakDetectChl = false
"""
Whether to enable peak chl detection on each yo-yo profile
"""
ShallowBoundChl = NaN meter
"""
Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection
"""
DeepBoundChl = NaN meter
"""
Used only when PeakDetectChl is true. Deep depth bound for peak chl detection
"""
ChlThreshTrigger = false
"""
Whether to enable chl threshold triggering
"""
ChlLowerThreshold = NaN microgram_per_liter
"""
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
"""
ChlUpperThreshold = NaN microgram_per_liter
"""
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
"""
NumProfilesThreshold = 5 count
"""
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
"""
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
"""
Buoyancy bladder position while performing the YoYo behavior. Defaults
to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
for active buoyancy
"""
ElevatorDefault = 0 degree
"""
Shuts off the elevators.
"""
MassDefault = Control:VerticalControl.massDefault
"""
Static setting for mass during the mission. Set to NaN mm for active
mass position.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 60 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
}
output {
DiveMode = 0 count
DoingComms = 0 count
SurfaceSink = 1 count
InitialDive = 2 count
SlowYo = 3 count
}
timeout duration=MissionTimeout
insert id="Science" Insert/Science.tl {
"""
Most missions will run the science sensors. If you don't place this
aggregate above NeedComms, science instruments get turned off on the
last upcast and while floating on the surface.
"""
redefineArg PeakDetectChlActive = PeakDetectChl
redefineArg PeakShallowBound = ShallowBoundChl
redefineArg PeakDeepBound = DeepBoundChl
redefineArg ChlThreshTriggerActive = ChlThreshTrigger
redefineArg ChlLowerThresh = ChlLowerThreshold
redefineArg ChlUpperThresh = ChlUpperThreshold
redefineArg NumProfilesThresh = NumProfilesThreshold
}
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:SurfaceDepthRate = NeedCommsSurfaceDepthRate
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
aggregate SurfaceComms {
run when (
called
or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
)
assign in sequence DiveMode = DoingComms
call refId="NeedComms"
aggregate setInitial {
run in sequence
break if ( SinkOffSurface )
assign in sequence DiveMode = InitialDive
}
aggregate setSink {
run in sequence
break if ( not SinkOffSurface )
assign in sequence DiveMode = SurfaceSink
}
}
aggregate DiveCmd {
run when ( called )
aggregate SurfaceSink {
run while ( DiveMode == SurfaceSink )
aggregate sink {
run in sequence
behavior Guidance:Buoyancy id="BuoyancyHold" {
run in parallel
set position = NaN cc
}
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 m/s
}
syslog info "Sinking to " + SinkDepth~meter
behavior Guidance:Pitch {
run in sequence
timeout duration=SinkDepthTimeout {
syslog important "Timed out while trying to reach target sink depth at current depth of "
+ Universal:depth~meter
}
set depth = SinkDepth
}
# Skip initial dive if we're already at start-of-slowyo depth
aggregate sinkToInit {
run in sequence
break if ( Universal:depth >= SlowYoMinDepth )
assign in sequence DiveMode = InitialDive
}
aggregate sinkToYo {
run in sequence
break if ( Universal:depth < SlowYoMinDepth )
assign in sequence DiveMode = SlowYo
}
}
}
aggregate InitialDive {
"""
Descend from the surface to target depth, limit pitch and
depth-rate.
"""
run while ( DiveMode == InitialDive )
aggregate dive {
run in sequence
behavior Guidance:Mass {
run in parallel
set position = MassDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
syslog info "Waiting for 1 minute while pumping down to neutral."
behavior Guidance:Wait {
"""
Take a few moments to ensure the VBS reaches neutral.
"""
run in sequence
set duration = 1 minute
}
syslog "Moving to " + SlowYoMinDepth~meter
aggregate ApproachDepth {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Pitch {
run in sequence
timeout duration=ApproachDepthTimeout {
syslog important "Timed out while trying to reach target depth at current depth of "
+ Universal:depth~meter
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
set depth = SlowYoMinDepth
}
}
assign in sequence DiveMode = SlowYo
}
}
aggregate SlowYoToWaypoint {
run while ( DiveMode == SlowYo )
aggregate SlowYoTask {
run in parallel
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
behavior Guidance:Pitch {
run in parallel
set elevatorAngle = ElevatorDefault
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
aggregate SlowYoLoop {
run in sequence repeat=Repeat
behavior Guidance:SlowYo {
run in sequence
set diveAngle = SlowYoDiveAngle
set minDepth = SlowYoMinDepth
set maxDepth = SlowYoMaxDepth
set turningWindow = SlowYoTurningWindow
set numYoYos = SlowYoNumYoYos
}
}
}
}
}
aggregate StopIfTriggered {
"""
If peak chlorophyll values on NumProfilesThresh consecutive yo-yo profiles fall in [ChlLowerThreshold ChlUpperThreshold], stop mission.
"""
run when ( Science:TriggeredOnChl )
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
call id="StartingMission" refId="SurfaceComms"
aggregate Lap {
run in sequence repeat=Repeat
aggregate Dive {
run while ( not ( DiveMode == DoingComms ) )
call refId="DiveCmd"
}
aggregate Wpt1 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[1]
set longitude = Lon[1]
set captureRadius = CaptureRadius
}
}
macro $i = 2..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
}
2025-01-16T04:45:51.939Z,1737002751.939 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_slowyo_test.tl id=sci2_slowyo_test
2025-01-16T04:45:53.242Z,1737002753.242 [DataOverHttps](INFO): Received command: schedule clear; schedule resume
2025-01-16T04:46:03.549Z,1737002763.549 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MissionTimeout 4 hour
2025-01-16T04:46:03.550Z,1737002763.550 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat1 36.79636 degree
2025-01-16T04:46:03.551Z,1737002763.551 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon1 -121.90301 degree
2025-01-16T04:46:03.552Z,1737002763.552 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat2 36.797 degree
2025-01-16T04:46:03.580Z,1737002763.580 [CommandExec](IMPORTANT): got command schedule clear
2025-01-16T04:46:03.581Z,1737002763.581 [CommandExec](IMPORTANT): Cleared 1 scheduled commands.
2025-01-16T04:46:03.581Z,1737002763.581 [CommandExec](IMPORTANT): got command schedule resume
2025-01-16T04:46:20.827Z,1737002780.827 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon2 -121.847 degree
2025-01-16T04:46:20.834Z,1737002780.834 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Speed 0.925 meter_per_second
2025-01-16T04:46:20.840Z,1737002780.840 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoMaxDepth 150 meter
2025-01-16T04:46:20.845Z,1737002780.845 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoTurningWindow 30 meter
2025-01-16T04:46:20.854Z,1737002780.854 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MassDefault NaN millimeter
2025-01-16T04:46:22.564Z,1737002782.564 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T044622
2025-01-16T04:46:30.230Z,1737002790.230 [DataOverHttps](INFO): Received command: sched "restart logs"
2025-01-16T04:46:30.234Z,1737002790.234 [CommandExec](IMPORTANT): got command schedule "restart logs"
2025-01-16T04:46:30.234Z,1737002790.234 [CommandExec](IMPORTANT): Scheduled #6: "restart logs", AFTER MISSION