2025-12-05T05:44:50.912Z,1764913490.912 [Supervisor](DEBUG): Initializing supervisor.
2025-12-05T05:44:50.916Z,1764913490.916 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-12-05T05:44:50.916Z,1764913490.916 [SyncHandler](INFO): Protected caller Thread ID is 832
2025-12-05T05:44:50.917Z,1764913490.917 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-12-05T05:44:50.918Z,1764913490.918 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-12-05T05:44:50.918Z,1764913490.918 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 833
2025-12-05T05:44:50.922Z,1764913490.922 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-12-05T05:44:50.941Z,1764913490.941 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-12-05T05:44:50.942Z,1764913490.942 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-12-05T05:44:50.943Z,1764913490.943 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 834
2025-12-05T05:44:50.947Z,1764913490.947 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-12-05T05:44:50.948Z,1764913490.948 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-12-05T05:44:50.948Z,1764913490.948 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 835
2025-12-05T05:44:50.950Z,1764913490.950 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-12-05T05:44:50.951Z,1764913490.951 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-12-05T05:44:50.951Z,1764913490.951 [logger ThreadHandler](INFO): Protected caller Thread ID is 836
2025-12-05T05:44:50.955Z,1764913490.955 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-12-05T05:44:50.955Z,1764913490.955 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-12-05T05:44:50.958Z,1764913490.958 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-12-05T05:44:51.307Z,1764913491.307 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-12-05T05:44:51.308Z,1764913491.308 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-12-05T05:44:52.093Z,1764913492.093 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-12-05T05:44:52.094Z,1764913492.094 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-12-05T05:44:52.217Z,1764913492.217 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-12-05T05:44:52.218Z,1764913492.218 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-12-05T05:44:52.773Z,1764913492.773 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-12-05T05:44:52.774Z,1764913492.774 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-12-05T05:44:52.879Z,1764913492.879 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-12-05T05:44:52.880Z,1764913492.880 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-12-05T05:44:52.980Z,1764913492.980 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-12-05T05:44:52.981Z,1764913492.981 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-12-05T05:44:53.404Z,1764913493.404 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-12-05T05:44:53.405Z,1764913493.405 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-12-05T05:44:53.635Z,1764913493.635 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-12-05T05:44:53.635Z,1764913493.635 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-12-05T05:44:53.783Z,1764913493.783 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-12-05T05:44:53.784Z,1764913493.784 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-12-05T05:44:54.043Z,1764913494.043 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-12-05T05:44:54.044Z,1764913494.044 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-12-05T05:44:54.631Z,1764913494.631 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-12-05T05:44:54.631Z,1764913494.631 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-12-05T05:44:55.544Z,1764913495.544 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-12-05T05:44:55.544Z,1764913495.544 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-12-05T05:44:55.633Z,1764913495.633 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-12-05T05:44:55.826Z,1764913495.826 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-12-05T05:44:55.826Z,1764913495.826 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-12-05T05:44:56.081Z,1764913496.081 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-12-05T05:44:56.082Z,1764913496.082 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-12-05T05:44:56.399Z,1764913496.399 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-12-05T05:44:56.401Z,1764913496.401 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2025-12-05T05:44:56.404Z,1764913496.404 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2025-12-05T05:44:56.511Z,1764913496.511 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2025-12-05T05:44:56.684Z,1764913496.684 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2025-12-05T05:44:56.779Z,1764913496.779 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2025-12-05T05:44:56.873Z,1764913496.873 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2025-12-05T05:44:56.993Z,1764913496.993 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg
2025-12-05T05:44:57.096Z,1764913497.096 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Dock.cfg
2025-12-05T05:44:57.217Z,1764913497.217 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2025-12-05T05:44:57.331Z,1764913497.331 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2025-12-05T05:44:57.610Z,1764913497.610 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-12-05T05:44:57.611Z,1764913497.611 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2025-12-05T05:44:57.753Z,1764913497.753 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2025-12-05T05:44:57.855Z,1764913497.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2025-12-05T05:44:57.959Z,1764913497.959 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2025-12-05T05:44:58.054Z,1764913498.054 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-12-05T05:44:58.067Z,1764913498.067 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-12-05T05:44:58.248Z,1764913498.248 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-12-05T05:44:58.249Z,1764913498.249 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-12-05T05:44:58.265Z,1764913498.265 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-12-05T05:44:58.266Z,1764913498.266 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-12-05T05:44:58.342Z,1764913498.342 [DepthRateCalculator] Loaded
2025-12-05T05:44:58.342Z,1764913498.342 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-12-05T05:44:58.348Z,1764913498.348 [PitchRateCalculator] Loaded
2025-12-05T05:44:58.348Z,1764913498.348 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-12-05T05:44:58.358Z,1764913498.358 [SpeedCalculator] Loaded
2025-12-05T05:44:58.359Z,1764913498.359 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-12-05T05:44:58.364Z,1764913498.364 [YawRateCalculator] Loaded
2025-12-05T05:44:58.364Z,1764913498.364 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-12-05T05:44:58.386Z,1764913498.386 [ElevatorOffsetCalculator] Loaded
2025-12-05T05:44:58.386Z,1764913498.386 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-12-05T05:44:58.387Z,1764913498.387 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-12-05T05:44:58.387Z,1764913498.387 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-12-05T05:44:58.463Z,1764913498.463 [VerticalControl](DEBUG): Construct VerticalControl.
2025-12-05T05:44:58.519Z,1764913498.519 [VerticalControl] Loaded
2025-12-05T05:44:58.520Z,1764913498.520 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-12-05T05:44:58.523Z,1764913498.523 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-12-05T05:44:58.570Z,1764913498.570 [HorizontalControl] Loaded
2025-12-05T05:44:58.570Z,1764913498.570 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-12-05T05:44:58.573Z,1764913498.573 [SpeedControl](DEBUG): Construct SpeedControl.
2025-12-05T05:44:58.576Z,1764913498.576 [SpeedControl] Loaded
2025-12-05T05:44:58.576Z,1764913498.576 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-12-05T05:44:58.579Z,1764913498.579 [LoopControl](DEBUG): Construct LoopControl.
2025-12-05T05:44:58.579Z,1764913498.579 [LoopControl] Loaded
2025-12-05T05:44:58.580Z,1764913498.580 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-12-05T05:44:58.580Z,1764913498.580 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-12-05T05:44:58.581Z,1764913498.581 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-12-05T05:44:58.725Z,1764913498.725 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-12-05T05:44:58.725Z,1764913498.725 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-12-05T05:44:58.739Z,1764913498.739 [NavChart] Loaded
2025-12-05T05:44:58.739Z,1764913498.739 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-12-05T05:44:58.745Z,1764913498.745 [UniversalFixResidualReporter] Loaded
2025-12-05T05:44:58.745Z,1764913498.745 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-12-05T05:44:58.746Z,1764913498.746 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-12-05T05:44:58.747Z,1764913498.747 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-12-05T05:44:58.978Z,1764913498.978 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-12-05T05:44:58.979Z,1764913498.979 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-12-05T05:44:59.848Z,1764913499.848 [AHRS_M2] Loaded
2025-12-05T05:44:59.848Z,1764913499.848 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-12-05T05:45:00.189Z,1764913500.189 [BackseatComponent] Loaded
2025-12-05T05:45:00.189Z,1764913500.189 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-12-05T05:45:00.191Z,1764913500.191 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409404E0
2025-12-05T05:45:00.191Z,1764913500.191 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 924
2025-12-05T05:45:00.194Z,1764913500.194 [LcmPublisher](INFO): Full slate access is ENABLED. All requested slate values (including non-universals) will be published on LCM.
2025-12-05T05:45:00.194Z,1764913500.194 [LcmPublisher] Loaded
2025-12-05T05:45:00.195Z,1764913500.195 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2025-12-05T05:45:01.381Z,1764913501.381 [BPC1] Loaded
2025-12-05T05:45:01.381Z,1764913501.381 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-12-05T05:45:01.482Z,1764913501.482 [DAT] Loaded
2025-12-05T05:45:01.482Z,1764913501.482 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-12-05T05:45:01.483Z,1764913501.483 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409704E0
2025-12-05T05:45:01.483Z,1764913501.483 [DAT ThreadHandler](INFO): Protected caller Thread ID is 925
2025-12-05T05:45:01.624Z,1764913501.624 [DataOverHttps] Loaded
2025-12-05T05:45:01.624Z,1764913501.624 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-12-05T05:45:01.625Z,1764913501.625 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409A04E0
2025-12-05T05:45:01.626Z,1764913501.626 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 926
2025-12-05T05:45:01.649Z,1764913501.649 [Depth_Keller] Loaded
2025-12-05T05:45:01.650Z,1764913501.650 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-12-05T05:45:01.655Z,1764913501.655 [DropWeight] Loaded
2025-12-05T05:45:01.655Z,1764913501.655 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-12-05T05:45:01.721Z,1764913501.721 [NAL9602] Loaded
2025-12-05T05:45:01.721Z,1764913501.721 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-12-05T05:45:01.752Z,1764913501.752 [Onboard] Loaded
2025-12-05T05:45:01.752Z,1764913501.752 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-12-05T05:45:01.753Z,1764913501.753 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409D04E0
2025-12-05T05:45:01.754Z,1764913501.754 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 927
2025-12-05T05:45:01.768Z,1764913501.768 [Power24vConverter] Loaded
2025-12-05T05:45:01.769Z,1764913501.769 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-12-05T05:45:01.785Z,1764913501.785 [Radio_Surface] Loaded
2025-12-05T05:45:01.785Z,1764913501.785 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-12-05T05:45:01.786Z,1764913501.786 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A004E0
2025-12-05T05:45:01.787Z,1764913501.787 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 928
2025-12-05T05:45:01.834Z,1764913501.834 [RDI_Pathfinder] Loaded
2025-12-05T05:45:01.835Z,1764913501.835 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-12-05T05:45:01.851Z,1764913501.851 [Sonardyne_Nano] Loaded
2025-12-05T05:45:01.851Z,1764913501.851 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-12-05T05:45:01.851Z,1764913501.851 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-12-05T05:45:01.852Z,1764913501.852 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-12-05T05:45:02.026Z,1764913502.026 [BuoyancyServo] Loaded
2025-12-05T05:45:02.026Z,1764913502.026 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-12-05T05:45:02.050Z,1764913502.050 [ElevatorServo] Loaded
2025-12-05T05:45:02.051Z,1764913502.051 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-12-05T05:45:02.081Z,1764913502.081 [DockingStepper] Loaded
2025-12-05T05:45:02.081Z,1764913502.081 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-12-05T05:45:02.101Z,1764913502.101 [MassServo] Loaded
2025-12-05T05:45:02.102Z,1764913502.102 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-12-05T05:45:02.123Z,1764913502.123 [RudderServo] Loaded
2025-12-05T05:45:02.123Z,1764913502.123 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-12-05T05:45:02.140Z,1764913502.140 [ThrusterHE] Loaded
2025-12-05T05:45:02.140Z,1764913502.140 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-12-05T05:45:02.141Z,1764913502.141 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-12-05T05:45:02.141Z,1764913502.141 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-12-05T05:45:02.235Z,1764913502.235 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-12-05T05:45:02.236Z,1764913502.236 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-12-05T05:45:02.286Z,1764913502.286 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-12-05T05:45:02.286Z,1764913502.286 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-12-05T05:45:02.734Z,1764913502.734 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-12-05T05:45:02.735Z,1764913502.735 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-12-05T05:45:02.967Z,1764913502.967 [CTD_Seabird] Loaded
2025-12-05T05:45:02.967Z,1764913502.967 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-12-05T05:45:02.968Z,1764913502.968 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BC24E0
2025-12-05T05:45:02.969Z,1764913502.969 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 929
2025-12-05T05:45:03.006Z,1764913503.006 [ESPComponent] Loaded
2025-12-05T05:45:03.006Z,1764913503.006 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-12-05T05:45:03.029Z,1764913503.029 [PAR_Licor] Loaded
2025-12-05T05:45:03.029Z,1764913503.029 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-12-05T05:45:03.076Z,1764913503.076 [WetLabsBB2FL] Loaded
2025-12-05T05:45:03.076Z,1764913503.076 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-12-05T05:45:03.077Z,1764913503.077 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BF24E0
2025-12-05T05:45:03.077Z,1764913503.077 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 930
2025-12-05T05:45:03.078Z,1764913503.078 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-12-05T05:45:03.079Z,1764913503.079 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-12-05T05:45:03.289Z,1764913503.289 [SBIT](DEBUG): Construct Startup Built In Test.
2025-12-05T05:45:03.299Z,1764913503.299 [SBIT] Loaded
2025-12-05T05:45:03.299Z,1764913503.299 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-12-05T05:45:03.302Z,1764913503.302 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-12-05T05:45:03.315Z,1764913503.315 [IBIT] Loaded
2025-12-05T05:45:03.315Z,1764913503.315 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-12-05T05:45:03.321Z,1764913503.321 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-12-05T05:45:03.403Z,1764913503.403 [CBIT] Loaded
2025-12-05T05:45:03.403Z,1764913503.403 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-12-05T05:45:03.436Z,1764913503.436 [GFScanner] Loaded
2025-12-05T05:45:03.437Z,1764913503.437 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-12-05T05:45:03.437Z,1764913503.437 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-12-05T05:45:03.443Z,1764913503.443 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-12-05T05:45:03.446Z,1764913503.446 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-12-05T05:45:03.457Z,1764913503.457 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-12-05T05:45:03.458Z,1764913503.458 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2025-12-05T05:45:03.459Z,1764913503.459 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 931
2025-12-05T05:45:03.463Z,1764913503.463 [Supervisor](INFO): Main Thread ID is 824
2025-12-05T05:45:03.463Z,1764913503.463 [Supervisor](DEBUG): Running supervisor.
2025-12-05T05:45:03.464Z,1764913503.464 [CommandExec ThreadHandler](INFO): Handler Thread ID is 932
2025-12-05T05:45:03.464Z,1764913503.464 [CommandExec](INFO): Initializing the command executive.
2025-12-05T05:45:03.466Z,1764913503.466 [CommandLine ThreadHandler](INFO): Handler Thread ID is 933
2025-12-05T05:45:03.468Z,1764913503.468 [controlThread ThreadHandler](INFO): Handler Thread ID is 934
2025-12-05T05:45:03.468Z,1764913503.468 [controlThread](DEBUG): Initializing ControlThread
2025-12-05T05:45:03.469Z,1764913503.469 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-12-05T05:45:03.470Z,1764913503.470 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-12-05T05:45:03.470Z,1764913503.470 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-12-05T05:45:03.470Z,1764913503.470 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-12-05T05:45:03.471Z,1764913503.471 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-12-05T05:45:03.471Z,1764913503.471 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-12-05T05:45:03.473Z,1764913503.473 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-12-05T05:45:03.474Z,1764913503.474 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-12-05T05:45:03.474Z,1764913503.474 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-12-05T05:45:03.475Z,1764913503.475 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-12-05T05:45:03.475Z,1764913503.475 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-12-05T05:45:03.484Z,1764913503.484 [SBIT](INFO): Initialize SBIT Component.
2025-12-05T05:45:03.485Z,1764913503.485 [SBIT](IMPORTANT): git: 2025-12-04_A
2025-12-05T05:45:03.485Z,1764913503.485 [SBIT](INFO): git hash: ef8e2bb979844518d8925ddee7860b1c5088e3f5
2025-12-05T05:45:03.485Z,1764913503.485 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-12-05T05:45:03.486Z,1764913503.486 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Sep 24 11:12:27 PDT 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-12-05T05:45:03.487Z,1764913503.487 [SBIT](INFO): Beginning SBIT in 116.000000 seconds.
2025-12-05T05:45:03.488Z,1764913503.488 [IBIT](INFO): Initialize IBIT Component.
2025-12-05T05:45:03.489Z,1764913503.489 [CBIT](DEBUG): Initialize CBIT Component.
2025-12-05T05:45:03.490Z,1764913503.490 [logger ThreadHandler](INFO): Handler Thread ID is 935
2025-12-05T05:45:03.500Z,1764913503.500 [CBIT](DEBUG): Initialized mux pins.
2025-12-05T05:45:03.500Z,1764913503.500 [CBIT](DEBUG): Initializing the watchdog timer.
2025-12-05T05:45:03.508Z,1764913503.508 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 936
2025-12-05T05:45:03.520Z,1764913503.520 [DAT ThreadHandler](INFO): Handler Thread ID is 937
2025-12-05T05:45:03.521Z,1764913503.521 [DAT](INFO): Powering up
2025-12-05T05:45:03.521Z,1764913503.521 [DAT](DEBUG): Initializing DAT.
2025-12-05T05:45:03.524Z,1764913503.524 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-12-05T05:45:03.524Z,1764913503.524 [CBIT](DEBUG): Initializing heartbeat.
2025-12-05T05:45:03.526Z,1764913503.526 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 939
2025-12-05T05:45:03.528Z,1764913503.528 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-12-05T05:45:03.537Z,1764913503.537 [Onboard ThreadHandler](INFO): Handler Thread ID is 940
2025-12-05T05:45:03.554Z,1764913503.554 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 941
2025-12-05T05:45:03.580Z,1764913503.580 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 942
2025-12-05T05:45:03.581Z,1764913503.581 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-12-05T05:45:03.585Z,1764913503.585 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 944
2025-12-05T05:45:03.588Z,1764913503.588 [WetLabsBB2FL](INFO): Powering up
2025-12-05T05:45:03.590Z,1764913503.590 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 946
2025-12-05T05:45:03.596Z,1764913503.596 [CBIT](DEBUG): Deactivating emergency mode.
2025-12-05T05:45:03.597Z,1764913503.597 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-12-05T05:45:03.597Z,1764913503.597 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-12-05T05:45:03.598Z,1764913503.598 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-12-05T05:45:03.598Z,1764913503.598 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-12-05T05:45:03.598Z,1764913503.598 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-12-05T05:45:03.598Z,1764913503.598 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-12-05T05:45:03.598Z,1764913503.598 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-12-05T05:45:03.598Z,1764913503.598 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-12-05T05:45:03.636Z,1764913503.636 [CBIT](DEBUG): Backplane powered.
2025-12-05T05:45:03.636Z,1764913503.636 [GFScanner](DEBUG): Initializing GFScanner
2025-12-05T05:45:03.636Z,1764913503.636 [GFScanner](DEBUG): Deactivating GF circuits.
2025-12-05T05:45:03.641Z,1764913503.641 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-12-05T05:45:03.642Z,1764913503.642 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-12-05T05:45:03.642Z,1764913503.642 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-12-05T05:45:03.648Z,1764913503.648 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-12-05T05:45:03.663Z,1764913503.663 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
2025-12-05T05:45:03.663Z,1764913503.663 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-12-05T05:45:03.680Z,1764913503.680 [MissionManager](ERROR): Could not load startup mission.
2025-12-05T05:45:03.680Z,1764913503.680 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-12-05T05:45:03.680Z,1764913503.680 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-12-05T05:45:03.683Z,1764913503.683 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-12-05T05:45:03.960Z,1764913503.960 [Radio_Surface](INFO): Powering up
2025-12-05T05:45:04.252Z,1764913504.252 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into:
0
6
10
1
3
30
Timed out while trying to detach from dock at current depth of
.
Burn on
Dropped weight due to communications timeout.
5
Default mission has been running for
Restarting logs and Default mission.
restart logs
2025-12-05T05:45:04.275Z,1764913504.275 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-12-05T05:45:04.280Z,1764913504.280 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-12-05T05:45:04.293Z,1764913504.293 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-12-05T05:45:04.325Z,1764913504.325 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-12-05T05:45:04.329Z,1764913504.329 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-12-05T05:45:04.341Z,1764913504.341 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-12-05T05:45:04.342Z,1764913504.342 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-12-05T05:45:04.503Z,1764913504.503 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-12-05T05:45:04.503Z,1764913504.503 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T05:45:04.581Z,1764913504.581 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-05T05:45:04.623Z,1764913504.623 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-12-05T05:45:04.641Z,1764913504.641 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-12-05T05:45:04.647Z,1764913504.647 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-12-05T05:45:04.680Z,1764913504.680 [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 DefaultWithUndock {
arguments {
ElapsedSinceDefaultStarted = 0 minute
DetachTimeout = 6 hour
"""
Maximum time duration for the vehicle to detach form the dock.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Dock transponder address.
"""
TrackingUpdatePeriod = 10 second
"""
Time duration between acoustic range queries while the mission is
detaching from the dock.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
DriftTimeout = 3 minute
"""
How long to allow vehicle to drift away from dock before retrying reverse
"""
}
behavior Guidance:Wait {
"""
Wait a moment to see if the scheduler starts a new mission before
starting to actually run Default.
"""
run in sequence
set duration = 30 second
}
aggregate LeaveDock {
run in sequence
timeout duration=DetachTimeout {
syslog important "Timed out while trying to detach from dock at current depth of "
+ Universal:depth~meter + "."
}
# Acoustic tracking directives
behavior Estimation:TrackAcousticContact {
run while (
Universal:depth > Control:VerticalControl.surfaceThreshold
)
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
# Leave the dock
behavior Dock:Undock {
run in sequence
set driftTimeout = DriftTimeout
}
}
aggregate SurfaceDefault {
run in sequence
# This mission assumes open water so from here on it's the same old default that's always used
behavior Guidance:GoToSurface {
run in progression
}
aggregate CheckIn {
run in sequence repeat=288
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P2H {
behavior Guidance:Execute {
run in sequence
set command = "Burn on"
}
syslog critical "Dropped weight due to communications timeout."
}
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )
syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
}
}
syslog important "Restarting logs and Default mission."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
2025-12-05T05:45:04.685Z,1764913504.685 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmPublisher,Reporter,LogSplitter,
2025-12-05T05:45:04.708Z,1764913504.708 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-12-05T05:45:04.848Z,1764913504.848 [Depth_Keller](INFO): Initializing.
2025-12-05T05:45:04.850Z,1764913504.850 [Power24vConverter](INFO): Powering up.
2025-12-05T05:45:04.850Z,1764913504.850 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-12-05T05:45:04.856Z,1764913504.856 [Sonardyne_Nano](INFO): Initializing.
2025-12-05T05:45:04.900Z,1764913504.900 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-12-05T05:45:04.930Z,1764913504.930 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:45:04.932Z,1764913504.932 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-12-05T05:45:04.933Z,1764913504.933 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:45:04.940Z,1764913504.940 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-12-05T05:45:04.941Z,1764913504.941 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-05T05:45:04.948Z,1764913504.948 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-05T05:45:04.949Z,1764913504.949 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:45:04.956Z,1764913504.956 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:45:04.957Z,1764913504.957 [RudderServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:45:04.964Z,1764913504.964 [RudderServo](DEBUG): Initializing RudderServo.
2025-12-05T05:45:04.965Z,1764913504.965 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-05T05:45:04.972Z,1764913504.972 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-05T05:45:05.181Z,1764913505.181 [Depth_Keller](ERROR): Pressure or depth reading out of range: 916.699524 decibar, 0.000000 m
2025-12-05T05:45:05.189Z,1764913505.189 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-12-05T05:45:05.696Z,1764913505.696 [WetLabsBB2FL](INFO): Powering down
2025-12-05T05:45:07.118Z,1764913507.118 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-12-05T05:45:08.357Z,1764913508.357 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207
2025-12-05T05:45:09.212Z,1764913509.212 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-12-05T05:45:09.213Z,1764913509.213 [Radio_Surface](INFO): No local IP found
2025-12-05T05:45:10.481Z,1764913510.481 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-12-05T05:45:15.369Z,1764913515.369 [DAT](INFO): DAT read:
2025-12-05T05:45:15.370Z,1764913515.370 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series
2025-12-05T05:45:16.881Z,1764913516.881 [DAT](INFO): DAT read: MF Frequency Band
2025-12-05T05:45:16.882Z,1764913516.882 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0
2025-12-05T05:45:16.883Z,1764913516.883 [DAT](INFO): DAT read: Dec 5 2025 05:45:11
2025-12-05T05:45:17.889Z,1764913517.889 [DAT](INFO): DAT read: Features enabled [Bearing]
2025-12-05T05:45:17.890Z,1764913517.890 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
2025-12-05T05:45:17.891Z,1764913517.891 [DAT](INFO): commRate: 600
2025-12-05T05:45:19.956Z,1764913519.956 [DAT](INFO): entering command mode
2025-12-05T05:45:20.157Z,1764913520.157 [DAT](INFO): DAT read:
2025-12-05T05:45:20.157Z,1764913520.157 [DAT](INFO): DAT read: user:1>
2025-12-05T05:45:20.157Z,1764913520.157 [DAT](INFO): setting verbose to 3
2025-12-05T05:45:20.412Z,1764913520.412 [DAT](INFO): DAT read: user:1>
2025-12-05T05:45:20.413Z,1764913520.413 [DAT](INFO): DAT read: Verbose | 3
2025-12-05T05:45:20.413Z,1764913520.413 [DAT](INFO): set verbose to 3
2025-12-05T05:45:20.413Z,1764913520.413 [DAT](INFO): setting DatVerbose to 27440
2025-12-05T05:45:20.661Z,1764913520.661 [DAT](INFO): DAT read: user:2>
2025-12-05T05:45:20.662Z,1764913520.662 [DAT](INFO): DAT read: DatVerbose | 27440
2025-12-05T05:45:20.662Z,1764913520.662 [DAT](INFO): set DatVerbose to 27440
2025-12-05T05:45:20.662Z,1764913520.662 [DAT](INFO): setting transmit power to 8
2025-12-05T05:45:20.913Z,1764913520.913 [DAT](INFO): DAT read: user:3>
2025-12-05T05:45:20.914Z,1764913520.914 [DAT](INFO): DAT read: TxPower | 8 (Max)
2025-12-05T05:45:20.914Z,1764913520.914 [DAT](INFO): set transmit power to 8
2025-12-05T05:45:20.915Z,1764913520.915 [DAT](INFO): setting local address to 11
2025-12-05T05:45:21.165Z,1764913521.165 [DAT](INFO): DAT read: user:4>
2025-12-05T05:45:21.166Z,1764913521.166 [DAT](INFO): DAT read: LocalAddr | 11
2025-12-05T05:45:21.166Z,1764913521.166 [DAT](INFO): set local address to 11
2025-12-05T05:45:21.167Z,1764913521.167 [DAT](INFO): Setting time to: 5:45:21 And date to:12/5/2025
2025-12-05T05:45:21.417Z,1764913521.417 [DAT](INFO): DAT read: user:5>
2025-12-05T05:45:21.417Z,1764913521.417 [DAT](INFO): DAT read: Fri Dec 5, 2025 05:45:21
2025-12-05T05:45:21.418Z,1764913521.418 [DAT](INFO): Local DAT time set to Fri Dec 5, 2025 05:45:21
2025-12-05T05:45:23.718Z,1764913523.718 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +0.00, 0.00, 6.00
2025-12-05T05:45:31.773Z,1764913531.773 [NAL9602](INFO): Powering up NAL9602
2025-12-05T05:45:42.682Z,1764913542.682 [NAL9602](INFO): NAL9602 initialized
2025-12-05T05:45:50.796Z,1764913550.796 [MassServo](FAULT): Overload Error
2025-12-05T05:45:50.796Z,1764913550.796 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:45:50.796Z,1764913550.796 [MassServo](ERROR): Hardware Fault
2025-12-05T05:45:50.912Z,1764913550.912 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:45:51.182Z,1764913551.182 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:45:51.182Z,1764913551.182 [MassServo](INFO): Powering down
2025-12-05T05:45:52.013Z,1764913552.013 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:45:52.129Z,1764913552.129 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:45:52.133Z,1764913552.133 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:45:52.133Z,1764913552.133 [MassServo] No Fault, FailCount= 1
2025-12-05T05:45:59.662Z,1764913559.662 [NAL9602](INFO): SBD MO Status=0, MOMSN=4483, MT Status=0, MTMSN=0
2025-12-05T05:45:59.663Z,1764913559.663 [NAL9602](INFO): No messages in MT queue
2025-12-05T05:46:00.866Z,1764913560.866 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,054557.01,A,3646.59568,N,12151.63047,W,0.952,143.15,051225,,,A*76
2025-12-05T05:46:00.869Z,1764913560.869 [NAL9602](INFO): GPS fix at 20251205T054557: (36.776595, -121.860508)
2025-12-05T05:46:07.388Z,1764913567.388 [MassServo](FAULT): Overload Error
2025-12-05T05:46:07.388Z,1764913567.388 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:46:07.388Z,1764913567.388 [MassServo](ERROR): Hardware Fault
2025-12-05T05:46:07.492Z,1764913567.492 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:46:07.779Z,1764913567.779 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:46:07.779Z,1764913567.779 [MassServo](INFO): Powering down
2025-12-05T05:46:08.562Z,1764913568.562 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:46:08.677Z,1764913568.677 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:46:08.682Z,1764913568.682 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:46:08.682Z,1764913568.682 [MassServo] No Fault, FailCount= 1
2025-12-05T05:46:23.968Z,1764913583.968 [MassServo](FAULT): Overload Error
2025-12-05T05:46:23.968Z,1764913583.968 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:46:23.968Z,1764913583.968 [MassServo](ERROR): Hardware Fault
2025-12-05T05:46:24.074Z,1764913584.074 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:46:24.313Z,1764913584.313 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:46:24.313Z,1764913584.313 [MassServo](INFO): Powering down
2025-12-05T05:46:25.125Z,1764913585.125 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:46:25.241Z,1764913585.241 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:46:25.245Z,1764913585.245 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:46:25.245Z,1764913585.245 [MassServo] No Fault, FailCount= 1
2025-12-05T05:46:33.589Z,1764913593.589 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-05T05:46:41.796Z,1764913601.796 [MassServo](FAULT): Overload Error
2025-12-05T05:46:41.796Z,1764913601.796 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:46:41.796Z,1764913601.796 [MassServo](ERROR): Hardware Fault
2025-12-05T05:46:41.909Z,1764913601.909 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:46:42.115Z,1764913602.115 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:46:42.115Z,1764913602.115 [MassServo](INFO): Powering down
2025-12-05T05:46:42.906Z,1764913602.906 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:46:43.029Z,1764913603.029 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:46:43.033Z,1764913603.033 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:46:43.033Z,1764913603.033 [MassServo] No Fault, FailCount= 1
2025-12-05T05:46:59.492Z,1764913619.492 [MassServo](FAULT): Overload Error
2025-12-05T05:46:59.492Z,1764913619.492 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:46:59.492Z,1764913619.492 [MassServo](ERROR): Hardware Fault
2025-12-05T05:46:59.600Z,1764913619.600 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:46:59.977Z,1764913619.977 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:46:59.978Z,1764913619.978 [MassServo](INFO): Powering down
2025-12-05T05:46:59.979Z,1764913619.979 [SBIT](IMPORTANT): Beginning Startup BIT
2025-12-05T05:47:00.021Z,1764913620.021 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-12-05T05:47:00.734Z,1764913620.734 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:47:00.853Z,1764913620.853 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:47:00.859Z,1764913620.859 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:47:00.859Z,1764913620.859 [MassServo] No Fault, FailCount= 1
2025-12-05T05:47:03.901Z,1764913623.901 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 679.20, 754.34, 727.03
2025-12-05T05:47:04.392Z,1764913624.392 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.001099
CHAN A1 (24V): 0.001622
CHAN A2 (12V): 0.000204
CHAN A3 (5V): 0.000349
CHAN B0 (3.3V): 0.000446
CHAN B1 (3.15aV): 0.000406
CHAN B2 (3.15bV): 0.000157
CHAN B3 (GND): -0.000402
OPEN: -0.000553
Full Scale: +/- 1 mA
2025-12-05T05:47:13.230Z,1764913633.230 [SBIT](FAULT): Mass: EXPECTED:0.030512 ACTUAL:0.002258
2025-12-05T05:47:18.133Z,1764913638.133 [MassServo](FAULT): Overload Error
2025-12-05T05:47:18.134Z,1764913638.134 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:47:18.134Z,1764913638.134 [MassServo](ERROR): Hardware Fault
2025-12-05T05:47:18.272Z,1764913638.272 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:47:18.477Z,1764913638.477 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:47:18.477Z,1764913638.477 [MassServo](INFO): Powering down
2025-12-05T05:47:19.289Z,1764913639.289 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:47:19.405Z,1764913639.405 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:47:19.436Z,1764913639.436 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:47:19.436Z,1764913639.436 [MassServo] No Fault, FailCount= 1
2025-12-05T05:47:28.960Z,1764913648.960 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, +250, +173,A
2025-12-05T05:47:30.108Z,1764913650.108 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:47:35.856Z,1764913655.856 [MassServo](FAULT): Overload Error
2025-12-05T05:47:35.856Z,1764913655.856 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:47:35.856Z,1764913655.856 [MassServo](ERROR): Hardware Fault
2025-12-05T05:47:35.969Z,1764913655.969 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:47:36.231Z,1764913656.231 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:47:36.231Z,1764913656.231 [MassServo](INFO): Powering down
2025-12-05T05:47:36.644Z,1764913656.644 [MassServo](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Current Limiter Activated.
2025-12-05T05:47:37.070Z,1764913657.070 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:47:37.189Z,1764913657.189 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:47:37.194Z,1764913657.194 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:47:37.194Z,1764913657.194 [MassServo] No Fault, FailCount= 1
2025-12-05T05:47:39.930Z,1764913659.930 [SBIT](ERROR): Could not read massPosReader_.
2025-12-05T05:47:39.930Z,1764913659.930 [SBIT](FAULT): Control surface position failure.
2025-12-05T05:47:47.350Z,1764913667.350 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004241
2025-12-05T05:47:48.348Z,1764913668.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:47:53.283Z,1764913673.283 [SBIT](FAULT): Mass: EXPECTED:0.024212 ACTUAL:0.005166
2025-12-05T05:47:53.283Z,1764913673.283 [SBIT](FAULT): Control surface position failure.
2025-12-05T05:47:53.645Z,1764913673.645 [SBIT](CRITICAL): SBIT FAILED
2025-12-05T05:47:53.645Z,1764913673.645 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-12-05T05:47:53.645Z,1764913673.645 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=29 count;
2025-12-05T05:47:53.646Z,1764913673.646 [SBIT](IMPORTANT): BackseatComponent.fullSlateAccess=1 bool;
2025-12-05T05:47:53.646Z,1764913673.646 [SBIT](IMPORTANT): DAT.transponderAddress=8 enum;
2025-12-05T05:47:53.646Z,1764913673.646 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;
2025-12-05T05:47:53.646Z,1764913673.646 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 15.000000 meter;
2025-12-05T05:47:53.646Z,1764913673.646 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.800000 m/s;
2025-12-05T05:47:53.646Z,1764913673.646 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=317.232166 cubic_centimeter;
2025-12-05T05:47:53.646Z,1764913673.646 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;
2025-12-05T05:47:53.646Z,1764913673.646 [SBIT](IMPORTANT): VerticalControl.massDefault=24.211971 millimeter;
2025-12-05T05:47:53.652Z,1764913673.652 [CommandExec](FAULT): Scheduling is paused
2025-12-05T05:47:53.653Z,1764913673.653 [CBIT](INFO): Critical error at 20251205T054753
2025-12-05T05:47:53.653Z,1764913673.653 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-12-05T05:47:54.020Z,1764913674.020 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-12-05T05:47:54.020Z,1764913674.020 [DefaultWithUndock] Running Loop=1
2025-12-05T05:47:54.020Z,1764913674.020 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-12-05T05:47:54.021Z,1764913674.021 [DefaultWithUndock:A.Wait] Running Loop=1
2025-12-05T05:47:54.021Z,1764913674.021 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-12-05T05:47:55.272Z,1764913675.272 [MassServo](FAULT): Overload Error
2025-12-05T05:47:55.272Z,1764913675.272 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:47:55.272Z,1764913675.272 [MassServo](ERROR): Hardware Fault
2025-12-05T05:47:55.388Z,1764913675.388 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:47:55.627Z,1764913675.627 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:47:55.627Z,1764913675.627 [MassServo](INFO): Powering down
2025-12-05T05:47:56.433Z,1764913676.433 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:47:56.553Z,1764913676.553 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:47:56.557Z,1764913676.557 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:47:56.557Z,1764913676.557 [MassServo] No Fault, FailCount= 1
2025-12-05T05:47:57.248Z,1764913677.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:48:06.636Z,1764913686.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:48:15.488Z,1764913695.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:48:17.901Z,1764913697.901 [MassServo](FAULT): Overload Error
2025-12-05T05:48:17.901Z,1764913697.901 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:48:17.901Z,1764913697.901 [MassServo](ERROR): Hardware Fault
2025-12-05T05:48:18.012Z,1764913698.012 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:48:18.279Z,1764913698.279 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:48:18.279Z,1764913698.279 [MassServo](INFO): Powering down
2025-12-05T05:48:19.112Z,1764913699.112 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:48:19.229Z,1764913699.229 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:48:19.233Z,1764913699.233 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:48:19.233Z,1764913699.233 [MassServo] No Fault, FailCount= 1
2025-12-05T05:48:24.172Z,1764913704.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:48:24.309Z,1764913704.309 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-12-05T05:48:24.309Z,1764913704.309 [DefaultWithUndock:A.Wait] Stopped
2025-12-05T05:48:24.309Z,1764913704.309 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T05:48:24.310Z,1764913704.310 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-12-05T05:48:24.310Z,1764913704.310 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-12-05T05:48:24.310Z,1764913704.310 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-12-05T05:48:24.310Z,1764913704.310 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-12-05T05:48:24.310Z,1764913704.310 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-12-05T05:48:24.310Z,1764913704.310 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-05T05:48:24.310Z,1764913704.310 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T05:48:24.709Z,1764913704.709 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-05T05:48:24.709Z,1764913704.709 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T05:48:24.710Z,1764913704.710 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.197622 m.
2025-12-05T05:48:24.711Z,1764913704.711 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-12-05T05:48:24.711Z,1764913704.711 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-12-05T05:48:25.150Z,1764913705.150 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-12-05T05:48:25.519Z,1764913705.519 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-05T05:48:25.633Z,1764913705.633 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-05T05:48:33.457Z,1764913713.457 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:48:40.988Z,1764913720.988 [MassServo](FAULT): Overload Error
2025-12-05T05:48:40.988Z,1764913720.988 [MassServo] Hardware Fault, FailCount= 1
2025-12-05T05:48:40.988Z,1764913720.988 [MassServo](ERROR): Hardware Fault
2025-12-05T05:48:41.113Z,1764913721.113 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-05T05:48:41.409Z,1764913721.409 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-05T05:48:41.409Z,1764913721.409 [MassServo](INFO): Powering down
2025-12-05T05:48:42.165Z,1764913722.165 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-05T05:48:42.285Z,1764913722.285 [MassServo](DEBUG): Initializing MassServo.
2025-12-05T05:48:42.289Z,1764913722.289 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-05T05:48:42.289Z,1764913722.289 [MassServo] No Fault, FailCount= 1
2025-12-05T05:48:42.580Z,1764913722.580 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:48:45.333Z,1764913725.333 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-12-05T05:48:45.725Z,1764913725.725 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-12-05T05:48:46.133Z,1764913726.133 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-12-05T05:48:46.133Z,1764913726.133 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-12-05T05:48:46.133Z,1764913726.133 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-12-05T05:48:46.133Z,1764913726.133 [DefaultWithUndock:LeaveDock] Stopped
2025-12-05T05:48:46.133Z,1764913726.133 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-12-05T05:48:46.133Z,1764913726.133 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-12-05T05:48:46.134Z,1764913726.134 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-12-05T05:48:46.134Z,1764913726.134 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-12-05T05:48:46.134Z,1764913726.134 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-05T05:48:46.134Z,1764913726.134 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-05T05:48:46.135Z,1764913726.135 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-05T05:48:46.135Z,1764913726.135 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-05T05:48:46.135Z,1764913726.135 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-05T05:48:46.140Z,1764913726.140 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-05T05:48:46.140Z,1764913726.140 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-05T05:48:46.533Z,1764913726.533 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-12-05T05:48:46.534Z,1764913726.534 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-05T05:48:46.534Z,1764913726.534 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-05T05:48:47.018Z,1764913727.018 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-05T05:48:48.535Z,1764913728.535 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,054847.00,A,3646.57504,N,12151.64433,W,0.389,161.72,051225,,,D*77
2025-12-05T05:48:48.545Z,1764913728.545 [NAL9602](INFO): GPS fix at 20251205T054847: (36.776251, -121.860739)
2025-12-05T05:48:48.561Z,1764913728.561 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-05T05:48:48.561Z,1764913728.561 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-05T05:48:49.001Z,1764913729.001 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-05T05:48:49.643Z,1764913729.643 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20251205T052855/Courier0004.lzma
2025-12-05T05:48:50.462Z,1764913730.462 [DataOverHttps](INFO): Moved sent file to Logs/20251205T052855/Courier0004.lzma.bak
2025-12-05T05:48:50.462Z,1764913730.462 [DataOverHttps](INFO): SBD MOMSN=26431893
2025-12-05T05:49:07.344Z,1764913747.344 [DataOverHttps](INFO): Sending 299 bytes from file Logs/20251205T054450/Courier0000.lzma
2025-12-05T05:49:08.346Z,1764913748.346 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0000.lzma.bak
2025-12-05T05:49:08.346Z,1764913748.346 [DataOverHttps](INFO): SBD MOMSN=26431903
2025-12-05T05:49:12.378Z,1764913752.378 [NAL9602](INFO): SBD MO Status=0, MOMSN=4484, MT Status=0, MTMSN=0
2025-12-05T05:49:12.379Z,1764913752.379 [NAL9602](INFO): No messages in MT queue
2025-12-05T05:49:25.027Z,1764913765.027 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20251205T052855/Express0005.lzma
2025-12-05T05:49:26.030Z,1764913766.030 [DataOverHttps](INFO): Moved sent file to Logs/20251205T052855/Express0005.lzma.bak
2025-12-05T05:49:26.031Z,1764913766.031 [DataOverHttps](INFO): SBD MOMSN=26431937
2025-12-05T05:49:42.282Z,1764913782.282 [DataOverHttps](INFO): Sending 1474 bytes from file Logs/20251205T054450/Express0001.lzma
2025-12-05T05:49:43.086Z,1764913783.086 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-05T05:49:43.282Z,1764913783.282 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0001.lzma.bak
2025-12-05T05:49:43.282Z,1764913783.282 [DataOverHttps](INFO): SBD MOMSN=26431939
2025-12-05T05:49:44.402Z,1764913784.402 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-05T05:49:44.402Z,1764913784.402 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-05T05:49:44.403Z,1764913784.403 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-05T05:49:52.996Z,1764913792.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:50:01.564Z,1764913801.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:50:09.701Z,1764913809.701 [DataOverHttps](IMPORTANT): SBD MTMSN=20251205T055008
2025-12-05T05:50:17.332Z,1764913817.332 [DataOverHttps](INFO): Received command: load underIce/DefaultDockNav.tl;set DefaultDockNav.LineCaptureTimeout 10 min;run
2025-12-05T05:50:17.413Z,1764913817.413 [CommandExec](IMPORTANT): got command load ./Missions/underIce/DefaultDockNav.tl
2025-12-05T05:50:17.413Z,1764913817.413 [MissionManager](INFO): Loading Mission from file: ./Missions/underIce/DefaultDockNav.tl
2025-12-05T05:50:17.413Z,1764913817.413 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/underIce/DefaultDockNav.tl
2025-12-05T05:50:17.487Z,1764913817.487 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/underIce/DefaultDockNav.tl
2025-12-05T05:50:19.336Z,1764913819.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:50:19.386Z,1764913819.386 [MissionManager](DEBUG): TethyslAPI: ./Missions/underIce/DefaultDockNav.tl translated into:
0
30
10
60
20
1
3
30
300
10
15
10
50
10
30
Timed out while trying to detach from dock at current depth of
.
0
LineCapture timed out after
Have valid DR'd position, running LineCapture.
Docked, undocking before surfacing.
0
No DR'd position, searching for acoustic contact.
Acoustic search timed out after
100
Acoustic target found! At range
meters. And estimatedposition
,
.
But giving up and continuing with surface default.
Burn on
Dropped weight due to communications timeout.
5
Default mission has been running for
Restarting logs and Default mission.
restart logs
2025-12-05T05:50:19.395Z,1764913819.395 [MissionManager](INFO): DefineArg DefaultDockNav.ElapsedSinceDefaultStarted = 0.000000 min
2025-12-05T05:50:19.399Z,1764913819.399 [MissionManager](INFO): DefineArg DefaultDockNav.DetachTimeout = 30.000000 min
2025-12-05T05:50:19.451Z,1764913819.451 [MissionManager](INFO): DefineArg DefaultDockNav.TransponderCode = 50 count
2025-12-05T05:50:19.466Z,1764913819.466 [MissionManager](INFO): DefineArg DefaultDockNav.TrackingPeriodUndock = 10.000000 s
2025-12-05T05:50:19.474Z,1764913819.474 [MissionManager](INFO): DefineArg DefaultDockNav.TrackingPeriodMidcourse = 60.000000 s
2025-12-05T05:50:19.487Z,1764913819.487 [MissionManager](INFO): DefineArg DefaultDockNav.TrackingPeriodCircle = 20.000000 s
2025-12-05T05:50:19.508Z,1764913819.508 [MissionManager](INFO): DefineArg DefaultDockNav.NumberOfPings = 1.000000 count
2025-12-05T05:50:19.516Z,1764913819.516 [MissionManager](INFO): DefineArg DefaultDockNav.DriftTimeout = 3.000000 min
2025-12-05T05:50:19.524Z,1764913819.524 [MissionManager](INFO): DefineArg DefaultDockNav.LineCaptureTimeout = 30.000000 min
2025-12-05T05:50:19.533Z,1764913819.533 [MissionManager](INFO): DefineArg DefaultDockNav.SearchCircleRadius = 300.000000 m
2025-12-05T05:50:19.537Z,1764913819.537 [MissionManager](INFO): DefineArg DefaultDockNav.SearchTimeout = 10.000000 min
2025-12-05T05:50:19.549Z,1764913819.549 [MissionManager](INFO): DefineArg DefaultDockNav.AcousticContactTimeout = 15.000000 min
2025-12-05T05:50:19.553Z,1764913819.553 [MissionManager](INFO): DefineArg DefaultDockNav.MidcourseDepthOverride = 10.000000 m
2025-12-05T05:50:19.565Z,1764913819.565 [MissionManager](INFO): DefineArg DefaultDockNav.MaxDepth = 50.000000 m
2025-12-05T05:50:19.581Z,1764913819.581 [MissionManager](INFO): DefineOutput DefaultDockNav.TrackingUpdatePeriod = 10.000000 s
2025-12-05T05:50:19.582Z,1764913819.582 [DefaultDockNav:A.Wait](DEBUG): Construct Wait.
2025-12-05T05:50:19.583Z,1764913819.583 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-12-05T05:50:19.583Z,1764913819.583 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-12-05T05:50:19.602Z,1764913819.602 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-12-05T05:50:20.837Z,1764913820.837 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
30
0.0
1
0.01
0.001
2
8
1
NaN
NaN
NaN
0.0
0
NaN
-1
0
1
2
3
1
5
0
0
Timed out while trying to detach from dock at current depth of
.
Transitioning to midcourse guidance.
Navigating to dock waypoint (
,
)
Transitioning to terminal guidance at range
Terminating homing sequence: timed out while navigating to the dock waypoint.
Executing search pattern.
Timed out while executing search pattern around dock waypoint.
Homing sequence timed out prior to docking.
Terminal guidance.
Transitioning to midcourse guidance. Received last range of
ago.
Docked. Homing sequence complete.
3
GuidanceMode
2025-12-05T05:50:20.850Z,1764913820.850 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DockLat = 36.779130 arcdeg
2025-12-05T05:50:20.854Z,1764913820.854 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DockLon = -121.859630 arcdeg
2025-12-05T05:50:20.858Z,1764913820.858 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DetachTimeout = 30.000000 min
2025-12-05T05:50:20.863Z,1764913820.863 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MidcourseDepth = 50.000000 m
2025-12-05T05:50:20.867Z,1764913820.867 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-12-05T05:50:20.898Z,1764913820.898 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MidcourseTimeout = 6.000000 h
2025-12-05T05:50:20.913Z,1764913820.913 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.TerminalRange = 650.000000 m
2025-12-05T05:50:20.918Z,1764913820.918 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.AcousticTimeout = 5.000000 min
2025-12-05T05:50:20.930Z,1764913820.930 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-12-05T05:50:20.938Z,1764913820.938 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.SearchTimeout = 5.000000 min
2025-12-05T05:50:20.951Z,1764913820.951 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.CircleRadius = 1000.000000 m
2025-12-05T05:50:20.967Z,1764913820.967 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.CircleMaxError = 1.000000 m
2025-12-05T05:50:20.979Z,1764913820.979 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.CircleTurnToPort = 0 bool
2025-12-05T05:50:20.989Z,1764913820.989 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DepthDeadband = 0.010000 m
2025-12-05T05:50:20.993Z,1764913820.993 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-12-05T05:50:20.998Z,1764913820.998 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MinAltitude = 2.000000 m
2025-12-05T05:50:21.013Z,1764913821.013 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MaxDepth = 8.000000 m
2025-12-05T05:50:21.019Z,1764913821.019 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MinOffshore = 1.000000 m
2025-12-05T05:50:21.030Z,1764913821.030 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DockingAltitude = nan m
2025-12-05T05:50:21.035Z,1764913821.035 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.InvalidAltitudeTimeout = nan min
2025-12-05T05:50:21.087Z,1764913821.087 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.AltitudeDepthLimit = nan m
2025-12-05T05:50:21.099Z,1764913821.099 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-12-05T05:50:21.115Z,1764913821.115 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.ElapsedRange = 0.000000 min
2025-12-05T05:50:21.127Z,1764913821.127 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.Range = nan m
2025-12-05T05:50:21.144Z,1764913821.144 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.DoneTimeout = -1.000000 count
2025-12-05T05:50:21.165Z,1764913821.165 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.Done = 0.000000 count
2025-12-05T05:50:21.174Z,1764913821.174 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.DetachFromDock = 1.000000 count
2025-12-05T05:50:21.194Z,1764913821.194 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.Midcourse = 2.000000 count
2025-12-05T05:50:21.202Z,1764913821.202 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.Terminal = 3.000000 count
2025-12-05T05:50:21.222Z,1764913821.222 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.GuidanceMode = 1.000000 count
2025-12-05T05:50:21.239Z,1764913821.239 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.DockingDepth = 1.000000 m
2025-12-05T05:50:21.255Z,1764913821.255 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.LineCapRollout = 5.000000 count
2025-12-05T05:50:21.275Z,1764913821.275 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-12-05T05:50:21.275Z,1764913821.275 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-12-05T05:50:21.277Z,1764913821.277 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-12-05T05:50:21.495Z,1764913821.495 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-12-05T05:50:21.529Z,1764913821.529 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-12-05T05:50:21.549Z,1764913821.549 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-12-05T05:50:21.562Z,1764913821.562 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-12-05T05:50:21.579Z,1764913821.579 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-12-05T05:50:21.596Z,1764913821.596 [DefaultDockNav:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-05T05:50:21.621Z,1764913821.621 [DefaultDockNav:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-05T05:50:21.660Z,1764913821.660 [DefaultDockNav:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-12-05T05:50:21.752Z,1764913821.752 [DefaultDockNav:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-12-05T05:50:21.766Z,1764913821.766 [DefaultDockNav:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-05T05:50:21.785Z,1764913821.785 [DefaultDockNav:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-12-05T05:50:21.785Z,1764913821.785 [DefaultDockNav:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T05:50:21.869Z,1764913821.869 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-12-05T05:50:21.893Z,1764913821.893 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-12-05T05:50:22.001Z,1764913822.001 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-12-05T05:50:22.098Z,1764913822.098 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-12-05T05:50:22.121Z,1764913822.121 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-12-05T05:50:22.146Z,1764913822.146 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-12-05T05:50:22.188Z,1764913822.188 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-12-05T05:50:22.218Z,1764913822.218 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-12-05T05:50:22.373Z,1764913822.373 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-12-05T05:50:22.373Z,1764913822.373 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-12-05T05:50:22.402Z,1764913822.402 [DefaultDockNav:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-12-05T05:50:22.414Z,1764913822.414 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-12-05T05:50:22.414Z,1764913822.414 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-12-05T05:50:22.424Z,1764913822.424 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-12-05T05:50:22.741Z,1764913822.741 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
Reseting nav to dock location at range
2025-12-05T05:50:22.764Z,1764913822.764 [MissionManager](INFO): DefineArg DefaultDockNav:SetNavAcoustic.DockLat = 36.779130 arcdeg
2025-12-05T05:50:22.781Z,1764913822.781 [MissionManager](INFO): DefineArg DefaultDockNav:SetNavAcoustic.DockLon = -121.859630 arcdeg
2025-12-05T05:50:22.790Z,1764913822.790 [MissionManager](INFO): DefineArg DefaultDockNav:SetNavAcoustic.DockRange = 0.000000 m
2025-12-05T05:50:22.807Z,1764913822.807 [MissionManager](INFO): DefineArg DefaultDockNav:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-12-05T05:50:22.830Z,1764913822.830 [DefaultDockNav:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-12-05T05:50:22.927Z,1764913822.927 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Construct.
2025-12-05T05:50:22.927Z,1764913822.927 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T05:50:23.018Z,1764913823.018 [DefaultDockNav:PostUndockNavigation:NavToDock:UndockIfDocked:B.Undock](DEBUG): Construct.
2025-12-05T05:50:23.018Z,1764913823.018 [DefaultDockNav:PostUndockNavigation:NavToDock:UndockIfDocked:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T05:50:23.059Z,1764913823.059 [DefaultDockNav:PostUndockNavigation:SearchForDock:C.Mass](DEBUG): Construct.
2025-12-05T05:50:23.091Z,1764913823.091 [DefaultDockNav:PostUndockNavigation:SearchForDock:D.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-05T05:50:23.119Z,1764913823.119 [DefaultDockNav:PostUndockNavigation:SearchForDock:E.Pitch](DEBUG): Construct.
2025-12-05T05:50:23.162Z,1764913823.162 [DefaultDockNav:PostUndockNavigation:SearchForDock:CircleSearch:A.Circle](DEBUG): Construct.
2025-12-05T05:50:23.229Z,1764913823.229 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-05T05:50:23.281Z,1764913823.281 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-12-05T05:50:23.283Z,1764913823.283 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-12-05T05:50:23.306Z,1764913823.306 [DefaultDockNav:J.Execute](DEBUG): Construct Execute.
2025-12-05T05:50:23.376Z,1764913823.376 [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 DefaultDockNav {
arguments {
ElapsedSinceDefaultStarted = 0 minute
DetachTimeout = 30 minute
"""
Maximum time duration for the vehicle to detach form the dock.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Dock transponder address.
"""
TrackingPeriodUndock = 10 second
"""
Time duration between acoustic range queries while the mission is
detaching from the dock.
"""
TrackingPeriodMidcourse = 60 second
"""
Time duration between acoustic range queries while the mission is
navigating to the dock.
"""
TrackingPeriodCircle = 20 second
"""
Time duration between acoustic range queries while the mission is
searching for the dock.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
DriftTimeout = 3 minute
"""
How long to allow vehicle to drift away from dock before retrying reverse
"""
LineCaptureTimeout = 30 minute
"""
Maximum time duration to run LineCapture when we have good navigation.
"""
SearchCircleRadius = 300 meter
"""
Radius of circle to search when we don't have good navigation.
"""
SearchTimeout = 10 minute
"""
Maximum time duration to search for acoustic contact when we don't have
good navigation.
"""
AcousticContactTimeout = 15 minute
"""
Time duration after which acoustic ranges are considered stale.
"""
MidcourseDepthOverride = 10 meter
"""
Depth to use for LineCapture midcourse phase.
"""
MaxDepth = 50 meter
"""
Maximum depth for the entire mission.
"""
}
output {
TrackingUpdatePeriod = 10 second
"""
Mission variable (don't change). The mission sets this variable to
update how long to wait between acoustic queries.
"""
}
behavior Guidance:Wait {
"""
Wait a moment to see if the scheduler starts a new mission before
starting to actually run Default.
"""
run in sequence
set duration = 30 second
}
# Add LineCapture directives.
insert Insert/LineCapture.tl
assign in sequence LineCapture:MaxDepth = MaxDepth
# Add SetNav directives.
insert Insert/SetNavAcoustic.tl
# Acoustic tracking directives
behavior Estimation:TrackAcousticContact {
run while (
Universal:depth > Control:VerticalControl.surfaceThreshold
)
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
aggregate LeaveDock {
run in sequence
timeout duration=DetachTimeout {
syslog important "Timed out while trying to detach from dock at current depth of "
+ Universal:depth~meter + "."
}
# Leave the dock
assign in sequence TrackingUpdatePeriod = TrackingPeriodUndock
behavior Dock:Undock {
run in sequence
set driftTimeout = DriftTimeout
}
}
aggregate PostUndockNavigation {
"""
After leaving dock, navigate based on whether we have good navigation.
If we have good nav, use LineCapture. If not, search locally for acoustic
contact and use relative navigation.
"""
run in sequence
break if (
Universal:depth <= Control:VerticalControl.surfaceThreshold
)
aggregate NavToDock {
"""
If we have good navigation (received GPS fix and dead reckoning has run),
use LineCapture to home to the dock.
"""
run in sequence
break if (
isNaN ( Universal:horizontal_path_length_since_last_fix )
or Universal:horizontal_path_length_since_last_fix < 0 meter
)
timeout duration=LineCaptureTimeout {
syslog important "LineCapture timed out after " + LineCaptureTimeout~minute
}
assign in sequence TrackingUpdatePeriod = TrackingPeriodMidcourse
syslog important "Have valid DR'd position, running LineCapture."
assign in sequence LineCapture:MidcourseDepth = MidcourseDepthOverride
call priorityHere=false refId="LineCapture"
aggregate UndockIfDocked {
"""
If LineCapture successfully docked, undock before falling through to
surface default.
"""
run in sequence
break if (
LineCapture:GuidanceMode != LineCapture:Done
)
syslog important "Docked, undocking before surfacing."
behavior Dock:Undock {
run in sequence
set driftTimeout = DriftTimeout
}
}
}
aggregate SearchForDock {
"""
If we don't have good navigation, search locally for acoustic contact
using a circle pattern.
"""
run in sequence
break if (
Universal:horizontal_path_length_since_last_fix >= 0 meter
)
assign in sequence TrackingUpdatePeriod = TrackingPeriodCircle
syslog important "No DR'd position, searching for acoustic contact."
behavior Guidance:Mass {
run in parallel
set position = Control:VerticalControl.massDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch {
run in parallel
set depth = MidcourseDepthOverride
}
aggregate CircleSearch {
"""
Drive a circle at current position while searching for acoustic contact.
"""
run in sequence
break if (
elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < AcousticContactTimeout
)
timeout duration=SearchTimeout {
syslog important "Acoustic search timed out after " + SearchTimeout~minute
}
behavior Guidance:Circle {
run in sequence
set latitude = Universal:latitude
set longitude = Universal:longitude
set radius = SearchCircleRadius
set maxError = 100 meter
set turnToPort = false
}
}
aggregate AcousticWaypointNav {
"""
If we got an acoustic hit during search, navigate towards it using
waypoint navigation (except don't because we can't yet)
"""
run in sequence
break if (
elapsed ( Estimation:TrackAcousticContact.range_to_contact ) >= AcousticContactTimeout
)
syslog important "Acoustic target found! At range "
+ Estimation:TrackAcousticContact.range_to_contact~meter + " meters. And estimatedposition "
+ Estimation:TrackAcousticContact.contact_latitude~degree + ", "
+ Estimation:TrackAcousticContact.contact_longitude~degree + "."
syslog important "But giving up and continuing with surface default."
}
}
}
aggregate SurfaceDefault {
run in sequence
# This mission assumes open water so from here on it's the same old default that's always used
behavior Guidance:GoToSurface {
run in progression
}
aggregate CheckIn {
run in sequence repeat=288
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P2H {
behavior Guidance:Execute {
run in sequence
set command = "Burn on"
}
syslog critical "Dropped weight due to communications timeout."
}
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )
syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
}
}
syslog important "Restarting logs and Default mission."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
2025-12-05T05:50:23.377Z,1764913823.377 [CommandExec](IMPORTANT): Loaded ./Missions/underIce/DefaultDockNav.tl id=DefaultDockNav
2025-12-05T05:50:31.597Z,1764913831.597 [CommandExec](IMPORTANT): got command set DefaultDockNav.LineCaptureTimeout 10 minute
2025-12-05T05:50:31.597Z,1764913831.597 [CommandExec](IMPORTANT): got command run
2025-12-05T05:50:31.624Z,1764913831.624 [CommandExec](IMPORTANT): Running
2025-12-05T05:50:32.012Z,1764913832.012 [DefaultWithUndock] Stopped
2025-12-05T05:50:32.012Z,1764913832.012 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-12-05T05:50:32.012Z,1764913832.012 [DefaultWithUndock:SurfaceDefault] Stopped
2025-12-05T05:50:32.012Z,1764913832.012 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-12-05T05:50:32.012Z,1764913832.012 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-12-05T05:50:32.012Z,1764913832.012 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-05T05:50:32.012Z,1764913832.012 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-12-05T05:50:32.012Z,1764913832.012 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-05T05:50:32.013Z,1764913832.013 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-12-05T05:50:32.013Z,1764913832.013 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T05:50:32.013Z,1764913832.013 [MissionManager](IMPORTANT): Started mission DefaultDockNav
2025-12-05T05:50:32.013Z,1764913832.013 [DefaultDockNav] Running Loop=1
2025-12-05T05:50:32.013Z,1764913832.013 [DefaultDockNav](DEBUG): Aggregate::initialize DefaultDockNav
2025-12-05T05:50:32.013Z,1764913832.013 [DefaultDockNav:E.] Running Loop=1
2025-12-05T05:50:32.013Z,1764913832.013 [DefaultDockNav:E.](INFO): Initializing TrackAcousticContact.
2025-12-05T05:50:32.013Z,1764913832.013 [DefaultDockNav:A.Wait] Running Loop=1
2025-12-05T05:50:32.013Z,1764913832.013 [DefaultDockNav:A.Wait](DEBUG): Initialize Wait Component.
2025-12-05T05:50:32.014Z,1764913832.014 [DefaultDockNav:E.] Stopped
2025-12-05T05:50:32.014Z,1764913832.014 [DefaultDockNav:E.](DEBUG): Uninitializing TrackAcousticContact.
2025-12-05T05:50:32.836Z,1764913832.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:50:41.656Z,1764913841.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:50:50.496Z,1764913850.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:50:59.097Z,1764913859.097 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:51:02.316Z,1764913862.316 [DefaultDockNav:A.Wait](INFO): Done Waiting.
2025-12-05T05:51:02.317Z,1764913862.317 [DefaultDockNav:A.Wait] Stopped
2025-12-05T05:51:02.317Z,1764913862.317 [DefaultDockNav:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T05:51:02.317Z,1764913862.317 [DefaultDockNav:C] Running Loop=1
2025-12-05T05:51:02.721Z,1764913862.721 [DefaultDockNav:C] Stopped
2025-12-05T05:51:02.722Z,1764913862.722 [DefaultDockNav:LeaveDock] Running Loop=1
2025-12-05T05:51:02.722Z,1764913862.722 [DefaultDockNav:LeaveDock](DEBUG): Aggregate::initialize DefaultDockNav:LeaveDock
2025-12-05T05:51:02.722Z,1764913862.722 [DefaultDockNav:LeaveDock:A] Running Loop=1
2025-12-05T05:51:03.226Z,1764913863.226 [DefaultDockNav:LeaveDock:A] Stopped
2025-12-05T05:51:03.227Z,1764913863.227 [DefaultDockNav:LeaveDock:B.Undock] Running Loop=1
2025-12-05T05:51:03.227Z,1764913863.227 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-05T05:51:03.227Z,1764913863.227 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T05:51:03.540Z,1764913863.540 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-05T05:51:03.540Z,1764913863.540 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T05:51:03.541Z,1764913863.541 [DefaultDockNav:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.236951 m.
2025-12-05T05:51:03.954Z,1764913863.954 [DefaultDockNav:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-12-05T05:51:04.477Z,1764913864.477 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-05T05:51:04.597Z,1764913864.597 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-05T05:51:08.052Z,1764913868.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:51:17.044Z,1764913877.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:51:24.135Z,1764913884.135 [DefaultDockNav:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-12-05T05:51:24.541Z,1764913884.541 [DefaultDockNav:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-12-05T05:51:24.946Z,1764913884.946 [DefaultDockNav:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-12-05T05:51:24.946Z,1764913884.946 [DefaultDockNav:LeaveDock:B.Undock] Stopped
2025-12-05T05:51:24.946Z,1764913884.946 [DefaultDockNav:LeaveDock](INFO): Completed DefaultDockNav:LeaveDock
2025-12-05T05:51:24.946Z,1764913884.946 [DefaultDockNav:LeaveDock] Stopped
2025-12-05T05:51:24.946Z,1764913884.946 [DefaultDockNav:LeaveDock](DEBUG): Aggregate::uninitialize DefaultDockNav:LeaveDock
2025-12-05T05:51:24.946Z,1764913884.946 [DefaultDockNav:PostUndockNavigation] Running Loop=1
2025-12-05T05:51:24.946Z,1764913884.946 [DefaultDockNav:PostUndockNavigation](DEBUG): Aggregate::initialize DefaultDockNav:PostUndockNavigation
2025-12-05T05:51:24.947Z,1764913884.947 [DefaultDockNav:PostUndockNavigation:NavToDock] Running Loop=1
2025-12-05T05:51:24.947Z,1764913884.947 [DefaultDockNav:PostUndockNavigation:NavToDock](DEBUG): Aggregate::initialize DefaultDockNav:PostUndockNavigation:NavToDock
2025-12-05T05:51:24.947Z,1764913884.947 [DefaultDockNav:PostUndockNavigation:NavToDock:A] Running Loop=1
2025-12-05T05:51:25.372Z,1764913885.372 [DefaultDockNav:PostUndockNavigation] Stopped
2025-12-05T05:51:25.372Z,1764913885.372 [DefaultDockNav:PostUndockNavigation](DEBUG): Aggregate::uninitialize DefaultDockNav:PostUndockNavigation
2025-12-05T05:51:25.372Z,1764913885.372 [DefaultDockNav:PostUndockNavigation:NavToDock] Stopped
2025-12-05T05:51:25.372Z,1764913885.372 [DefaultDockNav:PostUndockNavigation:NavToDock](DEBUG): Aggregate::uninitialize DefaultDockNav:PostUndockNavigation:NavToDock
2025-12-05T05:51:25.372Z,1764913885.372 [DefaultDockNav:PostUndockNavigation:NavToDock:A] Stopped
2025-12-05T05:51:25.373Z,1764913885.373 [DefaultDockNav:SurfaceDefault] Running Loop=1
2025-12-05T05:51:25.373Z,1764913885.373 [DefaultDockNav:SurfaceDefault](DEBUG): Aggregate::initialize DefaultDockNav:SurfaceDefault
2025-12-05T05:51:25.373Z,1764913885.373 [DefaultDockNav:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-12-05T05:51:25.373Z,1764913885.373 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-05T05:51:25.373Z,1764913885.373 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-05T05:51:25.373Z,1764913885.373 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-05T05:51:25.374Z,1764913885.374 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-05T05:51:25.374Z,1764913885.374 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-05T05:51:25.374Z,1764913885.374 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-05T05:51:25.375Z,1764913885.375 [DefaultDockNav:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-05T05:51:25.740Z,1764913885.740 [DefaultDockNav:SurfaceDefault:CheckIn] Running Loop=1
2025-12-05T05:51:25.741Z,1764913885.741 [DefaultDockNav:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T05:51:25.741Z,1764913885.741 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-05T05:51:26.100Z,1764913886.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:51:26.143Z,1764913886.143 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-05T05:51:27.743Z,1764913887.743 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055127.00,A,3646.55786,N,12151.65651,W,0.661,228.98,051225,,,D*7D
2025-12-05T05:51:27.747Z,1764913887.747 [NAL9602](INFO): GPS fix at 20251205T055127: (36.775964, -121.860942)
2025-12-05T05:51:27.759Z,1764913887.759 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-05T05:51:27.760Z,1764913887.760 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-05T05:51:28.191Z,1764913888.191 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-05T05:51:32.405Z,1764913892.405 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20251205T054450/Courier0004.lzma
2025-12-05T05:51:33.113Z,1764913893.113 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0004.lzma.bak
2025-12-05T05:51:33.114Z,1764913893.114 [DataOverHttps](INFO): SBD MOMSN=26431999
2025-12-05T05:51:44.022Z,1764913904.022 [NAL9602](INFO): SBD MO Status=0, MOMSN=4485, MT Status=0, MTMSN=0
2025-12-05T05:51:44.022Z,1764913904.022 [NAL9602](INFO): No messages in MT queue
2025-12-05T05:51:50.035Z,1764913910.035 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251205T054450/Courier0007.lzma
2025-12-05T05:51:51.038Z,1764913911.038 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0007.lzma.bak
2025-12-05T05:51:51.038Z,1764913911.038 [DataOverHttps](INFO): SBD MOMSN=26432002
2025-12-05T05:51:59.370Z,1764913919.370 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-12-05T05:51:59.371Z,1764913919.371 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-12-05T05:51:59.372Z,1764913919.372 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-12-05T05:51:59.373Z,1764913919.373 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-12-05T05:51:59.373Z,1764913919.373 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-12-05T05:51:59.374Z,1764913919.374 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-12-05T05:51:59.375Z,1764913919.375 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-12-05T05:51:59.375Z,1764913919.375 [BPC1](ERROR): Battery stick #51 (s/n: 0BDF) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.
2025-12-05T05:51:59.376Z,1764913919.376 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-12-05T05:51:59.377Z,1764913919.377 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-12-05T05:51:59.378Z,1764913919.378 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-12-05T05:51:59.378Z,1764913919.378 [BPC1](INFO): Calculating totals. Valid battery stick count: 25. Valid reserve battery stick count: 1.
2025-12-05T05:51:59.382Z,1764913919.382 [BPC1](INFO): Received data from all battery sticks.
2025-12-05T05:52:08.737Z,1764913928.737 [DataOverHttps](INFO): Sending 368 bytes from file Logs/20251205T054450/Express0005.lzma
2025-12-05T05:52:09.738Z,1764913929.738 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0005.lzma.bak
2025-12-05T05:52:09.738Z,1764913929.738 [DataOverHttps](INFO): SBD MOMSN=26432005
2025-12-05T05:52:14.721Z,1764913934.721 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-05T05:52:26.571Z,1764913946.571 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20251205T054450/Express0008.lzma
2025-12-05T05:52:27.566Z,1764913947.566 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0008.lzma.bak
2025-12-05T05:52:27.566Z,1764913947.566 [DataOverHttps](INFO): SBD MOMSN=26432015
2025-12-05T05:52:28.880Z,1764913948.880 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-05T05:52:28.880Z,1764913948.880 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-05T05:52:28.880Z,1764913948.880 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-05T05:52:37.076Z,1764913957.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:52:45.692Z,1764913965.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:52:54.272Z,1764913974.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:53:02.952Z,1764913982.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:53:11.581Z,1764913991.581 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:53:20.128Z,1764914000.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:53:28.776Z,1764914008.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:53:37.280Z,1764914017.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:53:45.864Z,1764914025.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:53:54.436Z,1764914034.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:54:03.004Z,1764914043.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:54:11.704Z,1764914051.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:54:20.453Z,1764914060.453 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:54:28.984Z,1764914068.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:54:37.568Z,1764914077.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:54:46.120Z,1764914086.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:54:54.712Z,1764914094.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:55:03.348Z,1764914103.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:55:11.820Z,1764914111.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:55:20.444Z,1764914120.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:55:29.080Z,1764914129.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:55:37.596Z,1764914137.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:55:46.280Z,1764914146.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:55:54.888Z,1764914154.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:56:03.496Z,1764914163.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:56:13.220Z,1764914173.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:56:21.696Z,1764914181.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:56:30.276Z,1764914190.276 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:56:38.936Z,1764914198.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:56:47.488Z,1764914207.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:56:56.204Z,1764914216.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:57:04.840Z,1764914224.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:57:13.360Z,1764914233.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:57:22.004Z,1764914242.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:57:29.444Z,1764914249.444 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-12-05T05:57:29.444Z,1764914249.444 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-12-05T05:57:29.444Z,1764914249.444 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T05:57:29.445Z,1764914249.445 [DefaultDockNav:SurfaceDefault:CheckIn:D] Running Loop=1
2025-12-05T05:57:29.502Z,1764914249.502 [DataOverHttps](IMPORTANT): SBD MTMSN=20251205T055728
2025-12-05T05:57:29.878Z,1764914249.878 [DefaultDockNav:SurfaceDefault:CheckIn:D] Stopped
2025-12-05T05:57:29.878Z,1764914249.878 [DefaultDockNav:SurfaceDefault:CheckIn:E] Running Loop=1
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.964414 min
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn:E] Stopped
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn](INFO): Completed DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn] Stopped
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn] Running Loop=2
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T05:57:30.257Z,1764914250.257 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-05T05:57:32.267Z,1764914252.267 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055731.00,A,3646.51719,N,12151.68521,W,0.525,234.16,051225,,,D*7F
2025-12-05T05:57:32.269Z,1764914252.269 [NAL9602](INFO): GPS fix at 20251205T055731: (36.775286, -121.861420)
2025-12-05T05:57:32.281Z,1764914252.281 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-05T05:57:32.281Z,1764914252.281 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-05T05:57:36.483Z,1764914256.483 [DataOverHttps](INFO): Sending 203 bytes from file Logs/20251205T054450/Courier0010.lzma
2025-12-05T05:57:36.501Z,1764914256.501 [DataOverHttps](INFO): Received command: sched 20251205T0610 "load underIce/DefaultDockNav.tl;set DefaultDockNav.LineCaptureTimeout 10 min;run"
2025-12-05T05:57:36.583Z,1764914256.583 [CommandExec](IMPORTANT): got command schedule 20251205T061000 "load underIce/DefaultDockNav.tl;set DefaultDockNav.LineCaptureTimeout 10 min;run"
2025-12-05T05:57:36.584Z,1764914256.584 [CommandExec](IMPORTANT): Scheduled #1: "load underIce/DefaultDockNav.tl;set DefaultDockNav.LineCaptureTimeout 10 min;run", AT TIME: 2025-12-05T06:10:00Z
2025-12-05T05:57:36.585Z,1764914256.585 [CommandExec](FAULT): Scheduling was paused by an error at 2025-12-05T05:47:53Z
2025-12-05T05:57:37.526Z,1764914257.526 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0010.lzma.bak
2025-12-05T05:57:37.526Z,1764914257.526 [DataOverHttps](IMPORTANT): SBD MOMSN=26432025, MTMSN=20251205T055736
2025-12-05T05:57:46.494Z,1764914266.494 [NAL9602](INFO): SBD MO Status=0, MOMSN=4486, MT Status=0, MTMSN=0
2025-12-05T05:57:46.495Z,1764914266.495 [NAL9602](INFO): No messages in MT queue
2025-12-05T05:57:46.763Z,1764914266.763 [DataOverHttps](INFO): Received command: schedule resume
2025-12-05T05:57:46.826Z,1764914266.826 [CommandExec](IMPORTANT): got command schedule resume
2025-12-05T05:57:46.826Z,1764914266.826 [CommandExec](IMPORTANT): Scheduling is resumed
2025-12-05T05:57:55.483Z,1764914275.483 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251205T054450/Courier0013.lzma
2025-12-05T05:57:56.486Z,1764914276.486 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0013.lzma.bak
2025-12-05T05:57:56.486Z,1764914276.486 [DataOverHttps](INFO): SBD MOMSN=26432030
2025-12-05T05:58:14.379Z,1764914294.379 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251205T054450/Courier0016.lzma
2025-12-05T05:58:15.382Z,1764914295.382 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0016.lzma.bak
2025-12-05T05:58:15.383Z,1764914295.383 [DataOverHttps](IMPORTANT): SBD MOMSN=26432034, MTMSN=20251205T055814
2025-12-05T05:58:17.191Z,1764914297.191 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-05T05:58:23.235Z,1764914303.235 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 20 min;run
2025-12-05T05:58:23.256Z,1764914303.256 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-12-05T05:58:23.256Z,1764914303.256 [MissionManager](INFO): Uninitializing Mission DefaultDockNav
2025-12-05T05:58:23.256Z,1764914303.256 [DefaultDockNav] Stopped
2025-12-05T05:58:23.256Z,1764914303.256 [DefaultDockNav](DEBUG): Aggregate::uninitialize DefaultDockNav
2025-12-05T05:58:23.257Z,1764914303.257 [DefaultDockNav:SurfaceDefault] Stopped
2025-12-05T05:58:23.257Z,1764914303.257 [DefaultDockNav:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultDockNav:SurfaceDefault
2025-12-05T05:58:23.257Z,1764914303.257 [DefaultDockNav:SurfaceDefault:A.GoToSurface] Stopped
2025-12-05T05:58:23.257Z,1764914303.257 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-05T05:58:23.257Z,1764914303.257 [DefaultDockNav:SurfaceDefault:CheckIn] Stopped
2025-12-05T05:58:23.257Z,1764914303.257 [DefaultDockNav:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T05:58:23.257Z,1764914303.257 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-05T05:58:23.392Z,1764914303.392 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-12-05T05:58:23.392Z,1764914303.392 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-12-05T05:58:23.403Z,1764914303.403 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-12-05T05:58:24.763Z,1764914304.763 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
4
45
NaN
NaN
30
15
4
0.75
200
10
10
45
2
0
0
1
2
3
NaN
0
Sinking to
Timed out while trying to reach target sink depth at current depth of
2025-12-05T05:58:24.773Z,1764914304.773 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-12-05T05:58:24.776Z,1764914304.776 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-12-05T05:58:24.779Z,1764914304.779 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-12-05T05:58:24.782Z,1764914304.782 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-12-05T05:58:24.813Z,1764914304.813 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-12-05T05:58:24.828Z,1764914304.828 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-12-05T05:58:24.831Z,1764914304.831 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-12-05T05:58:24.834Z,1764914304.834 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-12-05T05:58:24.881Z,1764914304.881 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-12-05T05:58:24.891Z,1764914304.891 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2025-12-05T05:58:24.913Z,1764914304.913 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2025-12-05T05:58:24.919Z,1764914304.919 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2025-12-05T05:58:24.927Z,1764914304.927 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-12-05T05:58:24.934Z,1764914304.934 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-12-05T05:58:24.942Z,1764914304.942 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2025-12-05T05:58:24.953Z,1764914304.953 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2025-12-05T05:58:24.959Z,1764914304.959 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2025-12-05T05:58:24.980Z,1764914304.980 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2025-12-05T05:58:24.988Z,1764914304.988 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2025-12-05T05:58:24.991Z,1764914304.991 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2025-12-05T05:58:24.991Z,1764914304.991 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-12-05T05:58:24.991Z,1764914304.991 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-12-05T05:58:24.998Z,1764914304.998 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-12-05T05:58:25.413Z,1764914305.413 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1500
7
30
0
0
0
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2025-12-05T05:58:25.419Z,1764914305.419 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-12-05T05:58:25.423Z,1764914305.423 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-12-05T05:58:25.426Z,1764914305.426 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-12-05T05:58:25.429Z,1764914305.429 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-12-05T05:58:25.432Z,1764914305.432 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-12-05T05:58:25.435Z,1764914305.435 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2025-12-05T05:58:25.446Z,1764914305.446 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-12-05T05:58:25.450Z,1764914305.450 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-12-05T05:58:25.453Z,1764914305.453 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2025-12-05T05:58:25.457Z,1764914305.457 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2025-12-05T05:58:25.484Z,1764914305.484 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2025-12-05T05:58:25.492Z,1764914305.492 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2025-12-05T05:58:25.510Z,1764914305.510 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-05T05:58:25.588Z,1764914305.588 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-12-05T05:58:25.588Z,1764914305.588 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-12-05T05:58:25.589Z,1764914305.589 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-12-05T05:58:25.833Z,1764914305.833 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-12-05T05:58:25.842Z,1764914305.842 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-12-05T05:58:25.846Z,1764914305.846 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-12-05T05:58:25.857Z,1764914305.857 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-12-05T05:58:25.859Z,1764914305.859 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-12-05T05:58:25.866Z,1764914305.866 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-05T05:58:25.889Z,1764914305.889 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-05T05:58:25.906Z,1764914305.906 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-12-05T05:58:25.928Z,1764914305.928 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-12-05T05:58:25.929Z,1764914305.929 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-12-05T05:58:25.930Z,1764914305.930 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-12-05T05:58:25.969Z,1764914305.969 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-12-05T05:58:25.973Z,1764914305.973 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-12-05T05:58:25.992Z,1764914305.992 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-12-05T05:58:25.995Z,1764914305.995 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-12-05T05:58:25.995Z,1764914305.995 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-12-05T05:58:25.997Z,1764914305.997 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-12-05T05:58:26.271Z,1764914306.271 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-12-05T05:58:26.288Z,1764914306.288 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-12-05T05:58:26.291Z,1764914306.291 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-12-05T05:58:26.295Z,1764914306.295 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-12-05T05:58:26.306Z,1764914306.306 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-12-05T05:58:26.309Z,1764914306.309 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-12-05T05:58:26.329Z,1764914306.329 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-12-05T05:58:26.331Z,1764914306.331 [keepstation:H.Pitch](DEBUG): Construct.
2025-12-05T05:58:26.426Z,1764914306.426 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-05T05:58:26.431Z,1764914306.431 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-12-05T05:58:26.443Z,1764914306.443 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-12-05T05:58:26.513Z,1764914306.513 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-05T05:58:26.524Z,1764914306.524 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2025-12-05T05:58:26.546Z,1764914306.546 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2025-12-05T05:58:26.566Z,1764914306.566 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2025-12-05T05:58:26.581Z,1764914306.581 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2025-12-05T05:58:26.604Z,1764914306.604 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-12-05T05:58:26.636Z,1764914306.636 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2025-12-05T05:58:26.677Z,1764914306.677 [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 keepstation {
"""
Vehicle transits to desired waypoint (or stays put if none is commanded)
and stays within the specified radius.
"""
arguments {
MissionTimeout = 4 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 45 minute
"""
How often to surface for communications
"""
Latitude = NaN degree
"""
Latitude of waypoint to hold. If NaN, hold the latitude at start of
mission.
"""
Longitude = NaN degree
"""
Longitude of waypoint to hold. If NaN, hold the longitude at start of
mission.
"""
Depth = 30 meter
"""
Depth held during drift mode
"""
ApproachDepth = 15 meter
"""
Depth for initial approach to station.
"""
DepthDeadband = 4 meter
"""
How much vertical drift from the specified depth is allowed in drift
mode
"""
Speed = 0.75 meter_per_second
"""
Vehicle transit speed.
"""
Radius = 200 meter
"""
Radius of circle around waypoint to hold.
"""
SinkOffSurface = false
"""
If true, use buoyancy only to decend to SinkDepth before driving to first target depth
"""
SinkDepth = 10 meter
"""
Initial depth to decend using only buoyancy before driving
"""
SinkDepthTimeout = 10 minute
"""
Max wait time for the vehicle to reach the target depth
"""
MaxDepth = 45 meter
"""
Maximum allowable depth during the mission.
"""
MinOffshore = 2 kilometer
"""
Minimum distance from the shoreline to maintain
"""
}
output {
DiveMode = 0 count
"""
Mission variable (don't change). The mission sets this variable to
switch between dive modes. Initialized to DoingComms.
"""
DoingComms = 0 count
"""
Mission variable (don't change). The mission will run in this mode
when doing surface comms.
"""
SurfaceSink = 1 count
"""
Mission variable (don't change). The mission will run in this mode
when sinking from the surface using only buoyancy.
"""
TransitToStation = 2 count
"""
Mission variable (don't change). The mission will run in this mode
when performing the transit to station
"""
StationKeep = 3 count
"""
Mission variable (don't change). The mission will run in this mode
when keeping station
"""
OnStation = false
"""
Mission variable (don't change). Determines last mode (Transit or StationKeep)
to resume after needcomms
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Pitch {
run in parallel
set massPosition = Control:VerticalControl.massDefault
}
aggregate SurfaceComms {
run when (
called
or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
)
assign in sequence DiveMode = DoingComms
call priorityHere=false refId="NeedComms"
aggregate HandleNan {
run in sequence
break if (
not isNaN ( Latitude )
and not isNaN ( Longitude )
)
# If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
aggregate SetOnStation {
run in sequence
break if (
not isNaN ( Latitude )
or not isNaN ( Longitude )
)
assign in sequence OnStation = true
}
# The "assigns" here mean we should only ever run these aggregates once
# An initial NaN lat/lon should be set here during the initial surface NeedComms call
# Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
aggregate SetLat {
run in sequence
break if ( not isNaN ( Latitude ) )
assign in sequence Latitude = Universal:latitude_fix
}
aggregate SetLon {
run in sequence
break if ( not isNaN ( Longitude ) )
assign in sequence Longitude = Universal:longitude_fix
}
}
aggregate setTransit {
run in sequence
break if (
SinkOffSurface
or OnStation
)
assign in sequence DiveMode = TransitToStation
}
aggregate setStation {
run in sequence
break if (
SinkOffSurface
or not OnStation
)
assign in sequence DiveMode = StationKeep
}
aggregate setSink {
run in sequence
break if ( not SinkOffSurface )
assign in sequence DiveMode = SurfaceSink
}
}
call id="StartingMission" priorityHere=false refId="SurfaceComms"
aggregate DiveCmd {
run when ( called )
aggregate SurfaceSink {
run while ( DiveMode == SurfaceSink )
aggregate sink {
run in sequence
behavior Guidance:Buoyancy id="BuoyancyHold" {
run in parallel
set position = NaN cc
}
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 m/s
}
syslog info "Sinking to " + SinkDepth~meter
behavior Guidance:Pitch {
run in sequence
timeout duration=SinkDepthTimeout {
syslog important "Timed out while trying to reach target sink depth at current depth of "
+ Universal:depth~meter
}
set depth = SinkDepth
}
# Once we've sunk, either resume transit or station keeping depths and speeds
aggregate sinkToTransit {
run in sequence
break if ( OnStation )
assign in sequence DiveMode = TransitToStation
}
aggregate sinkToStation {
run in sequence
break if ( not OnStation )
assign in sequence DiveMode = StationKeep
}
}
}
aggregate TransitToStation {
run while ( DiveMode == TransitToStation )
aggregate dive {
run in sequence
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch {
run in parallel
set depth = ApproachDepth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
}
}
aggregate StationKeep {
run while ( DiveMode == StationKeep )
assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:KeepStation {
run in parallel
set latitude = Latitude
set longitude = Longitude
set radius = Radius
set speed = Speed
}
}
}
aggregate TransitToStation {
"""
Need a separate aggregate for transit if we want to specify a
different depth for the approach.
"""
run in sequence
aggregate Dive {
run while ( not ( DiveMode == DoingComms ) )
call priorityHere=false refId="DiveCmd"
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
}
assign in sequence DiveMode = StationKeep
assign in sequence OnStation = true
}
call id="OnStation" priorityHere=false refId="NeedComms"
aggregate KeepStation {
run in sequence
aggregate Dive {
run while ( not ( DiveMode == DoingComms ) )
call priorityHere=false refId="DiveCmd"
}
behavior Guidance:Wait {
"""
Due to the way the KeepStation behavior is currently
implemented, we must run it in parallel and use a Wait to keep
from completing the mission before the timeout expires. However,
this new version of the mission uses a top-level timeout so that
the entire mission will not run for longer then MissionTimeout.
"""
run in sequence
set duration = MissionTimeout
}
}
}
2025-12-05T05:58:26.678Z,1764914306.678 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-12-05T05:58:26.926Z,1764914306.926 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-12-05T05:58:26.926Z,1764914306.926 [DefaultWithUndock] Running Loop=1
2025-12-05T05:58:26.926Z,1764914306.926 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-12-05T05:58:26.926Z,1764914306.926 [DefaultWithUndock:A.Wait] Running Loop=1
2025-12-05T05:58:26.926Z,1764914306.926 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-12-05T05:58:34.377Z,1764914314.377 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 20 minute
2025-12-05T05:58:34.378Z,1764914314.378 [CommandExec](IMPORTANT): got command run
2025-12-05T05:58:34.379Z,1764914314.379 [CommandExec](IMPORTANT): Running
2025-12-05T05:58:34.589Z,1764914314.589 [DefaultWithUndock] Stopped
2025-12-05T05:58:34.589Z,1764914314.589 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-12-05T05:58:34.589Z,1764914314.589 [DefaultWithUndock:A.Wait] Stopped
2025-12-05T05:58:34.589Z,1764914314.589 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T05:58:34.589Z,1764914314.589 [MissionManager](IMPORTANT): Started mission keepstation
2025-12-05T05:58:34.589Z,1764914314.589 [keepstation] Running Loop=1
2025-12-05T05:58:34.589Z,1764914314.589 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-12-05T05:58:34.589Z,1764914314.589 [keepstation:StandardEnvelopes] Running Loop=1
2025-12-05T05:58:34.590Z,1764914314.590 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-12-05T05:58:34.590Z,1764914314.590 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-12-05T05:58:34.590Z,1764914314.590 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-12-05T05:58:34.590Z,1764914314.590 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-12-05T05:58:34.590Z,1764914314.590 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-12-05T05:58:34.590Z,1764914314.590 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-12-05T05:58:34.590Z,1764914314.590 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-12-05T05:58:34.590Z,1764914314.590 [keepstation:BackseatDriver] Running Loop=1
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:PowerOnly] Running Loop=1
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:PowerOnly:A] Running Loop=1
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:PowerOnly:B] Running Loop=1
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:PowerOnly:C] Running Loop=1
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:PowerOnly:D] Running Loop=1
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-12-05T05:58:34.591Z,1764914314.591 [keepstation:H.Pitch] Running Loop=1
2025-12-05T05:58:34.592Z,1764914314.592 [keepstation:H.Pitch](DEBUG): Initialize.
2025-12-05T05:58:34.592Z,1764914314.592 [keepstation:B] Running Loop=1
2025-12-05T05:58:34.593Z,1764914314.593 [keepstation:H.Pitch] Running Loop=1
2025-12-05T05:58:34.593Z,1764914314.593 [keepstation:PowerOnly] Running Loop=1
2025-12-05T05:58:34.594Z,1764914314.594 [keepstation:PowerOnly:D] Stopped
2025-12-05T05:58:34.594Z,1764914314.594 [keepstation:PowerOnly:C] Stopped
2025-12-05T05:58:34.594Z,1764914314.594 [keepstation:PowerOnly:B] Stopped
2025-12-05T05:58:34.594Z,1764914314.594 [keepstation:PowerOnly:A] Stopped
2025-12-05T05:58:34.594Z,1764914314.594 [keepstation:BackseatDriver] Running Loop=1
2025-12-05T05:58:34.594Z,1764914314.594 [keepstation:StandardEnvelopes] Running Loop=1
2025-12-05T05:58:34.594Z,1764914314.594 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-12-05T05:58:34.595Z,1764914314.595 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-12-05T05:58:34.596Z,1764914314.596 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-12-05T05:58:34.597Z,1764914314.597 [keepstation:B] Stopped
2025-12-05T05:58:34.597Z,1764914314.597 [keepstation:D] Running Loop=1
2025-12-05T05:58:34.990Z,1764914314.990 [keepstation:D] Stopped
2025-12-05T05:58:34.990Z,1764914314.990 [keepstation:E] Running Loop=1
2025-12-05T05:58:35.386Z,1764914315.386 [keepstation:E] Stopped
2025-12-05T05:58:35.386Z,1764914315.386 [keepstation:StartingMission] Running Loop=1
2025-12-05T05:58:35.386Z,1764914315.386 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-12-05T05:58:35.507Z,1764914315.507 [DataOverHttps](INFO): Sending 236 bytes from file Logs/20251205T054450/Express0011.lzma
2025-12-05T05:58:35.810Z,1764914315.810 [keepstation:SurfaceComms] Running Loop=1
2025-12-05T05:58:35.810Z,1764914315.810 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2025-12-05T05:58:35.811Z,1764914315.811 [keepstation:SurfaceComms:A] Running Loop=1
2025-12-05T05:58:35.811Z,1764914315.811 [keepstation:SurfaceComms:A] Stopped
2025-12-05T05:58:35.811Z,1764914315.811 [keepstation:SurfaceComms:B] Running Loop=1
2025-12-05T05:58:35.811Z,1764914315.811 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2025-12-05T05:58:36.198Z,1764914316.198 [keepstation:NeedComms] Running Loop=1
2025-12-05T05:58:36.198Z,1764914316.198 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-12-05T05:58:36.198Z,1764914316.198 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2025-12-05T05:58:36.198Z,1764914316.198 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-05T05:58:36.199Z,1764914316.199 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-12-05T05:58:36.199Z,1764914316.199 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-12-05T05:58:36.199Z,1764914316.199 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-12-05T05:58:36.216Z,1764914316.216 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2025-12-05T05:58:36.216Z,1764914316.216 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-05T05:58:36.217Z,1764914316.217 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-05T05:58:36.217Z,1764914316.217 [keepstation:NeedComms:A] Running Loop=1
2025-12-05T05:58:36.218Z,1764914316.218 [keepstation:NeedComms:A](INFO): last time_fix was: 1764914251.000000 second since 1970/01/01T00:00:00Z
2025-12-05T05:58:36.219Z,1764914316.219 [keepstation:NeedComms:A] Stopped
2025-12-05T05:58:36.219Z,1764914316.219 [keepstation:NeedComms:setActive] Running Loop=1
2025-12-05T05:58:36.219Z,1764914316.219 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2025-12-05T05:58:36.219Z,1764914316.219 [keepstation:NeedComms:setActive:A] Running Loop=1
2025-12-05T05:58:36.510Z,1764914316.510 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0011.lzma.bak
2025-12-05T05:58:36.510Z,1764914316.510 [DataOverHttps](INFO): SBD MOMSN=26432037
2025-12-05T05:58:36.603Z,1764914316.603 [keepstation:NeedComms:setActive:A] Stopped
2025-12-05T05:58:36.604Z,1764914316.604 [keepstation:NeedComms:setActive:B] Running Loop=1
2025-12-05T05:58:37.011Z,1764914317.011 [keepstation:NeedComms:setActive:B] Stopped
2025-12-05T05:58:37.011Z,1764914317.011 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2025-12-05T05:58:37.011Z,1764914317.011 [keepstation:NeedComms:setActive] Stopped
2025-12-05T05:58:37.011Z,1764914317.011 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2025-12-05T05:58:37.418Z,1764914317.418 [keepstation:NeedComms:D] Running Loop=1
2025-12-05T05:58:37.512Z,1764914317.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T05:58:37.840Z,1764914317.840 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-05T05:58:39.419Z,1764914319.419 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055838.00,A,3646.50956,N,12151.69118,W,0.661,219.90,051225,,,D*70
2025-12-05T05:58:39.421Z,1764914319.421 [NAL9602](INFO): GPS fix at 20251205T055838: (36.775159, -121.861520)
2025-12-05T05:58:39.455Z,1764914319.455 [keepstation:NeedComms:D] Stopped
2025-12-05T05:58:39.455Z,1764914319.455 [keepstation:NeedComms:E] Running Loop=1
2025-12-05T05:58:39.894Z,1764914319.894 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-05T05:58:52.671Z,1764914332.671 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251205T054450/Courier0019.lzma
2025-12-05T05:58:53.677Z,1764914333.677 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0019.lzma.bak
2025-12-05T05:58:53.678Z,1764914333.678 [DataOverHttps](INFO): SBD MOMSN=26432041
2025-12-05T05:59:10.048Z,1764914350.048 [DataOverHttps](INFO): Sending 246 bytes from file Logs/20251205T054450/Express0014.lzma
2025-12-05T05:59:11.050Z,1764914351.050 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0014.lzma.bak
2025-12-05T05:59:11.050Z,1764914351.050 [DataOverHttps](INFO): SBD MOMSN=26432044
2025-12-05T05:59:27.963Z,1764914367.963 [DataOverHttps](INFO): Sending 154 bytes from file Logs/20251205T054450/Express0017.lzma
2025-12-05T05:59:28.966Z,1764914368.966 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0017.lzma.bak
2025-12-05T05:59:28.966Z,1764914368.966 [DataOverHttps](INFO): SBD MOMSN=26432049
2025-12-05T05:59:32.539Z,1764914372.539 [NAL9602](INFO): SBD MO Status=0, MOMSN=4487, MT Status=0, MTMSN=0
2025-12-05T05:59:32.539Z,1764914372.539 [NAL9602](INFO): No messages in MT queue
2025-12-05T05:59:45.148Z,1764914385.148 [DataOverHttps](INFO): Sending 315 bytes from file Logs/20251205T054450/Express0020.lzma
2025-12-05T05:59:46.150Z,1764914386.150 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0020.lzma.bak
2025-12-05T05:59:46.150Z,1764914386.150 [DataOverHttps](INFO): SBD MOMSN=26432062
2025-12-05T06:00:02.475Z,1764914402.475 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20251205T054450/Express0023.lzma
2025-12-05T06:00:03.241Z,1764914403.241 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-05T06:00:03.479Z,1764914403.479 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0023.lzma.bak
2025-12-05T06:00:03.479Z,1764914403.479 [DataOverHttps](INFO): SBD MOMSN=26432099
2025-12-05T06:00:04.870Z,1764914404.870 [keepstation:NeedComms:E] Stopped
2025-12-05T06:00:04.870Z,1764914404.870 [keepstation:NeedComms:F] Running Loop=1
2025-12-05T06:00:05.272Z,1764914405.272 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-05T06:00:06.875Z,1764914406.875 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,060006.00,A,3646.50029,N,12151.69694,W,0.564,209.72,051225,,,D*7A
2025-12-05T06:00:06.884Z,1764914406.884 [NAL9602](INFO): GPS fix at 20251205T060006: (36.775005, -121.861616)
2025-12-05T06:00:06.903Z,1764914406.903 [keepstation:NeedComms:F] Stopped
2025-12-05T06:00:06.903Z,1764914406.903 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2025-12-05T06:00:06.908Z,1764914406.908 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2025-12-05T06:00:06.908Z,1764914406.908 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2025-12-05T06:00:07.323Z,1764914407.323 [keepstation:NeedComms:setRestoreMode:A] Stopped
2025-12-05T06:00:07.323Z,1764914407.323 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2025-12-05T06:00:07.323Z,1764914407.323 [keepstation:NeedComms:setRestoreMode] Stopped
2025-12-05T06:00:07.328Z,1764914407.328 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2025-12-05T06:00:07.329Z,1764914407.329 [keepstation:NeedComms:setInactive] Running Loop=1
2025-12-05T06:00:07.329Z,1764914407.329 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2025-12-05T06:00:07.330Z,1764914407.330 [keepstation:NeedComms:setInactive:A] Running Loop=1
2025-12-05T06:00:07.831Z,1764914407.831 [keepstation:NeedComms:setInactive:A] Stopped
2025-12-05T06:00:07.831Z,1764914407.831 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2025-12-05T06:00:07.831Z,1764914407.831 [keepstation:NeedComms:setInactive] Stopped
2025-12-05T06:00:07.831Z,1764914407.831 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2025-12-05T06:00:07.836Z,1764914407.836 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-12-05T06:00:07.836Z,1764914407.836 [keepstation:NeedComms] Stopped
2025-12-05T06:00:07.836Z,1764914407.836 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-12-05T06:00:07.836Z,1764914407.836 [keepstation:NeedComms:C.GoToSurface] Stopped
2025-12-05T06:00:07.836Z,1764914407.836 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-05T06:00:08.109Z,1764914408.109 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2025-12-05T06:00:08.110Z,1764914408.110 [keepstation:SurfaceComms:B] Stopped
2025-12-05T06:00:08.110Z,1764914408.110 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2025-12-05T06:00:08.110Z,1764914408.110 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2025-12-05T06:00:08.110Z,1764914408.110 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2025-12-05T06:00:08.110Z,1764914408.110 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2025-12-05T06:00:08.110Z,1764914408.110 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2025-12-05T06:00:08.110Z,1764914408.110 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2025-12-05T06:00:08.517Z,1764914408.517 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2025-12-05T06:00:08.517Z,1764914408.517 [keepstation:SurfaceComms:HandleNan:SetOnStation](INFO): Completed keepstation:SurfaceComms:HandleNan:SetOnStation
2025-12-05T06:00:08.517Z,1764914408.517 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2025-12-05T06:00:08.517Z,1764914408.517 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2025-12-05T06:00:08.517Z,1764914408.517 [keepstation:SurfaceComms:HandleNan:SetLat] Running Loop=1
2025-12-05T06:00:08.517Z,1764914408.517 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLat
2025-12-05T06:00:08.518Z,1764914408.518 [keepstation:SurfaceComms:HandleNan:SetLat:A] Running Loop=1
2025-12-05T06:00:08.958Z,1764914408.958 [keepstation:SurfaceComms:HandleNan:SetLat:A] Stopped
2025-12-05T06:00:08.959Z,1764914408.959 [keepstation:SurfaceComms:HandleNan:SetLat](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLat
2025-12-05T06:00:08.959Z,1764914408.959 [keepstation:SurfaceComms:HandleNan:SetLat] Stopped
2025-12-05T06:00:08.959Z,1764914408.959 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLat
2025-12-05T06:00:08.959Z,1764914408.959 [keepstation:SurfaceComms:HandleNan:SetLon] Running Loop=1
2025-12-05T06:00:08.959Z,1764914408.959 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLon
2025-12-05T06:00:08.959Z,1764914408.959 [keepstation:SurfaceComms:HandleNan:SetLon:A] Running Loop=1
2025-12-05T06:00:09.378Z,1764914409.378 [keepstation:SurfaceComms:HandleNan:SetLon:A] Stopped
2025-12-05T06:00:09.378Z,1764914409.378 [keepstation:SurfaceComms:HandleNan:SetLon](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLon
2025-12-05T06:00:09.378Z,1764914409.378 [keepstation:SurfaceComms:HandleNan:SetLon] Stopped
2025-12-05T06:00:09.378Z,1764914409.378 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLon
2025-12-05T06:00:09.378Z,1764914409.378 [keepstation:SurfaceComms:HandleNan](INFO): Completed keepstation:SurfaceComms:HandleNan
2025-12-05T06:00:09.378Z,1764914409.378 [keepstation:SurfaceComms:HandleNan] Stopped
2025-12-05T06:00:09.378Z,1764914409.378 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2025-12-05T06:00:09.378Z,1764914409.378 [keepstation:SurfaceComms:setTransit] Running Loop=1
2025-12-05T06:00:09.379Z,1764914409.379 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2025-12-05T06:00:09.379Z,1764914409.379 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2025-12-05T06:00:09.813Z,1764914409.813 [keepstation:SurfaceComms:setTransit] Stopped
2025-12-05T06:00:09.814Z,1764914409.814 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2025-12-05T06:00:09.814Z,1764914409.814 [keepstation:SurfaceComms:setTransit:A] Stopped
2025-12-05T06:00:09.814Z,1764914409.814 [keepstation:SurfaceComms:setStation] Running Loop=1
2025-12-05T06:00:09.814Z,1764914409.814 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2025-12-05T06:00:09.814Z,1764914409.814 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2025-12-05T06:00:10.160Z,1764914410.160 [keepstation:SurfaceComms:setStation:A] Stopped
2025-12-05T06:00:10.160Z,1764914410.160 [keepstation:SurfaceComms:setStation](INFO): Completed keepstation:SurfaceComms:setStation
2025-12-05T06:00:10.160Z,1764914410.160 [keepstation:SurfaceComms:setStation] Stopped
2025-12-05T06:00:10.160Z,1764914410.160 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2025-12-05T06:00:10.161Z,1764914410.161 [keepstation:SurfaceComms:setSink] Running Loop=1
2025-12-05T06:00:10.161Z,1764914410.161 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2025-12-05T06:00:10.161Z,1764914410.161 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2025-12-05T06:00:10.539Z,1764914410.539 [keepstation:SurfaceComms:setSink] Stopped
2025-12-05T06:00:10.539Z,1764914410.539 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2025-12-05T06:00:10.539Z,1764914410.539 [keepstation:SurfaceComms:setSink:A] Stopped
2025-12-05T06:00:10.539Z,1764914410.539 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2025-12-05T06:00:10.544Z,1764914410.544 [keepstation:SurfaceComms] Stopped
2025-12-05T06:00:10.544Z,1764914410.544 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:StartingMission] Stopped
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:TransitToStation] Running Loop=1
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:TransitToStation:Dive] Running Loop=1
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:TransitToStation:Dive:A] Running Loop=1
2025-12-05T06:00:10.941Z,1764914410.941 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2025-12-05T06:00:10.942Z,1764914410.942 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-12-05T06:00:10.942Z,1764914410.942 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-12-05T06:00:10.943Z,1764914410.943 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.775005,-121.861616
2025-12-05T06:00:11.334Z,1764914411.334 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775005,-121.861616
2025-12-05T06:00:11.352Z,1764914411.352 [keepstation:TransitToStation:Dive] Running Loop=1
2025-12-05T06:00:11.352Z,1764914411.352 [keepstation:DiveCmd] Running Loop=1
2025-12-05T06:00:11.352Z,1764914411.352 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2025-12-05T06:00:11.352Z,1764914411.352 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2025-12-05T06:00:11.352Z,1764914411.352 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2025-12-05T06:00:11.353Z,1764914411.353 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-12-05T06:00:11.354Z,1764914411.354 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2025-12-05T06:00:11.355Z,1764914411.355 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-12-05T06:00:11.355Z,1764914411.355 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-12-05T06:00:11.355Z,1764914411.355 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2025-12-05T06:00:11.355Z,1764914411.355 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-12-05T06:00:11.355Z,1764914411.355 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-12-05T06:00:11.364Z,1764914411.364 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-12-05T06:00:11.364Z,1764914411.364 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-12-05T06:00:11.365Z,1764914411.365 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-12-05T06:00:11.366Z,1764914411.366 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-12-05T06:00:11.366Z,1764914411.366 [keepstation:DiveCmd:TransitToStation] Stopped
2025-12-05T06:00:11.366Z,1764914411.366 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2025-12-05T06:00:11.366Z,1764914411.366 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2025-12-05T06:00:11.366Z,1764914411.366 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2025-12-05T06:00:11.366Z,1764914411.366 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2025-12-05T06:00:11.366Z,1764914411.366 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink] Stopped
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-12-05T06:00:11.367Z,1764914411.367 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2025-12-05T06:00:11.383Z,1764914411.383 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-12-05T06:00:11.392Z,1764914411.392 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-12-05T06:00:11.393Z,1764914411.393 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-12-05T06:00:13.628Z,1764914413.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:00:22.512Z,1764914422.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:00:31.524Z,1764914431.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:00:32.729Z,1764914432.729 [NAL9602](INFO): SBD MO Status=0, MOMSN=4488, MT Status=0, MTMSN=0
2025-12-05T06:00:32.729Z,1764914432.729 [NAL9602](INFO): No messages in MT queue
2025-12-05T06:00:41.065Z,1764914441.065 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:00:49.816Z,1764914449.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:00:58.900Z,1764914458.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:01:03.433Z,1764914463.433 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-05T06:01:07.856Z,1764914467.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:01:16.716Z,1764914476.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:01:25.669Z,1764914485.669 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:01:34.484Z,1764914494.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:01:43.164Z,1764914503.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:01:51.960Z,1764914511.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:02:17.604Z,1764914537.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:02:26.288Z,1764914546.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:02:35.156Z,1764914555.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:03:02.172Z,1764914582.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:03:11.096Z,1764914591.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:03:19.884Z,1764914599.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:03:28.784Z,1764914608.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:03:37.584Z,1764914617.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:03:46.548Z,1764914626.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:04:17.584Z,1764914657.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:04:42.548Z,1764914682.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:04:51.352Z,1764914691.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:05:00.140Z,1764914700.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:05:08.796Z,1764914708.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:05:17.524Z,1764914717.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:05:26.432Z,1764914726.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:05:35.136Z,1764914735.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:05:43.905Z,1764914743.905 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:05:52.396Z,1764914752.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:06:01.176Z,1764914761.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:06:10.272Z,1764914770.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:06:18.926Z,1764914778.926 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:06:27.880Z,1764914787.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:06:36.644Z,1764914796.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:06:45.308Z,1764914805.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:06:54.124Z,1764914814.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:07:02.952Z,1764914822.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:07:11.685Z,1764914831.685 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:07:20.509Z,1764914840.509 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:07:29.232Z,1764914849.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:07:38.194Z,1764914858.194 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:07:47.068Z,1764914867.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:07:55.808Z,1764914875.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:08:04.529Z,1764914884.529 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:08:13.300Z,1764914893.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:08:21.928Z,1764914901.928 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:08:30.680Z,1764914910.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:08:39.486Z,1764914919.486 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:08:48.148Z,1764914928.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:08:56.920Z,1764914936.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:09:10.720Z,1764914950.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:09:19.460Z,1764914959.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:09:28.348Z,1764914968.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:09:37.048Z,1764914977.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:09:45.729Z,1764914985.729 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:09:54.684Z,1764914994.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:10:00.041Z,1764915000.041 [CommandExec](IMPORTANT): got command load ./Missions/underIce/DefaultDockNav.tl
2025-12-05T06:10:00.041Z,1764915000.041 [MissionManager](INFO): Uninitializing Mission keepstation
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation] Stopped
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation:StandardEnvelopes] Stopped
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-12-05T06:10:00.060Z,1764915000.060 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:BackseatDriver] Stopped
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:PowerOnly] Stopped
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:PowerOnly:E.Wait] Stopped
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:H.Pitch] Stopped
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:DiveCmd] Stopped
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2025-12-05T06:10:00.061Z,1764915000.061 [keepstation:DiveCmd:StationKeep] Stopped
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:DiveCmd:StationKeep:A] Stopped
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:TransitToStation] Stopped
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:TransitToStation:Dive] Stopped
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:TransitToStation:Dive:A] Stopped
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-12-05T06:10:00.062Z,1764915000.062 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-12-05T06:10:00.157Z,1764915000.157 [MissionManager](INFO): Loading Mission from file: ./Missions/underIce/DefaultDockNav.tl
2025-12-05T06:10:00.157Z,1764915000.157 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/underIce/DefaultDockNav.tl
2025-12-05T06:10:00.169Z,1764915000.169 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/underIce/DefaultDockNav.tl
2025-12-05T06:10:03.863Z,1764915003.863 [MissionManager](DEBUG): TethyslAPI: ./Missions/underIce/DefaultDockNav.tl translated into:
0
30
10
60
20
1
3
30
300
10
15
10
50
10
30
Timed out while trying to detach from dock at current depth of
.
0
LineCapture timed out after
Have valid DR'd position, running LineCapture.
Docked, undocking before surfacing.
0
No DR'd position, searching for acoustic contact.
Acoustic search timed out after
100
Acoustic target found! At range
meters. And estimatedposition
,
.
But giving up and continuing with surface default.
Burn on
Dropped weight due to communications timeout.
5
Default mission has been running for
Restarting logs and Default mission.
restart logs
2025-12-05T06:10:03.885Z,1764915003.885 [MissionManager](INFO): DefineArg DefaultDockNav.ElapsedSinceDefaultStarted = 0.000000 min
2025-12-05T06:10:03.887Z,1764915003.887 [MissionManager](INFO): DefineArg DefaultDockNav.DetachTimeout = 30.000000 min
2025-12-05T06:10:03.890Z,1764915003.890 [MissionManager](INFO): DefineArg DefaultDockNav.TransponderCode = 50 count
2025-12-05T06:10:03.892Z,1764915003.892 [MissionManager](INFO): DefineArg DefaultDockNav.TrackingPeriodUndock = 10.000000 s
2025-12-05T06:10:03.894Z,1764915003.894 [MissionManager](INFO): DefineArg DefaultDockNav.TrackingPeriodMidcourse = 60.000000 s
2025-12-05T06:10:03.896Z,1764915003.896 [MissionManager](INFO): DefineArg DefaultDockNav.TrackingPeriodCircle = 20.000000 s
2025-12-05T06:10:03.899Z,1764915003.899 [MissionManager](INFO): DefineArg DefaultDockNav.NumberOfPings = 1.000000 count
2025-12-05T06:10:03.919Z,1764915003.919 [MissionManager](INFO): DefineArg DefaultDockNav.DriftTimeout = 3.000000 min
2025-12-05T06:10:03.957Z,1764915003.957 [MissionManager](INFO): DefineArg DefaultDockNav.LineCaptureTimeout = 30.000000 min
2025-12-05T06:10:03.959Z,1764915003.959 [MissionManager](INFO): DefineArg DefaultDockNav.SearchCircleRadius = 300.000000 m
2025-12-05T06:10:03.967Z,1764915003.967 [MissionManager](INFO): DefineArg DefaultDockNav.SearchTimeout = 10.000000 min
2025-12-05T06:10:04.024Z,1764915004.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:10:04.042Z,1764915004.042 [MissionManager](INFO): DefineArg DefaultDockNav.AcousticContactTimeout = 15.000000 min
2025-12-05T06:10:04.052Z,1764915004.052 [MissionManager](INFO): DefineArg DefaultDockNav.MidcourseDepthOverride = 10.000000 m
2025-12-05T06:10:04.055Z,1764915004.055 [MissionManager](INFO): DefineArg DefaultDockNav.MaxDepth = 50.000000 m
2025-12-05T06:10:04.077Z,1764915004.077 [MissionManager](INFO): DefineOutput DefaultDockNav.TrackingUpdatePeriod = 10.000000 s
2025-12-05T06:10:04.078Z,1764915004.078 [DefaultDockNav:A.Wait](DEBUG): Construct Wait.
2025-12-05T06:10:04.079Z,1764915004.079 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-12-05T06:10:04.079Z,1764915004.079 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-12-05T06:10:04.094Z,1764915004.094 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-12-05T06:10:06.175Z,1764915006.175 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
30
0.0
1
0.01
0.001
2
8
1
NaN
NaN
NaN
0.0
0
NaN
-1
0
1
2
3
1
5
0
0
Timed out while trying to detach from dock at current depth of
.
Transitioning to midcourse guidance.
Navigating to dock waypoint (
,
)
Transitioning to terminal guidance at range
Terminating homing sequence: timed out while navigating to the dock waypoint.
Executing search pattern.
Timed out while executing search pattern around dock waypoint.
Homing sequence timed out prior to docking.
Terminal guidance.
Transitioning to midcourse guidance. Received last range of
ago.
Docked. Homing sequence complete.
3
GuidanceMode
2025-12-05T06:10:06.226Z,1764915006.226 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DockLat = 36.779130 arcdeg
2025-12-05T06:10:06.233Z,1764915006.233 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DockLon = -121.859630 arcdeg
2025-12-05T06:10:06.235Z,1764915006.235 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DetachTimeout = 30.000000 min
2025-12-05T06:10:06.242Z,1764915006.242 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MidcourseDepth = 50.000000 m
2025-12-05T06:10:06.268Z,1764915006.268 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-12-05T06:10:06.270Z,1764915006.270 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MidcourseTimeout = 6.000000 h
2025-12-05T06:10:06.281Z,1764915006.281 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.TerminalRange = 650.000000 m
2025-12-05T06:10:06.292Z,1764915006.292 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.AcousticTimeout = 5.000000 min
2025-12-05T06:10:06.294Z,1764915006.294 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-12-05T06:10:06.305Z,1764915006.305 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.SearchTimeout = 5.000000 min
2025-12-05T06:10:06.324Z,1764915006.324 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.CircleRadius = 1000.000000 m
2025-12-05T06:10:06.326Z,1764915006.326 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.CircleMaxError = 1.000000 m
2025-12-05T06:10:06.331Z,1764915006.331 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.CircleTurnToPort = 0 bool
2025-12-05T06:10:06.341Z,1764915006.341 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DepthDeadband = 0.010000 m
2025-12-05T06:10:06.343Z,1764915006.343 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-12-05T06:10:06.358Z,1764915006.358 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MinAltitude = 2.000000 m
2025-12-05T06:10:06.376Z,1764915006.376 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MaxDepth = 8.000000 m
2025-12-05T06:10:06.379Z,1764915006.379 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.MinOffshore = 1.000000 m
2025-12-05T06:10:06.389Z,1764915006.389 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.DockingAltitude = nan m
2025-12-05T06:10:06.395Z,1764915006.395 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.InvalidAltitudeTimeout = nan min
2025-12-05T06:10:06.422Z,1764915006.422 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.AltitudeDepthLimit = nan m
2025-12-05T06:10:06.440Z,1764915006.440 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-12-05T06:10:06.443Z,1764915006.443 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.ElapsedRange = 0.000000 min
2025-12-05T06:10:06.461Z,1764915006.461 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture.Range = nan m
2025-12-05T06:10:06.463Z,1764915006.463 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.DoneTimeout = -1.000000 count
2025-12-05T06:10:06.486Z,1764915006.486 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.Done = 0.000000 count
2025-12-05T06:10:06.501Z,1764915006.501 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.DetachFromDock = 1.000000 count
2025-12-05T06:10:06.503Z,1764915006.503 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.Midcourse = 2.000000 count
2025-12-05T06:10:06.538Z,1764915006.538 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.Terminal = 3.000000 count
2025-12-05T06:10:06.564Z,1764915006.564 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.GuidanceMode = 1.000000 count
2025-12-05T06:10:06.567Z,1764915006.567 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.DockingDepth = 1.000000 m
2025-12-05T06:10:06.577Z,1764915006.577 [MissionManager](INFO): DefineOutput DefaultDockNav:LineCapture.LineCapRollout = 5.000000 count
2025-12-05T06:10:06.594Z,1764915006.594 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-12-05T06:10:06.594Z,1764915006.594 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-12-05T06:10:06.595Z,1764915006.595 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-12-05T06:10:06.791Z,1764915006.791 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-12-05T06:10:06.799Z,1764915006.799 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-12-05T06:10:06.806Z,1764915006.806 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-12-05T06:10:06.862Z,1764915006.862 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-12-05T06:10:06.869Z,1764915006.869 [MissionManager](INFO): DefineArg DefaultDockNav:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-12-05T06:10:06.870Z,1764915006.870 [DefaultDockNav:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-05T06:10:06.887Z,1764915006.887 [DefaultDockNav:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-05T06:10:06.907Z,1764915006.907 [DefaultDockNav:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-12-05T06:10:06.987Z,1764915006.987 [DefaultDockNav:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-12-05T06:10:06.995Z,1764915006.995 [DefaultDockNav:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-05T06:10:07.009Z,1764915007.009 [DefaultDockNav:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-12-05T06:10:07.010Z,1764915007.010 [DefaultDockNav:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T06:10:07.054Z,1764915007.054 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-12-05T06:10:07.060Z,1764915007.060 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-12-05T06:10:07.073Z,1764915007.073 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-12-05T06:10:07.096Z,1764915007.096 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-12-05T06:10:07.106Z,1764915007.106 [DefaultDockNav:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-12-05T06:10:07.135Z,1764915007.135 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-12-05T06:10:07.156Z,1764915007.156 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-12-05T06:10:07.181Z,1764915007.181 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-12-05T06:10:07.206Z,1764915007.206 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-12-05T06:10:07.206Z,1764915007.206 [DefaultDockNav:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-12-05T06:10:07.213Z,1764915007.213 [DefaultDockNav:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-12-05T06:10:07.265Z,1764915007.265 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-12-05T06:10:07.265Z,1764915007.265 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-12-05T06:10:07.266Z,1764915007.266 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-12-05T06:10:07.485Z,1764915007.485 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
Reseting nav to dock location at range
2025-12-05T06:10:07.493Z,1764915007.493 [MissionManager](INFO): DefineArg DefaultDockNav:SetNavAcoustic.DockLat = 36.779130 arcdeg
2025-12-05T06:10:07.496Z,1764915007.496 [MissionManager](INFO): DefineArg DefaultDockNav:SetNavAcoustic.DockLon = -121.859630 arcdeg
2025-12-05T06:10:07.502Z,1764915007.502 [MissionManager](INFO): DefineArg DefaultDockNav:SetNavAcoustic.DockRange = 0.000000 m
2025-12-05T06:10:07.509Z,1764915007.509 [MissionManager](INFO): DefineArg DefaultDockNav:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-12-05T06:10:07.519Z,1764915007.519 [DefaultDockNav:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-12-05T06:10:07.591Z,1764915007.591 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Construct.
2025-12-05T06:10:07.591Z,1764915007.591 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T06:10:07.683Z,1764915007.683 [DefaultDockNav:PostUndockNavigation:NavToDock:UndockIfDocked:B.Undock](DEBUG): Construct.
2025-12-05T06:10:07.683Z,1764915007.683 [DefaultDockNav:PostUndockNavigation:NavToDock:UndockIfDocked:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T06:10:07.791Z,1764915007.791 [DefaultDockNav:PostUndockNavigation:SearchForDock:C.Mass](DEBUG): Construct.
2025-12-05T06:10:07.805Z,1764915007.805 [DefaultDockNav:PostUndockNavigation:SearchForDock:D.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-05T06:10:07.807Z,1764915007.807 [DefaultDockNav:PostUndockNavigation:SearchForDock:E.Pitch](DEBUG): Construct.
2025-12-05T06:10:07.823Z,1764915007.823 [DefaultDockNav:PostUndockNavigation:SearchForDock:CircleSearch:A.Circle](DEBUG): Construct.
2025-12-05T06:10:07.856Z,1764915007.856 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-05T06:10:07.875Z,1764915007.875 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-12-05T06:10:07.882Z,1764915007.882 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-12-05T06:10:07.891Z,1764915007.891 [DefaultDockNav:J.Execute](DEBUG): Construct Execute.
2025-12-05T06:10:07.950Z,1764915007.950 [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 DefaultDockNav {
arguments {
ElapsedSinceDefaultStarted = 0 minute
DetachTimeout = 30 minute
"""
Maximum time duration for the vehicle to detach form the dock.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Dock transponder address.
"""
TrackingPeriodUndock = 10 second
"""
Time duration between acoustic range queries while the mission is
detaching from the dock.
"""
TrackingPeriodMidcourse = 60 second
"""
Time duration between acoustic range queries while the mission is
navigating to the dock.
"""
TrackingPeriodCircle = 20 second
"""
Time duration between acoustic range queries while the mission is
searching for the dock.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
DriftTimeout = 3 minute
"""
How long to allow vehicle to drift away from dock before retrying reverse
"""
LineCaptureTimeout = 30 minute
"""
Maximum time duration to run LineCapture when we have good navigation.
"""
SearchCircleRadius = 300 meter
"""
Radius of circle to search when we don't have good navigation.
"""
SearchTimeout = 10 minute
"""
Maximum time duration to search for acoustic contact when we don't have
good navigation.
"""
AcousticContactTimeout = 15 minute
"""
Time duration after which acoustic ranges are considered stale.
"""
MidcourseDepthOverride = 10 meter
"""
Depth to use for LineCapture midcourse phase.
"""
MaxDepth = 50 meter
"""
Maximum depth for the entire mission.
"""
}
output {
TrackingUpdatePeriod = 10 second
"""
Mission variable (don't change). The mission sets this variable to
update how long to wait between acoustic queries.
"""
}
behavior Guidance:Wait {
"""
Wait a moment to see if the scheduler starts a new mission before
starting to actually run Default.
"""
run in sequence
set duration = 30 second
}
# Add LineCapture directives.
insert Insert/LineCapture.tl
assign in sequence LineCapture:MaxDepth = MaxDepth
# Add SetNav directives.
insert Insert/SetNavAcoustic.tl
# Acoustic tracking directives
behavior Estimation:TrackAcousticContact {
run while (
Universal:depth > Control:VerticalControl.surfaceThreshold
)
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
aggregate LeaveDock {
run in sequence
timeout duration=DetachTimeout {
syslog important "Timed out while trying to detach from dock at current depth of "
+ Universal:depth~meter + "."
}
# Leave the dock
assign in sequence TrackingUpdatePeriod = TrackingPeriodUndock
behavior Dock:Undock {
run in sequence
set driftTimeout = DriftTimeout
}
}
aggregate PostUndockNavigation {
"""
After leaving dock, navigate based on whether we have good navigation.
If we have good nav, use LineCapture. If not, search locally for acoustic
contact and use relative navigation.
"""
run in sequence
break if (
Universal:depth <= Control:VerticalControl.surfaceThreshold
)
aggregate NavToDock {
"""
If we have good navigation (received GPS fix and dead reckoning has run),
use LineCapture to home to the dock.
"""
run in sequence
break if (
isNaN ( Universal:horizontal_path_length_since_last_fix )
or Universal:horizontal_path_length_since_last_fix < 0 meter
)
timeout duration=LineCaptureTimeout {
syslog important "LineCapture timed out after " + LineCaptureTimeout~minute
}
assign in sequence TrackingUpdatePeriod = TrackingPeriodMidcourse
syslog important "Have valid DR'd position, running LineCapture."
assign in sequence LineCapture:MidcourseDepth = MidcourseDepthOverride
call priorityHere=false refId="LineCapture"
aggregate UndockIfDocked {
"""
If LineCapture successfully docked, undock before falling through to
surface default.
"""
run in sequence
break if (
LineCapture:GuidanceMode != LineCapture:Done
)
syslog important "Docked, undocking before surfacing."
behavior Dock:Undock {
run in sequence
set driftTimeout = DriftTimeout
}
}
}
aggregate SearchForDock {
"""
If we don't have good navigation, search locally for acoustic contact
using a circle pattern.
"""
run in sequence
break if (
Universal:horizontal_path_length_since_last_fix >= 0 meter
)
assign in sequence TrackingUpdatePeriod = TrackingPeriodCircle
syslog important "No DR'd position, searching for acoustic contact."
behavior Guidance:Mass {
run in parallel
set position = Control:VerticalControl.massDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch {
run in parallel
set depth = MidcourseDepthOverride
}
aggregate CircleSearch {
"""
Drive a circle at current position while searching for acoustic contact.
"""
run in sequence
break if (
elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < AcousticContactTimeout
)
timeout duration=SearchTimeout {
syslog important "Acoustic search timed out after " + SearchTimeout~minute
}
behavior Guidance:Circle {
run in sequence
set latitude = Universal:latitude
set longitude = Universal:longitude
set radius = SearchCircleRadius
set maxError = 100 meter
set turnToPort = false
}
}
aggregate AcousticWaypointNav {
"""
If we got an acoustic hit during search, navigate towards it using
waypoint navigation (except don't because we can't yet)
"""
run in sequence
break if (
elapsed ( Estimation:TrackAcousticContact.range_to_contact ) >= AcousticContactTimeout
)
syslog important "Acoustic target found! At range "
+ Estimation:TrackAcousticContact.range_to_contact~meter + " meters. And estimatedposition "
+ Estimation:TrackAcousticContact.contact_latitude~degree + ", "
+ Estimation:TrackAcousticContact.contact_longitude~degree + "."
syslog important "But giving up and continuing with surface default."
}
}
}
aggregate SurfaceDefault {
run in sequence
# This mission assumes open water so from here on it's the same old default that's always used
behavior Guidance:GoToSurface {
run in progression
}
aggregate CheckIn {
run in sequence repeat=288
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P2H {
behavior Guidance:Execute {
run in sequence
set command = "Burn on"
}
syslog critical "Dropped weight due to communications timeout."
}
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )
syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
}
}
syslog important "Restarting logs and Default mission."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
2025-12-05T06:10:07.950Z,1764915007.950 [CommandExec](IMPORTANT): Loaded ./Missions/underIce/DefaultDockNav.tl id=DefaultDockNav
2025-12-05T06:10:08.106Z,1764915008.106 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-12-05T06:10:08.107Z,1764915008.107 [DefaultWithUndock] Running Loop=1
2025-12-05T06:10:08.107Z,1764915008.107 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-12-05T06:10:08.107Z,1764915008.107 [DefaultWithUndock:A.Wait] Running Loop=1
2025-12-05T06:10:08.107Z,1764915008.107 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-12-05T06:10:15.895Z,1764915015.895 [CommandExec](IMPORTANT): got command set DefaultDockNav.LineCaptureTimeout 10 minute
2025-12-05T06:10:15.895Z,1764915015.895 [CommandExec](IMPORTANT): got command run
2025-12-05T06:10:15.901Z,1764915015.901 [CommandExec](IMPORTANT): Running
2025-12-05T06:10:16.167Z,1764915016.167 [DefaultWithUndock] Stopped
2025-12-05T06:10:16.167Z,1764915016.167 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-12-05T06:10:16.167Z,1764915016.167 [DefaultWithUndock:A.Wait] Stopped
2025-12-05T06:10:16.167Z,1764915016.167 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T06:10:16.167Z,1764915016.167 [MissionManager](IMPORTANT): Started mission DefaultDockNav
2025-12-05T06:10:16.167Z,1764915016.167 [DefaultDockNav] Running Loop=1
2025-12-05T06:10:16.167Z,1764915016.167 [DefaultDockNav](DEBUG): Aggregate::initialize DefaultDockNav
2025-12-05T06:10:16.167Z,1764915016.167 [DefaultDockNav:E.] Running Loop=1
2025-12-05T06:10:16.167Z,1764915016.167 [DefaultDockNav:E.](INFO): Initializing TrackAcousticContact.
2025-12-05T06:10:16.172Z,1764915016.172 [DefaultDockNav:A.Wait] Running Loop=1
2025-12-05T06:10:16.172Z,1764915016.172 [DefaultDockNav:A.Wait](DEBUG): Initialize Wait Component.
2025-12-05T06:10:16.173Z,1764915016.173 [DefaultDockNav:E.] Stopped
2025-12-05T06:10:16.173Z,1764915016.173 [DefaultDockNav:E.](DEBUG): Uninitializing TrackAcousticContact.
2025-12-05T06:10:16.684Z,1764915016.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:10:25.432Z,1764915025.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:10:34.252Z,1764915034.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:10:42.909Z,1764915042.909 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:10:46.450Z,1764915046.450 [DefaultDockNav:A.Wait](INFO): Done Waiting.
2025-12-05T06:10:46.450Z,1764915046.450 [DefaultDockNav:A.Wait] Stopped
2025-12-05T06:10:46.450Z,1764915046.450 [DefaultDockNav:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T06:10:46.450Z,1764915046.450 [DefaultDockNav:C] Running Loop=1
2025-12-05T06:10:46.858Z,1764915046.858 [DefaultDockNav:C] Stopped
2025-12-05T06:10:46.858Z,1764915046.858 [DefaultDockNav:LeaveDock] Running Loop=1
2025-12-05T06:10:46.858Z,1764915046.858 [DefaultDockNav:LeaveDock](DEBUG): Aggregate::initialize DefaultDockNav:LeaveDock
2025-12-05T06:10:46.858Z,1764915046.858 [DefaultDockNav:LeaveDock:A] Running Loop=1
2025-12-05T06:10:47.269Z,1764915047.269 [DefaultDockNav:LeaveDock:A] Stopped
2025-12-05T06:10:47.270Z,1764915047.270 [DefaultDockNav:LeaveDock:B.Undock] Running Loop=1
2025-12-05T06:10:47.270Z,1764915047.270 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-05T06:10:47.270Z,1764915047.270 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T06:10:47.657Z,1764915047.657 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-05T06:10:47.657Z,1764915047.657 [DefaultDockNav:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-05T06:10:47.658Z,1764915047.658 [DefaultDockNav:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.272823 m.
2025-12-05T06:10:48.117Z,1764915048.117 [DefaultDockNav:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-12-05T06:10:48.509Z,1764915048.509 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-05T06:10:48.630Z,1764915048.630 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-05T06:10:51.577Z,1764915051.577 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:10:59.812Z,1764915059.812 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, .00
2025-12-05T06:11:00.608Z,1764915060.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:11:08.257Z,1764915068.257 [DefaultDockNav:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-12-05T06:11:08.717Z,1764915068.717 [DefaultDockNav:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-12-05T06:11:09.076Z,1764915069.076 [DefaultDockNav:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-12-05T06:11:09.076Z,1764915069.076 [DefaultDockNav:LeaveDock:B.Undock] Stopped
2025-12-05T06:11:09.076Z,1764915069.076 [DefaultDockNav:LeaveDock](INFO): Completed DefaultDockNav:LeaveDock
2025-12-05T06:11:09.076Z,1764915069.076 [DefaultDockNav:LeaveDock] Stopped
2025-12-05T06:11:09.077Z,1764915069.077 [DefaultDockNav:LeaveDock](DEBUG): Aggregate::uninitialize DefaultDockNav:LeaveDock
2025-12-05T06:11:09.077Z,1764915069.077 [DefaultDockNav:PostUndockNavigation] Running Loop=1
2025-12-05T06:11:09.077Z,1764915069.077 [DefaultDockNav:PostUndockNavigation](DEBUG): Aggregate::initialize DefaultDockNav:PostUndockNavigation
2025-12-05T06:11:09.077Z,1764915069.077 [DefaultDockNav:PostUndockNavigation:NavToDock] Running Loop=1
2025-12-05T06:11:09.077Z,1764915069.077 [DefaultDockNav:PostUndockNavigation:NavToDock](DEBUG): Aggregate::initialize DefaultDockNav:PostUndockNavigation:NavToDock
2025-12-05T06:11:09.077Z,1764915069.077 [DefaultDockNav:PostUndockNavigation:NavToDock:A] Running Loop=1
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:PostUndockNavigation] Stopped
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:PostUndockNavigation](DEBUG): Aggregate::uninitialize DefaultDockNav:PostUndockNavigation
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:PostUndockNavigation:NavToDock] Stopped
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:PostUndockNavigation:NavToDock](DEBUG): Aggregate::uninitialize DefaultDockNav:PostUndockNavigation:NavToDock
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:PostUndockNavigation:NavToDock:A] Stopped
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:SurfaceDefault] Running Loop=1
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:SurfaceDefault](DEBUG): Aggregate::initialize DefaultDockNav:SurfaceDefault
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-12-05T06:11:09.461Z,1764915069.461 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-05T06:11:09.462Z,1764915069.462 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-05T06:11:09.462Z,1764915069.462 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-05T06:11:09.462Z,1764915069.462 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-05T06:11:09.463Z,1764915069.463 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-05T06:11:09.463Z,1764915069.463 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-05T06:11:09.463Z,1764915069.463 [DefaultDockNav:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-05T06:11:09.468Z,1764915069.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:11:09.933Z,1764915069.933 [DefaultDockNav:SurfaceDefault:CheckIn] Running Loop=1
2025-12-05T06:11:09.933Z,1764915069.933 [DefaultDockNav:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T06:11:09.933Z,1764915069.933 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-05T06:11:10.276Z,1764915070.276 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-05T06:11:11.879Z,1764915071.879 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061111.00,A,3646.43909,N,12151.75220,W,0.389,211.60,051225,,,D*7C
2025-12-05T06:11:11.889Z,1764915071.889 [NAL9602](INFO): GPS fix at 20251205T061111: (36.773985, -121.862537)
2025-12-05T06:11:11.972Z,1764915071.972 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-05T06:11:11.973Z,1764915071.973 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-05T06:11:12.329Z,1764915072.329 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-05T06:11:15.742Z,1764915075.742 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251205T054450/Courier0025.lzma
2025-12-05T06:11:16.578Z,1764915076.578 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0025.lzma.bak
2025-12-05T06:11:16.578Z,1764915076.578 [DataOverHttps](INFO): SBD MOMSN=26432162
2025-12-05T06:11:33.348Z,1764915093.348 [DataOverHttps](INFO): Sending 412 bytes from file Logs/20251205T054450/Express0026.lzma
2025-12-05T06:11:34.350Z,1764915094.350 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0026.lzma.bak
2025-12-05T06:11:34.350Z,1764915094.350 [DataOverHttps](INFO): SBD MOMSN=26432165
2025-12-05T06:11:35.002Z,1764915095.002 [NAL9602](INFO): SBD MO Status=2, MOMSN=4489, MT Status=2, MTMSN=0
2025-12-05T06:11:35.002Z,1764915095.002 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-05T06:11:35.466Z,1764915095.466 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-05T06:11:35.466Z,1764915095.466 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-05T06:11:35.466Z,1764915095.466 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-05T06:11:44.088Z,1764915104.088 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:11:52.692Z,1764915112.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:11:56.822Z,1764915116.822 [NAL9602](INFO): SBD MO Status=0, MOMSN=4489, MT Status=0, MTMSN=0
2025-12-05T06:11:56.823Z,1764915116.823 [NAL9602](INFO): No messages in MT queue
2025-12-05T06:12:01.973Z,1764915121.973 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:12:10.816Z,1764915130.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:12:19.448Z,1764915139.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:12:27.525Z,1764915147.525 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-05T06:12:28.160Z,1764915148.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:12:36.725Z,1764915156.725 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:12:45.397Z,1764915165.397 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:12:53.992Z,1764915173.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:13:02.560Z,1764915182.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:13:11.296Z,1764915191.296 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:13:19.796Z,1764915199.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:13:28.420Z,1764915208.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:13:37.096Z,1764915217.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:13:45.804Z,1764915225.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:13:54.688Z,1764915234.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:14:03.360Z,1764915243.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:14:11.796Z,1764915251.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:14:20.608Z,1764915260.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:14:29.265Z,1764915269.265 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:14:37.908Z,1764915277.908 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:14:46.592Z,1764915286.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:14:55.308Z,1764915295.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:15:04.949Z,1764915304.949 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:15:13.620Z,1764915313.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:15:22.064Z,1764915322.064 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:15:30.744Z,1764915330.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:15:39.412Z,1764915339.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:15:53.233Z,1764915353.233 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:16:01.720Z,1764915361.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:16:10.964Z,1764915370.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:16:19.541Z,1764915379.541 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:16:28.056Z,1764915388.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:16:35.998Z,1764915395.998 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-12-05T06:16:35.998Z,1764915395.998 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-12-05T06:16:35.998Z,1764915395.998 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T06:16:35.999Z,1764915395.999 [DefaultDockNav:SurfaceDefault:CheckIn:D] Running Loop=1
2025-12-05T06:16:36.425Z,1764915396.425 [DefaultDockNav:SurfaceDefault:CheckIn:D] Stopped
2025-12-05T06:16:36.425Z,1764915396.425 [DefaultDockNav:SurfaceDefault:CheckIn:E] Running Loop=1
2025-12-05T06:16:36.804Z,1764915396.804 [DefaultDockNav:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.337624 min
2025-12-05T06:16:36.805Z,1764915396.805 [DefaultDockNav:SurfaceDefault:CheckIn:E] Stopped
2025-12-05T06:16:36.805Z,1764915396.805 [DefaultDockNav:SurfaceDefault:CheckIn](INFO): Completed DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T06:16:36.805Z,1764915396.805 [DefaultDockNav:SurfaceDefault:CheckIn] Stopped
2025-12-05T06:16:36.805Z,1764915396.805 [DefaultDockNav:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T06:16:36.805Z,1764915396.805 [DefaultDockNav:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-12-05T06:16:36.805Z,1764915396.805 [DefaultDockNav:SurfaceDefault:CheckIn] Running Loop=2
2025-12-05T06:16:36.805Z,1764915396.805 [DefaultDockNav:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T06:16:36.805Z,1764915396.805 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-05T06:16:36.940Z,1764915396.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:16:38.815Z,1764915398.815 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061638.00,A,3646.40546,N,12151.78888,W,0.583,226.47,051225,,,D*7C
2025-12-05T06:16:38.817Z,1764915398.817 [NAL9602](INFO): GPS fix at 20251205T061638: (36.773424, -121.863148)
2025-12-05T06:16:38.829Z,1764915398.829 [DefaultDockNav:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-05T06:16:38.829Z,1764915398.829 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-05T06:16:43.795Z,1764915403.795 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251205T054450/Courier0028.lzma
2025-12-05T06:16:44.798Z,1764915404.798 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Courier0028.lzma.bak
2025-12-05T06:16:44.798Z,1764915404.798 [DataOverHttps](INFO): SBD MOMSN=26432202
2025-12-05T06:17:01.011Z,1764915421.011 [DataOverHttps](INFO): Sending 157 bytes from file Logs/20251205T054450/Express0029.lzma
2025-12-05T06:17:02.014Z,1764915422.014 [DataOverHttps](INFO): Moved sent file to Logs/20251205T054450/Express0029.lzma.bak
2025-12-05T06:17:02.014Z,1764915422.014 [DataOverHttps](INFO): SBD MOMSN=26432205
2025-12-05T06:17:03.129Z,1764915423.129 [DefaultDockNav:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-05T06:17:03.129Z,1764915423.129 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-05T06:17:03.129Z,1764915423.129 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-05T06:17:11.676Z,1764915431.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:17:12.407Z,1764915432.407 [NAL9602](INFO): SBD MO Status=0, MOMSN=4490, MT Status=0, MTMSN=0
2025-12-05T06:17:12.407Z,1764915432.407 [NAL9602](INFO): No messages in MT queue
2025-12-05T06:17:20.356Z,1764915440.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:17:28.984Z,1764915448.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:17:36.507Z,1764915456.507 [DataOverHttps](IMPORTANT): SBD MTMSN=20251205T061735
2025-12-05T06:17:43.109Z,1764915463.109 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-05T06:17:44.168Z,1764915464.168 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 4 min;set keepstation.NeedCommsTime 15 min;set keepstation.Latitude 36.773 degree;set keepstation.Longitude -121.863 degree;run
2025-12-05T06:17:44.222Z,1764915464.222 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-12-05T06:17:44.222Z,1764915464.222 [MissionManager](INFO): Uninitializing Mission DefaultDockNav
2025-12-05T06:17:44.222Z,1764915464.222 [DefaultDockNav] Stopped
2025-12-05T06:17:44.222Z,1764915464.222 [DefaultDockNav](DEBUG): Aggregate::uninitialize DefaultDockNav
2025-12-05T06:17:44.222Z,1764915464.222 [DefaultDockNav:SurfaceDefault] Stopped
2025-12-05T06:17:44.223Z,1764915464.223 [DefaultDockNav:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultDockNav:SurfaceDefault
2025-12-05T06:17:44.223Z,1764915464.223 [DefaultDockNav:SurfaceDefault:A.GoToSurface] Stopped
2025-12-05T06:17:44.223Z,1764915464.223 [DefaultDockNav:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-05T06:17:44.223Z,1764915464.223 [DefaultDockNav:SurfaceDefault:CheckIn] Stopped
2025-12-05T06:17:44.223Z,1764915464.223 [DefaultDockNav:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultDockNav:SurfaceDefault:CheckIn
2025-12-05T06:17:44.223Z,1764915464.223 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-12-05T06:17:44.223Z,1764915464.223 [DefaultDockNav:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T06:17:44.372Z,1764915464.372 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-12-05T06:17:44.372Z,1764915464.372 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-12-05T06:17:44.381Z,1764915464.381 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-12-05T06:17:45.739Z,1764915465.739 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
4
45
NaN
NaN
30
15
4
0.75
200
10
10
45
2
0
0
1
2
3
NaN
0
Sinking to
Timed out while trying to reach target sink depth at current depth of
2025-12-05T06:17:45.754Z,1764915465.754 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-12-05T06:17:45.756Z,1764915465.756 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-12-05T06:17:45.758Z,1764915465.758 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-12-05T06:17:45.761Z,1764915465.761 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-12-05T06:17:45.763Z,1764915465.763 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-12-05T06:17:45.765Z,1764915465.765 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-12-05T06:17:45.767Z,1764915465.767 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-12-05T06:17:45.770Z,1764915465.770 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-12-05T06:17:45.772Z,1764915465.772 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-12-05T06:17:45.774Z,1764915465.774 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2025-12-05T06:17:45.776Z,1764915465.776 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2025-12-05T06:17:45.778Z,1764915465.778 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2025-12-05T06:17:45.781Z,1764915465.781 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-12-05T06:17:45.783Z,1764915465.783 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-12-05T06:17:45.785Z,1764915465.785 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2025-12-05T06:17:45.787Z,1764915465.787 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2025-12-05T06:17:45.791Z,1764915465.791 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2025-12-05T06:17:45.829Z,1764915465.829 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2025-12-05T06:17:45.836Z,1764915465.836 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2025-12-05T06:17:45.838Z,1764915465.838 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2025-12-05T06:17:45.839Z,1764915465.839 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-12-05T06:17:45.839Z,1764915465.839 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-12-05T06:17:45.841Z,1764915465.841 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-12-05T06:17:46.188Z,1764915466.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-05T06:17:46.227Z,1764915466.227 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1500
7
30
0
0
0
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2025-12-05T06:17:46.237Z,1764915466.237 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-12-05T06:17:46.241Z,1764915466.241 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-12-05T06:17:46.245Z,1764915466.245 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-12-05T06:17:46.247Z,1764915466.247 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-12-05T06:17:46.249Z,1764915466.249 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-12-05T06:17:46.252Z,1764915466.252 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2025-12-05T06:17:46.255Z,1764915466.255 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-12-05T06:17:46.263Z,1764915466.263 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-12-05T06:17:46.270Z,1764915466.270 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2025-12-05T06:17:46.276Z,1764915466.276 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2025-12-05T06:17:46.307Z,1764915466.307 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2025-12-05T06:17:46.323Z,1764915466.323 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2025-12-05T06:17:46.392Z,1764915466.392 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-05T06:17:46.459Z,1764915466.459 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-12-05T06:17:46.459Z,1764915466.459 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-12-05T06:17:46.463Z,1764915466.463 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-12-05T06:17:46.589Z,1764915466.589 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-12-05T06:17:46.593Z,1764915466.593 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-12-05T06:17:46.595Z,1764915466.595 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-12-05T06:17:46.598Z,1764915466.598 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-12-05T06:17:46.600Z,1764915466.600 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-12-05T06:17:46.601Z,1764915466.601 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-05T06:17:46.607Z,1764915466.607 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-05T06:17:46.613Z,1764915466.613 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-12-05T06:17:46.646Z,1764915466.646 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-12-05T06:17:46.646Z,1764915466.646 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-12-05T06:17:46.647Z,1764915466.647 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-12-05T06:17:46.666Z,1764915466.666 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-12-05T06:17:46.669Z,1764915466.669 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-12-05T06:17:46.672Z,1764915466.672 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-12-05T06:17:46.687Z,1764915466.687 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-12-05T06:17:46.687Z,1764915466.687 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-12-05T06:17:46.689Z,1764915466.689 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-12-05T06:17:46.870Z,1764915466.870 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-12-05T06:17:46.874Z,1764915466.874 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-12-05T06:17:46.875Z,1764915466.875 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-12-05T06:17:46.877Z,1764915466.877 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-12-05T06:17:46.879Z,1764915466.879 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-12-05T06:17:46.902Z,1764915466.902 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-12-05T06:17:46.917Z,1764915466.917 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-12-05T06:17:46.918Z,1764915466.918 [keepstation:H.Pitch](DEBUG): Construct.
2025-12-05T06:17:47.012Z,1764915467.012 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-05T06:17:47.014Z,1764915467.014 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-12-05T06:17:47.018Z,1764915467.018 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-12-05T06:17:47.030Z,1764915467.030 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-05T06:17:47.033Z,1764915467.033 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2025-12-05T06:17:47.046Z,1764915467.046 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2025-12-05T06:17:47.052Z,1764915467.052 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2025-12-05T06:17:47.056Z,1764915467.056 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2025-12-05T06:17:47.063Z,1764915467.063 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-12-05T06:17:47.074Z,1764915467.074 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2025-12-05T06:17:47.101Z,1764915467.101 [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 keepstation {
"""
Vehicle transits to desired waypoint (or stays put if none is commanded)
and stays within the specified radius.
"""
arguments {
MissionTimeout = 4 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 45 minute
"""
How often to surface for communications
"""
Latitude = NaN degree
"""
Latitude of waypoint to hold. If NaN, hold the latitude at start of
mission.
"""
Longitude = NaN degree
"""
Longitude of waypoint to hold. If NaN, hold the longitude at start of
mission.
"""
Depth = 30 meter
"""
Depth held during drift mode
"""
ApproachDepth = 15 meter
"""
Depth for initial approach to station.
"""
DepthDeadband = 4 meter
"""
How much vertical drift from the specified depth is allowed in drift
mode
"""
Speed = 0.75 meter_per_second
"""
Vehicle transit speed.
"""
Radius = 200 meter
"""
Radius of circle around waypoint to hold.
"""
SinkOffSurface = false
"""
If true, use buoyancy only to decend to SinkDepth before driving to first target depth
"""
SinkDepth = 10 meter
"""
Initial depth to decend using only buoyancy before driving
"""
SinkDepthTimeout = 10 minute
"""
Max wait time for the vehicle to reach the target depth
"""
MaxDepth = 45 meter
"""
Maximum allowable depth during the mission.
"""
MinOffshore = 2 kilometer
"""
Minimum distance from the shoreline to maintain
"""
}
output {
DiveMode = 0 count
"""
Mission variable (don't change). The mission sets this variable to
switch between dive modes. Initialized to DoingComms.
"""
DoingComms = 0 count
"""
Mission variable (don't change). The mission will run in this mode
when doing surface comms.
"""
SurfaceSink = 1 count
"""
Mission variable (don't change). The mission will run in this mode
when sinking from the surface using only buoyancy.
"""
TransitToStation = 2 count
"""
Mission variable (don't change). The mission will run in this mode
when performing the transit to station
"""
StationKeep = 3 count
"""
Mission variable (don't change). The mission will run in this mode
when keeping station
"""
OnStation = false
"""
Mission variable (don't change). Determines last mode (Transit or StationKeep)
to resume after needcomms
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Pitch {
run in parallel
set massPosition = Control:VerticalControl.massDefault
}
aggregate SurfaceComms {
run when (
called
or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
)
assign in sequence DiveMode = DoingComms
call priorityHere=false refId="NeedComms"
aggregate HandleNan {
run in sequence
break if (
not isNaN ( Latitude )
and not isNaN ( Longitude )
)
# If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
aggregate SetOnStation {
run in sequence
break if (
not isNaN ( Latitude )
or not isNaN ( Longitude )
)
assign in sequence OnStation = true
}
# The "assigns" here mean we should only ever run these aggregates once
# An initial NaN lat/lon should be set here during the initial surface NeedComms call
# Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
aggregate SetLat {
run in sequence
break if ( not isNaN ( Latitude ) )
assign in sequence Latitude = Universal:latitude_fix
}
aggregate SetLon {
run in sequence
break if ( not isNaN ( Longitude ) )
assign in sequence Longitude = Universal:longitude_fix
}
}
aggregate setTransit {
run in sequence
break if (
SinkOffSurface
or OnStation
)
assign in sequence DiveMode = TransitToStation
}
aggregate setStation {
run in sequence
break if (
SinkOffSurface
or not OnStation
)
assign in sequence DiveMode = StationKeep
}
aggregate setSink {
run in sequence
break if ( not SinkOffSurface )
assign in sequence DiveMode = SurfaceSink
}
}
call id="StartingMission" priorityHere=false refId="SurfaceComms"
aggregate DiveCmd {
run when ( called )
aggregate SurfaceSink {
run while ( DiveMode == SurfaceSink )
aggregate sink {
run in sequence
behavior Guidance:Buoyancy id="BuoyancyHold" {
run in parallel
set position = NaN cc
}
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 m/s
}
syslog info "Sinking to " + SinkDepth~meter
behavior Guidance:Pitch {
run in sequence
timeout duration=SinkDepthTimeout {
syslog important "Timed out while trying to reach target sink depth at current depth of "
+ Universal:depth~meter
}
set depth = SinkDepth
}
# Once we've sunk, either resume transit or station keeping depths and speeds
aggregate sinkToTransit {
run in sequence
break if ( OnStation )
assign in sequence DiveMode = TransitToStation
}
aggregate sinkToStation {
run in sequence
break if ( not OnStation )
assign in sequence DiveMode = StationKeep
}
}
}
aggregate TransitToStation {
run while ( DiveMode == TransitToStation )
aggregate dive {
run in sequence
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch {
run in parallel
set depth = ApproachDepth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
}
}
aggregate StationKeep {
run while ( DiveMode == StationKeep )
assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:KeepStation {
run in parallel
set latitude = Latitude
set longitude = Longitude
set radius = Radius
set speed = Speed
}
}
}
aggregate TransitToStation {
"""
Need a separate aggregate for transit if we want to specify a
different depth for the approach.
"""
run in sequence
aggregate Dive {
run while ( not ( DiveMode == DoingComms ) )
call priorityHere=false refId="DiveCmd"
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
}
assign in sequence DiveMode = StationKeep
assign in sequence OnStation = true
}
call id="OnStation" priorityHere=false refId="NeedComms"
aggregate KeepStation {
run in sequence
aggregate Dive {
run while ( not ( DiveMode == DoingComms ) )
call priorityHere=false refId="DiveCmd"
}
behavior Guidance:Wait {
"""
Due to the way the KeepStation behavior is currently
implemented, we must run it in parallel and use a Wait to keep
from completing the mission before the timeout expires. However,
this new version of the mission uses a top-level timeout so that
the entire mission will not run for longer then MissionTimeout.
"""
run in sequence
set duration = MissionTimeout
}
}
}
2025-12-05T06:17:47.101Z,1764915467.101 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-12-05T06:17:47.185Z,1764915467.185 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-12-05T06:17:47.185Z,1764915467.185 [DefaultWithUndock] Running Loop=1
2025-12-05T06:17:47.185Z,1764915467.185 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-12-05T06:17:47.185Z,1764915467.185 [DefaultWithUndock:A.Wait] Running Loop=1
2025-12-05T06:17:47.185Z,1764915467.185 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-12-05T06:17:57.881Z,1764915477.881 [DataOverHttps](IMPORTANT): SBD MTMSN=20251205T061756
2025-12-05T06:18:10.418Z,1764915490.418 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 4 minute
2025-12-05T06:18:10.419Z,1764915490.419 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 15 minute
2025-12-05T06:18:10.420Z,1764915490.420 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.773 degree
2025-12-05T06:18:10.421Z,1764915490.421 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.863 degree
2025-12-05T06:18:10.421Z,1764915490.421 [CommandExec](IMPORTANT): got command run
2025-12-05T06:18:10.423Z,1764915490.423 [CommandExec](IMPORTANT): Running
2025-12-05T06:18:10.619Z,1764915490.619 [DefaultWithUndock] Stopped
2025-12-05T06:18:10.619Z,1764915490.619 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-12-05T06:18:10.619Z,1764915490.619 [DefaultWithUndock:A.Wait] Stopped
2025-12-05T06:18:10.619Z,1764915490.619 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-05T06:18:10.619Z,1764915490.619 [MissionManager](IMPORTANT): Started mission keepstation
2025-12-05T06:18:10.619Z,1764915490.619 [keepstation] Running Loop=1
2025-12-05T06:18:10.619Z,1764915490.619 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-12-05T06:18:10.620Z,1764915490.620 [keepstation:StandardEnvelopes] Running Loop=1
2025-12-05T06:18:10.620Z,1764915490.620 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-12-05T06:18:10.620Z,1764915490.620 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-12-05T06:18:10.620Z,1764915490.620 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-12-05T06:18:10.620Z,1764915490.620 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-12-05T06:18:10.620Z,1764915490.620 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-12-05T06:18:10.620Z,1764915490.620 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:BackseatDriver] Running Loop=1
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:PowerOnly] Running Loop=1
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:PowerOnly:A] Running Loop=1
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:PowerOnly:B] Running Loop=1
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:PowerOnly:C] Running Loop=1
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:PowerOnly:D] Running Loop=1
2025-12-05T06:18:10.621Z,1764915490.621 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-12-05T06:18:10.622Z,1764915490.622 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-12-05T06:18:10.622Z,1764915490.622 [keepstation:H.Pitch] Running Loop=1
2025-12-05T06:18:10.622Z,1764915490.622 [keepstation:H.Pitch](DEBUG): Initialize.
2025-12-05T06:18:10.622Z,1764915490.622 [keepstation:B] Running Loop=1
2025-12-05T06:18:10.623Z,1764915490.623 [keepstation:H.Pitch] Running Loop=1
2025-12-05T06:18:10.623Z,1764915490.623 [keepstation:PowerOnly] Running Loop=1
2025-12-05T06:18:10.623Z,1764915490.623 [keepstation:PowerOnly:D] Stopped
2025-12-05T06:18:10.623Z,1764915490.623 [keepstation:PowerOnly:C] Stopped
2025-12-05T06:18:10.623Z,1764915490.623 [keepstation:PowerOnly:B] Stopped
2025-12-05T06:18:10.623Z,1764915490.623 [keepstation:PowerOnly:A] Stopped
2025-12-05T06:18:10.624Z,1764915490.624 [keepstation:BackseatDriver] Running Loop=1
2025-12-05T06:18:10.624Z,1764915490.624 [keepstation:StandardEnvelopes] Running Loop=1
2025-12-05T06:18:10.624Z,1764915490.624 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-12-05T06:18:10.624Z,1764915490.624 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-12-05T06:18:10.625Z,1764915490.625 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-12-05T06:18:10.625Z,1764915490.625 [keepstation:B] Stopped
2025-12-05T06:18:10.626Z,1764915490.626 [keepstation:D] Running Loop=1
2025-12-05T06:18:11.007Z,1764915491.007 [keepstation:D] Stopped
2025-12-05T06:18:11.007Z,1764915491.007 [keepstation:E] Running Loop=1