2025-02-21T04:40:01.278Z,1740112801.278 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-21T04:40:01.278Z,1740112801.278 [sci2_slowyo_test] Stopped
2025-02-21T04:40:01.278Z,1740112801.278 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-21T04:40:01.278Z,1740112801.278 [sci2_slowyo_test:Science] Stopped
2025-02-21T04:40:01.278Z,1740112801.278 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:Science:B] Stopped
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:Science:C] Stopped
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:Science:E] Stopped
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-21T04:40:01.279Z,1740112801.279 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-21T04:40:01.280Z,1740112801.280 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-21T04:40:01.281Z,1740112801.281 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-21T04:40:01.282Z,1740112801.282 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-21T04:40:01.282Z,1740112801.282 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-21T04:40:01.361Z,1740112801.361 [CommandExec](IMPORTANT): got command restart logs
2025-02-21T04:40:01.559Z,1740112801.559 [WetLabsBB2FL](INFO): Powering down
2025-02-21T04:40:01.747Z,1740112801.747 [MissionManager](IMPORTANT): Started mission Default
2025-02-21T04:40:01.751Z,1740112801.751 [Default] Running Loop=1
2025-02-21T04:40:01.751Z,1740112801.751 [Default](DEBUG): Aggregate::initialize Default
2025-02-21T04:40:01.751Z,1740112801.751 [Default:B.GoToSurface] Running Loop=1
2025-02-21T04:40:01.752Z,1740112801.752 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T04:40:01.752Z,1740112801.752 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-21T04:40:01.752Z,1740112801.752 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-21T04:40:01.752Z,1740112801.752 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-21T04:40:01.753Z,1740112801.753 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-21T04:40:01.753Z,1740112801.753 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T04:40:01.753Z,1740112801.753 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T04:40:01.754Z,1740112801.754 [Default:A.Wait] Running Loop=1
2025-02-21T04:40:01.754Z,1740112801.754 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-21T04:40:02.203Z,1740112802.203 [Radio_Surface](INFO): Powering up
2025-02-21T04:40:02.216Z,1740112802.216 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-21T04:40:02.217Z,1740112802.217 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-21T04:40:08.096Z,1740112808.096 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T04:40:15.020Z,1740112815.020 [Default:A.Wait](INFO): Done Waiting.
2025-02-21T04:40:15.020Z,1740112815.020 [Default:A.Wait] Stopped
2025-02-21T04:40:15.020Z,1740112815.020 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T04:40:20.396Z,1740112820.396 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-21T04:40:20.396Z,1740112820.396 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-21T04:40:20.397Z,1740112820.397 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-21T04:40:21.862Z,1740112821.862 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch 30.00 deg, mass-position 11.65 mm.
2025-02-21T04:40:21.864Z,1740112821.864 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.95 m/s, pitch -1.01 deg, mass-position 11.65 mm. Average elevator angle=0.016320 +/- 0.001419 deg (conf. level 99.90%, sigma: 0.001086 deg).
2025-02-21T04:40:21.867Z,1740112821.867 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.95 m/s, pitch -2.01 deg, mass-position 11.65 mm. Average elevator angle=0.016660 +/- 0.001695 deg (conf. level 99.90%, sigma: 0.001087 deg).
2025-02-21T04:40:21.890Z,1740112821.890 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.95 m/s, pitch -3.02 deg, mass-position 11.65 mm. Average elevator angle=0.016703 +/- 0.001644 deg (conf. level 99.90%, sigma: 0.001080 deg).
2025-02-21T04:40:21.900Z,1740112821.900 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.95 m/s, pitch -4.03 deg, mass-position 11.65 mm. Average elevator angle=0.016696 +/- 0.001649 deg (conf. level 99.90%, sigma: 0.001081 deg).
2025-02-21T04:40:21.903Z,1740112821.903 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.95 m/s, pitch -5.03 deg, mass-position 11.65 mm. Average elevator angle=0.016714 +/- 0.001636 deg (conf. level 99.90%, sigma: 0.001078 deg).
2025-02-21T04:40:21.913Z,1740112821.913 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.95 m/s, pitch -6.04 deg, mass-position 11.65 mm. Average elevator angle=0.016735 +/- 0.001603 deg (conf. level 99.90%, sigma: 0.001073 deg).
2025-02-21T04:40:21.924Z,1740112821.924 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.95 m/s, pitch -7.05 deg, mass-position 11.65 mm. Average elevator angle=0.016856 +/- 0.001439 deg (conf. level 99.90%, sigma: 0.001039 deg).
2025-02-21T04:40:21.927Z,1740112821.927 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.95 m/s, pitch -8.05 deg, mass-position 11.65 mm. Average elevator angle=0.016863 +/- 0.001429 deg (conf. level 99.90%, sigma: 0.001036 deg).
2025-02-21T04:40:21.950Z,1740112821.950 [Default:CheckIn] Running Loop=1
2025-02-21T04:40:21.950Z,1740112821.950 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T04:40:21.950Z,1740112821.950 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T04:40:38.215Z,1740112838.215 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T04:40:51.465Z,1740112851.465 [NAL9602](INFO): SBD MO Status=0, MOMSN=13001, MT Status=0, MTMSN=0
2025-02-21T04:40:51.465Z,1740112851.465 [NAL9602](INFO): No messages in MT queue
2025-02-21T04:40:52.678Z,1740112852.678 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,044051.00,A,3647.73412,N,12152.19408,W,0.311,46.07,210225,,,A*4C
2025-02-21T04:40:52.681Z,1740112852.681 [NAL9602](INFO): GPS fix at 20250221T044051: (36.795569, -121.869901)
2025-02-21T04:40:52.694Z,1740112852.694 [UniversalFixResidualReporter](INFO): Fix residual: 9.2 %DT, over the last 2462.8 m. Residual distance 227.2 m at bearing -53.0 degrees. Fix at (36.7956, -121.8699) with 2116.7 m made good.
2025-02-21T04:40:52.695Z,1740112852.695 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T04:40:52.695Z,1740112852.695 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T04:41:09.356Z,1740112869.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T04:41:10.789Z,1740112870.789 [NAL9602](INFO): SBD MO Status=1, MOMSN=13002, MT Status=0, MTMSN=0
2025-02-21T04:41:10.839Z,1740112870.839 [NAL9602](INFO): Sent 74 bytes from file Logs/20250221T035008/Courier0003.lzma
2025-02-21T04:41:10.839Z,1740112870.839 [NAL9602](INFO): Packets left to send: 0
2025-02-21T04:41:27.642Z,1740112887.642 [NAL9602](INFO): SBD MO Status=1, MOMSN=13003, MT Status=0, MTMSN=0
2025-02-21T04:41:27.691Z,1740112887.691 [NAL9602](INFO): Sent 325 bytes from file Logs/20250221T044001/Courier0000.lzma
2025-02-21T04:41:27.691Z,1740112887.691 [NAL9602](INFO): Packets left to send: 0
2025-02-21T04:41:40.479Z,1740112900.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T04:41:41.374Z,1740112901.374 [NAL9602](INFO): SBD MO Status=2, MOMSN=13004, MT Status=2, MTMSN=0
2025-02-21T04:41:41.374Z,1740112901.374 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T04:42:04.014Z,1740112924.014 [NAL9602](INFO): SBD MO Status=1, MOMSN=13004, MT Status=0, MTMSN=0
2025-02-21T04:42:04.060Z,1740112924.060 [NAL9602](INFO): Sent 332 bytes from file Logs/20250221T035008/Express0004.lzma
2025-02-21T04:42:04.060Z,1740112924.060 [NAL9602](INFO): Packets left to send: 1
2025-02-21T04:42:11.608Z,1740112931.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T04:42:15.158Z,1740112935.158 [NAL9602](INFO): SBD MO Status=1, MOMSN=13005, MT Status=0, MTMSN=0
2025-02-21T04:42:15.208Z,1740112935.208 [NAL9602](INFO): Sent 65 bytes from file Logs/20250221T035008/Express0004.lzma
2025-02-21T04:42:15.208Z,1740112935.208 [NAL9602](INFO): Packets left to send: 0
2025-02-21T04:42:20.355Z,1740112940.355 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005340
2025-02-21T04:42:27.598Z,1740112947.598 [NAL9602](INFO): SBD MO Status=2, MOMSN=13006, MT Status=2, MTMSN=0
2025-02-21T04:42:27.598Z,1740112947.598 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T04:42:28.936Z,1740112948.936 [DataOverHttps](INFO): Sending 560 bytes from file Logs/20250221T044001/Express0001.lzma
2025-02-21T04:42:29.941Z,1740112949.941 [DataOverHttps](INFO): Moved sent file to Logs/20250221T044001/Express0001.lzma.bak
2025-02-21T04:42:29.942Z,1740112949.942 [DataOverHttps](INFO): SBD MOMSN=23970572
2025-02-21T04:42:31.643Z,1740112951.643 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T04:42:31.643Z,1740112951.643 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T04:42:31.644Z,1740112951.644 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T04:42:41.322Z,1740112961.322 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T04:42:54.250Z,1740112974.250 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T04:42:58.305Z,1740112978.305 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T04:43:07.222Z,1740112987.222 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T04:43:20.269Z,1740113000.269 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T04:43:32.802Z,1740113012.802 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T04:43:45.327Z,1740113025.327 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T04:43:58.317Z,1740113038.317 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T04:45:06.339Z,1740113106.339 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-21T04:45:06.340Z,1740113106.340 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-21T04:45:06.340Z,1740113106.340 [MassServo] Communications Fault, FailCount= 1
2025-02-21T04:45:06.340Z,1740113106.340 [MassServo](ERROR): Communications Fault
2025-02-21T04:45:06.360Z,1740113106.360 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-21T04:45:06.757Z,1740113106.757 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-21T04:45:06.757Z,1740113106.757 [MassServo](INFO): Powering down
2025-02-21T04:45:07.552Z,1740113107.552 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-21T04:45:07.672Z,1740113107.672 [MassServo](DEBUG): Initializing MassServo.
2025-02-21T04:45:07.681Z,1740113107.681 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-21T04:45:07.681Z,1740113107.681 [MassServo] No Fault, FailCount= 1
2025-02-21T04:47:32.204Z,1740113252.204 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-21T04:47:32.204Z,1740113252.204 [Default:CheckIn:C.Wait] Stopped
2025-02-21T04:47:32.204Z,1740113252.204 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T04:47:32.205Z,1740113252.205 [Default:CheckIn:D] Running Loop=1
2025-02-21T04:47:32.589Z,1740113252.589 [Default:CheckIn:D] Stopped
2025-02-21T04:47:32.589Z,1740113252.589 [Default:CheckIn:E] Running Loop=1
2025-02-21T04:47:33.012Z,1740113253.012 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 7.513962 min
2025-02-21T04:47:33.012Z,1740113253.012 [Default:CheckIn:E] Stopped
2025-02-21T04:47:33.012Z,1740113253.012 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-21T04:47:33.012Z,1740113253.012 [Default:CheckIn] Stopped
2025-02-21T04:47:33.012Z,1740113253.012 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T04:47:33.012Z,1740113253.012 [Default:CheckIn](INFO): Running loop #2
2025-02-21T04:47:33.013Z,1740113253.013 [Default:CheckIn] Running Loop=2
2025-02-21T04:47:33.013Z,1740113253.013 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T04:47:33.013Z,1740113253.013 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T04:47:35.001Z,1740113255.001 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,044734.00,A,3647.71735,N,12152.15768,W,0.719,204.11,210225,,,D*7F
2025-02-21T04:47:35.004Z,1740113255.004 [NAL9602](INFO): GPS fix at 20250221T044734: (36.795289, -121.869295)
2025-02-21T04:47:35.020Z,1740113255.020 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T04:47:35.020Z,1740113255.020 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T04:47:42.795Z,1740113262.795 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250221T044001/Courier0003.lzma
2025-02-21T04:47:43.801Z,1740113263.801 [DataOverHttps](INFO): Moved sent file to Logs/20250221T044001/Courier0003.lzma.bak
2025-02-21T04:47:43.802Z,1740113263.802 [DataOverHttps](INFO): SBD MOMSN=23970589
2025-02-21T04:48:00.488Z,1740113280.488 [DataOverHttps](INFO): Sending 322 bytes from file Logs/20250221T044001/Express0004.lzma
2025-02-21T04:48:01.489Z,1740113281.489 [DataOverHttps](INFO): Moved sent file to Logs/20250221T044001/Express0004.lzma.bak
2025-02-21T04:48:01.489Z,1740113281.489 [DataOverHttps](INFO): SBD MOMSN=23970592
2025-02-21T04:48:02.892Z,1740113282.892 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T04:48:02.892Z,1740113282.892 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T04:48:02.893Z,1740113282.893 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T04:48:03.686Z,1740113283.686 [NAL9602](INFO): SBD MO Status=1, MOMSN=13006, MT Status=0, MTMSN=0
2025-02-21T04:48:03.686Z,1740113283.686 [NAL9602](INFO): No messages in MT queue
2025-02-21T04:48:34.387Z,1740113314.387 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T04:48:45.706Z,1740113325.706 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-02-21T04:49:00.699Z,1740113340.699 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-02-21T04:49:06.717Z,1740113346.717 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-21T04:49:06.732Z,1740113346.732 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-21T04:49:06.732Z,1740113346.732 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-21T04:49:06.735Z,1740113346.735 [BPC1](INFO): Received data from all battery sticks.
2025-02-21T04:50:11.933Z,1740113411.933 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T045010
2025-02-21T04:50:19.995Z,1740113419.995 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 1.5 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Lat1 36.797 degree;set sci2_slowyo_test.Lon1 -121.847 degree" 22g2x 1 3
2025-02-21T04:50:20.000Z,1740113420.000 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 1.5 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Lat1 36.797 degree;set sci2_slowyo_test.Lon1 -121.847 degree" 22g2x 1 3.000000
2025-02-21T04:50:20.001Z,1740113420.001 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=22g2x
2025-02-21T04:50:20.002Z,1740113420.002 [CommandExec](IMPORTANT): Scheduled #20 (#1 of 3 with id='22g2x'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 1.5 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Lat1 36.797 degree;set sci2_slowyo_test.Lon1 -121.847 degree", ASAP
2025-02-21T04:50:20.997Z,1740113420.997 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T045020
2025-02-21T04:50:28.875Z,1740113428.875 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 150 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm" 22g2x 2 3
2025-02-21T04:50:28.960Z,1740113428.960 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 150 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm" 22g2x 2 3.000000
2025-02-21T04:50:28.960Z,1740113428.960 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=22g2x
2025-02-21T04:50:28.961Z,1740113428.961 [CommandExec](IMPORTANT): Scheduled #21 (#2 of 3 with id='22g2x'): "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 150 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm", ASAP
2025-02-21T04:50:29.877Z,1740113429.877 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T045028
2025-02-21T04:50:37.695Z,1740113437.695 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 190 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 22g2x 3 3
2025-02-21T04:50:37.719Z,1740113437.719 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 190 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 22g2x 3 3.000000
2025-02-21T04:50:37.720Z,1740113437.720 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=22g2x
2025-02-21T04:50:37.721Z,1740113437.721 [CommandExec](IMPORTANT): Scheduled #22 (#3 of 3 with id='22g2x'): "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 190 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-02-21T04:50:37.879Z,1740113437.879 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_slowyo_test.tl
2025-02-21T04:50:37.880Z,1740113437.880 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-21T04:50:37.880Z,1740113437.880 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-21T04:50:37.882Z,1740113437.882 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-21T04:50:38.697Z,1740113438.697 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T045037
2025-02-21T04:50:42.740Z,1740113442.740 [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
2025-02-21T04:50:42.782Z,1740113442.782 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-21T04:50:42.792Z,1740113442.792 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-21T04:50:42.794Z,1740113442.794 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-21T04:50:42.798Z,1740113442.798 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-21T04:50:42.825Z,1740113442.825 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-21T04:50:42.832Z,1740113442.832 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-21T04:50:42.834Z,1740113442.834 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-21T04:50:42.841Z,1740113442.841 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-21T04:50:42.843Z,1740113442.843 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-21T04:50:42.849Z,1740113442.849 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-21T04:50:42.879Z,1740113442.879 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-21T04:50:42.881Z,1740113442.881 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-21T04:50:42.951Z,1740113442.951 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-21T04:50:42.953Z,1740113442.953 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-21T04:50:42.976Z,1740113442.976 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-21T04:50:42.978Z,1740113442.978 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-21T04:50:42.000Z,1740113443.000 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-21T04:50:43.003Z,1740113443.003 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-21T04:50:43.013Z,1740113443.013 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-21T04:50:43.024Z,1740113443.024 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-21T04:50:43.040Z,1740113443.040 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-21T04:50:43.042Z,1740113443.042 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-21T04:50:43.052Z,1740113443.052 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-21T04:50:43.055Z,1740113443.055 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-21T04:50:43.069Z,1740113443.069 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-21T04:50:43.081Z,1740113443.081 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-21T04:50:43.093Z,1740113443.093 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-21T04:50:43.131Z,1740113443.131 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-21T04:50:43.133Z,1740113443.133 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-21T04:50:43.140Z,1740113443.140 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-21T04:50:43.143Z,1740113443.143 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-21T04:50:43.161Z,1740113443.161 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-21T04:50:43.171Z,1740113443.171 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-21T04:50:43.173Z,1740113443.173 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-21T04:50:43.184Z,1740113443.184 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-21T04:50:43.186Z,1740113443.186 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-21T04:50:43.205Z,1740113443.205 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-21T04:50:43.216Z,1740113443.216 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-21T04:50:43.218Z,1740113443.218 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-21T04:50:43.233Z,1740113443.233 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-21T04:50:43.235Z,1740113443.235 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-21T04:50:43.251Z,1740113443.251 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-21T04:50:43.265Z,1740113443.265 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-21T04:50:43.280Z,1740113443.280 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-21T04:50:43.282Z,1740113443.282 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-21T04:50:43.293Z,1740113443.293 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-21T04:50:43.319Z,1740113443.319 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-21T04:50:43.320Z,1740113443.320 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-21T04:50:43.320Z,1740113443.320 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-21T04:50:43.340Z,1740113443.340 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-21T04:50:49.270Z,1740113449.270 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
0
NaN
NaN
5
0
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
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
PeakDetectVsDepth
EdgeDetectVsDepth
GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth =
,
,
,
,
,
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
_.planktivore_LM_AvgRois
EdgeDetectVsDepth
_.planktivore_LM_AvgRois
GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_HM_AvgRois
PeakDetectVsDepth
_.planktivore_diatoms
PeakDetectVsDepth
_.planktivore_dinoflagellates
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-02-21T04:50:49.323Z,1740113449.323 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-21T04:50:49.325Z,1740113449.325 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-21T04:50:49.336Z,1740113449.336 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-21T04:50:49.338Z,1740113449.338 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-21T04:50:49.408Z,1740113449.408 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-21T04:50:49.410Z,1740113449.410 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-21T04:50:49.435Z,1740113449.435 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-21T04:50:49.455Z,1740113449.455 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-21T04:50:49.474Z,1740113449.474 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-21T04:50:49.486Z,1740113449.486 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-21T04:50:49.501Z,1740113449.501 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-21T04:50:49.502Z,1740113449.502 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-21T04:50:49.517Z,1740113449.517 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-21T04:50:49.519Z,1740113449.519 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-21T04:50:49.529Z,1740113449.529 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-21T04:50:49.539Z,1740113449.539 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-21T04:50:49.541Z,1740113449.541 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-21T04:50:49.552Z,1740113449.552 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-21T04:50:49.553Z,1740113449.553 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-21T04:50:49.575Z,1740113449.575 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-21T04:50:49.578Z,1740113449.578 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-21T04:50:49.604Z,1740113449.604 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-21T04:50:49.607Z,1740113449.607 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-21T04:50:49.618Z,1740113449.618 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-21T04:50:49.629Z,1740113449.629 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-21T04:50:49.637Z,1740113449.637 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-21T04:50:49.651Z,1740113449.651 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-21T04:50:49.653Z,1740113449.653 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-21T04:50:49.664Z,1740113449.664 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-21T04:50:49.666Z,1740113449.666 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-21T04:50:49.676Z,1740113449.676 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-21T04:50:49.678Z,1740113449.678 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-21T04:50:49.693Z,1740113449.693 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-21T04:50:49.695Z,1740113449.695 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-21T04:50:49.705Z,1740113449.705 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-21T04:50:49.722Z,1740113449.722 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-21T04:50:49.733Z,1740113449.733 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-21T04:50:49.751Z,1740113449.751 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-21T04:50:49.753Z,1740113449.753 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-21T04:50:49.762Z,1740113449.762 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-21T04:50:49.800Z,1740113449.800 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-21T04:50:49.802Z,1740113449.802 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-21T04:50:49.817Z,1740113449.817 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-21T04:50:49.843Z,1740113449.843 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-21T04:50:49.846Z,1740113449.846 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-21T04:50:49.856Z,1740113449.856 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-21T04:50:49.858Z,1740113449.858 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-21T04:50:49.887Z,1740113449.887 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-21T04:50:49.907Z,1740113449.907 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-21T04:50:49.910Z,1740113449.910 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-21T04:50:49.921Z,1740113449.921 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-21T04:50:49.936Z,1740113449.936 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-21T04:50:49.938Z,1740113449.938 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-21T04:50:49.948Z,1740113449.948 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-21T04:50:49.962Z,1740113449.962 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-21T04:50:49.977Z,1740113449.977 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-21T04:50:49.987Z,1740113449.987 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-21T04:50:49.989Z,1740113449.989 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-21T04:50:50.016Z,1740113450.016 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-21T04:50:50.018Z,1740113450.018 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-21T04:50:50.031Z,1740113450.031 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-21T04:50:50.041Z,1740113450.041 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-21T04:50:50.052Z,1740113450.052 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-21T04:50:50.054Z,1740113450.054 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-21T04:50:50.065Z,1740113450.065 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-21T04:50:50.076Z,1740113450.076 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-21T04:50:50.078Z,1740113450.078 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-21T04:50:50.089Z,1740113450.089 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-21T04:50:50.108Z,1740113450.108 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-21T04:50:50.110Z,1740113450.110 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-21T04:50:50.131Z,1740113450.131 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-21T04:50:50.134Z,1740113450.134 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-21T04:50:50.148Z,1740113450.148 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-21T04:50:50.151Z,1740113450.151 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-21T04:50:50.208Z,1740113450.208 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-21T04:50:50.211Z,1740113450.211 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-21T04:50:50.225Z,1740113450.225 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-21T04:50:50.256Z,1740113450.256 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-21T04:50:50.258Z,1740113450.258 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-21T04:50:50.269Z,1740113450.269 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-21T04:50:50.280Z,1740113450.280 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-21T04:50:50.293Z,1740113450.293 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-21T04:50:50.305Z,1740113450.305 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-21T04:50:50.311Z,1740113450.311 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-21T04:50:50.314Z,1740113450.314 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-21T04:50:50.317Z,1740113450.317 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-21T04:50:50.335Z,1740113450.335 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-21T04:50:50.338Z,1740113450.338 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-21T04:50:50.344Z,1740113450.344 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-21T04:50:50.346Z,1740113450.346 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-21T04:50:50.353Z,1740113450.353 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-21T04:50:50.360Z,1740113450.360 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-21T04:50:50.362Z,1740113450.362 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-21T04:50:50.368Z,1740113450.368 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-21T04:50:50.371Z,1740113450.371 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-21T04:50:50.374Z,1740113450.374 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-21T04:50:50.404Z,1740113450.404 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-21T04:50:50.418Z,1740113450.418 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-21T04:50:50.420Z,1740113450.420 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-21T04:50:50.423Z,1740113450.423 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-21T04:50:50.434Z,1740113450.434 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-21T04:50:50.436Z,1740113450.436 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-21T04:50:50.439Z,1740113450.439 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-21T04:50:50.462Z,1740113450.462 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-21T04:50:50.469Z,1740113450.469 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-21T04:50:50.475Z,1740113450.475 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-21T04:50:50.478Z,1740113450.478 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-21T04:50:50.484Z,1740113450.484 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-21T04:50:50.486Z,1740113450.486 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-21T04:50:50.528Z,1740113450.528 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.553Z,1740113450.553 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-21T04:50:50.642Z,1740113450.642 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-21T04:50:50.701Z,1740113450.701 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.727Z,1740113450.727 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.745Z,1740113450.745 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-21T04:50:50.791Z,1740113450.791 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.831Z,1740113450.831 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.858Z,1740113450.858 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-21T04:50:50.888Z,1740113450.888 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.912Z,1740113450.912 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-21T04:50:50.936Z,1740113450.936 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.948Z,1740113450.948 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.960Z,1740113450.960 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-21T04:50:50.971Z,1740113450.971 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-21T04:50:50.979Z,1740113450.979 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-21T04:50:51.020Z,1740113451.020 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-21T04:50:51.022Z,1740113451.022 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-21T04:50:51.040Z,1740113451.040 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-21T04:50:51.041Z,1740113451.041 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-21T04:50:51.043Z,1740113451.043 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-21T04:50:51.060Z,1740113451.060 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-21T04:50:51.061Z,1740113451.061 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-21T04:50:51.061Z,1740113451.061 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-21T04:50:51.062Z,1740113451.062 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-21T04:50:51.267Z,1740113451.267 [DataOverHttps](INFO): Received command: set sci2_slowyo_test.speed SpeedControl.rollOptimum
2025-02-21T04:50:51.306Z,1740113451.306 [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
2025-02-21T04:50:51.310Z,1740113451.310 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-21T04:50:51.313Z,1740113451.313 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-21T04:50:51.315Z,1740113451.315 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-21T04:50:51.317Z,1740113451.317 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-21T04:50:51.319Z,1740113451.319 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-21T04:50:51.321Z,1740113451.321 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-21T04:50:51.324Z,1740113451.324 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-21T04:50:51.326Z,1740113451.326 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-21T04:50:51.332Z,1740113451.332 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-21T04:50:51.384Z,1740113451.384 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-21T04:50:51.384Z,1740113451.384 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-21T04:50:51.385Z,1740113451.385 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-21T04:50:51.538Z,1740113451.538 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2025-02-21T04:50:51.542Z,1740113451.542 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-21T04:50:51.545Z,1740113451.545 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-21T04:50:51.547Z,1740113451.547 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-21T04:50:51.549Z,1740113451.549 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-21T04:50:51.550Z,1740113451.550 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-21T04:50:51.556Z,1740113451.556 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-21T04:50:51.562Z,1740113451.562 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-21T04:50:51.573Z,1740113451.573 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-21T04:50:51.573Z,1740113451.573 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-21T04:50:51.574Z,1740113451.574 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-21T04:50:51.647Z,1740113451.647 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-02-21T04:50:51.650Z,1740113451.650 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-21T04:50:51.652Z,1740113451.652 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-21T04:50:51.655Z,1740113451.655 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-21T04:50:51.656Z,1740113451.656 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-21T04:50:51.657Z,1740113451.657 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-21T04:50:51.877Z,1740113451.877 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-02-21T04:50:51.920Z,1740113451.920 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-21T04:50:51.922Z,1740113451.922 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-21T04:50:51.981Z,1740113451.981 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-21T04:50:51.983Z,1740113451.983 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-21T04:50:52.005Z,1740113452.005 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-21T04:50:52.042Z,1740113452.042 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-21T04:50:52.054Z,1740113452.054 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-21T04:50:52.057Z,1740113452.057 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-21T04:50:52.060Z,1740113452.060 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-21T04:50:52.082Z,1740113452.082 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-21T04:50:52.085Z,1740113452.085 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-21T04:50:52.088Z,1740113452.088 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-21T04:50:52.091Z,1740113452.091 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-21T04:50:52.093Z,1740113452.093 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-21T04:50:52.099Z,1740113452.099 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-21T04:50:52.105Z,1740113452.105 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-21T04:50:52.108Z,1740113452.108 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-21T04:50:52.112Z,1740113452.112 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-21T04:50:52.115Z,1740113452.115 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-21T04:50:52.134Z,1740113452.134 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-21T04:50:52.140Z,1740113452.140 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T04:50:52.145Z,1740113452.145 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T04:50:52.150Z,1740113452.150 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T04:50:52.156Z,1740113452.156 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T04:50:52.162Z,1740113452.162 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T04:50:52.177Z,1740113452.177 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T04:50:52.182Z,1740113452.182 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T04:50:52.270Z,1740113452.270 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T045051
2025-02-21T04:50:52.320Z,1740113452.320 [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 ShallowBound = ShallowBoundChl
redefineArg DeepBound = 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]
}
}
}
}
}
2025-02-21T04:50:52.321Z,1740113452.321 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_slowyo_test.tl id=sci2_slowyo_test
2025-02-21T04:51:04.872Z,1740113464.872 [DataOverHttps](INFO): Received command: restart logs
2025-02-21T04:51:21.672Z,1740113481.672 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MissionTimeout 1.5 hour
2025-02-21T04:51:21.673Z,1740113481.673 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.NeedCommsTime 90 minute
2025-02-21T04:51:21.674Z,1740113481.674 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat1 36.797 degree
2025-02-21T04:51:21.675Z,1740113481.675 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon1 -121.847 degree