2025-09-25T15:03:14.004Z,1758812594.004 [CommandExec](IMPORTANT): got command restart logs
2025-09-25T15:03:24.996Z,1758812604.996 [DataOverHttps](IMPORTANT): SBD MTMSN=20250925T150324
2025-09-25T15:03:33.070Z,1758812613.070 [DataOverHttps](INFO): Received command: run Maintenance/ballast_and_trim.tl
2025-09-25T15:03:33.123Z,1758812613.123 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.tl
2025-09-25T15:03:33.124Z,1758812613.124 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-09-25T15:03:33.124Z,1758812613.124 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-09-25T15:03:33.129Z,1758812613.129 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-09-25T15:03:38.518Z,1758812618.518 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
90
35
NaN
0.1
1
20
0.4
20
0
10
45
10
0.5
25
98.0
0.25
5
52
2
1
Aborting ballast and trim mission. Target depth Depth1 exceeds the mission's MaxDepth setting (review mission parameters).
stop
Aborting ballast and trim mission. Target depth Depth2 exceeds the mission's MaxDepth setting (review mission parameters).
stop
0
Checking for additional instructions before submerging.
2025-09-25T15:03:38.526Z,1758812618.526 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-09-25T15:03:38.529Z,1758812618.529 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-09-25T15:03:38.532Z,1758812618.532 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-09-25T15:03:38.534Z,1758812618.534 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-09-25T15:03:38.536Z,1758812618.536 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-09-25T15:03:38.592Z,1758812618.592 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-09-25T15:03:38.597Z,1758812618.597 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-09-25T15:03:38.676Z,1758812618.676 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-09-25T15:03:38.700Z,1758812618.700 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-09-25T15:03:38.708Z,1758812618.708 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-09-25T15:03:38.729Z,1758812618.729 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-09-25T15:03:38.747Z,1758812618.747 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-09-25T15:03:38.750Z,1758812618.750 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-09-25T15:03:38.752Z,1758812618.752 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-09-25T15:03:38.759Z,1758812618.759 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-09-25T15:03:38.761Z,1758812618.761 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-09-25T15:03:38.772Z,1758812618.772 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-09-25T15:03:38.776Z,1758812618.776 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-09-25T15:03:38.781Z,1758812618.781 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-09-25T15:03:38.805Z,1758812618.805 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-09-25T15:03:38.816Z,1758812618.816 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-09-25T15:03:38.817Z,1758812618.817 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-09-25T15:03:38.817Z,1758812618.817 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-09-25T15:03:38.855Z,1758812618.855 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-09-25T15:03:43.072Z,1758812623.072 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
NaN
0
1
NaN
NaN
5
0
0
0
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
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
EdgeDetectVsDepth
_.planktivore_HM_AvgRois
GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_diatoms
EdgeDetectVsDepth
_.planktivore_diatoms
GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_dinoflagellates
EdgeDetectVsDepth
_.planktivore_dinoflagellates
GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth =
,
,
,
,
,
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-09-25T15:03:43.210Z,1758812623.210 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-09-25T15:03:43.216Z,1758812623.216 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-09-25T15:03:43.222Z,1758812623.222 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-09-25T15:03:43.224Z,1758812623.224 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-09-25T15:03:43.264Z,1758812623.264 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-09-25T15:03:43.265Z,1758812623.265 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-09-25T15:03:43.274Z,1758812623.274 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-09-25T15:03:43.335Z,1758812623.335 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-09-25T15:03:43.337Z,1758812623.337 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-09-25T15:03:43.381Z,1758812623.381 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-09-25T15:03:43.402Z,1758812623.402 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-09-25T15:03:43.404Z,1758812623.404 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-09-25T15:03:43.429Z,1758812623.429 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-09-25T15:03:43.433Z,1758812623.433 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-09-25T15:03:43.457Z,1758812623.457 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-25T15:03:43.469Z,1758812623.469 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-25T15:03:43.488Z,1758812623.488 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-25T15:03:43.496Z,1758812623.496 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-25T15:03:43.498Z,1758812623.498 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-09-25T15:03:43.501Z,1758812623.501 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-09-25T15:03:43.551Z,1758812623.551 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-25T15:03:43.553Z,1758812623.553 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-25T15:03:43.560Z,1758812623.560 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-09-25T15:03:43.603Z,1758812623.603 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-09-25T15:03:43.605Z,1758812623.605 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-09-25T15:03:43.660Z,1758812623.660 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledRBRTridente = 0 bool
2025-09-25T15:03:43.671Z,1758812623.671 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-09-25T15:03:43.673Z,1758812623.673 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-09-25T15:03:43.684Z,1758812623.684 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-09-25T15:03:43.695Z,1758812623.695 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-09-25T15:03:43.697Z,1758812623.697 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-09-25T15:03:43.704Z,1758812623.704 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-09-25T15:03:43.711Z,1758812623.711 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-09-25T15:03:43.713Z,1758812623.713 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-09-25T15:03:43.717Z,1758812623.717 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-09-25T15:03:43.719Z,1758812623.719 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVerticalAscent = nan %
2025-09-25T15:03:43.721Z,1758812623.721 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVerticalDescent = nan %
2025-09-25T15:03:43.742Z,1758812623.742 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-09-25T15:03:43.744Z,1758812623.744 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumberOfLayers = 1.000000 count
2025-09-25T15:03:43.747Z,1758812623.747 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-09-25T15:03:43.749Z,1758812623.749 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-09-25T15:03:43.803Z,1758812623.803 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-09-25T15:03:43.806Z,1758812623.806 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-09-25T15:03:43.818Z,1758812623.818 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-09-25T15:03:43.820Z,1758812623.820 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-09-25T15:03:43.823Z,1758812623.823 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-09-25T15:03:43.825Z,1758812623.825 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-09-25T15:03:43.884Z,1758812623.884 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-09-25T15:03:43.886Z,1758812623.886 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-09-25T15:03:43.888Z,1758812623.888 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-09-25T15:03:43.927Z,1758812623.927 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-09-25T15:03:43.929Z,1758812623.929 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-09-25T15:03:43.955Z,1758812623.955 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-09-25T15:03:43.970Z,1758812623.970 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-09-25T15:03:43.973Z,1758812623.973 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-09-25T15:03:44.019Z,1758812624.019 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-09-25T15:03:44.021Z,1758812624.021 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-09-25T15:03:44.028Z,1758812624.028 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-09-25T15:03:44.042Z,1758812624.042 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-09-25T15:03:44.045Z,1758812624.045 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-09-25T15:03:44.067Z,1758812624.067 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-09-25T15:03:44.069Z,1758812624.069 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-09-25T15:03:44.085Z,1758812624.085 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-09-25T15:03:44.115Z,1758812624.115 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-09-25T15:03:44.118Z,1758812624.118 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-09-25T15:03:44.136Z,1758812624.136 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-09-25T15:03:44.139Z,1758812624.139 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-09-25T15:03:44.141Z,1758812624.141 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-09-25T15:03:44.156Z,1758812624.156 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-09-25T15:03:44.167Z,1758812624.167 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-09-25T15:03:44.170Z,1758812624.170 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-09-25T15:03:44.184Z,1758812624.184 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-09-25T15:03:44.191Z,1758812624.191 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-09-25T15:03:44.194Z,1758812624.194 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-09-25T15:03:44.213Z,1758812624.213 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-09-25T15:03:44.224Z,1758812624.224 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-09-25T15:03:44.243Z,1758812624.243 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-09-25T15:03:44.245Z,1758812624.245 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-09-25T15:03:44.256Z,1758812624.256 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-09-25T15:03:44.262Z,1758812624.262 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-09-25T15:03:44.278Z,1758812624.278 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-09-25T15:03:44.286Z,1758812624.286 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-09-25T15:03:44.289Z,1758812624.289 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-09-25T15:03:44.300Z,1758812624.300 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-09-25T15:03:44.310Z,1758812624.310 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-09-25T15:03:44.332Z,1758812624.332 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-09-25T15:03:44.343Z,1758812624.343 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-09-25T15:03:44.345Z,1758812624.345 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-09-25T15:03:44.356Z,1758812624.356 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-09-25T15:03:44.363Z,1758812624.363 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-09-25T15:03:44.365Z,1758812624.365 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-09-25T15:03:44.384Z,1758812624.384 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-09-25T15:03:44.406Z,1758812624.406 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-09-25T15:03:44.409Z,1758812624.409 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-09-25T15:03:44.416Z,1758812624.416 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-09-25T15:03:44.431Z,1758812624.431 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-09-25T15:03:44.439Z,1758812624.439 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-09-25T15:03:44.442Z,1758812624.442 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-09-25T15:03:44.445Z,1758812624.445 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-09-25T15:03:44.453Z,1758812624.453 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-09-25T15:03:44.475Z,1758812624.475 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-09-25T15:03:44.478Z,1758812624.478 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-09-25T15:03:44.508Z,1758812624.508 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-09-25T15:03:44.527Z,1758812624.527 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-09-25T15:03:44.529Z,1758812624.529 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-09-25T15:03:44.536Z,1758812624.536 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-09-25T15:03:44.554Z,1758812624.554 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-09-25T15:03:44.557Z,1758812624.557 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-09-25T15:03:44.571Z,1758812624.571 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-09-25T15:03:44.574Z,1758812624.574 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-25T15:03:44.603Z,1758812624.603 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-25T15:03:44.605Z,1758812624.605 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-09-25T15:03:44.620Z,1758812624.620 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-09-25T15:03:44.630Z,1758812624.630 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-09-25T15:03:44.633Z,1758812624.633 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-25T15:03:44.659Z,1758812624.659 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-25T15:03:44.661Z,1758812624.661 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-09-25T15:03:44.678Z,1758812624.678 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-09-25T15:03:44.685Z,1758812624.685 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-09-25T15:03:44.712Z,1758812624.712 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-09-25T15:03:44.759Z,1758812624.759 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-09-25T15:03:44.761Z,1758812624.761 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-09-25T15:03:44.776Z,1758812624.776 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-09-25T15:03:44.787Z,1758812624.787 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-09-25T15:03:44.789Z,1758812624.789 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-09-25T15:03:44.808Z,1758812624.808 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-09-25T15:03:44.826Z,1758812624.826 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-09-25T15:03:44.829Z,1758812624.829 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-09-25T15:03:44.835Z,1758812624.835 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-09-25T15:03:44.838Z,1758812624.838 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-09-25T15:03:44.856Z,1758812624.856 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-09-25T15:03:44.871Z,1758812624.871 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-09-25T15:03:44.873Z,1758812624.873 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-09-25T15:03:44.983Z,1758812624.983 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:45.032Z,1758812625.032 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:03:45.085Z,1758812625.085 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-25T15:03:45.173Z,1758812625.173 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:45.238Z,1758812625.238 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:45.268Z,1758812625.268 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-25T15:03:45.340Z,1758812625.340 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:45.408Z,1758812625.408 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:45.446Z,1758812625.446 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-25T15:03:45.512Z,1758812625.512 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:45.589Z,1758812625.589 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:03:45.700Z,1758812625.700 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:45.755Z,1758812625.755 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:03:45.813Z,1758812625.813 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:45.869Z,1758812625.869 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:03:45.964Z,1758812625.964 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:03:46.013Z,1758812626.013 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:03:46.067Z,1758812626.067 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-09-25T15:03:46.073Z,1758812626.073 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-09-25T15:03:46.074Z,1758812626.074 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-09-25T15:03:46.091Z,1758812626.091 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-09-25T15:03:46.492Z,1758812626.492 [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
2025-09-25T15:03:46.498Z,1758812626.498 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-09-25T15:03:46.502Z,1758812626.502 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-09-25T15:03:46.505Z,1758812626.505 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-09-25T15:03:46.508Z,1758812626.509 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-09-25T15:03:46.568Z,1758812626.568 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-09-25T15:03:46.592Z,1758812626.592 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-09-25T15:03:46.595Z,1758812626.595 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-09-25T15:03:46.605Z,1758812626.605 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-09-25T15:03:46.659Z,1758812626.659 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-09-25T15:03:46.839Z,1758812626.839 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-25T15:03:46.840Z,1758812626.840 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-25T15:03:46.841Z,1758812626.841 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-25T15:03:47.058Z,1758812627.058 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-09-25T15:03:47.071Z,1758812627.071 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-25T15:03:47.078Z,1758812627.078 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-25T15:03:47.089Z,1758812627.089 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-25T15:03:47.092Z,1758812627.092 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-25T15:03:47.094Z,1758812627.094 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-25T15:03:47.134Z,1758812627.134 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-25T15:03:47.198Z,1758812627.198 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-25T15:03:47.227Z,1758812627.227 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-09-25T15:03:47.227Z,1758812627.227 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-09-25T15:03:47.228Z,1758812627.228 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-09-25T15:03:47.297Z,1758812627.297 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-09-25T15:03:47.342Z,1758812627.342 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-09-25T15:03:47.344Z,1758812627.344 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-09-25T15:03:47.351Z,1758812627.351 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-09-25T15:03:47.351Z,1758812627.351 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-09-25T15:03:47.352Z,1758812627.352 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-09-25T15:03:47.639Z,1758812627.639 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-09-25T15:03:47.652Z,1758812627.652 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-09-25T15:03:47.667Z,1758812627.667 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-09-25T15:03:47.669Z,1758812627.669 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-09-25T15:03:47.673Z,1758812627.673 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-09-25T15:03:47.697Z,1758812627.697 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 0 bool
2025-09-25T15:03:47.722Z,1758812627.722 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-09-25T15:03:47.763Z,1758812627.763 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-09-25T15:03:47.769Z,1758812627.769 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-09-25T15:03:47.804Z,1758812627.804 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-09-25T15:03:47.805Z,1758812627.805 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-09-25T15:03:47.810Z,1758812627.810 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-09-25T15:03:48.465Z,1758812628.465 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
25
0
0.4
20
0
20
10
45
10
0.25
15
99.9
1
0.25
0.005
0.00075
0
Going to target depth. Speed set to
0
13
0
Waiting for
while pumping down to neutral.
Moving to
Timed out trying to reach the target depth. Stopping mission at current depth of
stop
0
Waiting for the vehicle to settle. Depth =
gfscan
Running ballast and trim. Depth =
2025-09-25T15:03:48.472Z,1758812628.472 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-09-25T15:03:48.475Z,1758812628.475 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-09-25T15:03:48.478Z,1758812628.478 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-09-25T15:03:48.480Z,1758812628.480 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-09-25T15:03:48.482Z,1758812628.482 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-09-25T15:03:48.485Z,1758812628.485 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-09-25T15:03:48.487Z,1758812628.487 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-09-25T15:03:48.489Z,1758812628.489 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-09-25T15:03:48.492Z,1758812628.492 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-09-25T15:03:48.495Z,1758812628.495 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-09-25T15:03:48.498Z,1758812628.498 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-09-25T15:03:48.525Z,1758812628.525 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-09-25T15:03:48.551Z,1758812628.551 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-09-25T15:03:48.553Z,1758812628.553 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-09-25T15:03:48.647Z,1758812628.647 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-09-25T15:03:48.653Z,1758812628.653 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-09-25T15:03:48.678Z,1758812628.678 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-09-25T15:03:48.694Z,1758812628.694 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-09-25T15:03:48.707Z,1758812628.707 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-09-25T15:03:48.729Z,1758812628.729 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-09-25T15:03:48.776Z,1758812628.776 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-09-25T15:03:48.783Z,1758812628.783 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-09-25T15:03:48.802Z,1758812628.802 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-09-25T15:03:48.816Z,1758812628.816 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-09-25T15:03:48.817Z,1758812628.817 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-09-25T15:03:48.829Z,1758812628.829 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-09-25T15:03:48.847Z,1758812628.847 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-09-25T15:03:48.849Z,1758812628.849 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-09-25T15:03:48.851Z,1758812628.851 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-09-25T15:03:48.853Z,1758812628.853 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-09-25T15:03:48.855Z,1758812628.855 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-09-25T15:03:48.856Z,1758812628.856 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-09-25T15:03:48.858Z,1758812628.858 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-09-25T15:03:48.867Z,1758812628.867 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-09-25T15:03:48.869Z,1758812628.869 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-09-25T15:03:48.875Z,1758812628.875 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-09-25T15:03:48.876Z,1758812628.876 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-09-25T15:03:48.877Z,1758812628.877 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-09-25T15:03:48.884Z,1758812628.884 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-09-25T15:03:49.127Z,1758812629.127 [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 ballast_and_trim {
arguments {
MissionTimeout = 90 minute
"""
Maximum duration of mission
"""
SkipComms = false
"""
Skip communications at start of mission.
"""
Depth1 = 35 meter
Depth2 = NaN meter
DepthDeadband = 0.1 meter
"""
How much vertical drift from the specified depth is allowed durnig the
mission.
"""
ApproachSpeed = 1 meter_per_second
"""
Enables vehicle thruster at the commanded speed to reach target depth
(set to 0 m/s to drift).
"""
ApproachDepthTimeout = 20 minute
"""
Maximum wait time for the vehicle to reach the targeted depth.
"""
ApproachDepthRate = 0.4 meter_per_second
"""
Descent depth rate (Positive depth rate means going down).
"""
ApproachPitchLimit = 20 degree
"""
Max vehicle pitch (+/-) when decending from the surface.
"""
ApproachSettleTimePreDive = 0 minute
"""
Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
surface.
"""
SettleTime = 10 minute
"""
How long to wait after reaching target depth before starting ballast and
trim.
"""
EstimationTimeout = 45 minute
"""
Timeout for ballast and trim estimation.
"""
MinEstimationTime = 10 minute
"""
Minimum time to run ballast and trim estimation before determining
convergence (must be shorter than timeout).
"""
MassEstimationErrorBound = 0.5 millimeter
"""
Desired range of the estimated sample mean from the true mean statistic
(smaller values take longer to converge).
"""
BuoyEstimationErrorBound = 25 cubic_centimeter
"""
Desired range of the estimated sample mean from the true mean statistic
(smaller values take longer to converge).
"""
EstimationConfidence = 98.0 percent
"""
Confidence level that the estimator has reached the desired error range
(larger values take longer to converge).
"""
massDeadband = 0.25 millimeter
"""
Degree of rounding in mass-shifter command output values.
"""
MinAltitude = 5 meter
MaxDepth = 52 meter
MinOffshore = 2 kilometer
CheckDepths = 1 bool
}
timeout duration=MissionTimeout
insert Insert/Science.tl
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = MissionTimeout
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 CheckTargetDepths {
run in sequence
break if ( not ( CheckDepths ) )
aggregate CheckDepth1 {
run in sequence
break if ( not ( Depth1 > MaxDepth ) )
syslog important "Aborting ballast and trim mission. Target depth Depth1 exceeds the mission's MaxDepth setting (review mission parameters)."
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
aggregate CheckDepth2 {
run in sequence
break if ( not ( Depth2 > MaxDepth ) )
syslog important "Aborting ballast and trim mission. Target depth Depth2 exceeds the mission's MaxDepth setting (review mission parameters)."
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
assign in sequence CheckDepths = 0 bool
}
aggregate StartingMission {
run in sequence
break if ( SkipComms )
# DO NOT REMOVE the syslog entry below. The MissionManager seems to ignore the value of SkipComms, does not evaluate the Break statement properly, and always calls NeedComms. Adding the syslog call somehow fixes it.
syslog info "Checking for additional instructions before submerging."
call id="StartingMission" priorityHere=false refId="NeedComms"
}
aggregate RunBallastAndTrim {
run in sequence
insert Insert/BallastAndTrim.tl {
redefineArg InsertDepthDeadband = DepthDeadband
redefineArg InsertApproachSpeed = ApproachSpeed
redefineArg InsertApproachDepthRate = ApproachDepthRate
redefineArg InsertApproachPitchLimit = ApproachPitchLimit
redefineArg InsertApproachSettleTimePreDive = ApproachSettleTimePreDive
redefineArg InsertApproachDepthTimeout = ApproachDepthTimeout
redefineArg InsertSettleTime = SettleTime
redefineArg EstTimeout = EstimationTimeout
redefineArg MinEstTime = MinEstimationTime
redefineArg MassEstErrorBound = MassEstimationErrorBound
redefineArg BuoyEstErrorBound = BuoyEstimationErrorBound
redefineArg EstConfidence = EstimationConfidence
redefineArg InsertMassDeadband = massDeadband
}
aggregate RunDepth1 {
run in sequence
break if ( isNaN ( Depth1 ) )
assign in sequence BallastAndTrim:InsertDepth = Depth1
call priorityHere=false refId="BallastAndTrim"
}
aggregate RunDepth2 {
run in sequence
break if ( isNaN ( Depth2 ) )
assign in sequence BallastAndTrim:InsertDepth = Depth2
call priorityHere=false refId="BallastAndTrim"
}
}
call id="EndingMission" priorityHere=false refId="NeedComms"
}
2025-09-25T15:03:49.129Z,1758812629.129 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.tl
2025-09-25T15:03:49.189Z,1758812629.189 [Default] Stopped
2025-09-25T15:03:49.189Z,1758812629.189 [Default](DEBUG): Aggregate::uninitialize Default
2025-09-25T15:03:49.189Z,1758812629.189 [Default:B.GoToSurface] Stopped
2025-09-25T15:03:49.189Z,1758812629.189 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T15:03:49.189Z,1758812629.189 [Default:CheckIn] Stopped
2025-09-25T15:03:49.189Z,1758812629.189 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-09-25T15:03:49.189Z,1758812629.189 [Default:CheckIn:C.Wait] Stopped
2025-09-25T15:03:49.189Z,1758812629.189 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T15:03:49.190Z,1758812629.190 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-09-25T15:03:49.202Z,1758812629.202 [ballast_and_trim] Running Loop=1
2025-09-25T15:03:49.202Z,1758812629.202 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-09-25T15:03:49.202Z,1758812629.202 [ballast_and_trim:Science] Running Loop=1
2025-09-25T15:03:49.202Z,1758812629.202 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:A] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:B] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:C] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:D] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:E] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:F] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:PeakDetectChl:A] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:EdgeDetectChl] Running Loop=1
2025-09-25T15:03:49.203Z,1758812629.203 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectChl
2025-09-25T15:03:49.204Z,1758812629.204 [ballast_and_trim:Science:EdgeDetectChl:A] Running Loop=1
2025-09-25T15:03:49.204Z,1758812629.204 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-09-25T15:03:49.204Z,1758812629.204 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-09-25T15:03:49.204Z,1758812629.204 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-25T15:03:49.204Z,1758812629.204 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-25T15:03:49.204Z,1758812629.204 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-09-25T15:03:49.204Z,1758812629.204 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-09-25T15:03:49.205Z,1758812629.205 [ballast_and_trim:Science:PeakDetectNO3:A] Running Loop=1
2025-09-25T15:03:49.205Z,1758812629.205 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-09-25T15:03:49.205Z,1758812629.205 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-09-25T15:03:49.205Z,1758812629.205 [ballast_and_trim:Science:PeakDetectOil:A] Running Loop=1
2025-09-25T15:03:49.205Z,1758812629.205 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-09-25T15:03:49.205Z,1758812629.205 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-09-25T15:03:49.206Z,1758812629.206 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-25T15:03:49.206Z,1758812629.206 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-25T15:03:49.210Z,1758812629.210 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-09-25T15:03:49.210Z,1758812629.210 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-09-25T15:03:49.211Z,1758812629.211 [ballast_and_trim:Science:PeakDetectFDOM:A] Running Loop=1
2025-09-25T15:03:49.211Z,1758812629.211 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-09-25T15:03:49.211Z,1758812629.211 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-09-25T15:03:49.211Z,1758812629.211 [ballast_and_trim:Science:PeakDetectSalinity:A] Running Loop=1
2025-09-25T15:03:49.211Z,1758812629.211 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-09-25T15:03:49.211Z,1758812629.211 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-09-25T15:03:49.211Z,1758812629.211 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-25T15:03:49.211Z,1758812629.211 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-25T15:03:49.212Z,1758812629.212 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-25T15:03:49.212Z,1758812629.212 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-09-25T15:03:49.212Z,1758812629.212 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-25T15:03:49.212Z,1758812629.212 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-25T15:03:49.212Z,1758812629.212 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-25T15:03:49.212Z,1758812629.212 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-25T15:03:49.212Z,1758812629.212 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-25T15:03:49.212Z,1758812629.212 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-09-25T15:03:49.213Z,1758812629.213 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-09-25T15:03:49.214Z,1758812629.214 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-25T15:03:49.214Z,1758812629.214 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-25T15:03:49.214Z,1758812629.214 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-25T15:03:49.218Z,1758812629.218 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-25T15:03:49.218Z,1758812629.218 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-25T15:03:49.218Z,1758812629.218 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-25T15:03:49.218Z,1758812629.218 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-25T15:03:49.219Z,1758812629.219 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-09-25T15:03:49.219Z,1758812629.219 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-09-25T15:03:49.219Z,1758812629.219 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-09-25T15:03:49.219Z,1758812629.219 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-09-25T15:03:49.219Z,1758812629.219 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-09-25T15:03:49.219Z,1758812629.219 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-09-25T15:03:49.219Z,1758812629.219 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-09-25T15:03:49.220Z,1758812629.220 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-09-25T15:03:49.220Z,1758812629.220 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-09-25T15:03:49.220Z,1758812629.220 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-09-25T15:03:49.220Z,1758812629.220 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T15:03:49.220Z,1758812629.220 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-25T15:03:49.220Z,1758812629.220 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T15:03:49.220Z,1758812629.220 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-25T15:03:49.220Z,1758812629.220 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:PowerOnly] Running Loop=1
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-09-25T15:03:49.221Z,1758812629.221 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-09-25T15:03:49.226Z,1758812629.226 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-09-25T15:03:49.226Z,1758812629.226 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-09-25T15:03:49.227Z,1758812629.227 [ballast_and_trim:C] Running Loop=1
2025-09-25T15:03:49.227Z,1758812629.227 [ballast_and_trim:PowerOnly] Running Loop=1
2025-09-25T15:03:49.228Z,1758812629.228 [ballast_and_trim:PowerOnly:D] Stopped
2025-09-25T15:03:49.228Z,1758812629.228 [ballast_and_trim:PowerOnly:C] Stopped
2025-09-25T15:03:49.228Z,1758812629.228 [ballast_and_trim:PowerOnly:B] Stopped
2025-09-25T15:03:49.228Z,1758812629.228 [ballast_and_trim:PowerOnly:A] Stopped
2025-09-25T15:03:49.228Z,1758812629.228 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-09-25T15:03:49.228Z,1758812629.228 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-09-25T15:03:49.228Z,1758812629.228 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T15:03:49.229Z,1758812629.229 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T15:03:49.229Z,1758812629.229 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T15:03:49.235Z,1758812629.235 [ballast_and_trim:C] Stopped
2025-09-25T15:03:49.235Z,1758812629.235 [ballast_and_trim:E] Running Loop=1
2025-09-25T15:03:49.235Z,1758812629.235 [ballast_and_trim:Science] Running Loop=1
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-25T15:03:49.237Z,1758812629.237 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-25T15:03:49.238Z,1758812629.238 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-09-25T15:03:49.238Z,1758812629.238 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-09-25T15:03:49.238Z,1758812629.238 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-09-25T15:03:49.238Z,1758812629.238 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-09-25T15:03:49.242Z,1758812629.242 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-09-25T15:03:49.243Z,1758812629.243 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-09-25T15:03:49.243Z,1758812629.243 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-09-25T15:03:49.244Z,1758812629.244 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-25T15:03:49.244Z,1758812629.244 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-09-25T15:03:49.244Z,1758812629.244 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-25T15:03:49.245Z,1758812629.245 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-09-25T15:03:49.246Z,1758812629.246 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-09-25T15:03:49.246Z,1758812629.246 [ballast_and_trim:Science:PeakDetectSalinity:A] Stopped
2025-09-25T15:03:49.246Z,1758812629.246 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-09-25T15:03:49.246Z,1758812629.246 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-09-25T15:03:49.251Z,1758812629.251 [ballast_and_trim:Science:PeakDetectFDOM:A] Stopped
2025-09-25T15:03:49.251Z,1758812629.251 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-09-25T15:03:49.251Z,1758812629.251 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-09-25T15:03:49.251Z,1758812629.251 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:PeakDetectOil:A] Stopped
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:PeakDetectNO3:A] Stopped
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-25T15:03:49.252Z,1758812629.252 [ballast_and_trim:Science:EdgeDetectChl] Stopped
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectChl
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:EdgeDetectChl:A] Stopped
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:PeakDetectChl:A] Stopped
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:Read_Oil] Stopped
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:F] Stopped
2025-09-25T15:03:49.253Z,1758812629.253 [ballast_and_trim:Science:E] Running Loop=1
2025-09-25T15:03:49.254Z,1758812629.254 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-09-25T15:03:49.254Z,1758812629.254 [ballast_and_trim:Science:D] Stopped
2025-09-25T15:03:49.266Z,1758812629.266 [ballast_and_trim:Science:C] Running Loop=1
2025-09-25T15:03:49.267Z,1758812629.267 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-09-25T15:03:49.269Z,1758812629.269 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-09-25T15:03:49.269Z,1758812629.269 [ballast_and_trim:Science:B] Running Loop=1
2025-09-25T15:03:49.269Z,1758812629.269 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-09-25T15:03:49.270Z,1758812629.270 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-09-25T15:03:49.270Z,1758812629.270 [ballast_and_trim:Science:A] Stopped
2025-09-25T15:03:49.608Z,1758812629.608 [ballast_and_trim:E] Stopped
2025-09-25T15:03:49.609Z,1758812629.609 [ballast_and_trim:F] Running Loop=1
2025-09-25T15:03:50.004Z,1758812630.004 [ballast_and_trim:F] Stopped
2025-09-25T15:03:50.004Z,1758812630.004 [ballast_and_trim:G] Running Loop=1
2025-09-25T15:03:50.248Z,1758812630.248 [WetLabsBB2FL](INFO): Powering up
2025-09-25T15:03:50.422Z,1758812630.422 [ballast_and_trim:G] Stopped
2025-09-25T15:03:50.422Z,1758812630.422 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-09-25T15:03:50.422Z,1758812630.422 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-09-25T15:03:50.422Z,1758812630.422 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-09-25T15:03:50.422Z,1758812630.422 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-09-25T15:03:50.423Z,1758812630.423 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-09-25T15:03:50.812Z,1758812630.812 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-09-25T15:03:50.812Z,1758812630.812 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-09-25T15:03:50.812Z,1758812630.812 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-09-25T15:03:50.812Z,1758812630.812 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-09-25T15:03:50.813Z,1758812630.813 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-09-25T15:03:50.813Z,1758812630.813 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-09-25T15:03:51.211Z,1758812631.211 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-09-25T15:03:51.211Z,1758812631.211 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-09-25T15:03:51.211Z,1758812631.211 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-09-25T15:03:51.212Z,1758812631.212 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-09-25T15:03:51.617Z,1758812631.617 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-09-25T15:03:51.617Z,1758812631.617 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-09-25T15:03:51.617Z,1758812631.617 [ballast_and_trim:CheckTargetDepths] Stopped
2025-09-25T15:03:51.617Z,1758812631.617 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-09-25T15:03:51.618Z,1758812631.618 [ballast_and_trim:StartingMission] Running Loop=1
2025-09-25T15:03:51.618Z,1758812631.618 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-09-25T15:03:51.618Z,1758812631.618 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-09-25T15:03:52.041Z,1758812632.041 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-09-25T15:03:52.041Z,1758812632.041 [ballast_and_trim:StartingMission:A] Stopped
2025-09-25T15:03:52.041Z,1758812632.041 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-09-25T15:03:52.041Z,1758812632.041 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-09-25T15:03:52.420Z,1758812632.420 [ballast_and_trim:NeedComms] Running Loop=1
2025-09-25T15:03:52.420Z,1758812632.420 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-09-25T15:03:52.420Z,1758812632.420 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-09-25T15:03:52.420Z,1758812632.420 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T15:03:52.420Z,1758812632.420 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-09-25T15:03:52.421Z,1758812632.421 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-09-25T15:03:52.421Z,1758812632.421 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-09-25T15:03:52.421Z,1758812632.421 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-09-25T15:03:52.422Z,1758812632.422 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T15:03:52.422Z,1758812632.422 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T15:03:52.422Z,1758812632.422 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-09-25T15:03:52.424Z,1758812632.424 [ballast_and_trim:NeedComms:A](INFO): last time_fix was: 1758812291.000000 second since 1970/01/01T00:00:00Z
2025-09-25T15:03:52.424Z,1758812632.424 [ballast_and_trim:NeedComms:A] Stopped
2025-09-25T15:03:52.711Z,1758812632.711 [CTD_Seabird](ERROR): Failed to parse device response:
2025-09-25T15:03:52.845Z,1758812632.845 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-09-25T15:03:53.253Z,1758812633.253 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T15:03:54.839Z,1758812634.839 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150354.00,A,3647.82003,N,12150.90167,W,0.991,104.66,250925,,,D*73
2025-09-25T15:03:54.841Z,1758812634.841 [NAL9602](INFO): GPS fix at 20250925T150354: (36.797001, -121.848361)
2025-09-25T15:03:54.872Z,1758812634.872 [ballast_and_trim:NeedComms:C] Stopped
2025-09-25T15:03:54.872Z,1758812634.872 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-09-25T15:03:55.291Z,1758812635.291 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-25T15:04:03.956Z,1758812643.956 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250924T231803/Courier0436.lzma
2025-09-25T15:04:10.204Z,1758812650.204 [NAL9602](INFO): SBD MO Status=0, MOMSN=13772, MT Status=0, MTMSN=0
2025-09-25T15:04:10.204Z,1758812650.204 [NAL9602](INFO): No messages in MT queue
2025-09-25T15:04:15.012Z,1758812655.012 [DataOverHttps](INFO): Moved sent file to Logs/20250924T231803/Courier0436.lzma.bak
2025-09-25T15:04:15.012Z,1758812655.012 [DataOverHttps](INFO): SBD MOMSN=26074524
2025-09-25T15:04:40.959Z,1758812680.959 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T15:04:46.884Z,1758812686.884 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20250925T150314/Courier0000.lzma
2025-09-25T15:04:57.944Z,1758812697.944 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Courier0000.lzma.bak
2025-09-25T15:04:57.946Z,1758812697.946 [DataOverHttps](INFO): SBD MOMSN=26074530
2025-09-25T15:05:32.981Z,1758812732.981 [DataOverHttps](INFO): Sending 105 bytes from file Logs/20250924T231803/Express0437.lzma
2025-09-25T15:05:44.020Z,1758812744.020 [DataOverHttps](INFO): Moved sent file to Logs/20250924T231803/Express0437.lzma.bak
2025-09-25T15:05:44.020Z,1758812744.020 [DataOverHttps](INFO): SBD MOMSN=26074564
2025-09-25T15:06:12.647Z,1758812772.647 [DataOverHttps](INFO): Sending 601 bytes from file Logs/20250925T150314/Express0001.lzma
2025-09-25T15:06:23.684Z,1758812783.684 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0001.lzma.bak
2025-09-25T15:06:23.684Z,1758812783.684 [DataOverHttps](INFO): SBD MOMSN=26074571
2025-09-25T15:06:52.218Z,1758812812.218 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250925T150314/Express0004.lzma
2025-09-25T15:07:03.284Z,1758812823.284 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0004.lzma.bak
2025-09-25T15:07:03.284Z,1758812823.284 [DataOverHttps](INFO): SBD MOMSN=26074581
2025-09-25T15:07:04.663Z,1758812824.663 [ballast_and_trim:NeedComms:D] Stopped
2025-09-25T15:07:04.664Z,1758812824.664 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-09-25T15:07:05.061Z,1758812825.061 [ballast_and_trim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T15:07:06.657Z,1758812826.657 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150705.00,A,3647.82158,N,12150.84948,W,1.069,91.18,250925,,,D*47
2025-09-25T15:07:06.669Z,1758812826.669 [NAL9602](INFO): GPS fix at 20250925T150705: (36.797026, -121.847491)
2025-09-25T15:07:06.699Z,1758812826.699 [ballast_and_trim:NeedComms:E] Stopped
2025-09-25T15:07:06.699Z,1758812826.699 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-09-25T15:07:06.700Z,1758812826.700 [ballast_and_trim:NeedComms] Stopped
2025-09-25T15:07:06.700Z,1758812826.700 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-09-25T15:07:06.700Z,1758812826.700 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-09-25T15:07:06.700Z,1758812826.700 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T15:07:07.099Z,1758812827.099 [ballast_and_trim:StartingMission:StartingMission](INFO): Completed ballast_and_trim:StartingMission:StartingMission
2025-09-25T15:07:07.099Z,1758812827.099 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-09-25T15:07:07.099Z,1758812827.099 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-09-25T15:07:07.099Z,1758812827.099 [ballast_and_trim:StartingMission](INFO): Completed ballast_and_trim:StartingMission
2025-09-25T15:07:07.099Z,1758812827.099 [ballast_and_trim:StartingMission] Stopped
2025-09-25T15:07:07.099Z,1758812827.099 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-09-25T15:07:07.099Z,1758812827.099 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2025-09-25T15:07:07.100Z,1758812827.100 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2025-09-25T15:07:07.100Z,1758812827.100 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Running Loop=1
2025-09-25T15:07:07.100Z,1758812827.100 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-09-25T15:07:07.100Z,1758812827.100 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Running Loop=1
2025-09-25T15:07:07.481Z,1758812827.481 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Stopped
2025-09-25T15:07:07.481Z,1758812827.481 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Running Loop=1
2025-09-25T15:07:07.481Z,1758812827.481 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-09-25T15:07:07.895Z,1758812827.895 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2025-09-25T15:07:07.895Z,1758812827.895 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-09-25T15:07:07.895Z,1758812827.895 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-09-25T15:07:07.896Z,1758812827.896 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-09-25T15:07:07.896Z,1758812827.896 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-09-25T15:07:07.896Z,1758812827.896 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-09-25T15:07:07.896Z,1758812827.896 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-09-25T15:07:07.896Z,1758812827.896 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2025-09-25T15:07:07.912Z,1758812827.912 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to 1.000000 m/s
2025-09-25T15:07:07.912Z,1758812827.912 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2025-09-25T15:07:07.912Z,1758812827.912 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-09-25T15:07:07.912Z,1758812827.912 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-09-25T15:07:07.912Z,1758812827.912 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-09-25T15:07:07.912Z,1758812827.912 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-09-25T15:07:07.913Z,1758812827.913 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-09-25T15:07:07.913Z,1758812827.913 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-09-25T15:07:07.913Z,1758812827.913 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-09-25T15:07:07.913Z,1758812827.913 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-09-25T15:07:07.913Z,1758812827.913 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-25T15:07:07.913Z,1758812827.913 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-09-25T15:07:07.913Z,1758812827.913 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-09-25T15:07:07.914Z,1758812827.914 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-09-25T15:07:07.934Z,1758812827.934 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-09-25T15:07:07.934Z,1758812827.934 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-09-25T15:07:07.934Z,1758812827.934 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-09-25T15:07:07.935Z,1758812827.935 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-09-25T15:07:07.935Z,1758812827.935 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-09-25T15:07:07.935Z,1758812827.935 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-09-25T15:07:07.935Z,1758812827.935 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-09-25T15:07:08.324Z,1758812828.324 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for 0.000000 min while pumping down to neutral.
2025-09-25T15:07:08.324Z,1758812828.324 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-09-25T15:07:08.324Z,1758812828.324 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-09-25T15:07:08.324Z,1758812828.324 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-09-25T15:07:08.325Z,1758812828.325 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-09-25T15:07:08.325Z,1758812828.325 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-09-25T15:07:08.325Z,1758812828.325 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-09-25T15:07:08.325Z,1758812828.325 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-09-25T15:07:08.326Z,1758812828.326 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-09-25T15:07:08.721Z,1758812828.721 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-09-25T15:07:08.722Z,1758812828.722 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-09-25T15:07:08.722Z,1758812828.722 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-09-25T15:07:09.142Z,1758812829.142 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-09-25T15:07:09.143Z,1758812829.143 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to 35.000000 m
2025-09-25T15:07:09.143Z,1758812829.143 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-09-25T15:07:09.143Z,1758812829.143 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-09-25T15:07:09.143Z,1758812829.143 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-09-25T15:07:27.679Z,1758812847.679 [NAL9602](INFO): SBD MO Status=0, MOMSN=13773, MT Status=0, MTMSN=0
2025-09-25T15:07:27.679Z,1758812847.679 [NAL9602](INFO): No messages in MT queue
2025-09-25T15:07:58.219Z,1758812878.219 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T15:08:24.952Z,1758812904.952 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 10.67 mm (2 active estimators).
2025-09-25T15:08:36.743Z,1758812916.743 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T15:09:07.878Z,1758812947.878 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T15:09:25.506Z,1758812965.506 [Radio_Surface](INFO): Powering down
2025-09-25T15:09:39.006Z,1758812979.006 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T15:09:40.010Z,1758812980.010 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-25T15:10:55.335Z,1758813055.335 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.546326
2025-09-25T15:11:21.067Z,1758813081.067 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-09-25T15:11:25.116Z,1758813085.116 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-09-25T15:11:25.117Z,1758813085.117 [BPC1](INFO): Calculating totals. Valid battery stick count: 53. Valid reserve battery stick count: 6.
2025-09-25T15:11:25.120Z,1758813085.120 [BPC1](INFO): Received data from all battery sticks.
2025-09-25T15:12:43.100Z,1758813163.100 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-09-25T15:12:43.100Z,1758813163.100 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-09-25T15:12:43.100Z,1758813163.100 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-09-25T15:12:43.100Z,1758813163.100 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-09-25T15:12:43.100Z,1758813163.100 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-09-25T15:12:43.101Z,1758813163.101 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-09-25T15:12:43.102Z,1758813163.102 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-25T15:12:43.103Z,1758813163.103 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-09-25T15:12:43.103Z,1758813163.103 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-09-25T15:12:43.103Z,1758813163.103 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-09-25T15:12:43.103Z,1758813163.103 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-09-25T15:12:43.103Z,1758813163.103 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-09-25T15:12:43.103Z,1758813163.103 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-09-25T15:12:43.103Z,1758813163.103 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-09-25T15:12:43.104Z,1758813163.104 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-09-25T15:12:43.517Z,1758813163.517 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth = 35.075848 m
2025-09-25T15:12:43.517Z,1758813163.517 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-09-25T15:12:43.517Z,1758813163.517 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-09-25T15:12:43.517Z,1758813163.517 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-09-25T15:12:43.517Z,1758813163.517 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-09-25T15:12:43.518Z,1758813163.518 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-09-25T15:12:43.903Z,1758813163.903 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -13.00 mm.
2025-09-25T15:22:44.291Z,1758813764.291 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](INFO): Done Waiting.
2025-09-25T15:22:44.291Z,1758813764.291 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-09-25T15:22:44.291Z,1758813764.291 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T15:22:44.291Z,1758813764.291 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Running Loop=1
2025-09-25T15:22:44.700Z,1758813764.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](INFO): Executing command gfscan
2025-09-25T15:22:44.700Z,1758813764.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Stopped
2025-09-25T15:22:44.701Z,1758813764.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Running Loop=1
2025-09-25T15:22:44.775Z,1758813764.775 [CommandExec](IMPORTANT): got command gfscan
2025-09-25T15:22:45.092Z,1758813765.092 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F](INFO): Running ballast and trim. Depth = 35.607471 m
2025-09-25T15:22:45.092Z,1758813765.092 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Stopped
2025-09-25T15:22:45.093Z,1758813765.093 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Running Loop=1
2025-09-25T15:22:45.093Z,1758813765.093 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Initializing BallastAndTrim.
2025-09-25T15:22:45.139Z,1758813765.139 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-09-25T15:22:45.440Z,1758813765.440 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-25T15:22:45.442Z,1758813765.442 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-25T15:22:46.444Z,1758813766.444 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-25T15:22:46.445Z,1758813766.445 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-25T15:22:47.448Z,1758813767.448 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-25T15:22:47.449Z,1758813767.449 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-25T15:22:48.452Z,1758813768.452 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-25T15:22:48.453Z,1758813768.453 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-25T15:22:49.456Z,1758813769.456 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-09-25T15:22:49.457Z,1758813769.457 [CTD_Seabird](INFO): some bad data, not updating bins
2025-09-25T15:22:49.603Z,1758813769.603 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.001713
CHAN A1 (24V): -0.000287
CHAN A2 (12V): 0.000440
CHAN A3 (5V): -0.001630
CHAN B0 (3.3V): -0.000960
CHAN B1 (3.15aV): -0.001567
CHAN B2 (3.15bV): -0.000928
CHAN B3 (GND): -0.002119
OPEN: 0.004930
Full Scale: +/- 1 mA
2025-09-25T15:32:45.870Z,1758814365.870 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): BallastAndTrim completed. Estimation time: 10.01 minutes.
2025-09-25T15:32:45.875Z,1758814365.875 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated buoyancyNeutral: 275.176882 +/- 10.997227 cc (conf. level 98.00%, sigma: 58.564723 cc).
2025-09-25T15:32:45.876Z,1758814365.876 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated massDefault: 7.134980 +/- 0.226140 mm (conf. level 98.00%, sigma: 1.204287 mm).
2025-09-25T15:32:45.876Z,1758814365.876 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Changing persisted config values to: 275.176882 cc buoyancy neutral and 7.134980 mm mass default
2025-09-25T15:32:45.892Z,1758814365.892 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-09-25T15:32:45.893Z,1758814365.893 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): DropWeight.loadAtStartup=0 bool;
2025-09-25T15:32:45.894Z,1758814365.894 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): SpeedControl.rollOptimum=0.950000 m/s;
2025-09-25T15:32:45.897Z,1758814365.897 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.buoyancyNeutral=275.176882 cubic_centimeter;
2025-09-25T15:32:45.898Z,1758814365.898 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.massDefault=7.134980 millimeter;
2025-09-25T15:32:45.903Z,1758814365.903 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Stopped
2025-09-25T15:32:45.903Z,1758814365.903 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Uninitializing BallastAndTrim.
2025-09-25T15:32:45.904Z,1758814365.904 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-09-25T15:32:45.904Z,1758814365.904 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-09-25T15:32:45.904Z,1758814365.904 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-09-25T15:32:45.904Z,1758814365.904 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-09-25T15:32:45.905Z,1758814365.905 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-09-25T15:32:45.905Z,1758814365.905 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-09-25T15:32:45.906Z,1758814365.906 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-09-25T15:32:45.906Z,1758814365.906 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2025-09-25T15:32:45.910Z,1758814365.910 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-09-25T15:32:45.910Z,1758814365.910 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2025-09-25T15:32:45.910Z,1758814365.910 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2025-09-25T15:32:45.910Z,1758814365.910 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2025-09-25T15:32:45.910Z,1758814365.910 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2025-09-25T15:32:45.910Z,1758814365.910 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2025-09-25T15:32:46.267Z,1758814366.267 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-09-25T15:32:46.267Z,1758814366.267 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Stopped
2025-09-25T15:32:46.267Z,1758814366.267 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-09-25T15:32:46.268Z,1758814366.268 [ballast_and_trim:RunBallastAndTrim:RunDepth1](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-09-25T15:32:46.268Z,1758814366.268 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Stopped
2025-09-25T15:32:46.268Z,1758814366.268 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-09-25T15:32:46.268Z,1758814366.268 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Running Loop=1
2025-09-25T15:32:46.268Z,1758814366.268 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-09-25T15:32:46.268Z,1758814366.268 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Running Loop=1
2025-09-25T15:32:46.682Z,1758814366.682 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Stopped
2025-09-25T15:32:46.682Z,1758814366.682 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-09-25T15:32:46.682Z,1758814366.682 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Stopped
2025-09-25T15:32:46.686Z,1758814366.686 [ballast_and_trim:RunBallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim
2025-09-25T15:32:46.686Z,1758814366.686 [ballast_and_trim:RunBallastAndTrim] Stopped
2025-09-25T15:32:46.687Z,1758814366.687 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2025-09-25T15:32:46.687Z,1758814366.687 [ballast_and_trim:EndingMission] Running Loop=1
2025-09-25T15:32:46.687Z,1758814366.687 [ballast_and_trim:EndingMission](DEBUG): Aggregate::initialize ballast_and_trim:EndingMission
2025-09-25T15:32:47.067Z,1758814367.067 [ballast_and_trim:NeedComms] Running Loop=1
2025-09-25T15:32:47.067Z,1758814367.067 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-09-25T15:32:47.067Z,1758814367.067 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-09-25T15:32:47.067Z,1758814367.067 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T15:32:47.067Z,1758814367.067 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-09-25T15:32:47.068Z,1758814367.068 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-09-25T15:32:47.068Z,1758814367.068 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-09-25T15:32:47.068Z,1758814367.068 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-09-25T15:32:47.069Z,1758814367.069 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T15:32:47.069Z,1758814367.069 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T15:32:47.069Z,1758814367.069 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-09-25T15:32:47.079Z,1758814367.079 [ballast_and_trim:NeedComms:A](INFO): last time_fix was: 1758812825.000000 second since 1970/01/01T00:00:00Z
2025-09-25T15:32:47.079Z,1758814367.079 [ballast_and_trim:NeedComms:A] Stopped
2025-09-25T15:34:57.704Z,1758814497.704 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-09-25T15:34:58.338Z,1758814498.338 [Radio_Surface](INFO): Powering up
2025-09-25T15:35:04.283Z,1758814504.283 [DataOverHttps](INFO): Radio surface powered ON.
2025-09-25T15:35:23.977Z,1758814523.977 [NAL9602](INFO): SBD MO Status=2, MOMSN=13774, MT Status=2, MTMSN=0
2025-09-25T15:35:23.977Z,1758814523.977 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-09-25T15:35:34.402Z,1758814534.402 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T15:35:42.548Z,1758814542.548 [NAL9602](INFO): SBD MO Status=0, MOMSN=13774, MT Status=0, MTMSN=0
2025-09-25T15:35:42.548Z,1758814542.548 [NAL9602](INFO): No messages in MT queue
2025-09-25T15:35:43.757Z,1758814543.757 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153543.00,A,3648.05340,N,12150.69915,W,0.758,50.20,250925,,,A*43
2025-09-25T15:35:43.759Z,1758814543.759 [NAL9602](INFO): GPS fix at 20250925T153543: (36.800890, -121.844986)
2025-09-25T15:35:43.793Z,1758814543.793 [ballast_and_trim:NeedComms:C] Stopped
2025-09-25T15:35:43.793Z,1758814543.793 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-09-25T15:35:55.521Z,1758814555.521 [NAL9602](INFO): SBD MO Status=1, MOMSN=13775, MT Status=0, MTMSN=0
2025-09-25T15:35:55.574Z,1758814555.574 [NAL9602](INFO): Sent 202 bytes from file Logs/20250925T150314/Courier0006.lzma
2025-09-25T15:35:55.575Z,1758814555.575 [NAL9602](INFO): Packets left to send: 0
2025-09-25T15:36:05.526Z,1758814565.526 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T15:36:10.130Z,1758814570.130 [NAL9602](INFO): SBD MO Status=1, MOMSN=13776, MT Status=0, MTMSN=0
2025-09-25T15:36:10.178Z,1758814570.178 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0007.lzma
2025-09-25T15:36:10.179Z,1758814570.179 [NAL9602](INFO): Packets left to send: 3
2025-09-25T15:36:19.157Z,1758814579.157 [NAL9602](INFO): SBD MO Status=1, MOMSN=13777, MT Status=0, MTMSN=0
2025-09-25T15:36:19.219Z,1758814579.219 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0007.lzma
2025-09-25T15:36:19.220Z,1758814579.220 [NAL9602](INFO): Packets left to send: 2
2025-09-25T15:36:34.980Z,1758814594.980 [NAL9602](INFO): SBD MO Status=1, MOMSN=13778, MT Status=0, MTMSN=0
2025-09-25T15:36:35.034Z,1758814595.034 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0007.lzma
2025-09-25T15:36:35.035Z,1758814595.035 [NAL9602](INFO): Packets left to send: 1
2025-09-25T15:36:36.670Z,1758814596.670 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T15:36:43.141Z,1758814603.141 [NAL9602](INFO): SBD MO Status=1, MOMSN=13779, MT Status=0, MTMSN=0
2025-09-25T15:36:43.190Z,1758814603.190 [NAL9602](INFO): Sent 164 bytes from file Logs/20250925T150314/Express0007.lzma
2025-09-25T15:36:43.191Z,1758814603.191 [NAL9602](INFO): Packets left to send: 0
2025-09-25T15:36:50.832Z,1758814610.832 [NAL9602](INFO): SBD MO Status=0, MOMSN=13780, MT Status=0, MTMSN=0
2025-09-25T15:36:50.917Z,1758814610.917 [ballast_and_trim:NeedComms:D] Stopped
2025-09-25T15:36:50.917Z,1758814610.917 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-09-25T15:36:53.245Z,1758814613.245 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153652.00,A,3648.05537,N,12150.68808,W,0.233,85.90,250925,,,A*41
2025-09-25T15:36:53.247Z,1758814613.247 [NAL9602](INFO): GPS fix at 20250925T153652: (36.800923, -121.844801)
2025-09-25T15:36:53.296Z,1758814613.296 [ballast_and_trim:NeedComms:E] Stopped
2025-09-25T15:36:53.297Z,1758814613.297 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-09-25T15:36:53.297Z,1758814613.297 [ballast_and_trim:NeedComms] Stopped
2025-09-25T15:36:53.297Z,1758814613.297 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-09-25T15:36:53.297Z,1758814613.297 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-09-25T15:36:53.298Z,1758814613.298 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T15:36:53.704Z,1758814613.704 [ballast_and_trim:EndingMission](INFO): Completed ballast_and_trim:EndingMission
2025-09-25T15:36:53.704Z,1758814613.704 [ballast_and_trim:EndingMission] Stopped
2025-09-25T15:36:53.704Z,1758814613.704 [ballast_and_trim:EndingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:EndingMission
2025-09-25T15:36:53.731Z,1758814613.731 [ballast_and_trim](INFO): Completed ballast_and_trim
2025-09-25T15:36:53.732Z,1758814613.732 [MissionManager](INFO): ballast_and_trim is completed.
2025-09-25T15:36:53.732Z,1758814613.732 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim] Stopped
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim:Science] Stopped
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim:Science:B] Stopped
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim:Science:C] Stopped
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim:Science:E] Stopped
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-09-25T15:36:53.732Z,1758814613.732 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:StandardEnvelopes] Stopped
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:BackseatDriver] Stopped
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-09-25T15:36:53.733Z,1758814613.733 [ballast_and_trim:PowerOnly] Stopped
2025-09-25T15:36:53.734Z,1758814613.734 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-09-25T15:36:53.734Z,1758814613.734 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-09-25T15:36:53.734Z,1758814613.734 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T15:36:54.164Z,1758814614.164 [MissionManager](IMPORTANT): Started mission Default
2025-09-25T15:36:54.164Z,1758814614.164 [Default] Running Loop=1
2025-09-25T15:36:54.164Z,1758814614.164 [Default](DEBUG): Aggregate::initialize Default
2025-09-25T15:36:54.164Z,1758814614.164 [Default:B.GoToSurface] Running Loop=1
2025-09-25T15:36:54.164Z,1758814614.164 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T15:36:54.165Z,1758814614.165 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-09-25T15:36:54.165Z,1758814614.165 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-09-25T15:36:54.165Z,1758814614.165 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-09-25T15:36:54.165Z,1758814614.165 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-09-25T15:36:54.166Z,1758814614.166 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T15:36:54.174Z,1758814614.174 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T15:36:54.175Z,1758814614.175 [Default:A.Wait] Running Loop=1
2025-09-25T15:36:54.175Z,1758814614.175 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-09-25T15:36:54.261Z,1758814614.261 [WetLabsBB2FL](INFO): Powering down
2025-09-25T15:37:07.431Z,1758814627.431 [Default:A.Wait](INFO): Done Waiting.
2025-09-25T15:37:07.431Z,1758814627.431 [Default:A.Wait] Stopped
2025-09-25T15:37:07.432Z,1758814627.432 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T15:37:07.767Z,1758814627.767 [Default:CheckIn] Running Loop=1
2025-09-25T15:37:07.767Z,1758814627.767 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-09-25T15:37:07.767Z,1758814627.767 [Default:CheckIn:Read_GPS] Running Loop=1
2025-09-25T15:37:07.831Z,1758814627.831 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T15:37:09.613Z,1758814629.613 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153708.00,A,3648.05500,N,12150.68514,W,0.505,91.61,250925,,,A*42
2025-09-25T15:37:09.660Z,1758814629.660 [NAL9602](INFO): GPS fix at 20250925T153708: (36.800917, -121.844752)
2025-09-25T15:37:09.732Z,1758814629.732 [Default:CheckIn:Read_GPS] Stopped
2025-09-25T15:37:09.732Z,1758814629.732 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-09-25T15:37:35.602Z,1758814655.602 [NAL9602](INFO): SBD MO Status=1, MOMSN=13781, MT Status=0, MTMSN=0
2025-09-25T15:37:35.651Z,1758814655.651 [NAL9602](INFO): Sent 72 bytes from file Logs/20250925T150314/Courier0009.lzma
2025-09-25T15:37:35.651Z,1758814655.651 [NAL9602](INFO): Packets left to send: 0
2025-09-25T15:37:39.093Z,1758814659.093 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004472
2025-09-25T15:37:45.738Z,1758814665.738 [NAL9602](INFO): SBD MO Status=1, MOMSN=13782, MT Status=0, MTMSN=0
2025-09-25T15:37:45.794Z,1758814665.794 [NAL9602](INFO): Sent 173 bytes from file Logs/20250925T150314/Express0010.lzma
2025-09-25T15:37:45.795Z,1758814665.795 [NAL9602](INFO): Packets left to send: 0
2025-09-25T15:37:46.963Z,1758814666.963 [Default:CheckIn:Read_Iridium] Stopped
2025-09-25T15:37:46.963Z,1758814666.963 [Default:CheckIn:C.Wait] Running Loop=1
2025-09-25T15:37:46.963Z,1758814666.963 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-09-25T15:38:16.439Z,1758814696.439 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T15:39:19.204Z,1758814759.204 [DataOverHttps](IMPORTANT): SBD MTMSN=20250925T153918
2025-09-25T15:39:26.982Z,1758814766.982 [DataOverHttps](INFO): Received command: load Maintenance/calibrate_sparton_compass.tl;set calibrate_sparton_compass:BackseatDriver.EnableBackseat 1 bool;run
2025-09-25T15:39:27.090Z,1758814767.090 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-09-25T15:39:27.091Z,1758814767.091 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-09-25T15:39:27.091Z,1758814767.091 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-09-25T15:39:27.095Z,1758814767.095 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-09-25T15:39:31.945Z,1758814771.945 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/calibrate_sparton_compass.tl translated into:
60
60
5
40
7
20
13
1
2
5
50
2
Failed to initialize calibration within timeout. Stopping mission.
stop
2025-09-25T15:39:31.952Z,1758814771.952 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MissionTimeout = 60.000000 min
2025-09-25T15:39:31.956Z,1758814771.956 [MissionManager](INFO): DefineArg calibrate_sparton_compass.NeedCommsTime = 60.000000 min
2025-09-25T15:39:31.959Z,1758814771.959 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinDepth = 5.000000 m
2025-09-25T15:39:31.963Z,1758814771.963 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMaxDepth = 40.000000 m
2025-09-25T15:39:32.019Z,1758814772.019 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinAltitude = 7.000000 m
2025-09-25T15:39:32.026Z,1758814772.026 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoPitch = 20.000000 arcdeg
2025-09-25T15:39:32.032Z,1758814772.032 [MissionManager](INFO): DefineArg calibrate_sparton_compass.RudderAngle = 13.000000 arcdeg
2025-09-25T15:39:32.044Z,1758814772.044 [MissionManager](INFO): DefineArg calibrate_sparton_compass.Speed = 1.000000 m/s
2025-09-25T15:39:32.051Z,1758814772.051 [MissionManager](INFO): DefineArg calibrate_sparton_compass.CalibrationInitTimeout = 2.000000 min
2025-09-25T15:39:32.075Z,1758814772.075 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinAltitude = 5.000000 m
2025-09-25T15:39:32.086Z,1758814772.086 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MaxDepth = 50.000000 m
2025-09-25T15:39:32.090Z,1758814772.090 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinOffshore = 2.000000 km
2025-09-25T15:39:32.097Z,1758814772.097 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-09-25T15:39:32.097Z,1758814772.097 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-09-25T15:39:32.133Z,1758814772.133 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-09-25T15:39:35.956Z,1758814775.956 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
NaN
0
1
NaN
NaN
5
0
0
0
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
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
EdgeDetectVsDepth
_.planktivore_HM_AvgRois
GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_diatoms
EdgeDetectVsDepth
_.planktivore_diatoms
GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_dinoflagellates
EdgeDetectVsDepth
_.planktivore_dinoflagellates
GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth =
,
,
,
,
,
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-09-25T15:39:35.991Z,1758814775.991 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectChlActive = 0 bool
2025-09-25T15:39:36.059Z,1758814776.059 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectChlActive = 0 bool
2025-09-25T15:39:36.068Z,1758814776.068 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.TimeWindowPeakReport = nan min
2025-09-25T15:39:36.087Z,1758814776.087 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestChlPeakReportActive = 0 bool
2025-09-25T15:39:36.090Z,1758814776.090 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestSaltPeakReportActive = 0 bool
2025-09-25T15:39:36.102Z,1758814776.102 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestOilPeakReportActive = 0 bool
2025-09-25T15:39:36.106Z,1758814776.106 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PatchTracking = 0 bool
2025-09-25T15:39:36.116Z,1758814776.116 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.FilterWidthHorizontal = 3.000000 count
2025-09-25T15:39:36.119Z,1758814776.119 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesSlidingwindow = 100.000000 count
2025-09-25T15:39:36.127Z,1758814776.127 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionHorizontal = 80.000000 %
2025-09-25T15:39:36.135Z,1758814776.135 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectNO3Active = 0 bool
2025-09-25T15:39:36.137Z,1758814776.137 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectOilActive = 0 bool
2025-09-25T15:39:36.145Z,1758814776.145 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectFDOMActive = 0 bool
2025-09-25T15:39:36.148Z,1758814776.148 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectSalinityActive = 0 bool
2025-09-25T15:39:36.160Z,1758814776.160 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-25T15:39:36.164Z,1758814776.164 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-25T15:39:36.170Z,1758814776.170 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-25T15:39:36.190Z,1758814776.190 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-25T15:39:36.193Z,1758814776.193 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-09-25T15:39:36.201Z,1758814776.201 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-09-25T15:39:36.209Z,1758814776.209 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-25T15:39:36.212Z,1758814776.212 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-25T15:39:36.227Z,1758814776.227 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-09-25T15:39:36.231Z,1758814776.231 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledAanderaaO2 = 0 bool
2025-09-25T15:39:36.243Z,1758814776.243 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledNeilBrown = 0 bool
2025-09-25T15:39:36.247Z,1758814776.247 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledRBRTridente = 0 bool
2025-09-25T15:39:36.263Z,1758814776.263 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledSeabird = 1 bool
2025-09-25T15:39:36.271Z,1758814776.271 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsBB2FL = 1 bool
2025-09-25T15:39:36.279Z,1758814776.279 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-09-25T15:39:36.284Z,1758814776.284 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsUBAT = 0 bool
2025-09-25T15:39:36.299Z,1758814776.299 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.LowPassWindowLength = 20.000000 count
2025-09-25T15:39:36.307Z,1758814776.307 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.MedianFilterLen = 5.000000 count
2025-09-25T15:39:36.310Z,1758814776.310 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ShallowBound = nan m
2025-09-25T15:39:36.318Z,1758814776.318 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DeepBound = nan m
2025-09-25T15:39:36.333Z,1758814776.333 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-09-25T15:39:36.341Z,1758814776.341 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionVerticalAscent = nan %
2025-09-25T15:39:36.356Z,1758814776.356 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionVerticalDescent = nan %
2025-09-25T15:39:36.378Z,1758814776.378 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlPeakThresh = 0.000000 ug/l
2025-09-25T15:39:36.382Z,1758814776.382 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumberOfLayers = 1.000000 count
2025-09-25T15:39:36.389Z,1758814776.389 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlThreshTriggerActive = 0 bool
2025-09-25T15:39:36.397Z,1758814776.397 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlLowerThresh = nan ug/l
2025-09-25T15:39:36.405Z,1758814776.405 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlUpperThresh = nan ug/l
2025-09-25T15:39:36.417Z,1758814776.417 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesThresh = 5.000000 count
2025-09-25T15:39:36.471Z,1758814776.471 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-09-25T15:39:36.491Z,1758814776.491 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-09-25T15:39:36.502Z,1758814776.502 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-09-25T15:39:36.506Z,1758814776.506 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-09-25T15:39:36.521Z,1758814776.521 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.GoDown = 1 bool
2025-09-25T15:39:36.540Z,1758814776.540 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChl = nan ug/l
2025-09-25T15:39:36.548Z,1758814776.548 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlDepth = nan m
2025-09-25T15:39:36.553Z,1758814776.553 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlTemperature = nan degC
2025-09-25T15:39:36.566Z,1758814776.566 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLatitude = nan arcdeg
2025-09-25T15:39:36.570Z,1758814776.570 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLongitude = nan arcdeg
2025-09-25T15:39:36.577Z,1758814776.577 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChl = nan ug/l
2025-09-25T15:39:36.585Z,1758814776.585 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlDepth = nan m
2025-09-25T15:39:36.589Z,1758814776.589 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlTemperature = nan degC
2025-09-25T15:39:36.604Z,1758814776.604 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLatitude = nan arcdeg
2025-09-25T15:39:36.620Z,1758814776.620 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLongitude = nan arcdeg
2025-09-25T15:39:36.629Z,1758814776.629 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3 = nan umol/l
2025-09-25T15:39:36.640Z,1758814776.640 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Depth = nan m
2025-09-25T15:39:36.645Z,1758814776.645 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Latitude = nan arcdeg
2025-09-25T15:39:36.653Z,1758814776.653 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Longitude = nan arcdeg
2025-09-25T15:39:36.658Z,1758814776.658 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOil = nan kg/m3
2025-09-25T15:39:36.669Z,1758814776.669 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilDepth = nan m
2025-09-25T15:39:36.677Z,1758814776.677 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLatitude = nan arcdeg
2025-09-25T15:39:36.685Z,1758814776.685 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLongitude = nan arcdeg
2025-09-25T15:39:36.689Z,1758814776.689 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOM = nan ppb
2025-09-25T15:39:36.705Z,1758814776.705 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMDepth = nan m
2025-09-25T15:39:36.709Z,1758814776.709 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMTemperature = nan degC
2025-09-25T15:39:36.724Z,1758814776.724 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLatitude = nan arcdeg
2025-09-25T15:39:36.732Z,1758814776.732 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLongitude = nan arcdeg
2025-09-25T15:39:36.764Z,1758814776.764 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSalt = nan psu
2025-09-25T15:39:36.785Z,1758814776.785 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltDepth = nan m
2025-09-25T15:39:36.789Z,1758814776.789 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltTemperature = nan degC
2025-09-25T15:39:36.811Z,1758814776.811 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLatitude = nan arcdeg
2025-09-25T15:39:36.817Z,1758814776.817 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLongitude = nan arcdeg
2025-09-25T15:39:36.864Z,1758814776.864 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-09-25T15:39:36.876Z,1758814776.876 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-09-25T15:39:36.888Z,1758814776.888 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-09-25T15:39:36.899Z,1758814776.899 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-09-25T15:39:36.903Z,1758814776.903 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-09-25T15:39:36.911Z,1758814776.911 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-09-25T15:39:36.921Z,1758814776.921 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-09-25T15:39:36.929Z,1758814776.929 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-09-25T15:39:36.937Z,1758814776.937 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-09-25T15:39:36.945Z,1758814776.945 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-09-25T15:39:36.960Z,1758814776.960 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-09-25T15:39:36.964Z,1758814776.964 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-09-25T15:39:36.975Z,1758814776.975 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-09-25T15:39:36.979Z,1758814776.979 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-09-25T15:39:36.999Z,1758814776.999 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-09-25T15:39:37.007Z,1758814777.007 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-09-25T15:39:37.014Z,1758814777.014 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-09-25T15:39:37.022Z,1758814777.022 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-09-25T15:39:37.026Z,1758814777.026 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-09-25T15:39:37.033Z,1758814777.033 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-09-25T15:39:37.045Z,1758814777.045 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-09-25T15:39:37.053Z,1758814777.053 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-09-25T15:39:37.057Z,1758814777.057 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-09-25T15:39:37.072Z,1758814777.072 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-09-25T15:39:37.076Z,1758814777.076 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-09-25T15:39:37.091Z,1758814777.091 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-09-25T15:39:37.096Z,1758814777.096 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-09-25T15:39:37.107Z,1758814777.107 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-09-25T15:39:37.112Z,1758814777.112 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-09-25T15:39:37.123Z,1758814777.123 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-09-25T15:39:37.127Z,1758814777.127 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-09-25T15:39:37.139Z,1758814777.139 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-09-25T15:39:37.143Z,1758814777.143 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-09-25T15:39:37.148Z,1758814777.148 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-25T15:39:37.162Z,1758814777.162 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-25T15:39:37.172Z,1758814777.172 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-09-25T15:39:37.176Z,1758814777.176 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-09-25T15:39:37.204Z,1758814777.204 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-09-25T15:39:37.227Z,1758814777.227 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-25T15:39:37.266Z,1758814777.266 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-25T15:39:37.270Z,1758814777.270 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChl = nan ug/l
2025-09-25T15:39:37.282Z,1758814777.282 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDepth = nan m
2025-09-25T15:39:37.293Z,1758814777.293 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLatitude = nan arcdeg
2025-09-25T15:39:37.305Z,1758814777.305 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLongitude = nan arcdeg
2025-09-25T15:39:37.319Z,1758814777.319 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDistance = nan m
2025-09-25T15:39:37.327Z,1758814777.327 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSalt = nan psu
2025-09-25T15:39:37.334Z,1758814777.334 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDepth = nan m
2025-09-25T15:39:37.338Z,1758814777.338 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLatitude = nan arcdeg
2025-09-25T15:39:37.345Z,1758814777.345 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLongitude = nan arcdeg
2025-09-25T15:39:37.353Z,1758814777.353 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDistance = nan m
2025-09-25T15:39:37.361Z,1758814777.361 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOil = nan psu
2025-09-25T15:39:37.369Z,1758814777.369 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDepth = nan m
2025-09-25T15:39:37.388Z,1758814777.388 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLatitude = nan arcdeg
2025-09-25T15:39:37.395Z,1758814777.395 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLongitude = nan arcdeg
2025-09-25T15:39:37.401Z,1758814777.401 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDistance = nan m
2025-09-25T15:39:37.413Z,1758814777.413 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.TriggeredOnChl = 0 bool
2025-09-25T15:39:37.426Z,1758814777.426 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.ChlTriggering = nan ug/l
2025-09-25T15:39:37.493Z,1758814777.493 [calibrate_sparton_compass:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:37.527Z,1758814777.527 [calibrate_sparton_compass:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:39:37.586Z,1758814777.586 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-25T15:39:37.627Z,1758814777.627 [calibrate_sparton_compass:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:37.698Z,1758814777.698 [calibrate_sparton_compass:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:37.729Z,1758814777.729 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-25T15:39:37.777Z,1758814777.777 [calibrate_sparton_compass:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:37.802Z,1758814777.802 [calibrate_sparton_compass:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:37.836Z,1758814777.836 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-25T15:39:37.868Z,1758814777.868 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:37.894Z,1758814777.894 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:39:37.940Z,1758814777.940 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:37.985Z,1758814777.985 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:39:38.145Z,1758814778.145 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:38.187Z,1758814778.187 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:39:38.242Z,1758814778.242 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-25T15:39:38.277Z,1758814778.277 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-25T15:39:38.343Z,1758814778.343 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-09-25T15:39:38.365Z,1758814778.365 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-09-25T15:39:38.365Z,1758814778.365 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-09-25T15:39:38.366Z,1758814778.366 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-09-25T15:39:38.888Z,1758814778.888 [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
2025-09-25T15:39:38.915Z,1758814778.915 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.DiveInterval = 1.000000 h
2025-09-25T15:39:38.926Z,1758814778.926 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.WaitForPitchUp = 10.000000 min
2025-09-25T15:39:38.930Z,1758814778.930 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-09-25T15:39:38.941Z,1758814778.941 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceDepthRate = nan m/s
2025-09-25T15:39:38.949Z,1758814778.949 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-09-25T15:39:38.953Z,1758814778.953 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacingTimeout = 1000.000000 s
2025-09-25T15:39:38.966Z,1758814778.966 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.GPSTimeout = 7.000000 min
2025-09-25T15:39:38.977Z,1758814778.977 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.CommsTimeout = 30.000000 min
2025-09-25T15:39:38.993Z,1758814778.993 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-09-25T15:39:39.053Z,1758814779.053 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-25T15:39:39.053Z,1758814779.053 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-25T15:39:39.058Z,1758814779.058 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-25T15:39:39.288Z,1758814779.288 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-09-25T15:39:39.293Z,1758814779.293 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-25T15:39:39.305Z,1758814779.305 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-25T15:39:39.308Z,1758814779.308 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-25T15:39:39.343Z,1758814779.343 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-25T15:39:39.344Z,1758814779.344 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-25T15:39:39.353Z,1758814779.353 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-25T15:39:39.364Z,1758814779.364 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-25T15:39:39.396Z,1758814779.396 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-09-25T15:39:39.397Z,1758814779.397 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-09-25T15:39:39.398Z,1758814779.398 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-09-25T15:39:39.440Z,1758814779.440 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-09-25T15:39:39.448Z,1758814779.448 [MissionManager](INFO): DefineArg calibrate_sparton_compass:BackseatDriver.EnableBackseat = 0 bool
2025-09-25T15:39:39.455Z,1758814779.455 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-09-25T15:39:39.457Z,1758814779.457 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-09-25T15:39:39.457Z,1758814779.457 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-09-25T15:39:39.463Z,1758814779.463 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-09-25T15:39:39.701Z,1758814779.701 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-09-25T15:39:39.717Z,1758814779.717 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleAll = 0 bool
2025-09-25T15:39:39.725Z,1758814779.725 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad1 = 0 bool
2025-09-25T15:39:39.740Z,1758814779.740 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad2 = 0 bool
2025-09-25T15:39:39.743Z,1758814779.743 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad3 = 0 bool
2025-09-25T15:39:39.755Z,1758814779.755 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.EnabledPowerOnly = 0 bool
2025-09-25T15:39:39.775Z,1758814779.775 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-09-25T15:39:39.777Z,1758814779.777 [calibrate_sparton_compass:K.Pitch](DEBUG): Construct.
2025-09-25T15:39:39.792Z,1758814779.792 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-09-25T15:39:39.797Z,1758814779.797 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-25T15:39:39.822Z,1758814779.822 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-25T15:39:39.838Z,1758814779.838 [calibrate_sparton_compass:O.YoYo](DEBUG): Construct YoYo.
2025-09-25T15:39:39.863Z,1758814779.863 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-09-25T15:39:39.865Z,1758814779.865 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Construct.
2025-09-25T15:39:39.877Z,1758814779.877 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Construct.
2025-09-25T15:39:39.889Z,1758814779.889 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](DEBUG): Construct CalibrateSparton.
2025-09-25T15:39:40.006Z,1758814780.006 [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 calibrate_sparton_compass {
"""
This mission yoyos in a spiral while calibrating the Sparton AHRS-M2
Micro AHRS/IMU with AdaptCal.
"""
# Mission-wide settings
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 60 minute
"""
Elapsed time after previous surface communications when vehicle will
begin to ascend for additional surface communications
"""
# You probably need to change these.
# You probably do not need to change these.
YoYoMinDepth = 5 meter
"""
Minimum depth while performing the YoYo behavior.
"""
YoYoMaxDepth = 40 meter
"""
Maximum depth while performing the YoYo behavior.
"""
YoYoMinAltitude = 7 meter
"""
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
"""
YoYoPitch = 20 degree
"""
Pitch (plus and minus) for yo-yo behavior.
"""
RudderAngle = 13 degree
"""
Rudder angle to use while performing the spiral cast.
"""
Speed = 1 meter_per_second
"""
Vehicle speed.
"""
CalibrationInitTimeout = 2 minute
"""
Elapsed time allowed for calibration to initialize
"""
# You are even less likely to need to change these.
MinAltitude = 5 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 50 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
}
# Missions should almost always start with a timeout
timeout duration=MissionTimeout
insert 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.
"""
}
# Most missions should use the NeedComms aggregate.
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
# Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.
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
# Check for additional instructions first.
call id="StartingMission" priorityHere=false refId="NeedComms"
# Many missions will keep mass position and buoyancy volume fixed at defaults.
behavior Guidance:Pitch {
run in parallel
set massPosition = Control:VerticalControl.massDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:DepthEnvelope {
"""
Another depth envelope for the YoYo behavior. This envelope should
fall within the limits of the standard safety envelopes in
Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
angles for depth-terminated YoYos.
"""
run in parallel
set minDepth = YoYoMinDepth
set maxDepth = YoYoMaxDepth
set pitch = YoYoPitch
}
behavior Guidance:AltitudeEnvelope {
"""
Another altitude envelope for the YoYo behavior. This envelope
should fall within the limits of the standard safety envelopes in
Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
angles for bottom-terminated YoYos.
"""
run in parallel
set minAltitude = YoYoMinAltitude
set pitch = YoYoPitch
}
behavior Guidance:YoYo {
run in parallel
set pitch = YoYoPitch
}
aggregate AdaptCal {
run in sequence
readDatum id="WaitForCalibrationInit" {
timeout duration=CalibrationInitTimeout {
syslog important "Failed to initialize calibration within timeout. Stopping mission."
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
Sensor:AHRS_M2.number_of_calbration_points
}
aggregate AcquireCalibrationPoints {
run in sequence
behavior Guidance:Point {
run in parallel
set rudderAngle = RudderAngle
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
}
behavior Sensor:CalibrateAHRS_M2 {
run in parallel
}
}
}
2025-09-25T15:39:40.011Z,1758814780.011 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/calibrate_sparton_compass.tl id=calibrate_sparton_compass
2025-09-25T15:39:54.442Z,1758814794.442 [CommandExec](IMPORTANT): got command set calibrate_sparton_compass:BackseatDriver.EnableBackseat 1 bool
2025-09-25T15:39:54.446Z,1758814794.446 [CommandExec](IMPORTANT): got command run
2025-09-25T15:39:54.455Z,1758814794.455 [CommandExec](IMPORTANT): Running
2025-09-25T15:39:54.682Z,1758814794.682 [Default] Stopped
2025-09-25T15:39:54.683Z,1758814794.683 [Default](DEBUG): Aggregate::uninitialize Default
2025-09-25T15:39:54.683Z,1758814794.683 [Default:B.GoToSurface] Stopped
2025-09-25T15:39:54.683Z,1758814794.683 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T15:39:54.683Z,1758814794.683 [Default:CheckIn] Stopped
2025-09-25T15:39:54.683Z,1758814794.683 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-09-25T15:39:54.683Z,1758814794.683 [Default:CheckIn:C.Wait] Stopped
2025-09-25T15:39:54.683Z,1758814794.683 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T15:39:54.683Z,1758814794.683 [MissionManager](IMPORTANT): Started mission calibrate_sparton_compass
2025-09-25T15:39:54.683Z,1758814794.683 [calibrate_sparton_compass] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass](DEBUG): Aggregate::initialize calibrate_sparton_compass
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:A] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:D] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:F] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:Read_Oil] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:PeakDetectChl] Running Loop=1
2025-09-25T15:39:54.684Z,1758814794.684 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectChl
2025-09-25T15:39:54.685Z,1758814794.685 [calibrate_sparton_compass:Science:PeakDetectChl:A] Running Loop=1
2025-09-25T15:39:54.685Z,1758814794.685 [calibrate_sparton_compass:Science:EdgeDetectChl] Running Loop=1
2025-09-25T15:39:54.685Z,1758814794.685 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-09-25T15:39:54.685Z,1758814794.685 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Running Loop=1
2025-09-25T15:39:54.685Z,1758814794.685 [calibrate_sparton_compass:Science:HighestChlPeakReport] Running Loop=1
2025-09-25T15:39:54.685Z,1758814794.685 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-09-25T15:39:54.686Z,1758814794.686 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-25T15:39:54.686Z,1758814794.686 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-25T15:39:54.727Z,1758814794.727 [calibrate_sparton_compass:Science:PeakDetectNO3] Running Loop=1
2025-09-25T15:39:54.727Z,1758814794.727 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-09-25T15:39:54.727Z,1758814794.727 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Running Loop=1
2025-09-25T15:39:54.727Z,1758814794.727 [calibrate_sparton_compass:Science:PeakDetectOil] Running Loop=1
2025-09-25T15:39:54.728Z,1758814794.728 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectOil
2025-09-25T15:39:54.728Z,1758814794.728 [calibrate_sparton_compass:Science:PeakDetectOil:A] Running Loop=1
2025-09-25T15:39:54.729Z,1758814794.729 [calibrate_sparton_compass:Science:HighestOilPeakReport] Running Loop=1
2025-09-25T15:39:54.729Z,1758814794.729 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-09-25T15:39:54.738Z,1758814794.738 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-25T15:39:54.738Z,1758814794.738 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-25T15:39:54.739Z,1758814794.739 [calibrate_sparton_compass:Science:PeakDetectFDOM] Running Loop=1
2025-09-25T15:39:54.739Z,1758814794.739 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-09-25T15:39:54.739Z,1758814794.739 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Running Loop=1
2025-09-25T15:39:54.739Z,1758814794.739 [calibrate_sparton_compass:Science:PeakDetectSalinity] Running Loop=1
2025-09-25T15:39:54.739Z,1758814794.739 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-09-25T15:39:54.739Z,1758814794.739 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Running Loop=1
2025-09-25T15:39:54.739Z,1758814794.739 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Running Loop=1
2025-09-25T15:39:54.739Z,1758814794.739 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-09-25T15:39:54.740Z,1758814794.740 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-25T15:39:54.740Z,1758814794.740 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-25T15:39:54.740Z,1758814794.740 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-25T15:39:54.740Z,1758814794.740 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-09-25T15:39:54.740Z,1758814794.740 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-25T15:39:54.740Z,1758814794.740 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-09-25T15:39:54.741Z,1758814794.741 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-09-25T15:39:54.742Z,1758814794.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-25T15:39:54.742Z,1758814794.742 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-09-25T15:39:54.742Z,1758814794.742 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms
2025-09-25T15:39:54.750Z,1758814794.750 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-25T15:39:54.750Z,1758814794.750 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-25T15:39:54.750Z,1758814794.750 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-25T15:39:54.751Z,1758814794.751 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-25T15:39:54.751Z,1758814794.751 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-25T15:39:54.751Z,1758814794.751 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-25T15:39:54.751Z,1758814794.751 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-25T15:39:54.751Z,1758814794.751 [calibrate_sparton_compass:Science:ChlThreshTrigger] Running Loop=1
2025-09-25T15:39:54.752Z,1758814794.752 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-09-25T15:39:54.752Z,1758814794.752 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-09-25T15:39:54.752Z,1758814794.752 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-09-25T15:39:54.752Z,1758814794.752 [calibrate_sparton_compass:Science:OceanCurrent] Running Loop=1
2025-09-25T15:39:54.752Z,1758814794.752 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:OceanCurrent
2025-09-25T15:39:54.752Z,1758814794.752 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::initialize calibrate_sparton_compass:StandardEnvelopes
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-25T15:39:54.753Z,1758814794.753 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-09-25T15:39:54.754Z,1758814794.754 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::initialize calibrate_sparton_compass:BackseatDriver
2025-09-25T15:39:54.754Z,1758814794.754 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-09-25T15:39:54.754Z,1758814794.754 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-09-25T15:39:54.762Z,1758814794.762 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::initialize calibrate_sparton_compass:PowerOnly
2025-09-25T15:39:54.762Z,1758814794.762 [calibrate_sparton_compass:PowerOnly:A] Running Loop=1
2025-09-25T15:39:54.762Z,1758814794.762 [calibrate_sparton_compass:PowerOnly:B] Running Loop=1
2025-09-25T15:39:54.762Z,1758814794.762 [calibrate_sparton_compass:PowerOnly:C] Running Loop=1
2025-09-25T15:39:54.762Z,1758814794.762 [calibrate_sparton_compass:PowerOnly:D] Running Loop=1
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:PowerOnly:E.Wait] Running Loop=1
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:K.Pitch](DEBUG): Initialize.
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-25T15:39:54.763Z,1758814794.763 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-09-25T15:39:54.764Z,1758814794.764 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-25T15:39:54.764Z,1758814794.764 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-09-25T15:39:54.764Z,1758814794.764 [calibrate_sparton_compass:O.YoYo](DEBUG): Initialize YoYoComponent.
2025-09-25T15:39:54.764Z,1758814794.764 [calibrate_sparton_compass:C] Running Loop=1
2025-09-25T15:39:54.765Z,1758814794.765 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-09-25T15:39:54.765Z,1758814794.765 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-09-25T15:39:54.766Z,1758814794.766 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-09-25T15:39:54.775Z,1758814794.775 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-09-25T15:39:54.775Z,1758814794.775 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-09-25T15:39:54.775Z,1758814794.775 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-09-25T15:39:54.777Z,1758814794.777 [calibrate_sparton_compass:PowerOnly:D] Stopped
2025-09-25T15:39:54.777Z,1758814794.777 [calibrate_sparton_compass:PowerOnly:C] Stopped
2025-09-25T15:39:54.777Z,1758814794.777 [calibrate_sparton_compass:PowerOnly:B] Stopped
2025-09-25T15:39:54.777Z,1758814794.777 [calibrate_sparton_compass:PowerOnly:A] Stopped
2025-09-25T15:39:54.777Z,1758814794.777 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-09-25T15:39:54.777Z,1758814794.777 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-09-25T15:39:54.836Z,1758814794.836 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-09-25T15:39:54.836Z,1758814794.836 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T15:39:54.837Z,1758814794.837 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T15:39:54.837Z,1758814794.837 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T15:39:54.837Z,1758814794.837 [calibrate_sparton_compass:C] Stopped
2025-09-25T15:39:54.837Z,1758814794.837 [calibrate_sparton_compass:E] Running Loop=1
2025-09-25T15:39:54.838Z,1758814794.838 [calibrate_sparton_compass:Science] Running Loop=1
2025-09-25T15:39:54.847Z,1758814794.847 [calibrate_sparton_compass:Science:ChlThreshTrigger] Stopped
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-09-25T15:39:54.848Z,1758814794.848 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-09-25T15:39:54.849Z,1758814794.849 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-09-25T15:39:54.850Z,1758814794.850 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Stopped
2025-09-25T15:39:54.850Z,1758814794.850 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-09-25T15:39:54.850Z,1758814794.850 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-25T15:39:54.850Z,1758814794.850 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-25T15:39:54.850Z,1758814794.850 [calibrate_sparton_compass:Science:PeakDetectSalinity] Stopped
2025-09-25T15:39:54.862Z,1758814794.862 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-09-25T15:39:54.862Z,1758814794.862 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Stopped
2025-09-25T15:39:54.862Z,1758814794.862 [calibrate_sparton_compass:Science:PeakDetectFDOM] Stopped
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Stopped
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:HighestOilPeakReport] Stopped
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:PeakDetectOil] Stopped
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectOil
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:PeakDetectOil:A] Stopped
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:PeakDetectNO3] Stopped
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-09-25T15:39:54.863Z,1758814794.863 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Stopped
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:HighestChlPeakReport] Stopped
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:EdgeDetectChl] Stopped
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Stopped
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:PeakDetectChl] Stopped
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectChl
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:PeakDetectChl:A] Stopped
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:Read_Oil] Stopped
2025-09-25T15:39:54.864Z,1758814794.864 [calibrate_sparton_compass:Science:F] Stopped
2025-09-25T15:39:54.865Z,1758814794.865 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-09-25T15:39:54.865Z,1758814794.865 [calibrate_sparton_compass:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-09-25T15:39:54.865Z,1758814794.865 [calibrate_sparton_compass:Science:D] Stopped
2025-09-25T15:39:54.865Z,1758814794.865 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-09-25T15:39:54.872Z,1758814794.872 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-09-25T15:39:54.873Z,1758814794.873 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-09-25T15:39:54.873Z,1758814794.873 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-09-25T15:39:54.886Z,1758814794.886 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-09-25T15:39:54.887Z,1758814794.887 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-09-25T15:39:54.887Z,1758814794.887 [calibrate_sparton_compass:Science:A] Stopped
2025-09-25T15:39:55.114Z,1758814795.114 [BackseatComponent](INFO): Powering up
2025-09-25T15:39:55.115Z,1758814795.115 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-09-25T15:39:55.142Z,1758814795.142 [calibrate_sparton_compass:E] Stopped
2025-09-25T15:39:55.142Z,1758814795.142 [calibrate_sparton_compass:F] Running Loop=1
2025-09-25T15:39:55.554Z,1758814795.554 [calibrate_sparton_compass:F] Stopped
2025-09-25T15:39:55.555Z,1758814795.555 [calibrate_sparton_compass:G] Running Loop=1
2025-09-25T15:39:55.812Z,1758814795.812 [WetLabsBB2FL](INFO): Powering up
2025-09-25T15:39:55.928Z,1758814795.928 [calibrate_sparton_compass:G] Stopped
2025-09-25T15:39:55.928Z,1758814795.928 [calibrate_sparton_compass:StartingMission] Running Loop=1
2025-09-25T15:39:55.929Z,1758814795.929 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::initialize calibrate_sparton_compass:StartingMission
2025-09-25T15:39:56.307Z,1758814796.307 [calibrate_sparton_compass:NeedComms] Running Loop=1
2025-09-25T15:39:56.307Z,1758814796.307 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::initialize calibrate_sparton_compass:NeedComms
2025-09-25T15:39:56.307Z,1758814796.307 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Running Loop=1
2025-09-25T15:39:56.307Z,1758814796.307 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T15:39:56.308Z,1758814796.308 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-09-25T15:39:56.308Z,1758814796.308 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-09-25T15:39:56.308Z,1758814796.308 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-09-25T15:39:56.309Z,1758814796.309 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-09-25T15:39:56.309Z,1758814796.309 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T15:39:56.309Z,1758814796.309 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T15:39:56.310Z,1758814796.310 [calibrate_sparton_compass:NeedComms:A] Running Loop=1
2025-09-25T15:39:56.311Z,1758814796.311 [calibrate_sparton_compass:NeedComms:A](INFO): last time_fix was: 1758814628.000000 second since 1970/01/01T00:00:00Z
2025-09-25T15:39:56.311Z,1758814796.311 [calibrate_sparton_compass:NeedComms:A] Stopped
2025-09-25T15:39:56.724Z,1758814796.724 [calibrate_sparton_compass:NeedComms:C] Running Loop=1
2025-09-25T15:39:57.120Z,1758814797.120 [calibrate_sparton_compass:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T15:39:58.706Z,1758814798.706 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153958.00,A,3648.05560,N,12150.65129,W,0.603,93.09,250925,,,A*41
2025-09-25T15:39:58.708Z,1758814798.708 [NAL9602](INFO): GPS fix at 20250925T153958: (36.800927, -121.844188)
2025-09-25T15:39:58.728Z,1758814798.728 [calibrate_sparton_compass:NeedComms:C] Stopped
2025-09-25T15:39:58.728Z,1758814798.728 [calibrate_sparton_compass:NeedComms:D] Running Loop=1
2025-09-25T15:39:58.736Z,1758814798.736 [CTD_Seabird](ERROR): Failed to parse device response:
2025-09-25T15:39:59.152Z,1758814799.152 [calibrate_sparton_compass:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-25T15:39:59.740Z,1758814799.740 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250925T150314/Courier0012.lzma
2025-09-25T15:40:10.481Z,1758814810.481 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Courier0012.lzma.bak
2025-09-25T15:40:10.481Z,1758814810.481 [DataOverHttps](INFO): SBD MOMSN=26074798
2025-09-25T15:40:14.046Z,1758814814.046 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-09-25T15:40:15.273Z,1758814815.273 [NAL9602](INFO): SBD MO Status=0, MOMSN=13783, MT Status=0, MTMSN=0
2025-09-25T15:40:15.274Z,1758814815.274 [NAL9602](INFO): No messages in MT queue
2025-09-25T15:40:37.927Z,1758814837.927 [DataOverHttps](INFO): Sending 302 bytes from file Logs/20250925T150314/Express0013.lzma
2025-09-25T15:40:45.975Z,1758814845.975 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T15:40:48.981Z,1758814848.981 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0013.lzma.bak
2025-09-25T15:40:48.981Z,1758814848.981 [DataOverHttps](INFO): SBD MOMSN=26074806
2025-09-25T15:41:05.312Z,1758814865.312 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250925T154103
2025-09-25T15:41:16.346Z,1758814876.346 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20250925T150314/Express0016.lzma
2025-09-25T15:41:27.388Z,1758814887.388 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0016.lzma.bak
2025-09-25T15:41:27.388Z,1758814887.388 [DataOverHttps](INFO): SBD MOMSN=26074816
2025-09-25T15:41:28.823Z,1758814888.823 [calibrate_sparton_compass:NeedComms:D] Stopped
2025-09-25T15:41:28.823Z,1758814888.823 [calibrate_sparton_compass:NeedComms:E] Running Loop=1
2025-09-25T15:41:29.244Z,1758814889.244 [calibrate_sparton_compass:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T15:41:30.842Z,1758814890.842 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,154130.00,A,3648.05481,N,12150.63314,W,0.311,106.13,250925,,,A*74
2025-09-25T15:41:30.844Z,1758814890.844 [NAL9602](INFO): GPS fix at 20250925T154130: (36.800914, -121.843886)
2025-09-25T15:41:30.891Z,1758814890.891 [calibrate_sparton_compass:NeedComms:E] Stopped
2025-09-25T15:41:30.892Z,1758814890.892 [calibrate_sparton_compass:NeedComms](INFO): Completed calibrate_sparton_compass:NeedComms
2025-09-25T15:41:30.892Z,1758814890.892 [calibrate_sparton_compass:NeedComms] Stopped
2025-09-25T15:41:30.892Z,1758814890.892 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:NeedComms
2025-09-25T15:41:30.892Z,1758814890.892 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Stopped
2025-09-25T15:41:30.892Z,1758814890.892 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T15:41:31.269Z,1758814891.269 [calibrate_sparton_compass:StartingMission](INFO): Completed calibrate_sparton_compass:StartingMission
2025-09-25T15:41:31.269Z,1758814891.269 [calibrate_sparton_compass:StartingMission] Stopped
2025-09-25T15:41:31.269Z,1758814891.269 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StartingMission
2025-09-25T15:41:31.270Z,1758814891.270 [calibrate_sparton_compass:AdaptCal] Running Loop=1
2025-09-25T15:41:31.270Z,1758814891.270 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal
2025-09-25T15:41:31.270Z,1758814891.270 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-09-25T15:41:31.270Z,1758814891.270 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-09-25T15:41:31.274Z,1758814891.274 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Running Loop=1
2025-09-25T15:41:31.707Z,1758814891.707 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-09-25T15:41:31.707Z,1758814891.707 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-09-25T15:41:31.708Z,1758814891.708 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit](DEBUG): Initialize ReadDataComponent to sense AHRS_M2.number_of_calbration_points
2025-09-25T15:41:32.079Z,1758814892.079 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-09-25T15:41:32.478Z,1758814892.478 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-09-25T15:41:32.922Z,1758814892.922 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-09-25T15:41:33.302Z,1758814893.302 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Stopped
2025-09-25T15:41:33.303Z,1758814893.303 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Running Loop=1
2025-09-25T15:41:33.303Z,1758814893.303 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-09-25T15:41:33.303Z,1758814893.303 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-09-25T15:41:33.303Z,1758814893.303 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Initialize.
2025-09-25T15:41:33.303Z,1758814893.303 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-09-25T15:41:33.303Z,1758814893.303 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Initialize.
2025-09-25T15:41:33.698Z,1758814893.698 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-09-25T15:41:33.702Z,1758814893.702 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-09-25T15:41:48.227Z,1758814908.227 [NAL9602](INFO): SBD MO Status=2, MOMSN=13784, MT Status=2, MTMSN=0
2025-09-25T15:41:48.227Z,1758814908.227 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-09-25T15:41:59.530Z,1758814919.530 [NAL9602](INFO): SBD MO Status=0, MOMSN=13784, MT Status=0, MTMSN=0
2025-09-25T15:41:59.530Z,1758814919.530 [NAL9602](INFO): No messages in MT queue
2025-09-25T15:42:04.817Z,1758814924.817 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2105
2025-09-25T15:42:05.190Z,1758814925.190 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-09-25T15:42:10.454Z,1758814930.454 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 7.13 mm (2 active estimators).
2025-09-25T15:42:29.303Z,1758814949.303 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T15:42:30.253Z,1758814950.253 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T15:43:00.426Z,1758814980.426 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T15:43:10.831Z,1758814990.831 [Radio_Surface](INFO): Powering down
2025-09-25T15:43:31.550Z,1758815011.550 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T15:43:32.554Z,1758815012.554 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-25T15:44:46.867Z,1758815086.867 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.042786
2025-09-25T15:46:06.432Z,1758815166.432 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2277
2025-09-25T16:08:42.303Z,1758816522.303 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T16:08:42.303Z,1758816522.303 [ThrusterHE](INFO): Powering down
2025-09-25T16:08:43.124Z,1758816523.124 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T16:08:43.243Z,1758816523.243 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T16:12:47.077Z,1758816767.077 [BPC1](ERROR): BPC1A: No match for serial number FFFF in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-09-25T16:18:52.319Z,1758817132.319 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-09-25T16:18:56.759Z,1758817136.759 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-09-25T16:18:56.759Z,1758817136.759 [BPC1](INFO): Calculating totals. Valid battery stick count: 53. Valid reserve battery stick count: 6.
2025-09-25T16:18:56.761Z,1758817136.761 [BPC1](INFO): Received data from all battery sticks.
2025-09-25T16:28:37.729Z,1758817717.729 [Sonardyne_Nano](INFO): Battery at maximum, disabling charging
2025-09-25T16:39:54.848Z,1758818394.848 [calibrate_sparton_compass](INFO): Timed out from 2025-09-25T15:39:54.7Z
2025-09-25T16:39:54.848Z,1758818394.848 [MissionManager](INFO): calibrate_sparton_compass is completed.
2025-09-25T16:39:54.848Z,1758818394.848 [MissionManager](INFO): Uninitializing Mission calibrate_sparton_compass
2025-09-25T16:39:54.848Z,1758818394.848 [calibrate_sparton_compass] Stopped
2025-09-25T16:39:54.848Z,1758818394.848 [calibrate_sparton_compass](DEBUG): Aggregate::uninitialize calibrate_sparton_compass
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:Science] Stopped
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:Science](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:Science:B] Stopped
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:Science:C] Stopped
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:Science:E] Stopped
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:Science:OceanCurrent] Stopped
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:OceanCurrent
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:Science:OceanCurrent:A.] Stopped
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:StandardEnvelopes] Stopped
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StandardEnvelopes
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-25T16:39:54.849Z,1758818394.849 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:BackseatDriver] Stopped
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:BackseatDriver
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Stopped
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:PowerOnly] Stopped
2025-09-25T16:39:54.850Z,1758818394.850 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:PowerOnly
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:PowerOnly:E.Wait] Stopped
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:K.Pitch] Stopped
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:L.Buoyancy] Stopped
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:M.DepthEnvelope] Stopped
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Uninitialize.
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:N.AltitudeEnvelope] Stopped
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:O.YoYo] Stopped
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:O.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:AdaptCal] Stopped
2025-09-25T16:39:54.851Z,1758818394.851 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal
2025-09-25T16:39:54.852Z,1758818394.852 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Stopped
2025-09-25T16:39:54.852Z,1758818394.852 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-09-25T16:39:54.852Z,1758818394.852 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Stopped
2025-09-25T16:39:54.852Z,1758818394.852 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Stopped
2025-09-25T16:39:54.852Z,1758818394.852 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Uninitialize.
2025-09-25T16:39:54.852Z,1758818394.852 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Stopped
2025-09-25T16:39:54.852Z,1758818394.852 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Uninitialize CalibrateSpartonComponent.
2025-09-25T16:39:55.074Z,1758818395.074 [WetLabsBB2FL](INFO): Powering down
2025-09-25T16:39:55.283Z,1758818395.283 [AHRS_M2](IMPORTANT): Acquired 11 calibration points.
2025-09-25T16:39:55.284Z,1758818395.284 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-09-25T16:39:55.317Z,1758818395.317 [MissionManager](IMPORTANT): Started mission Default
2025-09-25T16:39:55.317Z,1758818395.317 [Default] Running Loop=1
2025-09-25T16:39:55.318Z,1758818395.318 [Default](DEBUG): Aggregate::initialize Default
2025-09-25T16:39:55.318Z,1758818395.318 [Default:B.GoToSurface] Running Loop=1
2025-09-25T16:39:55.318Z,1758818395.318 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T16:39:55.323Z,1758818395.323 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-09-25T16:39:55.323Z,1758818395.323 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-09-25T16:39:55.323Z,1758818395.323 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-09-25T16:39:55.324Z,1758818395.324 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-09-25T16:39:55.324Z,1758818395.324 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T16:39:55.324Z,1758818395.324 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T16:39:55.325Z,1758818395.325 [Default:A.Wait] Running Loop=1
2025-09-25T16:39:55.325Z,1758818395.325 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-09-25T16:39:55.435Z,1758818395.435 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-09-25T16:39:55.436Z,1758818395.436 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-09-25T16:39:55.890Z,1758818395.890 [Radio_Surface](INFO): Powering up
2025-09-25T16:39:56.064Z,1758818396.064 [AHRS_M2](IMPORTANT): Magnetic calibration quality (0[best] to 10000) is 0.001834.
2025-09-25T16:39:56.888Z,1758818396.888 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (3 active estimators).
2025-09-25T16:40:01.522Z,1758818401.522 [DataOverHttps](INFO): Radio surface powered ON.
2025-09-25T16:40:08.609Z,1758818408.609 [Default:A.Wait](INFO): Done Waiting.
2025-09-25T16:40:08.609Z,1758818408.609 [Default:A.Wait] Stopped
2025-09-25T16:40:08.609Z,1758818408.609 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T16:40:13.619Z,1758818413.619 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-09-25T16:40:13.619Z,1758818413.619 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-09-25T16:40:13.620Z,1758818413.620 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-09-25T16:40:31.643Z,1758818431.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T16:40:32.443Z,1758818432.443 [Default:CheckIn] Running Loop=1
2025-09-25T16:40:32.443Z,1758818432.443 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-09-25T16:40:32.443Z,1758818432.443 [Default:CheckIn:Read_GPS] Running Loop=1
2025-09-25T16:40:44.957Z,1758818444.957 [NAL9602](INFO): SBD MO Status=0, MOMSN=13785, MT Status=0, MTMSN=0
2025-09-25T16:40:44.957Z,1758818444.957 [NAL9602](INFO): No messages in MT queue
2025-09-25T16:40:46.171Z,1758818446.171 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164045.00,A,3648.31544,N,12150.51277,W,0.486,0.00,250925,,,A*72
2025-09-25T16:40:46.174Z,1758818446.174 [NAL9602](INFO): GPS fix at 20250925T164045: (36.805257, -121.841880)
2025-09-25T16:40:46.187Z,1758818446.187 [UniversalFixResidualReporter](INFO): Fix residual: 16.1 %DT, over the last 3292.7 m. Residual distance 530.7 m at bearing -158.5 degrees. Fix at (36.8053, -121.8419) with 515.0 m made good.
2025-09-25T16:40:46.188Z,1758818446.188 [Default:CheckIn:Read_GPS] Stopped
2025-09-25T16:40:46.188Z,1758818446.188 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-09-25T16:41:02.771Z,1758818462.771 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T16:41:03.641Z,1758818463.641 [NAL9602](INFO): SBD MO Status=1, MOMSN=13786, MT Status=0, MTMSN=0
2025-09-25T16:41:03.690Z,1758818463.690 [NAL9602](INFO): Sent 218 bytes from file Logs/20250925T150314/Courier0018.lzma
2025-09-25T16:41:03.691Z,1758818463.691 [NAL9602](INFO): Packets left to send: 0
2025-09-25T16:41:13.006Z,1758818473.006 [NAL9602](INFO): SBD MO Status=1, MOMSN=13787, MT Status=0, MTMSN=0
2025-09-25T16:41:13.060Z,1758818473.060 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0019.lzma
2025-09-25T16:41:13.060Z,1758818473.060 [NAL9602](INFO): Packets left to send: 4
2025-09-25T16:41:25.605Z,1758818485.605 [NAL9602](INFO): SBD MO Status=1, MOMSN=13788, MT Status=0, MTMSN=0
2025-09-25T16:41:25.658Z,1758818485.658 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0019.lzma
2025-09-25T16:41:25.659Z,1758818485.659 [NAL9602](INFO): Packets left to send: 3
2025-09-25T16:41:33.895Z,1758818493.895 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T16:41:36.995Z,1758818496.995 [NAL9602](INFO): SBD MO Status=1, MOMSN=13789, MT Status=0, MTMSN=0
2025-09-25T16:41:37.045Z,1758818497.045 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0019.lzma
2025-09-25T16:41:37.045Z,1758818497.045 [NAL9602](INFO): Packets left to send: 2
2025-09-25T16:41:47.172Z,1758818507.172 [NAL9602](INFO): SBD MO Status=1, MOMSN=13790, MT Status=0, MTMSN=0
2025-09-25T16:41:47.223Z,1758818507.223 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0019.lzma
2025-09-25T16:41:47.223Z,1758818507.223 [NAL9602](INFO): Packets left to send: 1
2025-09-25T16:41:54.124Z,1758818514.124 [NAL9602](INFO): SBD MO Status=1, MOMSN=13791, MT Status=0, MTMSN=0
2025-09-25T16:41:54.174Z,1758818514.174 [NAL9602](INFO): Sent 64 bytes from file Logs/20250925T150314/Express0019.lzma
2025-09-25T16:41:54.175Z,1758818514.175 [NAL9602](INFO): Packets left to send: 0
2025-09-25T16:42:05.031Z,1758818525.031 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T16:42:05.442Z,1758818525.442 [NAL9602](INFO): SBD MO Status=0, MOMSN=13792, MT Status=0, MTMSN=0
2025-09-25T16:42:05.531Z,1758818525.531 [Default:CheckIn:Read_Iridium] Stopped
2025-09-25T16:42:05.532Z,1758818525.532 [Default:CheckIn:C.Wait] Running Loop=1
2025-09-25T16:42:05.532Z,1758818525.532 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-09-25T16:42:23.840Z,1758818543.840 [DataOverHttps](IMPORTANT): SBD MTMSN=20250925T164222
2025-09-25T16:42:23.844Z,1758818543.844 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003673
2025-09-25T16:42:34.886Z,1758818554.886 [DataOverHttps](INFO): Received command: sched "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.Depth 80 m;set optimize_roll_speed.MaxDepth 100 m" 2wxcg 1 2
2025-09-25T16:42:34.943Z,1758818554.943 [CommandExec](IMPORTANT): got command schedule "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.Depth 80 m;set optimize_roll_speed.MaxDepth 100 m" 2wxcg 1 2.000000
2025-09-25T16:42:34.943Z,1758818554.943 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2wxcg
2025-09-25T16:42:34.947Z,1758818554.947 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='2wxcg'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.Depth 80 m;set optimize_roll_speed.MaxDepth 100 m", AFTER MISSION
2025-09-25T16:42:34.948Z,1758818554.948 [CommandExec](FAULT): Scheduling was paused by an error at 2025-09-25T01:46:37Z
2025-09-25T16:42:36.151Z,1758818556.151 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T16:42:45.928Z,1758818565.928 [DataOverHttps](IMPORTANT): SBD MTMSN=20250925T164244
2025-09-25T16:42:54.226Z,1758818574.226 [DataOverHttps](INFO): Received command: sched "set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run" 2wxcg 2 2
2025-09-25T16:42:54.296Z,1758818574.296 [CommandExec](IMPORTANT): got command schedule "set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run" 2wxcg 2 2.000000
2025-09-25T16:42:54.296Z,1758818574.296 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2wxcg
2025-09-25T16:42:54.297Z,1758818574.297 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='2wxcg'): "set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-09-25T16:42:54.298Z,1758818574.298 [CommandExec](FAULT): Scheduling was paused by an error at 2025-09-25T01:46:37Z
2025-09-25T16:47:06.133Z,1758818826.133 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-09-25T16:47:06.133Z,1758818826.133 [Default:CheckIn:C.Wait] Stopped
2025-09-25T16:47:06.133Z,1758818826.133 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T16:47:06.134Z,1758818826.134 [Default:CheckIn:D] Running Loop=1
2025-09-25T16:47:06.506Z,1758818826.506 [Default:CheckIn:D] Stopped
2025-09-25T16:47:06.507Z,1758818826.507 [Default:CheckIn:E] Running Loop=1
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 7.186481 min
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn:E] Stopped
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn] Stopped
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn](INFO): Running loop #2
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn] Running Loop=2
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-09-25T16:47:06.912Z,1758818826.912 [Default:CheckIn:Read_GPS] Running Loop=1
2025-09-25T16:47:08.911Z,1758818828.911 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164708.00,A,3648.29548,N,12150.52375,W,0.233,223.19,250925,,,D*7F
2025-09-25T16:47:08.913Z,1758818828.913 [NAL9602](INFO): GPS fix at 20250925T164708: (36.804925, -121.842062)
2025-09-25T16:47:08.924Z,1758818828.924 [Default:CheckIn:Read_GPS] Stopped
2025-09-25T16:47:08.924Z,1758818828.924 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-09-25T16:47:17.422Z,1758818837.422 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20250925T150314/Courier0021.lzma
2025-09-25T16:47:28.466Z,1758818848.466 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Courier0021.lzma.bak
2025-09-25T16:47:28.467Z,1758818848.467 [DataOverHttps](INFO): SBD MOMSN=26075168
2025-09-25T16:47:29.113Z,1758818849.113 [NAL9602](INFO): SBD MO Status=2, MOMSN=13793, MT Status=2, MTMSN=0
2025-09-25T16:47:29.113Z,1758818849.113 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-09-25T16:47:39.623Z,1758818859.623 [NAL9602](INFO): SBD MO Status=0, MOMSN=13793, MT Status=0, MTMSN=0
2025-09-25T16:47:39.623Z,1758818859.623 [NAL9602](INFO): No messages in MT queue
2025-09-25T16:47:57.031Z,1758818877.031 [DataOverHttps](INFO): Sending 544 bytes from file Logs/20250925T150314/Express0022.lzma
2025-09-25T16:48:08.072Z,1758818888.072 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0022.lzma.bak
2025-09-25T16:48:08.072Z,1758818888.072 [DataOverHttps](INFO): SBD MOMSN=26075171
2025-09-25T16:48:09.551Z,1758818889.551 [Default:CheckIn:Read_Iridium] Stopped
2025-09-25T16:48:09.551Z,1758818889.551 [Default:CheckIn:C.Wait] Running Loop=1
2025-09-25T16:48:09.551Z,1758818889.551 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-09-25T16:48:10.333Z,1758818890.333 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T16:49:29.952Z,1758818969.952 [DataOverHttps](IMPORTANT): SBD MTMSN=20250925T164928
2025-09-25T16:49:41.504Z,1758818981.504 [DataOverHttps](INFO): Received command: schedule resume
2025-09-25T16:49:41.576Z,1758818981.576 [CommandExec](IMPORTANT): got command schedule resume
2025-09-25T16:49:41.576Z,1758818981.576 [CommandExec](IMPORTANT): Scheduling is resumed
2025-09-25T16:49:41.720Z,1758818981.720 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-09-25T16:49:41.721Z,1758818981.721 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-09-25T16:49:41.721Z,1758818981.721 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-09-25T16:49:41.733Z,1758818981.733 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-09-25T16:49:42.588Z,1758818982.588 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
60
30
NaN
NaN
30
0.9
0
2
1.1
0.6
5
0.05
0.025
35
1
7
1
2025-09-25T16:49:42.599Z,1758818982.599 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-09-25T16:49:42.603Z,1758818982.603 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-09-25T16:49:42.606Z,1758818982.606 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-09-25T16:49:42.609Z,1758818982.609 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-09-25T16:49:42.612Z,1758818982.612 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-09-25T16:49:42.620Z,1758818982.620 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-09-25T16:49:42.623Z,1758818982.623 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-09-25T16:49:42.626Z,1758818982.626 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-09-25T16:49:42.629Z,1758818982.629 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-09-25T16:49:42.633Z,1758818982.633 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-09-25T16:49:42.636Z,1758818982.636 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-09-25T16:49:42.639Z,1758818982.639 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-09-25T16:49:42.691Z,1758818982.691 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-09-25T16:49:42.694Z,1758818982.694 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-09-25T16:49:42.697Z,1758818982.697 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-09-25T16:49:42.700Z,1758818982.700 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-09-25T16:49:42.711Z,1758818982.711 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-09-25T16:49:42.714Z,1758818982.714 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-09-25T16:49:42.717Z,1758818982.717 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-09-25T16:49:42.717Z,1758818982.717 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-09-25T16:49:42.717Z,1758818982.717 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-09-25T16:49:42.739Z,1758818982.739 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-09-25T16:49:43.098Z,1758818983.098 [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
2025-09-25T16:49:43.109Z,1758818983.109 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-09-25T16:49:43.112Z,1758818983.112 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-09-25T16:49:43.116Z,1758818983.116 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-09-25T16:49:43.119Z,1758818983.119 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-09-25T16:49:43.122Z,1758818983.122 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-09-25T16:49:43.125Z,1758818983.125 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-09-25T16:49:43.129Z,1758818983.129 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-09-25T16:49:43.132Z,1758818983.132 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-09-25T16:49:43.139Z,1758818983.139 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-09-25T16:49:43.203Z,1758818983.203 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-25T16:49:43.203Z,1758818983.203 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-25T16:49:43.204Z,1758818983.204 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-25T16:49:43.384Z,1758818983.384 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-09-25T16:49:43.393Z,1758818983.393 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-25T16:49:43.397Z,1758818983.397 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-25T16:49:43.409Z,1758818983.409 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-25T16:49:43.420Z,1758818983.420 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-25T16:49:43.421Z,1758818983.421 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-25T16:49:43.450Z,1758818983.450 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-25T16:49:43.467Z,1758818983.467 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-25T16:49:43.504Z,1758818983.504 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-09-25T16:49:43.504Z,1758818983.504 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-09-25T16:49:43.505Z,1758818983.505 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-09-25T16:49:43.556Z,1758818983.556 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-09-25T16:49:43.565Z,1758818983.565 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-09-25T16:49:43.577Z,1758818983.577 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-09-25T16:49:43.580Z,1758818983.580 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-09-25T16:49:43.580Z,1758818983.580 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-09-25T16:49:43.581Z,1758818983.581 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-09-25T16:49:43.852Z,1758818983.852 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-09-25T16:49:43.861Z,1758818983.861 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-09-25T16:49:43.865Z,1758818983.865 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-09-25T16:49:43.876Z,1758818983.876 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-09-25T16:49:43.879Z,1758818983.879 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-09-25T16:49:43.891Z,1758818983.891 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-09-25T16:49:43.907Z,1758818983.907 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-09-25T16:49:43.910Z,1758818983.910 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-09-25T16:49:43.914Z,1758818983.914 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-09-25T16:49:43.934Z,1758818983.934 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-09-25T16:49:43.951Z,1758818983.951 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-09-25T16:49:43.977Z,1758818983.977 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-09-25T16:49:44.051Z,1758818984.051 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission optimize_roll_speed {
"""
Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for communications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Depth = 30 meter
"""
Depth of flat and level flight during the mission.
"""
StartSpeed = 0.9 meter_per_second
"""
Initial speed for roll optimization.
"""
TargetRollAngle = 0 degree
"""
Target roll angle for roll speed optimization.
"""
RollError = 2 degree
"""
Error tolerance for roll angle during speed optimization.
"""
MaxSpeed = 1.1 meter_per_second
"""
Maximum speed for roll speed optimization.
"""
MinSpeed = 0.6 meter_per_second
"""
Minimum speed for roll speed optimization.
"""
WindowLen = 5 minute
"""
Time window for roll speed optimization.
"""
InitStep = 0.05 meter_per_second
"""
Initial step size for roll speed optimization.
"""
MinStep = 0.025 meter_per_second
"""
Minimum step size for roll speed optimization.
"""
Verbose = true
"""
Enable verbose logging for roll speed optimization.
"""
MaxDepth = 35 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
call id="StartingMission" priorityHere=false refId="NeedComms"
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetRollSpeed {
run in parallel
set targetRoll = TargetRollAngle
set rollError = RollError
set maxSpeed = MaxSpeed
set startSpeed = StartSpeed
set minSpeed = MinSpeed
set estimationWindow = WindowLen
set initStep = InitStep
set minStep = MinStep
set verbose = Verbose
set persistResult = true
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
}
call id="PhoneHome" priorityHere=false refId="NeedComms"
}
}
2025-09-25T16:49:44.052Z,1758818984.052 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-09-25T16:50:12.608Z,1758819012.608 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.79631 degree
2025-09-25T16:50:12.609Z,1758819012.609 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -121.87204 degree
2025-09-25T16:50:12.610Z,1758819012.610 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Depth 80 meter
2025-09-25T16:50:12.611Z,1758819012.611 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MaxDepth 100 meter
2025-09-25T16:50:22.563Z,1758819022.563 [CommandExec](IMPORTANT): got command set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool
2025-09-25T16:50:22.563Z,1758819022.563 [CommandExec](IMPORTANT): got command run
2025-09-25T16:50:22.566Z,1758819022.566 [CommandExec](IMPORTANT): Running
2025-09-25T16:50:22.888Z,1758819022.888 [Default] Stopped
2025-09-25T16:50:22.888Z,1758819022.888 [Default](DEBUG): Aggregate::uninitialize Default
2025-09-25T16:50:22.889Z,1758819022.889 [Default:B.GoToSurface] Stopped
2025-09-25T16:50:22.889Z,1758819022.889 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T16:50:22.889Z,1758819022.889 [Default:CheckIn] Stopped
2025-09-25T16:50:22.889Z,1758819022.889 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-09-25T16:50:22.889Z,1758819022.889 [Default:CheckIn:C.Wait] Stopped
2025-09-25T16:50:22.889Z,1758819022.889 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T16:50:22.889Z,1758819022.889 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-09-25T16:50:22.889Z,1758819022.889 [optimize_roll_speed] Running Loop=1
2025-09-25T16:50:22.889Z,1758819022.889 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-09-25T16:50:22.890Z,1758819022.890 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-09-25T16:50:22.890Z,1758819022.890 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-09-25T16:50:22.890Z,1758819022.890 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T16:50:22.890Z,1758819022.890 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-25T16:50:22.914Z,1758819022.914 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T16:50:22.914Z,1758819022.914 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-09-25T16:50:22.915Z,1758819022.915 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-09-25T16:50:22.916Z,1758819022.916 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-09-25T16:50:22.916Z,1758819022.916 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-09-25T16:50:22.916Z,1758819022.916 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-09-25T16:50:22.916Z,1758819022.916 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-09-25T16:50:22.916Z,1758819022.916 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-25T16:50:22.916Z,1758819022.916 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-09-25T16:50:22.916Z,1758819022.916 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-09-25T16:50:22.916Z,1758819022.916 [optimize_roll_speed:B] Running Loop=1
2025-09-25T16:50:22.917Z,1758819022.917 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-09-25T16:50:22.917Z,1758819022.917 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-09-25T16:50:22.917Z,1758819022.917 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-09-25T16:50:22.918Z,1758819022.918 [optimize_roll_speed:PowerOnly:D] Stopped
2025-09-25T16:50:22.918Z,1758819022.918 [optimize_roll_speed:PowerOnly:C] Stopped
2025-09-25T16:50:22.918Z,1758819022.918 [optimize_roll_speed:PowerOnly:B] Stopped
2025-09-25T16:50:22.918Z,1758819022.918 [optimize_roll_speed:PowerOnly:A] Stopped
2025-09-25T16:50:22.918Z,1758819022.918 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-09-25T16:50:22.919Z,1758819022.919 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-09-25T16:50:22.968Z,1758819022.968 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-09-25T16:50:22.968Z,1758819022.968 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T16:50:22.969Z,1758819022.969 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T16:50:22.969Z,1758819022.969 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T16:50:22.969Z,1758819022.969 [optimize_roll_speed:B] Stopped
2025-09-25T16:50:22.970Z,1758819022.970 [optimize_roll_speed:C] Running Loop=1
2025-09-25T16:50:23.158Z,1758819023.158 [BackseatComponent](INFO): Powering up
2025-09-25T16:50:23.159Z,1758819023.159 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-09-25T16:50:23.296Z,1758819023.296 [optimize_roll_speed:C] Stopped
2025-09-25T16:50:23.296Z,1758819023.296 [optimize_roll_speed:E] Running Loop=1
2025-09-25T16:50:23.691Z,1758819023.691 [optimize_roll_speed:E] Stopped
2025-09-25T16:50:23.691Z,1758819023.691 [optimize_roll_speed:F] Running Loop=1
2025-09-25T16:50:24.107Z,1758819024.107 [optimize_roll_speed:F] Stopped
2025-09-25T16:50:24.107Z,1758819024.107 [optimize_roll_speed:G] Running Loop=1
2025-09-25T16:50:24.503Z,1758819024.503 [optimize_roll_speed:G] Stopped
2025-09-25T16:50:24.503Z,1758819024.503 [optimize_roll_speed:StartingMission] Running Loop=1
2025-09-25T16:50:24.503Z,1758819024.503 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::initialize optimize_roll_speed:StartingMission
2025-09-25T16:50:24.903Z,1758819024.903 [optimize_roll_speed:NeedComms] Running Loop=1
2025-09-25T16:50:24.903Z,1758819024.903 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-09-25T16:50:24.903Z,1758819024.903 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-09-25T16:50:24.903Z,1758819024.903 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T16:50:24.904Z,1758819024.904 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-09-25T16:50:24.904Z,1758819024.904 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-09-25T16:50:24.904Z,1758819024.904 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-09-25T16:50:24.905Z,1758819024.905 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-09-25T16:50:24.905Z,1758819024.905 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T16:50:24.905Z,1758819024.905 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T16:50:24.906Z,1758819024.906 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-09-25T16:50:24.907Z,1758819024.907 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was: 1758818828.000000 second since 1970/01/01T00:00:00Z
2025-09-25T16:50:24.908Z,1758819024.908 [optimize_roll_speed:NeedComms:A] Stopped
2025-09-25T16:50:25.316Z,1758819025.316 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-09-25T16:50:25.752Z,1758819025.752 [optimize_roll_speed:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T16:50:27.313Z,1758819027.313 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165026.00,A,3648.28712,N,12150.53356,W,0.914,203.85,250925,,,D*70
2025-09-25T16:50:27.316Z,1758819027.316 [NAL9602](INFO): GPS fix at 20250925T165026: (36.804785, -121.842226)
2025-09-25T16:50:27.358Z,1758819027.358 [optimize_roll_speed:NeedComms:C] Stopped
2025-09-25T16:50:27.358Z,1758819027.358 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-09-25T16:50:27.756Z,1758819027.756 [optimize_roll_speed:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-25T16:50:35.340Z,1758819035.340 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250925T150314/Courier0027.lzma
2025-09-25T16:50:42.337Z,1758819042.337 [NAL9602](INFO): SBD MO Status=0, MOMSN=13794, MT Status=0, MTMSN=0
2025-09-25T16:50:42.337Z,1758819042.337 [NAL9602](INFO): No messages in MT queue
2025-09-25T16:50:46.382Z,1758819046.382 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Courier0027.lzma.bak
2025-09-25T16:50:46.382Z,1758819046.382 [DataOverHttps](INFO): SBD MOMSN=26075194
2025-09-25T16:51:13.103Z,1758819073.103 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T16:51:15.911Z,1758819075.911 [DataOverHttps](INFO): Sending 402 bytes from file Logs/20250925T150314/Express0028.lzma
2025-09-25T16:51:26.960Z,1758819086.960 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0028.lzma.bak
2025-09-25T16:51:26.960Z,1758819086.960 [DataOverHttps](INFO): SBD MOMSN=26075210
2025-09-25T16:51:37.005Z,1758819097.005 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250925T165135
2025-09-25T16:51:54.178Z,1758819114.178 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250925T150314/Express0031.lzma
2025-09-25T16:52:04.224Z,1758819124.224 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0031.lzma.bak
2025-09-25T16:52:04.224Z,1758819124.224 [DataOverHttps](INFO): SBD MOMSN=26075247
2025-09-25T16:52:05.659Z,1758819125.659 [optimize_roll_speed:NeedComms:D] Stopped
2025-09-25T16:52:05.659Z,1758819125.659 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-09-25T16:52:06.048Z,1758819126.048 [optimize_roll_speed:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T16:52:07.673Z,1758819127.673 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165206.00,A,3648.28259,N,12150.53960,W,0.194,237.31,250925,,,D*7D
2025-09-25T16:52:07.679Z,1758819127.679 [NAL9602](INFO): GPS fix at 20250925T165206: (36.804710, -121.842327)
2025-09-25T16:52:07.704Z,1758819127.704 [optimize_roll_speed:NeedComms:E] Stopped
2025-09-25T16:52:07.705Z,1758819127.705 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-09-25T16:52:07.705Z,1758819127.705 [optimize_roll_speed:NeedComms] Stopped
2025-09-25T16:52:07.705Z,1758819127.705 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-09-25T16:52:07.705Z,1758819127.705 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-09-25T16:52:07.705Z,1758819127.705 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T16:52:08.096Z,1758819128.096 [optimize_roll_speed:StartingMission](INFO): Completed optimize_roll_speed:StartingMission
2025-09-25T16:52:08.096Z,1758819128.096 [optimize_roll_speed:StartingMission] Stopped
2025-09-25T16:52:08.097Z,1758819128.097 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::uninitialize optimize_roll_speed:StartingMission
2025-09-25T16:52:08.097Z,1758819128.097 [optimize_roll_speed:Transit] Running Loop=1
2025-09-25T16:52:08.097Z,1758819128.097 [optimize_roll_speed:Transit](DEBUG): Aggregate::initialize optimize_roll_speed:Transit
2025-09-25T16:52:08.097Z,1758819128.097 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-09-25T16:52:08.097Z,1758819128.097 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Initialize.
2025-09-25T16:52:08.097Z,1758819128.097 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-09-25T16:52:08.097Z,1758819128.097 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Initialize.
2025-09-25T16:52:08.131Z,1758819128.131 [optimize_roll_speed:Transit:Wpt1.Waypoint] Running Loop=1
2025-09-25T16:52:08.131Z,1758819128.131 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-09-25T16:52:08.132Z,1758819128.132 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-09-25T16:52:08.503Z,1758819128.503 [optimize_roll_speed:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.796310,-121.872040
2025-09-25T16:52:08.504Z,1758819128.504 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-09-25T16:52:08.504Z,1758819128.504 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-09-25T16:52:08.516Z,1758819128.516 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-09-25T16:52:08.517Z,1758819128.517 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-09-25T16:52:08.517Z,1758819128.517 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-09-25T16:52:23.130Z,1758819143.130 [NAL9602](INFO): SBD MO Status=0, MOMSN=13795, MT Status=0, MTMSN=0
2025-09-25T16:52:23.130Z,1758819143.130 [NAL9602](INFO): No messages in MT queue
2025-09-25T16:52:34.589Z,1758819154.589 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2105
2025-09-25T16:52:34.980Z,1758819154.980 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-09-25T16:52:53.767Z,1758819173.767 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T16:53:35.493Z,1758819215.493 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.90 m/s, pitch 30.00 deg, mass-position 7.13 mm (4 active estimators).
2025-09-25T16:54:07.147Z,1758819247.147 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T16:54:35.818Z,1758819275.818 [Radio_Surface](INFO): Powering down
2025-09-25T16:54:38.271Z,1758819278.271 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T16:54:39.274Z,1758819279.274 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-25T16:56:25.711Z,1758819385.711 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.747208
2025-09-25T16:56:37.881Z,1758819397.881 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2277
2025-09-25T16:57:08.160Z,1758819428.160 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 11.719375 degrees over 730 samples
2025-09-25T16:57:08.161Z,1758819428.161 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.950000 m/s (avg roll: 11.719375 degrees, target: 0.000000 degrees)
2025-09-25T17:02:08.745Z,1758819728.745 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 12.086459 degrees over 741 samples
2025-09-25T17:02:08.745Z,1758819728.745 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Same direction. New step: 0.100000 m/s
2025-09-25T17:02:08.746Z,1758819728.746 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 1.050000 m/s (avg roll: 12.086459 degrees, target: 0.000000 degrees)
2025-09-25T17:02:13.291Z,1758819733.291 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:02:13.386Z,1758819733.386 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:02:13.386Z,1758819733.386 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:02:13.386Z,1758819733.386 [ThrusterHE] Communications Fault, FailCount= 1
2025-09-25T17:02:13.386Z,1758819733.386 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:02:13.390Z,1758819733.390 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:02:13.631Z,1758819733.631 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:02:13.631Z,1758819733.631 [ThrusterHE](INFO): Powering down
2025-09-25T17:02:14.555Z,1758819734.555 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:02:14.675Z,1758819734.675 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:02:14.684Z,1758819734.684 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:02:14.684Z,1758819734.684 [ThrusterHE] No Fault, FailCount= 1
2025-09-25T17:02:21.922Z,1758819741.922 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:02:22.010Z,1758819742.010 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:02:22.010Z,1758819742.010 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:02:22.010Z,1758819742.010 [ThrusterHE] Communications Fault, FailCount= 2
2025-09-25T17:02:22.010Z,1758819742.010 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:02:22.014Z,1758819742.014 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:02:22.239Z,1758819742.239 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:02:22.239Z,1758819742.239 [ThrusterHE](INFO): Powering down
2025-09-25T17:02:22.915Z,1758819742.915 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:02:23.035Z,1758819743.035 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:02:23.042Z,1758819743.042 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:02:23.042Z,1758819743.042 [ThrusterHE] No Fault, FailCount= 2
2025-09-25T17:02:30.646Z,1758819750.646 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:02:30.743Z,1758819750.743 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:02:30.743Z,1758819750.743 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:02:30.743Z,1758819750.743 [ThrusterHE] Communications Fault, FailCount= 3
2025-09-25T17:02:30.743Z,1758819750.743 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:02:30.747Z,1758819750.747 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:02:30.987Z,1758819750.987 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:02:30.987Z,1758819750.987 [ThrusterHE](INFO): Powering down
2025-09-25T17:02:31.911Z,1758819751.911 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:02:32.031Z,1758819752.031 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:02:32.035Z,1758819752.035 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:02:32.035Z,1758819752.035 [ThrusterHE] No Fault, FailCount= 3
2025-09-25T17:02:37.592Z,1758819757.592 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-09-25T17:03:11.886Z,1758819791.886 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:03:11.978Z,1758819791.978 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:03:11.978Z,1758819791.978 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:03:11.978Z,1758819791.978 [ThrusterHE] Communications Fault, FailCount= 4
2025-09-25T17:03:11.978Z,1758819791.978 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:03:11.982Z,1758819791.982 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:03:12.194Z,1758819792.194 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:03:12.194Z,1758819792.194 [ThrusterHE](INFO): Powering down
2025-09-25T17:03:13.039Z,1758819793.039 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:03:13.156Z,1758819793.156 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:03:13.160Z,1758819793.160 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:03:13.160Z,1758819793.160 [ThrusterHE] No Fault, FailCount= 4
2025-09-25T17:03:24.942Z,1758819804.942 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:03:25.030Z,1758819805.030 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:03:25.030Z,1758819805.030 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:03:25.030Z,1758819805.030 [ThrusterHE] Communications Fault, FailCount= 5
2025-09-25T17:03:25.030Z,1758819805.030 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:03:25.034Z,1758819805.034 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:03:25.035Z,1758819805.035 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE
2025-09-25T17:03:25.171Z,1758819805.171 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:03:25.171Z,1758819805.171 [ThrusterHE](INFO): Powering down
2025-09-25T17:03:25.173Z,1758819805.173 [CommandExec](FAULT): Scheduling is paused
2025-09-25T17:03:25.173Z,1758819805.173 [CBIT](INFO): Critical error at 20250925T170325
2025-09-25T17:03:25.173Z,1758819805.173 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-09-25T17:03:25.519Z,1758819805.519 [MissionManager](INFO): MissionManager is completed.
2025-09-25T17:03:25.519Z,1758819805.519 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-09-25T17:03:25.519Z,1758819805.519 [optimize_roll_speed] Stopped
2025-09-25T17:03:25.519Z,1758819805.519 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-09-25T17:03:25.519Z,1758819805.519 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:BackseatDriver] Stopped
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:PowerOnly] Stopped
2025-09-25T17:03:25.520Z,1758819805.520 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:Transit] Stopped
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:Transit](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:Transit:A.Pitch] Stopped
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:Transit:B.SetRollSpeed] Stopped
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Uninitialize.
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:Transit:Wpt1.Waypoint] Stopped
2025-09-25T17:03:25.521Z,1758819805.521 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-09-25T17:03:25.763Z,1758819805.763 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-09-25T17:03:25.763Z,1758819805.763 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-09-25T17:03:25.901Z,1758819805.901 [BioacousticsDataBridge](DEBUG): Backseat LCM timeout, waiting for message to resume
2025-09-25T17:03:25.925Z,1758819805.925 [MissionManager](IMPORTANT): Started mission Default
2025-09-25T17:03:25.926Z,1758819805.926 [Default] Running Loop=1
2025-09-25T17:03:25.926Z,1758819805.926 [Default](DEBUG): Aggregate::initialize Default
2025-09-25T17:03:25.926Z,1758819805.926 [Default:B.GoToSurface] Running Loop=1
2025-09-25T17:03:25.926Z,1758819805.926 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T17:03:25.930Z,1758819805.930 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-09-25T17:03:25.931Z,1758819805.931 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-09-25T17:03:25.931Z,1758819805.931 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-09-25T17:03:25.931Z,1758819805.931 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-09-25T17:03:25.931Z,1758819805.931 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T17:03:25.932Z,1758819805.932 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T17:03:25.932Z,1758819805.932 [Default:A.Wait] Running Loop=1
2025-09-25T17:03:25.932Z,1758819805.932 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-09-25T17:03:25.995Z,1758819805.995 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:03:26.116Z,1758819806.116 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:03:26.414Z,1758819806.414 [Radio_Surface](INFO): Powering up
2025-09-25T17:03:32.531Z,1758819812.531 [DataOverHttps](INFO): Radio surface powered ON.
2025-09-25T17:03:39.263Z,1758819819.263 [Default:A.Wait](INFO): Done Waiting.
2025-09-25T17:03:39.263Z,1758819819.263 [Default:A.Wait] Stopped
2025-09-25T17:03:39.263Z,1758819819.263 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T17:03:43.935Z,1758819823.935 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-09-25T17:03:43.936Z,1758819823.936 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-09-25T17:03:43.936Z,1758819823.936 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-09-25T17:04:02.659Z,1758819842.659 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:04:10.059Z,1758819850.059 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:04:10.059Z,1758819850.059 [ThrusterHE] No Fault, FailCount= 5
2025-09-25T17:04:33.818Z,1758819873.818 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:05:04.943Z,1758819904.943 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:05:15.970Z,1758819915.970 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-09-25T17:05:36.067Z,1758819936.067 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:06:07.191Z,1758819967.191 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:06:29.089Z,1758819989.089 [Default:CheckIn] Running Loop=1
2025-09-25T17:06:29.089Z,1758819989.089 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-09-25T17:06:29.089Z,1758819989.089 [Default:CheckIn:Read_GPS] Running Loop=1
2025-09-25T17:06:38.314Z,1758819998.314 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:06:53.320Z,1758820013.320 [NAL9602](INFO): SBD MO Status=0, MOMSN=13796, MT Status=0, MTMSN=0
2025-09-25T17:06:53.320Z,1758820013.320 [NAL9602](INFO): No messages in MT queue
2025-09-25T17:06:54.530Z,1758820014.530 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170653.00,A,3648.23621,N,12150.95335,W,1.186,249.11,250925,,,A*71
2025-09-25T17:06:54.532Z,1758820014.532 [NAL9602](INFO): GPS fix at 20250925T170653: (36.803937, -121.849222)
2025-09-25T17:06:54.544Z,1758820014.544 [UniversalFixResidualReporter](INFO): Fix residual: 18.6 %DT, over the last 661.2 m. Residual distance 122.9 m at bearing 159.7 degrees. Fix at (36.8039, -121.8492) with 619.9 m made good.
2025-09-25T17:06:54.545Z,1758820014.545 [Default:CheckIn:Read_GPS] Stopped
2025-09-25T17:06:54.545Z,1758820014.545 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-09-25T17:07:09.439Z,1758820029.439 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:07:09.534Z,1758820029.534 [NAL9602](INFO): SBD MO Status=1, MOMSN=13797, MT Status=0, MTMSN=0
2025-09-25T17:07:09.585Z,1758820029.585 [NAL9602](INFO): Sent 158 bytes from file Logs/20250925T150314/Courier0033.lzma
2025-09-25T17:07:09.585Z,1758820029.585 [NAL9602](INFO): Packets left to send: 0
2025-09-25T17:07:20.179Z,1758820040.179 [NAL9602](INFO): SBD MO Status=1, MOMSN=13798, MT Status=0, MTMSN=0
2025-09-25T17:07:20.247Z,1758820040.247 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0034.lzma
2025-09-25T17:07:20.247Z,1758820040.247 [NAL9602](INFO): Packets left to send: 2
2025-09-25T17:07:27.249Z,1758820047.249 [NAL9602](INFO): SBD MO Status=1, MOMSN=13799, MT Status=0, MTMSN=0
2025-09-25T17:07:27.296Z,1758820047.296 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0034.lzma
2025-09-25T17:07:27.296Z,1758820047.296 [NAL9602](INFO): Packets left to send: 1
2025-09-25T17:07:37.201Z,1758820057.201 [NAL9602](INFO): SBD MO Status=1, MOMSN=13800, MT Status=0, MTMSN=0
2025-09-25T17:07:37.251Z,1758820057.251 [NAL9602](INFO): Sent 66 bytes from file Logs/20250925T150314/Express0034.lzma
2025-09-25T17:07:37.251Z,1758820057.251 [NAL9602](INFO): Packets left to send: 0
2025-09-25T17:07:40.235Z,1758820060.235 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003049
2025-09-25T17:07:41.653Z,1758820061.653 [Default:CheckIn:Read_Iridium] Stopped
2025-09-25T17:07:41.654Z,1758820061.654 [Default:CheckIn:C.Wait] Running Loop=1
2025-09-25T17:07:41.654Z,1758820061.654 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-09-25T17:07:48.909Z,1758820068.909 [NAL9602](INFO): SBD MO Status=0, MOMSN=13801, MT Status=0, MTMSN=0
2025-09-25T17:08:19.615Z,1758820099.615 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T17:09:29.885Z,1758820169.885 [DataOverHttps](IMPORTANT): SBD MTMSN=20250925T170929
2025-09-25T17:09:37.635Z,1758820177.635 [DataOverHttps](INFO): Received command: sched asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.Depth 80 m;set optimize_roll_speed.StartSpeed 1.1 m/s" 2x0zi 1 2
2025-09-25T17:09:37.641Z,1758820177.641 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.Depth 80 m;set optimize_roll_speed.StartSpeed 1.1 m/s" 2x0zi 1 2.000000
2025-09-25T17:09:37.641Z,1758820177.641 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2x0zi
2025-09-25T17:09:37.642Z,1758820177.642 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='2x0zi'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.Latitude 36.79631 degree;set optimize_roll_speed.Longitude -121.87204 degree;set optimize_roll_speed.Depth 80 m;set optimize_roll_speed.StartSpeed 1.1 m/s", ASAP
2025-09-25T17:09:48.676Z,1758820188.676 [DataOverHttps](IMPORTANT): SBD MTMSN=20250925T170947
2025-09-25T17:10:00.302Z,1758820200.302 [DataOverHttps](INFO): Received command: sched asap "set optimize_roll_speed.MaxSpeed 1.4 m/s;set optimize_roll_speed.MaxDepth 100 m;set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run" 2x0zi 2 2
2025-09-25T17:10:00.371Z,1758820200.371 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed.MaxSpeed 1.4 m/s;set optimize_roll_speed.MaxDepth 100 m;set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run" 2x0zi 2 2.000000
2025-09-25T17:10:00.371Z,1758820200.371 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2x0zi
2025-09-25T17:10:00.372Z,1758820200.372 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='2x0zi'): "set optimize_roll_speed.MaxSpeed 1.4 m/s;set optimize_roll_speed.MaxDepth 100 m;set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-09-25T17:10:00.505Z,1758820200.505 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-09-25T17:10:00.505Z,1758820200.505 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-09-25T17:10:00.506Z,1758820200.506 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-09-25T17:10:00.509Z,1758820200.509 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-09-25T17:10:01.347Z,1758820201.347 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
60
30
NaN
NaN
30
0.9
0
2
1.1
0.6
5
0.05
0.025
35
1
7
1
2025-09-25T17:10:01.353Z,1758820201.353 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-09-25T17:10:01.364Z,1758820201.364 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-09-25T17:10:01.367Z,1758820201.367 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-09-25T17:10:01.369Z,1758820201.369 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-09-25T17:10:01.371Z,1758820201.371 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-09-25T17:10:01.374Z,1758820201.374 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-09-25T17:10:01.376Z,1758820201.376 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-09-25T17:10:01.379Z,1758820201.379 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-09-25T17:10:01.381Z,1758820201.381 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-09-25T17:10:01.383Z,1758820201.383 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-09-25T17:10:01.386Z,1758820201.386 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-09-25T17:10:01.388Z,1758820201.388 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-09-25T17:10:01.390Z,1758820201.390 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-09-25T17:10:01.392Z,1758820201.392 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-09-25T17:10:01.395Z,1758820201.395 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-09-25T17:10:01.397Z,1758820201.397 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-09-25T17:10:01.399Z,1758820201.399 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-09-25T17:10:01.401Z,1758820201.401 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-09-25T17:10:01.403Z,1758820201.403 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-09-25T17:10:01.404Z,1758820201.404 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-09-25T17:10:01.404Z,1758820201.404 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-09-25T17:10:01.405Z,1758820201.405 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-09-25T17:10:01.776Z,1758820201.776 [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
2025-09-25T17:10:01.781Z,1758820201.781 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-09-25T17:10:01.783Z,1758820201.783 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-09-25T17:10:01.785Z,1758820201.785 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-09-25T17:10:01.788Z,1758820201.788 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-09-25T17:10:01.790Z,1758820201.790 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-09-25T17:10:01.816Z,1758820201.816 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-09-25T17:10:01.823Z,1758820201.823 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-09-25T17:10:01.825Z,1758820201.825 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-09-25T17:10:01.875Z,1758820201.875 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-09-25T17:10:01.935Z,1758820201.935 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-25T17:10:01.935Z,1758820201.935 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-25T17:10:01.936Z,1758820201.936 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-25T17:10:02.017Z,1758820202.017 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-09-25T17:10:02.024Z,1758820202.024 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-25T17:10:02.026Z,1758820202.026 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-25T17:10:02.028Z,1758820202.028 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-25T17:10:02.031Z,1758820202.031 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-25T17:10:02.032Z,1758820202.032 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-25T17:10:02.038Z,1758820202.038 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-25T17:10:02.044Z,1758820202.044 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-25T17:10:02.053Z,1758820202.053 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-09-25T17:10:02.053Z,1758820202.053 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-09-25T17:10:02.054Z,1758820202.054 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-09-25T17:10:02.101Z,1758820202.101 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-09-25T17:10:02.120Z,1758820202.120 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-09-25T17:10:02.131Z,1758820202.131 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-09-25T17:10:02.133Z,1758820202.133 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-09-25T17:10:02.133Z,1758820202.133 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-09-25T17:10:02.142Z,1758820202.142 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-09-25T17:10:02.319Z,1758820202.319 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-09-25T17:10:02.327Z,1758820202.327 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-09-25T17:10:02.329Z,1758820202.329 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-09-25T17:10:02.335Z,1758820202.335 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-09-25T17:10:02.337Z,1758820202.337 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-09-25T17:10:02.350Z,1758820202.350 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-09-25T17:10:02.361Z,1758820202.361 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-09-25T17:10:02.368Z,1758820202.368 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-09-25T17:10:02.384Z,1758820202.384 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-09-25T17:10:02.396Z,1758820202.396 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-09-25T17:10:02.400Z,1758820202.400 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-09-25T17:10:02.417Z,1758820202.417 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-09-25T17:10:02.434Z,1758820202.434 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission optimize_roll_speed {
"""
Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for communications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Depth = 30 meter
"""
Depth of flat and level flight during the mission.
"""
StartSpeed = 0.9 meter_per_second
"""
Initial speed for roll optimization.
"""
TargetRollAngle = 0 degree
"""
Target roll angle for roll speed optimization.
"""
RollError = 2 degree
"""
Error tolerance for roll angle during speed optimization.
"""
MaxSpeed = 1.1 meter_per_second
"""
Maximum speed for roll speed optimization.
"""
MinSpeed = 0.6 meter_per_second
"""
Minimum speed for roll speed optimization.
"""
WindowLen = 5 minute
"""
Time window for roll speed optimization.
"""
InitStep = 0.05 meter_per_second
"""
Initial step size for roll speed optimization.
"""
MinStep = 0.025 meter_per_second
"""
Minimum step size for roll speed optimization.
"""
Verbose = true
"""
Enable verbose logging for roll speed optimization.
"""
MaxDepth = 35 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
call id="StartingMission" priorityHere=false refId="NeedComms"
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetRollSpeed {
run in parallel
set targetRoll = TargetRollAngle
set rollError = RollError
set maxSpeed = MaxSpeed
set startSpeed = StartSpeed
set minSpeed = MinSpeed
set estimationWindow = WindowLen
set initStep = InitStep
set minStep = MinStep
set verbose = Verbose
set persistResult = true
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
}
call id="PhoneHome" priorityHere=false refId="NeedComms"
}
}
2025-09-25T17:10:02.435Z,1758820202.435 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-09-25T17:10:30.347Z,1758820230.347 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.79631 degree
2025-09-25T17:10:30.348Z,1758820230.348 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -121.87204 degree
2025-09-25T17:10:30.349Z,1758820230.349 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Depth 80 meter
2025-09-25T17:10:30.349Z,1758820230.349 [CommandExec](IMPORTANT): got command set optimize_roll_speed.StartSpeed 1.1 meter_per_second
2025-09-25T17:10:56.830Z,1758820256.830 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MaxSpeed 1.4 meter_per_second
2025-09-25T17:10:56.831Z,1758820256.831 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MaxDepth 100 meter
2025-09-25T17:10:56.832Z,1758820256.832 [CommandExec](IMPORTANT): got command set optimize_roll_speed:BackseatDriver.EnableBackseat 1 bool
2025-09-25T17:10:56.833Z,1758820256.833 [CommandExec](IMPORTANT): got command run
2025-09-25T17:10:56.835Z,1758820256.835 [CommandExec](IMPORTANT): Running
2025-09-25T17:10:56.932Z,1758820256.932 [Default] Stopped
2025-09-25T17:10:56.932Z,1758820256.932 [Default](DEBUG): Aggregate::uninitialize Default
2025-09-25T17:10:56.932Z,1758820256.932 [Default:B.GoToSurface] Stopped
2025-09-25T17:10:56.932Z,1758820256.932 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T17:10:56.932Z,1758820256.932 [Default:CheckIn] Stopped
2025-09-25T17:10:56.933Z,1758820256.933 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-09-25T17:10:56.933Z,1758820256.933 [Default:CheckIn:C.Wait] Stopped
2025-09-25T17:10:56.933Z,1758820256.933 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T17:10:56.933Z,1758820256.933 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-09-25T17:10:56.933Z,1758820256.933 [optimize_roll_speed] Running Loop=1
2025-09-25T17:10:56.933Z,1758820256.933 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-09-25T17:10:56.933Z,1758820256.933 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-09-25T17:10:56.933Z,1758820256.933 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-09-25T17:10:56.933Z,1758820256.933 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T17:10:56.934Z,1758820256.934 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-25T17:10:56.934Z,1758820256.934 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T17:10:56.934Z,1758820256.934 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-25T17:10:56.942Z,1758820256.942 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T17:10:56.942Z,1758820256.942 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-25T17:10:56.942Z,1758820256.942 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-09-25T17:10:56.943Z,1758820256.943 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-09-25T17:10:56.944Z,1758820256.944 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-25T17:10:56.944Z,1758820256.944 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-09-25T17:10:56.944Z,1758820256.944 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-09-25T17:10:56.944Z,1758820256.944 [optimize_roll_speed:B] Running Loop=1
2025-09-25T17:10:56.945Z,1758820256.945 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-09-25T17:10:56.945Z,1758820256.945 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-09-25T17:10:56.945Z,1758820256.945 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-09-25T17:10:56.945Z,1758820256.945 [optimize_roll_speed:PowerOnly:D] Stopped
2025-09-25T17:10:56.945Z,1758820256.945 [optimize_roll_speed:PowerOnly:C] Stopped
2025-09-25T17:10:56.946Z,1758820256.946 [optimize_roll_speed:PowerOnly:B] Stopped
2025-09-25T17:10:56.946Z,1758820256.946 [optimize_roll_speed:PowerOnly:A] Stopped
2025-09-25T17:10:56.946Z,1758820256.946 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-09-25T17:10:56.946Z,1758820256.946 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-09-25T17:10:57.000Z,1758820257.000 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-09-25T17:10:57.000Z,1758820257.000 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T17:10:57.001Z,1758820257.001 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T17:10:57.001Z,1758820257.001 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T17:10:57.001Z,1758820257.001 [optimize_roll_speed:B] Stopped
2025-09-25T17:10:57.001Z,1758820257.001 [optimize_roll_speed:C] Running Loop=1
2025-09-25T17:10:57.306Z,1758820257.306 [BackseatComponent](INFO): Powering up
2025-09-25T17:10:57.307Z,1758820257.307 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-09-25T17:10:57.327Z,1758820257.327 [optimize_roll_speed:C] Stopped
2025-09-25T17:10:57.327Z,1758820257.327 [optimize_roll_speed:E] Running Loop=1
2025-09-25T17:10:57.754Z,1758820257.754 [optimize_roll_speed:E] Stopped
2025-09-25T17:10:57.755Z,1758820257.755 [optimize_roll_speed:F] Running Loop=1
2025-09-25T17:10:58.181Z,1758820258.181 [optimize_roll_speed:F] Stopped
2025-09-25T17:10:58.182Z,1758820258.182 [optimize_roll_speed:G] Running Loop=1
2025-09-25T17:10:58.566Z,1758820258.566 [optimize_roll_speed:G] Stopped
2025-09-25T17:10:58.567Z,1758820258.567 [optimize_roll_speed:StartingMission] Running Loop=1
2025-09-25T17:10:58.567Z,1758820258.567 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::initialize optimize_roll_speed:StartingMission
2025-09-25T17:10:58.963Z,1758820258.963 [optimize_roll_speed:NeedComms] Running Loop=1
2025-09-25T17:10:58.963Z,1758820258.963 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-09-25T17:10:58.963Z,1758820258.963 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-09-25T17:10:58.963Z,1758820258.963 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T17:10:58.964Z,1758820258.964 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-09-25T17:10:58.964Z,1758820258.964 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-09-25T17:10:58.964Z,1758820258.964 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-09-25T17:10:58.965Z,1758820258.965 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-09-25T17:10:58.965Z,1758820258.965 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T17:10:58.965Z,1758820258.965 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T17:10:58.966Z,1758820258.966 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-09-25T17:10:58.987Z,1758820258.987 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was: 1758820013.000000 second since 1970/01/01T00:00:00Z
2025-09-25T17:10:58.987Z,1758820258.987 [optimize_roll_speed:NeedComms:A] Stopped
2025-09-25T17:10:59.432Z,1758820259.432 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-09-25T17:10:59.756Z,1758820259.756 [optimize_roll_speed:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T17:11:01.334Z,1758820261.334 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171100.00,A,3648.23102,N,12150.99336,W,0.758,269.71,250925,,,A*78
2025-09-25T17:11:01.357Z,1758820261.357 [NAL9602](INFO): GPS fix at 20250925T171100: (36.803850, -121.849889)
2025-09-25T17:11:01.391Z,1758820261.391 [optimize_roll_speed:NeedComms:C] Stopped
2025-09-25T17:11:01.391Z,1758820261.391 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-09-25T17:11:01.784Z,1758820261.784 [optimize_roll_speed:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-25T17:11:16.182Z,1758820276.182 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-09-25T17:11:18.220Z,1758820278.220 [NAL9602](INFO): SBD MO Status=0, MOMSN=13802, MT Status=0, MTMSN=0
2025-09-25T17:11:18.221Z,1758820278.221 [NAL9602](INFO): No messages in MT queue
2025-09-25T17:11:19.750Z,1758820279.750 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250925T150314/Courier0036.lzma
2025-09-25T17:11:31.583Z,1758820291.583 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Courier0036.lzma.bak
2025-09-25T17:11:31.583Z,1758820291.583 [DataOverHttps](INFO): SBD MOMSN=26075359
2025-09-25T17:11:48.912Z,1758820308.912 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T17:11:55.536Z,1758820315.536 [DataOverHttps](INFO): Sending 603 bytes from file Logs/20250925T150314/Express0037.lzma
2025-09-25T17:12:06.576Z,1758820326.576 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0037.lzma.bak
2025-09-25T17:12:06.576Z,1758820326.576 [DataOverHttps](INFO): SBD MOMSN=26075363
2025-09-25T17:12:06.844Z,1758820326.844 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250925T171205
2025-09-25T17:12:34.926Z,1758820354.926 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250925T150314/Express0040.lzma
2025-09-25T17:12:45.968Z,1758820365.968 [DataOverHttps](INFO): Moved sent file to Logs/20250925T150314/Express0040.lzma.bak
2025-09-25T17:12:45.968Z,1758820365.968 [DataOverHttps](INFO): SBD MOMSN=26075408
2025-09-25T17:12:47.147Z,1758820367.147 [optimize_roll_speed:NeedComms:D] Stopped
2025-09-25T17:12:47.148Z,1758820367.148 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-09-25T17:12:47.556Z,1758820367.556 [optimize_roll_speed:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T17:12:49.137Z,1758820369.137 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171248.00,A,3648.22903,N,12151.01025,W,0.603,257.83,250925,,,A*71
2025-09-25T17:12:49.168Z,1758820369.168 [NAL9602](INFO): GPS fix at 20250925T171248: (36.803817, -121.850171)
2025-09-25T17:12:49.207Z,1758820369.207 [optimize_roll_speed:NeedComms:E] Stopped
2025-09-25T17:12:49.208Z,1758820369.208 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-09-25T17:12:49.208Z,1758820369.208 [optimize_roll_speed:NeedComms] Stopped
2025-09-25T17:12:49.208Z,1758820369.208 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-09-25T17:12:49.208Z,1758820369.208 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-09-25T17:12:49.208Z,1758820369.208 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T17:12:49.627Z,1758820369.627 [optimize_roll_speed:StartingMission](INFO): Completed optimize_roll_speed:StartingMission
2025-09-25T17:12:49.627Z,1758820369.627 [optimize_roll_speed:StartingMission] Stopped
2025-09-25T17:12:49.627Z,1758820369.627 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::uninitialize optimize_roll_speed:StartingMission
2025-09-25T17:12:49.628Z,1758820369.628 [optimize_roll_speed:Transit] Running Loop=1
2025-09-25T17:12:49.628Z,1758820369.628 [optimize_roll_speed:Transit](DEBUG): Aggregate::initialize optimize_roll_speed:Transit
2025-09-25T17:12:49.628Z,1758820369.628 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-09-25T17:12:49.628Z,1758820369.628 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Initialize.
2025-09-25T17:12:49.628Z,1758820369.628 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-09-25T17:12:49.628Z,1758820369.628 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Initialize.
2025-09-25T17:12:49.629Z,1758820369.629 [optimize_roll_speed:Transit:Wpt1.Waypoint] Running Loop=1
2025-09-25T17:12:49.629Z,1758820369.629 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-09-25T17:12:49.630Z,1758820369.630 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-09-25T17:12:49.984Z,1758820369.984 [optimize_roll_speed:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.796310,-121.872040
2025-09-25T17:12:49.985Z,1758820369.985 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-09-25T17:12:49.985Z,1758820369.985 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-09-25T17:13:01.448Z,1758820381.448 [NAL9602](INFO): SBD MO Status=0, MOMSN=13803, MT Status=0, MTMSN=0
2025-09-25T17:13:01.448Z,1758820381.448 [NAL9602](INFO): No messages in MT queue
2025-09-25T17:13:04.733Z,1758820384.733 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2105
2025-09-25T17:13:05.094Z,1758820385.094 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-09-25T17:13:32.085Z,1758820412.085 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T17:14:18.778Z,1758820458.778 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:14:49.902Z,1758820489.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:14:51.914Z,1758820491.914 [Radio_Surface](INFO): Powering down
2025-09-25T17:15:21.026Z,1758820521.026 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:15:22.030Z,1758820522.030 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-25T17:16:06.235Z,1758820566.235 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743454
2025-09-25T17:16:46.782Z,1758820606.782 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:16:46.878Z,1758820606.878 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:16:46.878Z,1758820606.878 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:16:46.878Z,1758820606.878 [ThrusterHE] Communications Fault, FailCount= 1
2025-09-25T17:16:46.878Z,1758820606.878 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:16:46.882Z,1758820606.882 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:16:47.011Z,1758820607.011 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:16:47.012Z,1758820607.012 [ThrusterHE](INFO): Powering down
2025-09-25T17:16:47.778Z,1758820607.778 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:16:47.899Z,1758820607.899 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:16:47.903Z,1758820607.903 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:16:47.903Z,1758820607.903 [ThrusterHE] No Fault, FailCount= 1
2025-09-25T17:16:55.526Z,1758820615.526 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:16:55.622Z,1758820615.622 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:16:55.622Z,1758820615.622 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:16:55.622Z,1758820615.622 [ThrusterHE] Communications Fault, FailCount= 2
2025-09-25T17:16:55.622Z,1758820615.622 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:16:55.626Z,1758820615.626 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:16:55.843Z,1758820615.843 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:16:55.843Z,1758820615.843 [ThrusterHE](INFO): Powering down
2025-09-25T17:16:56.807Z,1758820616.807 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:16:56.927Z,1758820616.927 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:16:56.931Z,1758820616.931 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:16:56.931Z,1758820616.931 [ThrusterHE] No Fault, FailCount= 2
2025-09-25T17:17:04.162Z,1758820624.162 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:17:04.258Z,1758820624.258 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:17:04.258Z,1758820624.258 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:17:04.258Z,1758820624.258 [ThrusterHE] Communications Fault, FailCount= 3
2025-09-25T17:17:04.258Z,1758820624.258 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:17:04.262Z,1758820624.262 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:17:04.399Z,1758820624.399 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:17:04.399Z,1758820624.399 [ThrusterHE](INFO): Powering down
2025-09-25T17:17:05.283Z,1758820625.283 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:17:05.403Z,1758820625.403 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:17:05.407Z,1758820625.407 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:17:05.407Z,1758820625.407 [ThrusterHE] No Fault, FailCount= 3
2025-09-25T17:17:07.963Z,1758820627.963 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2277
2025-09-25T17:17:13.026Z,1758820633.026 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:17:13.122Z,1758820633.122 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:17:13.122Z,1758820633.122 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:17:13.122Z,1758820633.122 [ThrusterHE] Communications Fault, FailCount= 4
2025-09-25T17:17:13.122Z,1758820633.122 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:17:13.126Z,1758820633.126 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:17:13.244Z,1758820633.244 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:17:13.244Z,1758820633.244 [ThrusterHE](INFO): Powering down
2025-09-25T17:17:14.035Z,1758820634.035 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:17:14.156Z,1758820634.156 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:17:14.160Z,1758820634.160 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:17:14.160Z,1758820634.160 [ThrusterHE] No Fault, FailCount= 4
2025-09-25T17:17:21.782Z,1758820641.782 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-25T17:17:21.874Z,1758820641.874 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-09-25T17:17:21.874Z,1758820641.874 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-09-25T17:17:21.874Z,1758820641.874 [ThrusterHE] Communications Fault, FailCount= 5
2025-09-25T17:17:21.875Z,1758820641.875 [ThrusterHE](ERROR): Communications Fault
2025-09-25T17:17:21.879Z,1758820641.879 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-09-25T17:17:21.880Z,1758820641.880 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE
2025-09-25T17:17:22.122Z,1758820642.122 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-09-25T17:17:22.122Z,1758820642.122 [ThrusterHE](INFO): Powering down
2025-09-25T17:17:22.124Z,1758820642.124 [CBIT](INFO): Critical error at 20250925T171721
2025-09-25T17:17:22.124Z,1758820642.124 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-09-25T17:17:22.503Z,1758820642.503 [MissionManager](INFO): MissionManager is completed.
2025-09-25T17:17:22.503Z,1758820642.503 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-09-25T17:17:22.503Z,1758820642.503 [optimize_roll_speed] Stopped
2025-09-25T17:17:22.503Z,1758820642.503 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-09-25T17:17:22.503Z,1758820642.503 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:BackseatDriver] Stopped
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:PowerOnly] Stopped
2025-09-25T17:17:22.504Z,1758820642.504 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:Transit] Stopped
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:Transit](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:Transit:A.Pitch] Stopped
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:Transit:B.SetRollSpeed] Stopped
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Uninitialize.
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:Transit:Wpt1.Waypoint] Stopped
2025-09-25T17:17:22.505Z,1758820642.505 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-09-25T17:17:22.890Z,1758820642.890 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-09-25T17:17:22.912Z,1758820642.912 [MissionManager](IMPORTANT): Started mission Default
2025-09-25T17:17:22.912Z,1758820642.912 [Default] Running Loop=1
2025-09-25T17:17:22.912Z,1758820642.912 [Default](DEBUG): Aggregate::initialize Default
2025-09-25T17:17:22.912Z,1758820642.912 [Default:B.GoToSurface] Running Loop=1
2025-09-25T17:17:22.912Z,1758820642.912 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T17:17:22.912Z,1758820642.912 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-09-25T17:17:22.913Z,1758820642.913 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-09-25T17:17:22.913Z,1758820642.913 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-09-25T17:17:22.913Z,1758820642.913 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-09-25T17:17:22.914Z,1758820642.914 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T17:17:22.914Z,1758820642.914 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T17:17:22.915Z,1758820642.915 [Default:A.Wait] Running Loop=1
2025-09-25T17:17:22.915Z,1758820642.915 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-09-25T17:17:22.925Z,1758820642.925 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-09-25T17:17:23.039Z,1758820643.039 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-09-25T17:17:23.430Z,1758820643.430 [Radio_Surface](INFO): Powering up
2025-09-25T17:17:23.499Z,1758820643.499 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-09-25T17:17:23.500Z,1758820643.500 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-09-25T17:17:29.571Z,1758820649.571 [DataOverHttps](INFO): Radio surface powered ON.
2025-09-25T17:17:36.254Z,1758820656.254 [Default:A.Wait](INFO): Done Waiting.
2025-09-25T17:17:36.254Z,1758820656.254 [Default:A.Wait] Stopped
2025-09-25T17:17:36.255Z,1758820656.255 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T17:17:41.511Z,1758820661.511 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-09-25T17:17:41.512Z,1758820661.512 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-09-25T17:17:41.512Z,1758820661.512 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-09-25T17:17:59.690Z,1758820679.690 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:18:05.794Z,1758820685.794 [Default:CheckIn] Running Loop=1
2025-09-25T17:18:05.794Z,1758820685.794 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-09-25T17:18:05.795Z,1758820685.795 [Default:CheckIn:Read_GPS] Running Loop=1
2025-09-25T17:18:07.094Z,1758820687.094 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-09-25T17:18:07.094Z,1758820687.094 [ThrusterHE] No Fault, FailCount= 5
2025-09-25T17:18:14.069Z,1758820694.069 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-09-25T17:18:18.689Z,1758820698.689 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.001565
CHAN A1 (24V): -0.000193
CHAN A2 (12V): 0.000463
CHAN A3 (5V): -0.001904
CHAN B0 (3.3V): -0.001166
CHAN B1 (3.15aV): -0.001019
CHAN B2 (3.15bV): -0.001376
CHAN B3 (GND): -0.001795
OPEN: 0.004662
Full Scale: +/- 1 mA
2025-09-25T17:18:30.814Z,1758820710.814 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:18:50.317Z,1758820730.317 [NAL9602](INFO): SBD MO Status=2, MOMSN=13804, MT Status=2, MTMSN=0
2025-09-25T17:18:50.317Z,1758820730.317 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-09-25T17:19:01.938Z,1758820741.938 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:19:05.272Z,1758820745.272 [NAL9602](INFO): SBD MO Status=0, MOMSN=13804, MT Status=0, MTMSN=0
2025-09-25T17:19:05.273Z,1758820745.273 [NAL9602](INFO): No messages in MT queue
2025-09-25T17:19:06.485Z,1758820746.485 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171905.00,A,3648.17918,N,12151.23818,W,0.583,269.42,250925,,,A*72
2025-09-25T17:19:06.487Z,1758820746.487 [NAL9602](INFO): GPS fix at 20250925T171905: (36.802986, -121.853970)
2025-09-25T17:19:06.498Z,1758820746.498 [Default:CheckIn:Read_GPS] Stopped
2025-09-25T17:19:06.498Z,1758820746.498 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-09-25T17:19:25.541Z,1758820765.541 [NAL9602](INFO): SBD MO Status=1, MOMSN=13805, MT Status=0, MTMSN=0
2025-09-25T17:19:25.600Z,1758820765.600 [NAL9602](INFO): Sent 126 bytes from file Logs/20250925T150314/Courier0042.lzma
2025-09-25T17:19:25.601Z,1758820765.601 [NAL9602](INFO): Packets left to send: 0
2025-09-25T17:19:33.095Z,1758820773.095 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:19:48.287Z,1758820788.287 [NAL9602](INFO): SBD MO Status=1, MOMSN=13806, MT Status=0, MTMSN=0
2025-09-25T17:19:48.335Z,1758820788.335 [NAL9602](INFO): Sent 332 bytes from file Logs/20250925T150314/Express0043.lzma
2025-09-25T17:19:48.335Z,1758820788.335 [NAL9602](INFO): Packets left to send: 1
2025-09-25T17:19:57.627Z,1758820797.627 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003344
2025-09-25T17:20:03.759Z,1758820803.759 [NAL9602](INFO): SBD MO Status=1, MOMSN=13807, MT Status=0, MTMSN=0
2025-09-25T17:20:03.803Z,1758820803.803 [NAL9602](INFO): Sent 280 bytes from file Logs/20250925T150314/Express0043.lzma
2025-09-25T17:20:03.803Z,1758820803.803 [NAL9602](INFO): Packets left to send: 0
2025-09-25T17:20:04.605Z,1758820804.605 [Default:CheckIn:Read_Iridium] Stopped
2025-09-25T17:20:04.607Z,1758820804.607 [Default:CheckIn:C.Wait] Running Loop=1
2025-09-25T17:20:04.607Z,1758820804.607 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-09-25T17:20:34.429Z,1758820834.429 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-25T17:21:35.325Z,1758820895.325 [DataOverHttps](IMPORTANT): SBD MTMSN=20250925T172134
2025-09-25T17:21:43.268Z,1758820903.268 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.Latitude 36.79631 degree;set transit.Longitude -121.87204 degree;set transit.Speed 1.1 m/s;set transit:BackseatDriver.EnableBackseat 1 bool;run
2025-09-25T17:21:43.334Z,1758820903.334 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-09-25T17:21:43.335Z,1758820903.335 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-09-25T17:21:43.335Z,1758820903.335 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-09-25T17:21:43.338Z,1758820903.338 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-09-25T17:21:44.112Z,1758820904.112 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
60
30
NaN
NaN
0
0
10
1
20
1
7
1
2025-09-25T17:21:44.120Z,1758820904.120 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-09-25T17:21:44.123Z,1758820904.123 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-09-25T17:21:44.126Z,1758820904.126 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-09-25T17:21:44.129Z,1758820904.129 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-09-25T17:21:44.133Z,1758820904.133 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-09-25T17:21:44.154Z,1758820904.154 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-09-25T17:21:44.157Z,1758820904.157 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-09-25T17:21:44.177Z,1758820904.177 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-09-25T17:21:44.181Z,1758820904.181 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-09-25T17:21:44.196Z,1758820904.196 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-09-25T17:21:44.207Z,1758820904.207 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-09-25T17:21:44.212Z,1758820904.212 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-09-25T17:21:44.223Z,1758820904.223 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-09-25T17:21:44.224Z,1758820904.224 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-09-25T17:21:44.224Z,1758820904.224 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-09-25T17:21:44.225Z,1758820904.225 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-09-25T17:21:44.554Z,1758820904.554 [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
2025-09-25T17:21:44.560Z,1758820904.560 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-09-25T17:21:44.563Z,1758820904.563 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-09-25T17:21:44.568Z,1758820904.568 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-09-25T17:21:44.571Z,1758820904.571 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-09-25T17:21:44.598Z,1758820904.598 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-09-25T17:21:44.601Z,1758820904.601 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-09-25T17:21:44.609Z,1758820904.609 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-09-25T17:21:44.623Z,1758820904.623 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-09-25T17:21:44.641Z,1758820904.641 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-09-25T17:21:44.689Z,1758820904.689 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-25T17:21:44.689Z,1758820904.689 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-25T17:21:44.742Z,1758820904.742 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-25T17:21:44.891Z,1758820904.891 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-09-25T17:21:44.896Z,1758820904.896 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-25T17:21:44.907Z,1758820904.907 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-25T17:21:44.910Z,1758820904.910 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-25T17:21:44.917Z,1758820904.917 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-25T17:21:44.923Z,1758820904.923 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-25T17:21:44.949Z,1758820904.949 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-25T17:21:44.993Z,1758820904.993 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-25T17:21:45.045Z,1758820905.045 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-09-25T17:21:45.046Z,1758820905.046 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-09-25T17:21:45.055Z,1758820905.055 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-09-25T17:21:45.099Z,1758820905.099 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-09-25T17:21:45.107Z,1758820905.107 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-09-25T17:21:45.112Z,1758820905.112 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-09-25T17:21:45.148Z,1758820905.148 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-09-25T17:21:45.148Z,1758820905.148 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-09-25T17:21:45.149Z,1758820905.149 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-09-25T17:21:45.382Z,1758820905.382 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-09-25T17:21:45.386Z,1758820905.386 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-09-25T17:21:45.389Z,1758820905.389 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-09-25T17:21:45.392Z,1758820905.392 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-09-25T17:21:45.395Z,1758820905.395 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-09-25T17:21:45.399Z,1758820905.399 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-09-25T17:21:45.406Z,1758820905.406 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-09-25T17:21:45.408Z,1758820905.408 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-09-25T17:21:45.412Z,1758820905.412 [transit:MassHold.Pitch](DEBUG): Construct.
2025-09-25T17:21:45.420Z,1758820905.420 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-09-25T17:21:45.450Z,1758820905.450 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-09-25T17:21:45.457Z,1758820905.457 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-09-25T17:21:45.492Z,1758820905.492 [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 transit {
"""
Vehicle dives immediately with no comms/GPS and transits to desired waypoint and can be commanded to use/hold
mass or buoyancy.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Northings = 0 meter
"""
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Eastings = 0 meter
"""
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Depth = 10 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 20 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
set northingsDelta = Northings
set eastingsDelta = Eastings
}
call id="PhoneHome" priorityHere=false refId="NeedComms"
}
}
2025-09-25T17:21:45.492Z,1758820905.492 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-09-25T17:22:12.063Z,1758820932.063 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2025-09-25T17:22:12.064Z,1758820932.064 [CommandExec](IMPORTANT): got command set transit.Latitude 36.79631 degree
2025-09-25T17:22:12.065Z,1758820932.065 [CommandExec](IMPORTANT): got command set transit.Longitude -121.87204 degree
2025-09-25T17:22:12.066Z,1758820932.066 [CommandExec](IMPORTANT): got command set transit.Speed 1.1 meter_per_second
2025-09-25T17:22:12.071Z,1758820932.071 [CommandExec](IMPORTANT): got command set transit:BackseatDriver.EnableBackseat 1 bool
2025-09-25T17:22:12.071Z,1758820932.071 [CommandExec](IMPORTANT): got command run
2025-09-25T17:22:12.073Z,1758820932.073 [CommandExec](IMPORTANT): Running
2025-09-25T17:22:12.265Z,1758820932.265 [Default] Stopped
2025-09-25T17:22:12.265Z,1758820932.265 [Default](DEBUG): Aggregate::uninitialize Default
2025-09-25T17:22:12.265Z,1758820932.265 [Default:B.GoToSurface] Stopped
2025-09-25T17:22:12.265Z,1758820932.265 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-25T17:22:12.266Z,1758820932.266 [Default:CheckIn] Stopped
2025-09-25T17:22:12.266Z,1758820932.266 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-09-25T17:22:12.266Z,1758820932.266 [Default:CheckIn:C.Wait] Stopped
2025-09-25T17:22:12.266Z,1758820932.266 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-09-25T17:22:12.271Z,1758820932.271 [MissionManager](IMPORTANT): Started mission transit
2025-09-25T17:22:12.271Z,1758820932.271 [transit] Running Loop=1
2025-09-25T17:22:12.271Z,1758820932.271 [transit](DEBUG): Aggregate::initialize transit
2025-09-25T17:22:12.271Z,1758820932.271 [transit:StandardEnvelopes] Running Loop=1
2025-09-25T17:22:12.271Z,1758820932.271 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-09-25T17:22:12.271Z,1758820932.271 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T17:22:12.271Z,1758820932.271 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-25T17:22:12.272Z,1758820932.272 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T17:22:12.272Z,1758820932.272 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-25T17:22:12.272Z,1758820932.272 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T17:22:12.272Z,1758820932.272 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-25T17:22:12.272Z,1758820932.272 [transit:BackseatDriver] Running Loop=1
2025-09-25T17:22:12.272Z,1758820932.272 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-09-25T17:22:12.272Z,1758820932.272 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-09-25T17:22:12.272Z,1758820932.272 [transit:PowerOnly] Running Loop=1
2025-09-25T17:22:12.272Z,1758820932.272 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-09-25T17:22:12.272Z,1758820932.272 [transit:PowerOnly:A] Running Loop=1
2025-09-25T17:22:12.272Z,1758820932.272 [transit:PowerOnly:B] Running Loop=1
2025-09-25T17:22:12.273Z,1758820932.273 [transit:PowerOnly:C] Running Loop=1
2025-09-25T17:22:12.273Z,1758820932.273 [transit:PowerOnly:D] Running Loop=1
2025-09-25T17:22:12.273Z,1758820932.273 [transit:PowerOnly:E.Wait] Running Loop=1
2025-09-25T17:22:12.273Z,1758820932.273 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-09-25T17:22:12.273Z,1758820932.273 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-09-25T17:22:12.273Z,1758820932.273 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-25T17:22:12.273Z,1758820932.273 [transit:MassHold.Pitch] Running Loop=1
2025-09-25T17:22:12.273Z,1758820932.273 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-09-25T17:22:12.273Z,1758820932.273 [transit:B] Running Loop=1
2025-09-25T17:22:12.279Z,1758820932.279 [transit:MassHold.Pitch] Running Loop=1
2025-09-25T17:22:12.279Z,1758820932.279 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-09-25T17:22:12.279Z,1758820932.279 [transit:PowerOnly] Running Loop=1
2025-09-25T17:22:12.280Z,1758820932.280 [transit:PowerOnly:D] Stopped
2025-09-25T17:22:12.280Z,1758820932.280 [transit:PowerOnly:C] Stopped
2025-09-25T17:22:12.280Z,1758820932.280 [transit:PowerOnly:B] Stopped
2025-09-25T17:22:12.280Z,1758820932.280 [transit:PowerOnly:A] Stopped
2025-09-25T17:22:12.280Z,1758820932.280 [transit:BackseatDriver] Running Loop=1
2025-09-25T17:22:12.280Z,1758820932.280 [transit:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-09-25T17:22:12.362Z,1758820932.362 [transit:StandardEnvelopes] Running Loop=1
2025-09-25T17:22:12.370Z,1758820932.370 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-25T17:22:12.370Z,1758820932.370 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-25T17:22:12.371Z,1758820932.371 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-25T17:22:12.371Z,1758820932.371 [transit:B] Stopped
2025-09-25T17:22:12.371Z,1758820932.371 [transit:C] Running Loop=1
2025-09-25T17:22:12.670Z,1758820932.670 [BackseatComponent](INFO): Powering up
2025-09-25T17:22:12.671Z,1758820932.671 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-09-25T17:22:12.691Z,1758820932.691 [transit:C] Stopped
2025-09-25T17:22:12.691Z,1758820932.691 [transit:E] Running Loop=1
2025-09-25T17:22:13.070Z,1758820933.070 [transit:E] Stopped
2025-09-25T17:22:13.071Z,1758820933.071 [transit:F] Running Loop=1
2025-09-25T17:22:13.486Z,1758820933.486 [transit:F] Stopped
2025-09-25T17:22:13.487Z,1758820933.487 [transit:G] Running Loop=1
2025-09-25T17:22:13.894Z,1758820933.894 [transit:G] Stopped
2025-09-25T17:22:13.895Z,1758820933.895 [transit:Transit] Running Loop=1
2025-09-25T17:22:13.895Z,1758820933.895 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-09-25T17:22:13.895Z,1758820933.895 [transit:Transit:A.Pitch] Running Loop=1
2025-09-25T17:22:13.895Z,1758820933.895 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-09-25T17:22:13.895Z,1758820933.895 [transit:Transit:B.SetSpeed] Running Loop=1
2025-09-25T17:22:13.895Z,1758820933.895 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-09-25T17:22:13.895Z,1758820933.895 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-09-25T17:22:13.895Z,1758820933.895 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-09-25T17:22:13.975Z,1758820933.975 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-09-25T17:22:14.273Z,1758820934.273 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.796310,-121.872040
2025-09-25T17:22:14.273Z,1758820934.273 [transit:Transit:B.SetSpeed] Running Loop=1
2025-09-25T17:22:14.273Z,1758820934.273 [transit:Transit:A.Pitch] Running Loop=1
2025-09-25T17:22:32.124Z,1758820952.124 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-09-25T17:23:26.876Z,1758821006.876 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250925T172325
2025-09-25T17:23:37.752Z,1758821017.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:24:03.950Z,1758821043.950 [Radio_Surface](INFO): Powering down
2025-09-25T17:24:08.875Z,1758821048.875 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:24:09.878Z,1758821049.878 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-25T17:24:29.416Z,1758821069.416 [transit:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2105
2025-09-25T17:24:29.804Z,1758821069.804 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-09-25T17:25:56.339Z,1758821156.339 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.770355
2025-09-25T17:26:00.423Z,1758821160.423 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:5.850000m. At depth:10.302533m.
2025-09-25T17:26:21.632Z,1758821181.632 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-09-25T17:26:23.298Z,1758821183.298 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-09-25T17:26:24.554Z,1758821184.554 [Radio_Surface](INFO): Powering up
2025-09-25T17:26:28.201Z,1758821188.201 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-09-25T17:26:28.202Z,1758821188.202 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-09-25T17:26:28.211Z,1758821188.211 [BPC1](INFO): Received data from all battery sticks.
2025-09-25T17:26:30.486Z,1758821190.486 [DataOverHttps](INFO): Radio surface powered ON.
2025-09-25T17:27:00.618Z,1758821220.618 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:27:31.755Z,1758821251.755 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:28:02.882Z,1758821282.882 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:28:27.678Z,1758821307.678 [transit:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2277
2025-09-25T17:28:34.014Z,1758821314.014 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:29:05.138Z,1758821345.138 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:29:36.278Z,1758821376.278 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:30:38.838Z,1758821438.838 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:31:41.167Z,1758821501.167 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T17:33:53.643Z,1758821633.643 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T17:34:55.827Z,1758821695.827 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:35:26.954Z,1758821726.954 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:35:58.112Z,1758821758.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:36:54.727Z,1758821814.727 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-09-25T17:36:54.727Z,1758821814.727 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-09-25T17:36:54.727Z,1758821814.727 [ElevatorServo] Communications Fault, FailCount= 1
2025-09-25T17:36:54.727Z,1758821814.727 [ElevatorServo](ERROR): Communications Fault
2025-09-25T17:36:54.830Z,1758821814.830 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-09-25T17:36:55.014Z,1758821815.014 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-09-25T17:36:55.014Z,1758821815.014 [ElevatorServo](INFO): Powering down
2025-09-25T17:36:55.826Z,1758821815.826 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-09-25T17:36:55.943Z,1758821815.943 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-09-25T17:36:56.154Z,1758821816.154 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-09-25T17:36:56.154Z,1758821816.154 [ElevatorServo] No Fault, FailCount= 1
2025-09-25T17:38:03.063Z,1758821883.063 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T17:38:34.712Z,1758821914.712 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T17:39:06.019Z,1758821946.019 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T17:39:37.546Z,1758821977.546 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T17:40:39.952Z,1758822039.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:41:11.106Z,1758822071.106 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:41:42.231Z,1758822102.231 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:42:13.356Z,1758822133.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:42:44.507Z,1758822164.507 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:43:15.663Z,1758822195.663 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:43:31.579Z,1758822211.579 [Radio_Surface](INFO): Powering down
2025-09-25T17:43:46.786Z,1758822226.786 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:43:47.791Z,1758822227.791 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-25T17:43:52.210Z,1758822232.210 [Radio_Surface](INFO): Powering up
2025-09-25T17:43:57.830Z,1758822237.830 [DataOverHttps](INFO): Radio surface powered ON.
2025-09-25T17:44:27.950Z,1758822267.950 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:44:59.087Z,1758822299.087 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:45:30.212Z,1758822330.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:46:01.335Z,1758822361.335 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:46:32.743Z,1758822392.743 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-09-25T17:47:35.746Z,1758822455.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:48:40.811Z,1758822520.811 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-25T17:49:06.707Z,1758822546.707 [transit:NeedComms] Running Loop=1
2025-09-25T17:49:06.707Z,1758822546.707 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-09-25T17:49:06.707Z,1758822546.707 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-09-25T17:49:06.707Z,1758822546.707 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-25T17:49:06.708Z,1758822546.708 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-09-25T17:49:06.708Z,1758822546.708 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-09-25T17:49:06.708Z,1758822546.708 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-09-25T17:49:06.709Z,1758822546.709 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-09-25T17:49:06.709Z,1758822546.709 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-25T17:49:06.709Z,1758822546.709 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-25T17:49:06.710Z,1758822546.710 [transit:NeedComms:A] Running Loop=1
2025-09-25T17:49:06.711Z,1758822546.711 [transit:NeedComms:A](INFO): last time_fix was: 1758820745.000000 second since 1970/01/01T00:00:00Z
2025-09-25T17:49:06.711Z,1758822546.711 [transit:NeedComms:A] Stopped
2025-09-25T17:49:07.192Z,1758822547.192 [transit:NeedComms:C] Running Loop=1
2025-09-25T17:49:07.576Z,1758822547.576 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-25T17:49:09.178Z,1758822549.178 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174908.00,A,3647.82881,N,12152.31884,W,3.460,253.36,250925,,,A*78
2025-09-25T17:49:09.226Z,1758822549.226 [NAL9602](INFO): GPS fix at 20250925T174908: (36.797147, -121.871981)
2025-09-25T17:49:09.280Z,1758822549.280 [UniversalFixResidualReporter](INFO): Fix residual: 5.1 %DT, over the last 1705.9 m. Residual distance 86.6 m at bearing 136.0 degrees. Fix at (36.7971, -121.8720) with 1730.1 m made good.
2025-09-