2024-08-16T21:10:45.047Z,1723842645.047 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2024-08-16T21:10:45.047Z,1723842645.047 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2024-08-16T21:10:45.047Z,1723842645.047 [lineCaptureHoming:InitialDive:B.Pitch] Running Loop=1
2024-08-16T21:10:45.047Z,1723842645.047 [lineCaptureHoming:InitialDive:B.Pitch](DEBUG): Initialize.
2024-08-16T21:10:45.111Z,1723842645.111 [CommandExec](IMPORTANT): got command restart logs
2024-08-16T21:10:45.504Z,1723842645.504 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2024-08-16T21:10:58.134Z,1723842658.134 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:11:01.421Z,1723842661.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2024-08-16T21:11:01.473Z,1723842661.473 [DAT](INFO): ****** received valid address query ******
2024-08-16T21:11:01.473Z,1723842661.473 [DAT](INFO): ****** received valid ping request ******
2024-08-16T21:11:01.474Z,1723842661.474 [DAT](INFO): Querying Benthos address 6 with one ping in standard two-way mode.
2024-08-16T21:11:01.722Z,1723842661.722 [DAT](INFO): DAT read: user:211>
2024-08-16T21:11:01.723Z,1723842661.723 [DAT](INFO): DAT read: Tx time:21:11:00.8375
2024-08-16T21:11:01.724Z,1723842661.724 [DAT](INFO): Ping request sent.
2024-08-16T21:11:01.724Z,1723842661.724 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:11:01.724Z,1723842661.724 [DAT](INFO): publishing transmit ping time
2024-08-16T21:11:01.724Z,1723842661.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2024-08-16T21:11:01.975Z,1723842661.975 [DAT](INFO): DAT read: TxSync time:21:11:00.8368
2024-08-16T21:11:01.976Z,1723842661.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251839
2024-08-16T21:11:02.227Z,1723842662.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502852
2024-08-16T21:11:02.479Z,1723842662.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754971
2024-08-16T21:11:02.732Z,1723842662.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008720
2024-08-16T21:11:02.983Z,1723842662.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258944
2024-08-16T21:11:03.235Z,1723842663.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510971
2024-08-16T21:11:03.489Z,1723842663.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764831
2024-08-16T21:11:03.744Z,1723842663.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019961
2024-08-16T21:11:03.995Z,1723842663.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270977
2024-08-16T21:11:04.247Z,1723842664.247 [DAT](INFO): DAT read: Rx Time:21:11:02.8881
2024-08-16T21:11:04.247Z,1723842664.247 [DAT](INFO): Rx dataTimestamp_ set to:1723842664.246798
2024-08-16T21:11:04.248Z,1723842664.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523908
2024-08-16T21:11:04.499Z,1723842664.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774959
2024-08-16T21:11:04.758Z,1723842664.758 [DAT](INFO): DAT read: 21:11:02.8881 LVL= 15856, 15089, 16882, 23539, AGC= 66, IDX= 436,-0.27, 1.391, 2.961, 2.667, 1.906, PHS=-0.427, 1.102, 0.758, RAW= 282.4, -20.0, CAL= 282.9, -30.1, ROT= 227.1, 30.1
2024-08-16T21:11:04.759Z,1723842664.759 [DAT](INFO): got valid direction response:
21:11:02.8881 LVL= 15856, 15089, 16882, 23539, AGC= 66, IDX= 436,-0.27, 1.391, 2.961, 2.667, 1.906, PHS=-0.427, 1.102, 0.758, RAW= 282.4, -20.0, CAL= 282.9, -30.1, ROT= 227.1, 30.1
2024-08-16T21:11:04.761Z,1723842664.761 [DAT](INFO): DAT read: Bearing 155, -6 (Remote)
2024-08-16T21:11:04.761Z,1723842664.761 [DAT](INFO): Remote Bearing received:Bearing 155, -6 (Remote)
2024-08-16T21:11:04.762Z,1723842664.762 [DAT](INFO): DAT read: Bearing 227.1, 30.1 (Local)
2024-08-16T21:11:04.763Z,1723842664.763 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.1, 30.1 (Local)
2024-08-16T21:11:04.764Z,1723842664.764 [DAT](INFO): DAT read: Range 10 to 6 : 16.0 m (Round-trip 21.4 ms) speed 0.0 m/s
2024-08-16T21:11:04.765Z,1723842664.765 [DAT](INFO): #Rx 1: Read range and direction messages.
2024-08-16T21:11:04.766Z,1723842664.766 [DAT](INFO): direction in FSK: [-0.588927,-0.633761,-0.501511]
2024-08-16T21:11:04.766Z,1723842664.766 [DAT](INFO): publishing direction and range info
2024-08-16T21:11:11.511Z,1723842671.511 [MassServo](FAULT): Reading outside of valid range:427079.000000
2024-08-16T21:11:12.293Z,1723842672.293 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 60 meter
2024-08-16T21:11:12.295Z,1723842672.295 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2024-08-16T21:11:12.295Z,1723842672.295 [CommandExec](IMPORTANT): got command maintain sensor acoustic_contact_range 2 meter
2024-08-16T21:11:12.297Z,1723842672.297 [ComponentRegistry](DEBUG): SyncComponent "Maintain_acoustic_contact_range" handled in the control thread.
2024-08-16T21:11:12.441Z,1723842672.441 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_NAL9602.time_fix,Maintain_Depth_Keller.depth,Maintain_acoustic_contact_range,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2024-08-16T21:11:12.597Z,1723842672.597 [lineCaptureHoming:InitialDive:B.Pitch] Stopped
2024-08-16T21:11:12.606Z,1723842672.606 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2024-08-16T21:11:12.606Z,1723842672.606 [lineCaptureHoming:InitialDive] Stopped
2024-08-16T21:11:12.606Z,1723842672.606 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2024-08-16T21:11:12.606Z,1723842672.606 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2024-08-16T21:11:12.606Z,1723842672.606 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2024-08-16T21:11:12.606Z,1723842672.606 [lineCaptureHoming:Lap] Running Loop=1
2024-08-16T21:11:12.607Z,1723842672.607 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2024-08-16T21:11:12.607Z,1723842672.607 [lineCaptureHoming:Lap:A] Running Loop=1
2024-08-16T21:11:12.738Z,1723842672.738 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:11:13.030Z,1723842673.030 [lineCaptureHoming:Lap:A] Stopped
2024-08-16T21:11:13.030Z,1723842673.030 [lineCaptureHoming:Lap:B] Running Loop=1
2024-08-16T21:11:13.427Z,1723842673.427 [lineCaptureHoming:Lap:B] Stopped
2024-08-16T21:11:13.427Z,1723842673.427 [lineCaptureHoming:Lap:C] Running Loop=1
2024-08-16T21:11:14.032Z,1723842674.032 [lineCaptureHoming:Lap:C](INFO): Mode 0.000000 count
2024-08-16T21:11:14.032Z,1723842674.032 [lineCaptureHoming:Lap:C] Stopped
2024-08-16T21:11:14.032Z,1723842674.032 [lineCaptureHoming:Lap:D] Running Loop=1
2024-08-16T21:11:14.032Z,1723842674.032 [lineCaptureHoming:Lap:D](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:D
2024-08-16T21:11:14.368Z,1723842674.368 [lineCaptureHoming:restartDHCP] Running Loop=1
2024-08-16T21:11:14.368Z,1723842674.368 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2024-08-16T21:11:14.368Z,1723842674.368 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2024-08-16T21:11:14.368Z,1723842674.368 [lineCaptureHoming:restartDHCP:A](IMPORTANT): Restarting DHCP...
2024-08-16T21:11:14.368Z,1723842674.368 [lineCaptureHoming:restartDHCP:A] Stopped
2024-08-16T21:11:14.368Z,1723842674.368 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2024-08-16T21:11:14.511Z,1723842674.511 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 75 meter
2024-08-16T21:11:14.740Z,1723842674.740 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2024-08-16T21:11:14.740Z,1723842674.740 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2024-08-16T21:11:14.740Z,1723842674.740 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2024-08-16T21:11:14.740Z,1723842674.740 [lineCaptureHoming:restartDHCP] Stopped
2024-08-16T21:11:14.741Z,1723842674.741 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2024-08-16T21:11:14.824Z,1723842674.824 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2024-08-16T21:11:15.195Z,1723842675.195 [lineCaptureHoming:Lap:D](INFO): Completed lineCaptureHoming:Lap:D
2024-08-16T21:11:15.196Z,1723842675.196 [lineCaptureHoming:Lap:D] Stopped
2024-08-16T21:11:15.196Z,1723842675.196 [lineCaptureHoming:Lap:D](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:D
2024-08-16T21:11:15.196Z,1723842675.196 [lineCaptureHoming:Lap:Docked] Running Loop=1
2024-08-16T21:11:15.196Z,1723842675.196 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2024-08-16T21:11:15.196Z,1723842675.196 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2024-08-16T21:11:15.696Z,1723842675.696 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 10.000000 min
2024-08-16T21:11:15.696Z,1723842675.696 [lineCaptureHoming:Lap:Docked:A] Stopped
2024-08-16T21:11:15.696Z,1723842675.696 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2024-08-16T21:11:15.708Z,1723842675.708 [CommandExec](IMPORTANT): /mnt/mmc/started/2024-08-16UTC211115_sh
2024-08-16T21:11:15.919Z,1723842675.919 [NAL9602](INFO): Not Powering down - fast GPS
2024-08-16T21:11:15.988Z,1723842675.988 [lineCaptureHoming:Lap:Docked:C] Stopped
2024-08-16T21:11:15.988Z,1723842675.988 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2024-08-16T21:11:15.988Z,1723842675.988 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2024-08-16T21:11:15.988Z,1723842675.988 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2024-08-16T21:11:16.407Z,1723842676.407 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DOCKED.. Waiting for state timeout to act...
2024-08-16T21:11:16.407Z,1723842676.407 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 6 to 1
2024-08-16T21:11:16.408Z,1723842676.408 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2024-08-16T21:11:16.687Z,1723842676.687 [DockingStepper](INFO): Resume
2024-08-16T21:11:16.908Z,1723842676.908 [DockingStepper](INFO): Resuming
2024-08-16T21:11:17.098Z,1723842677.098 [DAT](IMPORTANT): Requesting device enable set for address 6.
2024-08-16T21:11:17.259Z,1723842677.259 [DockingStepper](INFO): Start
2024-08-16T21:11:17.259Z,1723842677.259 [DockingStepper](DEBUG): Initializing EZServoServo.
2024-08-16T21:11:17.351Z,1723842677.351 [DAT](INFO): DAT read: user:212>
2024-08-16T21:11:17.351Z,1723842677.351 [DAT](INFO): DAT read: Tx time:21:11:16.4368
2024-08-16T21:11:17.352Z,1723842677.352 [DAT](INFO): Ping request sent.
2024-08-16T21:11:17.352Z,1723842677.352 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:11:17.352Z,1723842677.352 [DAT](INFO): publishing transmit ping time
2024-08-16T21:11:17.353Z,1723842677.353 [DAT](IMPORTANT): Requesting device enable set for address 6.
2024-08-16T21:11:17.382Z,1723842677.382 [DockingStepper](DEBUG): Initializing DockingStepper.
2024-08-16T21:11:17.603Z,1723842677.603 [DAT](IMPORTANT): Requesting device enable set for address 6.
2024-08-16T21:11:17.771Z,1723842677.771 [DockingStepper](INFO): Starting
2024-08-16T21:11:18.013Z,1723842678.013 [DockingStepper](INFO): Starting
2024-08-16T21:11:18.427Z,1723842678.427 [DockingStepper](INFO): Starting
2024-08-16T21:11:18.491Z,1723842678.491 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2024-08-16T21:11:18.849Z,1723842678.849 [DockingStepper](INFO): Starting
2024-08-16T21:11:19.251Z,1723842679.251 [DockingStepper](INFO): Starting
2024-08-16T21:11:19.719Z,1723842679.719 [DockingStepper](INFO): Starting
2024-08-16T21:11:19.871Z,1723842679.871 [DAT](INFO): DAT read: Rx Time:21:11:18.3462
2024-08-16T21:11:19.871Z,1723842679.871 [DAT](INFO): Rx dataTimestamp_ set to:1723842679.870884
2024-08-16T21:11:20.199Z,1723842680.199 [DockingStepper](INFO): Starting
2024-08-16T21:11:20.228Z,1723842680.228 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2024-08-16T21:11:20.374Z,1723842680.374 [DAT](INFO): DAT read: OK
2024-08-16T21:11:20.375Z,1723842680.375 [DAT](INFO): unknown deviceResponse_: OK
2024-08-16T21:11:20.375Z,1723842680.375 [DAT](INFO): DAT read: user:213>
2024-08-16T21:11:20.376Z,1723842680.376 [DAT](INFO): DAT read: Tx time:21:11:19.4368
2024-08-16T21:11:20.376Z,1723842680.376 [DAT](INFO): Ping request sent.
2024-08-16T21:11:20.376Z,1723842680.376 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:11:20.376Z,1723842680.376 [DAT](INFO): publishing transmit ping time
2024-08-16T21:11:20.535Z,1723842680.535 [DockingStepper](INFO): Starting
2024-08-16T21:11:20.903Z,1723842680.903 [DockingStepper](INFO): Changing to mode: 1
2024-08-16T21:11:20.903Z,1723842680.903 [DockingStepper](INFO): Standby mode.
2024-08-16T21:11:22.643Z,1723842682.643 [DAT](INFO): DAT read: Rx Time:21:11:21.3462
2024-08-16T21:11:22.643Z,1723842682.643 [DAT](INFO): Rx dataTimestamp_ set to:1723842682.643052
2024-08-16T21:11:22.927Z,1723842682.927 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:11:23.403Z,1723842683.403 [DAT](INFO): DAT read: 21:11:21.3462 LVL= 13552, 14289, 15346, 21107, AGC= 66, IDX= 436,-0.11,-0.237, 1.293, 1.260, 0.445, PHS=-0.594, 0.894, 0.812, RAW= 272.8, -15.2, CAL= 276.5, -24.5, ROT= 233.5, 24.5
2024-08-16T21:11:23.404Z,1723842683.404 [DAT](INFO): got valid direction response:
21:11:21.3462 LVL= 13552, 14289, 15346, 21107, AGC= 66, IDX= 436,-0.11,-0.237, 1.293, 1.260, 0.445, PHS=-0.594, 0.894, 0.812, RAW= 272.8, -15.2, CAL= 276.5, -24.5, ROT= 233.5, 24.5
2024-08-16T21:11:23.404Z,1723842683.404 [DAT](INFO): DAT read: OK
2024-08-16T21:11:23.405Z,1723842683.405 [DAT](INFO): unknown deviceResponse_: OK
2024-08-16T21:11:23.405Z,1723842683.405 [DAT](INFO): DAT read: user:214>
2024-08-16T21:11:23.406Z,1723842683.406 [DAT](INFO): DAT read: Tx time:21:11:22.4368
2024-08-16T21:11:23.406Z,1723842683.406 [DAT](INFO): Ping request sent.
2024-08-16T21:11:23.406Z,1723842683.406 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:11:23.407Z,1723842683.407 [DAT](INFO): #Rx 2: Read direction message, but no range.
2024-08-16T21:11:23.408Z,1723842683.408 [DAT](INFO): direction in FSK: [-0.541266,-0.731479,-0.414693]
2024-08-16T21:11:23.408Z,1723842683.408 [DAT](INFO): publishing transmit ping time
2024-08-16T21:11:23.411Z,1723842683.411 [DAT](INFO): publishing transmit ping time
2024-08-16T21:11:25.679Z,1723842685.679 [DAT](INFO): DAT read: Rx Time:21:11:24.3462
2024-08-16T21:11:25.679Z,1723842685.679 [DAT](INFO): Rx dataTimestamp_ set to:1723842685.678757
2024-08-16T21:11:26.188Z,1723842686.188 [DAT](INFO): DAT read: 21:11:24.3462 LVL= 14512, 14673, 14018, 22163, AGC= 66, IDX= 435, 0.28, 2.323,-2.447,-2.909, 2.689, PHS=-0.278, 1.194, 0.682, RAW= 290.0, -23.6, CAL= 288.2, -34.3, ROT= 221.8, 34.3
2024-08-16T21:11:26.189Z,1723842686.189 [DAT](INFO): got valid direction response:
21:11:24.3462 LVL= 14512, 14673, 14018, 22163, AGC= 66, IDX= 435, 0.28, 2.323,-2.447,-2.909, 2.689, PHS=-0.278, 1.194, 0.682, RAW= 290.0, -23.6, CAL= 288.2, -34.3, ROT= 221.8, 34.3
2024-08-16T21:11:26.190Z,1723842686.190 [DAT](INFO): DAT read: OK
2024-08-16T21:11:26.191Z,1723842686.191 [DAT](INFO): unknown deviceResponse_: OK
2024-08-16T21:11:26.191Z,1723842686.191 [DAT](INFO): #Rx 3: Read direction message, but no range.
2024-08-16T21:11:26.192Z,1723842686.192 [DAT](INFO): direction in FSK: [-0.615836,-0.550621,-0.563526]
2024-08-16T21:11:32.670Z,1723842692.670 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:11:41.882Z,1723842701.882 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:11:46.805Z,1723842706.805 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DOCKED at depth of 75.000000 without power and with comms
2024-08-16T21:11:53.806Z,1723842713.806 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:12:04.995Z,1723842724.995 [CommandExec](IMPORTANT): got command stop
2024-08-16T21:12:04.995Z,1723842724.995 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2024-08-16T21:12:05.367Z,1723842725.367 [MissionManager](INFO): MissionManager is completed.
2024-08-16T21:12:05.367Z,1723842725.367 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2024-08-16T21:12:05.367Z,1723842725.367 [lineCaptureHoming] Stopped
2024-08-16T21:12:05.367Z,1723842725.367 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2024-08-16T21:12:05.368Z,1723842725.368 [lineCaptureHoming:TrackAC.] Stopped
2024-08-16T21:12:05.368Z,1723842725.368 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2024-08-16T21:12:05.368Z,1723842725.368 [lineCaptureHoming:Lap] Stopped
2024-08-16T21:12:05.368Z,1723842725.368 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2024-08-16T21:12:05.368Z,1723842725.368 [lineCaptureHoming:Lap:Docked] Stopped
2024-08-16T21:12:05.368Z,1723842725.368 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2024-08-16T21:12:05.368Z,1723842725.368 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2024-08-16T21:12:05.550Z,1723842725.550 [DAT](IMPORTANT): Requesting device enable clr for address 6.
2024-08-16T21:12:05.803Z,1723842725.803 [DAT](INFO): DAT read: user:215>
2024-08-16T21:12:05.803Z,1723842725.803 [DAT](INFO): DAT read: Tx time:21:12:04.8875
2024-08-16T21:12:05.804Z,1723842725.804 [DAT](INFO): Ping request sent.
2024-08-16T21:12:05.804Z,1723842725.804 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:12:05.804Z,1723842725.804 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:05.804Z,1723842725.804 [DAT](IMPORTANT): Requesting device enable clr for address 6.
2024-08-16T21:12:05.986Z,1723842725.986 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2024-08-16T21:12:05.986Z,1723842725.986 [DefaultWithUndock] Running Loop=1
2024-08-16T21:12:05.986Z,1723842725.986 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2024-08-16T21:12:05.987Z,1723842725.987 [DefaultWithUndock:A.Wait] Running Loop=1
2024-08-16T21:12:05.987Z,1723842725.987 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2024-08-16T21:12:06.055Z,1723842726.055 [DAT](IMPORTANT): Requesting device enable clr for address 6.
2024-08-16T21:12:06.135Z,1723842726.135 [DockingStepper](INFO): Pause
2024-08-16T21:12:07.568Z,1723842727.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:12:08.323Z,1723842728.323 [DAT](INFO): DAT read: Rx Time:21:12:06.7959
2024-08-16T21:12:08.323Z,1723842728.323 [DAT](INFO): Rx dataTimestamp_ set to:1723842728.322845
2024-08-16T21:12:08.831Z,1723842728.831 [DAT](INFO): DAT read: 21:12:06.7959 LVL= 11472, 12129, 12962, 18867, AGC= 67, IDX= 426,-0.09, 0.088, 1.546, 1.229, 0.500, PHS=-0.324, 1.094, 0.726, RAW= 284.5, -22.6, CAL= 283.2, -33.0, ROT= 226.8, 33.0
2024-08-16T21:12:08.832Z,1723842728.832 [DAT](INFO): got valid direction response:
21:12:06.7959 LVL= 11472, 12129, 12962, 18867, AGC= 67, IDX= 426,-0.09, 0.088, 1.546, 1.229, 0.500, PHS=-0.324, 1.094, 0.726, RAW= 284.5, -22.6, CAL= 283.2, -33.0, ROT= 226.8, 33.0
2024-08-16T21:12:08.833Z,1723842728.833 [DAT](INFO): DAT read: OK
2024-08-16T21:12:08.833Z,1723842728.833 [DAT](INFO): unknown deviceResponse_: OK
2024-08-16T21:12:08.833Z,1723842728.833 [DAT](INFO): DAT read: user:216>
2024-08-16T21:12:08.834Z,1723842728.834 [DAT](INFO): DAT read: Tx time:21:12:07.8875
2024-08-16T21:12:08.835Z,1723842728.835 [DAT](INFO): Ping request sent.
2024-08-16T21:12:08.835Z,1723842728.835 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:12:08.835Z,1723842728.835 [DAT](INFO): #Rx 4: Read direction message, but no range.
2024-08-16T21:12:08.836Z,1723842728.836 [DAT](INFO): direction in FSK: [-0.574110,-0.611364,-0.544639]
2024-08-16T21:12:08.836Z,1723842728.836 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:08.839Z,1723842728.839 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:11.095Z,1723842731.095 [DAT](INFO): DAT read: Rx Time:21:12:09.7965
2024-08-16T21:12:11.095Z,1723842731.095 [DAT](INFO): Rx dataTimestamp_ set to:1723842731.095104
2024-08-16T21:12:11.855Z,1723842731.855 [DAT](INFO): DAT read: 21:12:09.7965 LVL= 12656, 14705, 14290, 19219, AGC= 66, IDX= 447, 0.25,-2.627,-1.240,-1.685,-2.392, PHS=-0.147, 1.199, 0.704, RAW= 291.3, -27.8, CAL= 286.0, -39.9, ROT= 224.0, 39.9
2024-08-16T21:12:11.856Z,1723842731.856 [DAT](INFO): got valid direction response:
21:12:09.7965 LVL= 12656, 14705, 14290, 19219, AGC= 66, IDX= 447, 0.25,-2.627,-1.240,-1.685,-2.392, PHS=-0.147, 1.199, 0.704, RAW= 291.3, -27.8, CAL= 286.0, -39.9, ROT= 224.0, 39.9
2024-08-16T21:12:11.857Z,1723842731.857 [DAT](INFO): DAT read: OK
2024-08-16T21:12:11.857Z,1723842731.857 [DAT](INFO): unknown deviceResponse_: OK
2024-08-16T21:12:11.857Z,1723842731.857 [DAT](INFO): DAT read: user:217>
2024-08-16T21:12:11.858Z,1723842731.858 [DAT](INFO): DAT read: Tx time:21:12:10.8875
2024-08-16T21:12:11.859Z,1723842731.859 [DAT](INFO): Ping request sent.
2024-08-16T21:12:11.859Z,1723842731.859 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:12:11.859Z,1723842731.859 [DAT](INFO): #Rx 5: Read direction message, but no range.
2024-08-16T21:12:11.860Z,1723842731.860 [DAT](INFO): direction in FSK: [-0.551852,-0.532918,-0.641450]
2024-08-16T21:12:11.861Z,1723842731.861 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:11.863Z,1723842731.863 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:14.119Z,1723842734.119 [DAT](INFO): DAT read: Rx Time:21:12:12.7958
2024-08-16T21:12:14.119Z,1723842734.119 [DAT](INFO): Rx dataTimestamp_ set to:1723842734.118905
2024-08-16T21:12:14.627Z,1723842734.627 [DAT](INFO): DAT read: 21:12:12.7958 LVL= 13552, 16945, 16146, 22067, AGC= 67, IDX= 425,-0.09,-0.096, 1.579, 1.204, 0.455, PHS=-0.464, 1.171, 0.746, RAW= 284.5, -19.3, CAL= 285.8, -28.8, ROT= 224.2, 28.8
2024-08-16T21:12:14.628Z,1723842734.628 [DAT](INFO): got valid direction response:
21:12:12.7958 LVL= 13552, 16945, 16146, 22067, AGC= 67, IDX= 425,-0.09,-0.096, 1.579, 1.204, 0.455, PHS=-0.464, 1.171, 0.746, RAW= 284.5, -19.3, CAL= 285.8, -28.8, ROT= 224.2, 28.8
2024-08-16T21:12:14.629Z,1723842734.629 [DAT](INFO): DAT read: OK
2024-08-16T21:12:14.629Z,1723842734.629 [DAT](INFO): unknown deviceResponse_: OK
2024-08-16T21:12:14.629Z,1723842734.629 [DAT](INFO): #Rx 6: Read direction message, but no range.
2024-08-16T21:12:14.630Z,1723842734.630 [DAT](INFO): direction in FSK: [-0.628234,-0.610930,-0.481754]
2024-08-16T21:12:22.010Z,1723842742.010 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:12:31.046Z,1723842751.046 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:12:32.016Z,1723842752.016 [CommandExec](IMPORTANT): got command maintain clear
2024-08-16T21:12:32.256Z,1723842752.256 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2024-08-16T21:12:36.225Z,1723842756.225 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2024-08-16T21:12:36.225Z,1723842756.225 [DefaultWithUndock:A.Wait] Stopped
2024-08-16T21:12:36.230Z,1723842756.230 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2024-08-16T21:12:36.230Z,1723842756.230 [DefaultWithUndock:LeaveDock] Running Loop=1
2024-08-16T21:12:36.230Z,1723842756.230 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2024-08-16T21:12:36.230Z,1723842756.230 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2024-08-16T21:12:36.230Z,1723842756.230 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2024-08-16T21:12:36.230Z,1723842756.230 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2024-08-16T21:12:36.230Z,1723842756.230 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2024-08-16T21:12:36.230Z,1723842756.230 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2024-08-16T21:12:36.656Z,1723842756.656 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2024-08-16T21:12:36.656Z,1723842756.656 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2024-08-16T21:12:36.657Z,1723842756.657 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth -0.284619 m.
2024-08-16T21:12:36.847Z,1723842756.847 [DockingStepper](INFO): Resume
2024-08-16T21:12:37.016Z,1723842757.016 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2024-08-16T21:12:37.047Z,1723842757.047 [DockingStepper](INFO): Resuming
2024-08-16T21:12:37.463Z,1723842757.463 [DockingStepper](INFO): Start
2024-08-16T21:12:37.464Z,1723842757.464 [DockingStepper](DEBUG): Initializing EZServoServo.
2024-08-16T21:12:37.583Z,1723842757.583 [DockingStepper](DEBUG): Initializing DockingStepper.
2024-08-16T21:12:38.094Z,1723842758.094 [DockingStepper](INFO): Starting
2024-08-16T21:12:38.412Z,1723842758.412 [DockingStepper](INFO): Starting
2024-08-16T21:12:38.660Z,1723842758.660 [DockingStepper](INFO): Starting
2024-08-16T21:12:38.710Z,1723842758.710 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2024-08-16T21:12:39.037Z,1723842759.037 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2024-08-16T21:12:39.042Z,1723842759.042 [DockingStepper](INFO): Starting
2024-08-16T21:12:39.075Z,1723842759.075 [DAT](INFO): ****** received valid address query ******
2024-08-16T21:12:39.075Z,1723842759.075 [DAT](INFO): ****** received valid ping request ******
2024-08-16T21:12:39.075Z,1723842759.075 [DAT](INFO): Querying Benthos address 6 with one ping in standard two-way mode.
2024-08-16T21:12:39.327Z,1723842759.327 [DAT](INFO): DAT read: user:218>
2024-08-16T21:12:39.327Z,1723842759.327 [DAT](INFO): DAT read: Tx time:21:12:38.3889
2024-08-16T21:12:39.328Z,1723842759.328 [DAT](INFO): Ping request sent.
2024-08-16T21:12:39.328Z,1723842759.328 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:12:39.328Z,1723842759.328 [DAT](INFO): DAT read: TxSync time:21:12:38.3881
2024-08-16T21:12:39.329Z,1723842759.329 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:39.330Z,1723842759.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001553
2024-08-16T21:12:39.551Z,1723842759.551 [DockingStepper](INFO): Starting
2024-08-16T21:12:39.579Z,1723842759.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250835
2024-08-16T21:12:39.826Z,1723842759.826 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:12:39.835Z,1723842759.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506940
2024-08-16T21:12:39.899Z,1723842759.899 [DockingStepper](INFO): Starting
2024-08-16T21:12:40.087Z,1723842760.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758795
2024-08-16T21:12:40.339Z,1723842760.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011245
2024-08-16T21:12:40.411Z,1723842760.411 [DockingStepper](INFO): Starting
2024-08-16T21:12:40.438Z,1723842760.438 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2024-08-16T21:12:40.591Z,1723842760.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262985
2024-08-16T21:12:40.715Z,1723842760.715 [DockingStepper](INFO): Starting
2024-08-16T21:12:40.843Z,1723842760.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514807
2024-08-16T21:12:41.095Z,1723842761.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766736
2024-08-16T21:12:41.115Z,1723842761.115 [DockingStepper](INFO): Changing to mode: 1
2024-08-16T21:12:41.115Z,1723842761.115 [DockingStepper](INFO): Standby mode.
2024-08-16T21:12:41.347Z,1723842761.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018932
2024-08-16T21:12:41.547Z,1723842761.547 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2024-08-16T21:12:41.599Z,1723842761.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270854
2024-08-16T21:12:41.851Z,1723842761.851 [DAT](INFO): DAT read: Rx Time:21:12:40.4394
2024-08-16T21:12:41.851Z,1723842761.851 [DAT](INFO): Rx dataTimestamp_ set to:1723842761.850794
2024-08-16T21:12:41.852Z,1723842761.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523750
2024-08-16T21:12:42.103Z,1723842762.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775014
2024-08-16T21:12:42.365Z,1723842762.365 [DAT](INFO): DAT read: 21:12:40.4394 LVL= 13392, 15857, 15650, 23027, AGC= 66, IDX= 355,-0.08, 0.464, 2.758, 2.169, 1.354, PHS=-0.802, 1.451, 0.812, RAW= 286.0, -14.4, CAL= 291.5, -21.7, ROT= 218.5, 21.7
2024-08-16T21:12:42.369Z,1723842762.369 [DAT](INFO): got valid direction response:
21:12:40.4394 LVL= 13392, 15857, 15650, 23027, AGC= 66, IDX= 355,-0.08, 0.464, 2.758, 2.169, 1.354, PHS=-0.802, 1.451, 0.812, RAW= 286.0, -14.4, CAL= 291.5, -21.7, ROT= 218.5, 21.7
2024-08-16T21:12:42.378Z,1723842762.378 [DAT](INFO): DAT read: Bearing 158, -8 (Remote)
2024-08-16T21:12:42.379Z,1723842762.379 [DAT](INFO): Remote Bearing received:Bearing 158, -8 (Remote)
2024-08-16T21:12:42.380Z,1723842762.380 [DAT](INFO): DAT read: Range 10 to 6 : 15.9 m (Round-trip 21.3 ms) speed 0.0 m/s
2024-08-16T21:12:42.381Z,1723842762.381 [DAT](INFO): #Rx 1: Read range and direction messages.
2024-08-16T21:12:42.390Z,1723842762.390 [DAT](INFO): direction in FSK: [-0.727147,-0.578399,-0.369747]
2024-08-16T21:12:42.391Z,1723842762.391 [DAT](INFO): publishing direction and range info
2024-08-16T21:12:42.404Z,1723842762.404 [DAT](INFO): ****** received valid address query ******
2024-08-16T21:12:42.404Z,1723842762.404 [DAT](INFO): ****** received valid ping request ******
2024-08-16T21:12:42.404Z,1723842762.404 [DAT](INFO): Querying Benthos address 6 with one ping in standard two-way mode.
2024-08-16T21:12:42.606Z,1723842762.606 [DAT](INFO): DAT read: user:219>
2024-08-16T21:12:42.607Z,1723842762.607 [DAT](INFO): DAT read: Tx time:21:12:41.7389
2024-08-16T21:12:42.608Z,1723842762.608 [DAT](INFO): Ping request sent.
2024-08-16T21:12:42.608Z,1723842762.608 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:12:42.608Z,1723842762.608 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:42.608Z,1723842762.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2024-08-16T21:12:42.859Z,1723842762.859 [DAT](INFO): DAT read: TxSync time:21:12:41.7381
2024-08-16T21:12:42.860Z,1723842762.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252289
2024-08-16T21:12:43.111Z,1723842763.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503057
2024-08-16T21:12:43.363Z,1723842763.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755134
2024-08-16T21:12:43.615Z,1723842763.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007495
2024-08-16T21:12:43.867Z,1723842763.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259051
2024-08-16T21:12:44.119Z,1723842764.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510936
2024-08-16T21:12:44.307Z,1723842764.307 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2024-08-16T21:12:44.371Z,1723842764.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763586
2024-08-16T21:12:44.623Z,1723842764.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015017
2024-08-16T21:12:44.875Z,1723842764.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267056
2024-08-16T21:12:45.126Z,1723842765.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518804
2024-08-16T21:12:45.379Z,1723842765.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771004
2024-08-16T21:12:45.631Z,1723842765.631 [DAT](INFO): DAT read: Rx Time:21:12:44.1646
2024-08-16T21:12:45.631Z,1723842765.631 [DAT](INFO): Rx dataTimestamp_ set to:1723842765.630876
2024-08-16T21:12:45.632Z,1723842765.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024035
2024-08-16T21:12:45.883Z,1723842765.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274986
2024-08-16T21:12:46.140Z,1723842766.140 [DAT](INFO): DAT read: 21:12:44.1646 LVL= 10512, 9873, 8114, 10899, AGC= 67, IDX= 179, 0.16, 3.044,-1.407,-1.784,-2.531, PHS=-0.619, 1.172, 0.744, RAW= 283.2, -15.8, CAL= 287.4, -24.0, ROT= 222.6, 24.0
2024-08-16T21:12:46.141Z,1723842766.141 [DAT](INFO): got valid direction response:
21:12:44.1646 LVL= 10512, 9873, 8114, 10899, AGC= 67, IDX= 179, 0.16, 3.044,-1.407,-1.784,-2.531, PHS=-0.619, 1.172, 0.744, RAW= 283.2, -15.8, CAL= 287.4, -24.0, ROT= 222.6, 24.0
2024-08-16T21:12:46.167Z,1723842766.167 [DAT](INFO): DAT read: Bearing 222.6, 24.0 (Local)
2024-08-16T21:12:46.167Z,1723842766.167 [DAT](INFO): Local bearing/azimuth received:
Bearing 222.6, 24.0 (Local)
2024-08-16T21:12:46.168Z,1723842766.168 [DAT](INFO): DAT read: Range 10 to 6 : 16.0 m (Round-trip 21.4 ms) speed 0.3 m/s
2024-08-16T21:12:46.169Z,1723842766.169 [DAT](INFO): #Rx 1: Read range and direction messages.
2024-08-16T21:12:46.175Z,1723842766.175 [DAT](INFO): direction in FSK: [-0.672458,-0.618357,-0.406737]
2024-08-16T21:12:46.175Z,1723842766.175 [DAT](INFO): publishing direction and range info
2024-08-16T21:12:46.182Z,1723842766.182 [DAT](INFO): ****** received valid address query ******
2024-08-16T21:12:46.183Z,1723842766.183 [DAT](INFO): ****** received valid ping request ******
2024-08-16T21:12:46.183Z,1723842766.183 [DAT](INFO): Querying Benthos address 6 with one ping in standard two-way mode.
2024-08-16T21:12:46.387Z,1723842766.387 [DAT](INFO): DAT read: user:220>
2024-08-16T21:12:46.387Z,1723842766.387 [DAT](INFO): DAT read: Tx time:21:12:45.4890
2024-08-16T21:12:46.388Z,1723842766.388 [DAT](INFO): Ping request sent.
2024-08-16T21:12:46.388Z,1723842766.388 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:12:46.388Z,1723842766.388 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:46.388Z,1723842766.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2024-08-16T21:12:46.639Z,1723842766.639 [DAT](INFO): DAT read: TxSync time:21:12:45.4882
2024-08-16T21:12:46.640Z,1723842766.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252117
2024-08-16T21:12:46.891Z,1723842766.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502953
2024-08-16T21:12:47.123Z,1723842767.123 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2024-08-16T21:12:47.142Z,1723842767.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754717
2024-08-16T21:12:47.395Z,1723842767.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007118
2024-08-16T21:12:47.647Z,1723842767.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258897
2024-08-16T21:12:47.899Z,1723842767.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510835
2024-08-16T21:12:48.151Z,1723842768.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762787
2024-08-16T21:12:48.403Z,1723842768.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015470
2024-08-16T21:12:48.655Z,1723842768.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266798
2024-08-16T21:12:48.907Z,1723842768.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518845
2024-08-16T21:12:49.159Z,1723842769.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770990
2024-08-16T21:12:49.412Z,1723842769.412 [DAT](INFO): DAT read: Rx Time:21:12:47.9145
2024-08-16T21:12:49.413Z,1723842769.413 [DAT](INFO): Rx dataTimestamp_ set to:1723842769.412101
2024-08-16T21:12:49.415Z,1723842769.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026933
2024-08-16T21:12:49.625Z,1723842769.625 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2024-08-16T21:12:49.663Z,1723842769.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275077
2024-08-16T21:12:49.915Z,1723842769.915 [DAT](INFO): DAT read: Range 10 to 6 : 15.9 m (Round-trip 21.3 ms) speed 0.1 m/s
2024-08-16T21:12:49.916Z,1723842769.916 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2024-08-16T21:12:49.917Z,1723842769.917 [DAT](INFO): ****** received valid address query ******
2024-08-16T21:12:49.917Z,1723842769.917 [DAT](INFO): ****** received valid ping request ******
2024-08-16T21:12:49.917Z,1723842769.917 [DAT](INFO): Querying Benthos address 6 with one ping in standard two-way mode.
2024-08-16T21:12:50.095Z,1723842770.095 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:12:50.167Z,1723842770.167 [DAT](INFO): DAT read: user:221>
2024-08-16T21:12:50.167Z,1723842770.167 [DAT](INFO): DAT read: Tx time:21:12:49.2390
2024-08-16T21:12:50.168Z,1723842770.168 [DAT](INFO): Ping request sent.
2024-08-16T21:12:50.168Z,1723842770.168 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:12:50.168Z,1723842770.168 [DAT](INFO): publishing transmit ping time
2024-08-16T21:12:50.169Z,1723842770.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2024-08-16T21:12:50.419Z,1723842770.419 [DAT](INFO): DAT read: TxSync time:21:12:49.2382
2024-08-16T21:12:50.420Z,1723842770.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251671
2024-08-16T21:12:50.671Z,1723842770.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502869
2024-08-16T21:12:50.923Z,1723842770.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754824
2024-08-16T21:12:50.936Z,1723842770.936 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2024-08-16T21:12:50.937Z,1723842770.937 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2024-08-16T21:12:50.937Z,1723842770.937 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2024-08-16T21:12:50.940Z,1723842770.940 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2024-08-16T21:12:51.175Z,1723842771.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007065
2024-08-16T21:12:51.427Z,1723842771.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258837
2024-08-16T21:12:51.679Z,1723842771.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510719
2024-08-16T21:12:51.931Z,1723842771.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763199
2024-08-16T21:12:52.183Z,1723842772.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014841
2024-08-16T21:12:52.451Z,1723842772.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283099
2024-08-16T21:12:52.703Z,1723842772.703 [DAT](INFO): DAT read: Rx Time:21:12:51.2897
2024-08-16T21:12:52.703Z,1723842772.703 [DAT](INFO): Rx dataTimestamp_ set to:1723842772.702893
2024-08-16T21:12:52.704Z,1723842772.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535875
2024-08-16T21:12:52.955Z,1723842772.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786897
2024-08-16T21:12:53.212Z,1723842773.212 [DAT](INFO): DAT read: 21:12:51.2897 LVL= 8832, 10017, 7842, 9955, AGC= 67, IDX= 179,-0.08, 2.849,-1.464,-1.905,-2.673, PHS=-0.673, 1.256, 0.765, RAW= 284.2, -15.4, CAL= 288.8, -23.3, ROT= 221.2, 23.3
2024-08-16T21:12:53.213Z,1723842773.213 [DAT](INFO): got valid direction response:
21:12:51.2897 LVL= 8832, 10017, 7842, 9955, AGC= 67, IDX= 179,-0.08, 2.849,-1.464,-1.905,-2.673, PHS=-0.673, 1.256, 0.765, RAW= 284.2, -15.4, CAL= 288.8, -23.3, ROT= 221.2, 23.3
2024-08-16T21:12:53.214Z,1723842773.214 [DAT](INFO): DAT read: Bearing 160, -3 (Remote)
2024-08-16T21:12:53.215Z,1723842773.215 [DAT](INFO): Remote Bearing received:Bearing 160, -3 (Remote)
2024-08-16T21:12:53.216Z,1723842773.216 [DAT](INFO): DAT read: Bearing 221.2, 23.3 (Local)
2024-08-16T21:12:53.216Z,1723842773.216 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.2, 23.3 (Local)
2024-08-16T21:12:53.217Z,1723842773.217 [DAT](INFO): DAT read: Range 10 to 6 : 16.0 m (Round-trip 21.4 ms) speed 0.0 m/s
2024-08-16T21:12:53.222Z,1723842773.222 [DAT](INFO): #Rx 1: Read range and direction messages.
2024-08-16T21:12:53.223Z,1723842773.223 [DAT](INFO): direction in FSK: [-0.691053,-0.604971,-0.395545]
2024-08-16T21:12:53.223Z,1723842773.223 [DAT](INFO): publishing direction and range info
2024-08-16T21:12:56.675Z,1723842776.675 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
4
240
5
1
5
2
5
5
2
2
3
1
60
2.5
2
5
1
1
40
50.0
5
NaN
NaN
NaN
5
205
2
20
0.05
NaN
NaN
NaN
60
-1
1
1
0
0
No longer in Terminal. Resuming normal ranging with
pings.
5
Entering USBL mode with
pings at
(mode
).
5
Resuming normal ranging with
pings
(mode
).
5
Entering Midcourse tracking update period
sec at
(mode
).
5
0
Entering Terminal tracking update period
sec at
(mode
).
Restarting DHCP...
! /mnt/mmc/LRAUV/Tools/dhcp.sh
Restarting logs
restart logs
Timed out trying to reach the target depth. Stopping mission at current depth of
stop
-99
0
Mode
0
Waiting on dock for
Breaking off. Range:
.
Driving to post-undock waypoint
,
No post-undock waypoint, drifting for
minutes
0
0
0
2024-08-16T21:12:56.706Z,1723842776.706 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2024-08-16T21:12:56.708Z,1723842776.708 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 240.000000 min
2024-08-16T21:12:56.714Z,1723842776.714 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 5.000000 min
2024-08-16T21:12:56.716Z,1723842776.716 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2024-08-16T21:12:56.760Z,1723842776.760 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2024-08-16T21:12:56.770Z,1723842776.770 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2024-08-16T21:12:56.771Z,1723842776.771 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2024-08-16T21:12:56.782Z,1723842776.782 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 2.000000 count
2024-08-16T21:12:56.784Z,1723842776.784 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 5.000000 min
2024-08-16T21:12:56.818Z,1723842776.818 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 5.000000 min
2024-08-16T21:12:56.820Z,1723842776.820 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideDriveDuration = 2.000000 min
2024-08-16T21:12:56.840Z,1723842776.840 [MissionManager](INFO): DefineArg lineCaptureHoming.TryWiggle = 0 bool
2024-08-16T21:12:56.867Z,1723842776.867 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideWiggleCount = 2.000000 count
2024-08-16T21:12:56.869Z,1723842776.869 [MissionManager](INFO): DefineArg lineCaptureHoming.TryJog = 0 bool
2024-08-16T21:12:56.880Z,1723842776.880 [MissionManager](INFO): DefineArg lineCaptureHoming.JogLength = 3.000000 s
2024-08-16T21:12:56.893Z,1723842776.893 [MissionManager](INFO): DefineArg lineCaptureHoming.TryWhirl = 0 bool
2024-08-16T21:12:56.903Z,1723842776.903 [MissionManager](INFO): DefineArg lineCaptureHoming.WhirlSpeed = 1.000000 m/s
2024-08-16T21:12:56.920Z,1723842776.920 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 6 count
2024-08-16T21:12:56.935Z,1723842776.935 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2024-08-16T21:12:56.937Z,1723842776.937 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.500000 s
2024-08-16T21:12:56.951Z,1723842776.951 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2024-08-16T21:12:56.968Z,1723842776.968 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2024-08-16T21:12:56.984Z,1723842776.984 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2024-08-16T21:12:56.999Z,1723842776.999 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 1.000000 count
2024-08-16T21:12:57.010Z,1723842777.010 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2024-08-16T21:12:57.012Z,1723842777.012 [MissionManager](INFO): DefineArg lineCaptureHoming.LightRange = 50.000000 m
2024-08-16T21:12:57.022Z,1723842777.022 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2024-08-16T21:12:57.024Z,1723842777.024 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2024-08-16T21:12:57.043Z,1723842777.043 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2024-08-16T21:12:57.045Z,1723842777.045 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2024-08-16T21:12:57.060Z,1723842777.060 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2024-08-16T21:12:57.075Z,1723842777.075 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2024-08-16T21:12:57.086Z,1723842777.086 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2024-08-16T21:12:57.088Z,1723842777.088 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2024-08-16T21:12:57.099Z,1723842777.099 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2024-08-16T21:12:57.101Z,1723842777.101 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2024-08-16T21:12:57.135Z,1723842777.135 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2024-08-16T21:12:57.146Z,1723842777.146 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2024-08-16T21:12:57.148Z,1723842777.148 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2024-08-16T21:12:57.161Z,1723842777.161 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2024-08-16T21:12:57.172Z,1723842777.172 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2024-08-16T21:12:57.180Z,1723842777.180 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2024-08-16T21:12:57.211Z,1723842777.211 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2024-08-16T21:12:57.226Z,1723842777.226 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2024-08-16T21:12:57.228Z,1723842777.228 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2024-08-16T21:12:57.228Z,1723842777.228 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2024-08-16T21:12:57.229Z,1723842777.229 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2024-08-16T21:12:57.245Z,1723842777.245 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2024-08-16T21:12:58.000Z,1723842778.000 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1000
7
30
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2024-08-16T21:12:58.057Z,1723842778.057 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2024-08-16T21:12:58.091Z,1723842778.091 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2024-08-16T21:12:58.093Z,1723842778.093 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2024-08-16T21:12:58.099Z,1723842778.099 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2024-08-16T21:12:58.101Z,1723842778.101 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2024-08-16T21:12:58.120Z,1723842778.120 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2024-08-16T21:12:58.131Z,1723842778.131 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2024-08-16T21:12:58.133Z,1723842778.133 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2024-08-16T21:12:58.168Z,1723842778.168 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-08-16T21:12:58.243Z,1723842778.243 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2024-08-16T21:12:58.243Z,1723842778.243 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2024-08-16T21:12:58.244Z,1723842778.244 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2024-08-16T21:12:58.367Z,1723842778.367 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
10
5
2024-08-16T21:12:58.379Z,1723842778.379 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2024-08-16T21:12:58.381Z,1723842778.381 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2024-08-16T21:12:58.393Z,1723842778.393 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2024-08-16T21:12:58.404Z,1723842778.404 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2024-08-16T21:12:58.404Z,1723842778.404 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2024-08-16T21:12:58.444Z,1723842778.444 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2024-08-16T21:13:00.685Z,1723842780.685 [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
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
2024-08-16T21:13:00.707Z,1723842780.707 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.903300 arcdeg
2024-08-16T21:13:00.728Z,1723842780.728 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.119000 arcdeg
2024-08-16T21:13:00.735Z,1723842780.735 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2024-08-16T21:13:00.737Z,1723842780.737 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2024-08-16T21:13:00.744Z,1723842780.744 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2024-08-16T21:13:00.751Z,1723842780.751 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2024-08-16T21:13:00.753Z,1723842780.753 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2024-08-16T21:13:00.760Z,1723842780.760 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2024-08-16T21:13:00.802Z,1723842780.802 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2024-08-16T21:13:00.805Z,1723842780.805 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2024-08-16T21:13:00.846Z,1723842780.846 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2024-08-16T21:13:00.863Z,1723842780.863 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2024-08-16T21:13:00.865Z,1723842780.865 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2024-08-16T21:13:00.871Z,1723842780.871 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2024-08-16T21:13:00.873Z,1723842780.873 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2024-08-16T21:13:00.888Z,1723842780.888 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2024-08-16T21:13:00.906Z,1723842780.906 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2024-08-16T21:13:00.908Z,1723842780.908 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2024-08-16T21:13:00.926Z,1723842780.926 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2024-08-16T21:13:00.928Z,1723842780.928 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2024-08-16T21:13:00.936Z,1723842780.936 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2024-08-16T21:13:00.943Z,1723842780.943 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2024-08-16T21:13:00.945Z,1723842780.945 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2024-08-16T21:13:00.972Z,1723842780.972 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2024-08-16T21:13:00.979Z,1723842780.979 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2024-08-16T21:13:00.990Z,1723842780.990 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2024-08-16T21:13:01.002Z,1723842781.002 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2024-08-16T21:13:01.005Z,1723842781.005 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2024-08-16T21:13:01.019Z,1723842781.019 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2024-08-16T21:13:01.021Z,1723842781.021 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2024-08-16T21:13:01.032Z,1723842781.032 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2024-08-16T21:13:01.041Z,1723842781.041 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2024-08-16T21:13:01.041Z,1723842781.041 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2024-08-16T21:13:01.051Z,1723842781.051 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2024-08-16T21:13:01.179Z,1723842781.179 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2024-08-16T21:13:01.182Z,1723842781.182 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2024-08-16T21:13:01.185Z,1723842781.185 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2024-08-16T21:13:01.188Z,1723842781.188 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2024-08-16T21:13:01.190Z,1723842781.190 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2024-08-16T21:13:01.191Z,1723842781.191 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2024-08-16T21:13:01.197Z,1723842781.197 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2024-08-16T21:13:01.231Z,1723842781.231 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2024-08-16T21:13:01.323Z,1723842781.323 [lineCaptureHoming:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2024-08-16T21:13:01.325Z,1723842781.325 [lineCaptureHoming:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2024-08-16T21:13:01.361Z,1723842781.361 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2024-08-16T21:13:01.370Z,1723842781.370 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2024-08-16T21:13:01.427Z,1723842781.427 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2024-08-16T21:13:01.435Z,1723842781.435 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2024-08-16T21:13:01.492Z,1723842781.492 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2024-08-16T21:13:01.521Z,1723842781.521 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2024-08-16T21:13:01.532Z,1723842781.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2024-08-16T21:13:01.544Z,1723842781.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2024-08-16T21:13:01.551Z,1723842781.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2024-08-16T21:13:01.559Z,1723842781.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2024-08-16T21:13:01.571Z,1723842781.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2024-08-16T21:13:01.571Z,1723842781.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2024-08-16T21:13:01.575Z,1723842781.575 [lineCaptureHoming:LineCapture:K.Wait](DEBUG): Construct Wait.
2024-08-16T21:13:01.848Z,1723842781.848 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2024-08-16T21:13:01.855Z,1723842781.855 [lineCaptureHoming:U.Execute](DEBUG): Construct Execute.
2024-08-16T21:13:01.860Z,1723842781.860 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2024-08-16T21:13:01.862Z,1723842781.862 [lineCaptureHoming:InitialDive:B.Pitch](DEBUG): Construct.
2024-08-16T21:13:01.868Z,1723842781.868 [lineCaptureHoming:InitialDive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2024-08-16T21:13:01.879Z,1723842781.879 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2024-08-16T21:13:01.879Z,1723842781.879 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2024-08-16T21:13:01.880Z,1723842781.880 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2024-08-16T21:13:01.985Z,1723842781.985 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
Reseting nav to dock location at range
2024-08-16T21:13:01.989Z,1723842781.989 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.903300 arcdeg
2024-08-16T21:13:01.992Z,1723842781.992 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.119000 arcdeg
2024-08-16T21:13:01.995Z,1723842781.995 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2024-08-16T21:13:01.997Z,1723842781.997 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2024-08-16T21:13:02.037Z,1723842782.037 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2024-08-16T21:13:02.070Z,1723842782.070 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2024-08-16T21:13:02.070Z,1723842782.070 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2024-08-16T21:13:02.130Z,1723842782.130 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2024-08-16T21:13:02.130Z,1723842782.130 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2024-08-16T21:13:02.163Z,1723842782.163 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2024-08-16T21:13:02.173Z,1723842782.173 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2024-08-16T21:13:02.177Z,1723842782.177 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2024-08-16T21:13:02.190Z,1723842782.190 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2024-08-16T21:13:02.200Z,1723842782.200 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2024-08-16T21:13:02.206Z,1723842782.206 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2024-08-16T21:13:02.223Z,1723842782.223 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2024-08-16T21:13:02.225Z,1723842782.225 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2024-08-16T21:13:02.260Z,1723842782.260 [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 lineCaptureHoming {
"""
Home to transponder while maintaining altitude or depth. Altitude gets
priority if non nan. The mission sequence: (*) Start (1) Midcourse
guidance: nav to target WP while querying transponder (2) Terminal
guidance: home to target using USBL tracking data (4) Dock: final
approach using fixed heading.
"""
# Define mission arguments
arguments {
MissionTimeout = 4 hour
"""
Maximum length of mission
"""
NeedCommsTime = 240 minute
"""
How often to surface for commumications
"""
MicromodemCommsInterval = 5 minute
"""
How often to trigger Umodem communications
"""
Repeat = 1 count
"""
Number of times the vehicle should try to cycle through the homing
sequence.
"""
WaitOnDockTimeout = 5 minute
"""
Time duration to wait on the dock after a successful line capture.
"""
StayOnDock = false
"""
If true, mission terminates after WaitOnDockTimeout following a successful
catpture, without executing the undock sequence.
"""
TrySlide = false
"""
If true, once docked, try to slide down the docking rod until charging and
comms are acheived
"""
SlideRetries = 2 count
"""
If using slide mode, max number of times to try the slide sequence before
giving up
"""
SlideSinkDuration = 5 minute
"""
Time duration to slide down by sinking during each slide mode iteration
"""
SlideCloseDuration = 5 minute
"""
Time duration to close arm to check for power/comms during each slide mode
iteration
"""
SlideDriveDuration = 2 minute
"""
Time duration for actions that involve the prop (either bumping or continuous
driving) during each slide mode iteration
"""
TryWiggle = false
"""
If true, uses mass shifter to try to wiggle down the rod after sinking in
slide mode
"""
SlideWiggleCount = 2 count
"""
Number of mass shifter wiggles to try during each slide mode iteration
"""
TryJog = false
"""
If true, bumps prop repeatedly in forward and reverse after sinking in
slide mode
"""
JogLength = 3 second
"""
Length of time to run the prop in each direction while jogging in slide mode
"""
TryWhirl = false
"""
If true, sets elevators to dive, rudders to turn, and drives continuously
after sinking in slide mode
"""
WhirlSpeed = 1 meter_per_second
"""
Speed at which to drive while whirling in slide mode
"""
TransponderCode = Dock:Dock.transponderCode
"""
Transponder Address.
"""
TrackingUpdatePeriodMidcourse = 60 second
"""
How long to wait between acoustic queries.
"""
TrackingUpdatePeriodTerminal = 2.5 second
"""
How long to wait between acoustic queries.
"""
TrackingUpdatePeriodDocked = 2 minute
"""
How long to wait between acoustic queries.
"""
TrackingNumFixesLowPassFilter = 5 count
"""
Median filter bin size. Filters the contact estimated lat/lon position.
Prefer odd number, set to 1 to disable filter.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
NumPingsUSBL = 1 count
"""
Number of pings requested while in USBL mode range.
"""
RangeUSBL = 40 meter
"""
USBL mode range.
"""
LightRange = 50.0 meter
"""
Range to activate the dock light.
"""
TrackingNumFixesLowPassFilterUSBL = 5 count
"""
Median filter bin size. Filters the contact estimated lat/lon position.
Prefer odd number, set to 1 to disable filter.
"""
DockingAltitude = NaN meter
"""
Docking altitude. Ignored when NaN and used over depth when a valid
altitude is set.
"""
InvalidAltitudeTimeout = NaN minute
"""
The mission will use the last good depth command if no valid altitude
readings are received within this specified time duration.
"""
AltitudeDepthLimit = NaN meter
"""
Vehicle will not be commanded deeper than this regardless of altitude
command.
"""
MinAltitude = 5 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 205 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
ApproachDepthTimeout = 20 minute
"""
Maximum wait time for the vehicle to reach the target depth on initial
dive.
"""
ApproachDepthRate = 0.05 meter_per_second
"""
Descent depth rate (positive depth is down). Used only as a smoothing
parameter.
"""
Lat1 = NaN degree
"""
Latitude of rollout waypoint. If nan, waypoint is skipped.
"""
Lon1 = NaN degree
"""
Longitude of rollout waypoint. If nan, waypoint is skipped.
"""
CaptureRadius = NaN meter
"""
How close to call the waypiont behavior satisfied. Nan uses default
value.
"""
# Mission Variables (don't change)
MidcourseDepth = Dock:LineCapture.midcourseDepth
"""
Desired vehicle depth when navigating to dock WP (during midcourse
phase).
"""
MidcourseSpeed = Dock:LineCapture.midcourseSpeed
"""
Speed during initial dive and waypoint.
"""
TrackingPeriod = 60 second
"""
Mission variable (don't change). The mission sets this variable to
update the how long to wait between acoustic queries.
"""
}
output {
Mode = -1 count
"""
Mission variable (don't change). The mission sets this variable to
reflect the termination status of the LineCapture insert.
"""
NumPings = 1 count
"""
Mission variable (don't change). The mission sets this variable to
update the requested ping number and enter usbl mode.
"""
LowPassFilterWinSize = 1 count
"""
Mission variable (don't change). The mission sets this variable to
update the requested ping number and enter usbl mode.
"""
LowPassFilterWinOverlap = true
"""
Mission variable (don't change). The mission sets this variable to
update the requested ping number and enter usbl mode.
"""
}
# Mission timeout
timeout duration=MissionTimeout
#insert Insert/Science.tl {
# """
# Most missions will run the science sensors. If you don't place this
# aggregate above NeedComms, science instruments get turned off on the
# last upcast and while floating on the surface.
# """
# }
# Safety nets and surfacing behaviors
# insert Insert/StandardEnvelopes.tl
# assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
# assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
#assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 0 minute
# Micromodem comms
insert id="MicromodemComms" Insert/MicromodemComms.tl {
redefineArg CommsInterval = MicromodemCommsInterval
}
readData {
while (
Mode > 0 count
and Sensor:DataOverHttps.connectionStatus == true
)
Universal:platform_communications
}
# Add LineCapture directives.
insert Insert/LineCapture.tl
assign in sequence LineCapture:MaxDepth = MaxDepth
assign in sequence LineCapture:MinOffshore = MinOffshore
assign in sequence LineCapture:MinAltitude = MinAltitude
assign in sequence LineCapture:DockingAltitude = DockingAltitude
assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit
# Add track acoustic contact directive.
assign in sequence NumPings = NumberOfPings
behavior Estimation:TrackAcousticContact id="TrackAC" {
run in parallel
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumPings
set updatePeriodSetting = TrackingPeriod
set numFixesLowPassSetting = LowPassFilterWinSize
set lowPassOverlapSetting = LowPassFilterWinOverlap
}
# Add USBL mode directives.
aggregate UpdateNumPings_NotTerminal {
run while (
not ( LineCapture:GuidanceMode == LineCapture:Terminal )
and not ( NumPings == NumberOfPings )
)
syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
+ "pings."
assign in sequence NumPings = NumberOfPings
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
assign in sequence LowPassFilterWinOverlap = true
}
aggregate UpdateNumPings_Terminal {
run while (
LineCapture:GuidanceMode == LineCapture:Terminal
)
aggregate UpdateNumPingsUSBL {
run when (
not ( NumPings == NumPingsUSBL )
and (
( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
and not ( Dock:LineCapture.guidanceMode == 5 count )
)
)
syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
+ LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
assign in sequence NumPings = NumPingsUSBL
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
assign in sequence LowPassFilterWinOverlap = true
}
aggregate UpdateNumPingsATR {
run when (
not ( NumPings == NumberOfPings )
and (
( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
or Dock:LineCapture.guidanceMode == 5 count
)
)
syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
+ LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
assign in sequence NumPings = NumberOfPings
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
assign in sequence LowPassFilterWinOverlap = true
}
}
aggregate UpdatePingUpdateRate_Midcourse {
run when (
not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
and (
( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
or Dock:LineCapture.guidanceMode == 5 count
)
)
syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
+ "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
assign in sequence LowPassFilterWinOverlap = true
}
aggregate UpdatePingUpdateRate_Terminal {
run when (
not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
and (
( LineCapture:Range <= LineCapture:TerminalRange )
and not ( Dock:LineCapture.guidanceMode == 5 count )
and not ( LineCapture:GuidanceMode == 0 count )
) # don't enter fast ping mode during rollout or on dock
)
syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
+ "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
assign in sequence LowPassFilterWinOverlap = true
}
aggregate restartDHCP {
run when ( called )
syslog important "Restarting DHCP..."
behavior Guidance:Execute {
run in sequence
set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
}
}
# Start mission sequence.
call id="StartingMission" refId="NeedComms"
syslog important "Restarting logs"
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
aggregate InitialDive {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = MidcourseSpeed
}
behavior Guidance:Pitch {
run in sequence
timeout duration=ApproachDepthTimeout {
syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
+ Universal:depth~meter
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
set depth = MidcourseDepth
set depthRate = ApproachDepthRate
}
}
aggregate Lap {
run in sequence repeat=Repeat
assign in sequence Mode = -99 count
# Execute the LineCapture sequence.
# assign in sequence Mode = LineCapture:GuidanceMode
assign in sequence Mode = 0 count
syslog info "Mode" + Mode~count
call refId="restartDHCP"
aggregate Docked {
run in sequence
break if ( Mode < 0 count )
syslog info "Waiting on dock for " + WaitOnDockTimeout~minute
# Add SetNav directives.
insert Insert/SetNavAcoustic.tl
assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked
behavior Dock:Docked id="Docked" {
run in sequence
timeout duration=WaitOnDockTimeout
set slideSinkTime = SlideSinkDuration
set slideCloseTime = SlideCloseDuration
set slideDriveTime = SlideDriveDuration
set jogLength = JogLength
set whirlSpeed = WhirlSpeed
set slideRetries = SlideRetries
set wiggleCount = SlideWiggleCount
set slideAllowed = TrySlide
set massWiggle = TryWiggle
set propJog = TryJog
set driveWhirl = TryWhirl
}
aggregate Detach {
run in sequence
break if ( StayOnDock == true )
syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."
behavior Dock:Undock id="Undock" {
run in sequence
}
call refId="restartDHCP"
}
aggregate Wpt1 {
run in sequence
break if (
isNaN ( Lat1 )
or isNaN ( Lon1 )
or ( StayOnDock == true )
)
syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree
behavior Guidance:Pitch {
run in parallel
set depth = MidcourseDepth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = MidcourseSpeed
}
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat1
set longitude = Lon1
set captureRadius = CaptureRadius
}
}
aggregate Drift {
"""
Drift before next docking attempt
"""
run in sequence
break if (
not isNaN ( Lat1 )
and not isNaN ( Lon1 )
or ( StayOnDock == true )
)
syslog important "No post-undock waypoint, drifting for "
+ Dock:LineCapture.rolloutTimeout~minute + " minutes"
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch {
run in parallel
set massPosition = Control:VerticalControl.massDefault
set elevatorAngle = 0 degree
}
behavior Guidance:Point {
run in parallel
set rudderAngle = 0 degree
}
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 meter_per_second
}
behavior Guidance:Wait {
run in sequence
set duration = Dock:LineCapture.rolloutTimeout
}
}
}
}
}
2024-08-16T21:13:02.260Z,1723842782.260 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2024-08-16T21:13:02.485Z,1723842782.485 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 16.00 m. Transitioning docking module to standby.
2024-08-16T21:13:02.876Z,1723842782.876 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2024-08-16T21:13:02.877Z,1723842782.877 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2024-08-16T21:13:03.044Z,1723842783.044 [DAT](INFO): ****** received valid address query ******
2024-08-16T21:13:03.044Z,1723842783.044 [DAT](INFO): ****** received valid ping request ******
2024-08-16T21:13:03.045Z,1723842783.045 [DAT](INFO): Querying Benthos address 6 with one ping in standard two-way mode.
2024-08-16T21:13:03.290Z,1723842783.290 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2024-08-16T21:13:03.290Z,1723842783.290 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2024-08-16T21:13:03.290Z,1723842783.290 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:LeaveDock] Stopped
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:LeaveDock:A.] Stopped
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-08-16T21:13:03.291Z,1723842783.291 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-08-16T21:13:03.292Z,1723842783.292 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-08-16T21:13:03.292Z,1723842783.292 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-08-16T21:13:03.292Z,1723842783.292 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-08-16T21:13:03.293Z,1723842783.293 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2024-08-16T21:13:03.293Z,1723842783.293 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-08-16T21:13:03.295Z,1723842783.295 [DAT](INFO): DAT read: user:222>
2024-08-16T21:13:03.295Z,1723842783.295 [DAT](INFO): DAT read: Tx time:21:13:02.3892
2024-08-16T21:13:03.296Z,1723842783.296 [DAT](INFO): Ping request sent.
2024-08-16T21:13:03.296Z,1723842783.296 [DAT](INFO): transmitted an acoustic signal
2024-08-16T21:13:03.296Z,1723842783.296 [DAT](INFO): publishing transmit ping time
2024-08-16T21:13:03.296Z,1723842783.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2024-08-16T21:13:03.547Z,1723842783.547 [DAT](INFO): DAT read: TxSync time:21:13:02.3884
2024-08-16T21:13:03.547Z,1723842783.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251757
2024-08-16T21:13:03.722Z,1723842783.722 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2024-08-16T21:13:03.722Z,1723842783.722 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2024-08-16T21:13:03.722Z,1723842783.722 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2024-08-16T21:13:03.771Z,1723842783.771 [DockingStepper](INFO): Pause
2024-08-16T21:13:03.799Z,1723842783.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502868
2024-08-16T21:13:03.942Z,1723842783.942 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:13:04.051Z,1723842784.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754827
2024-08-16T21:13:04.303Z,1723842784.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812
2024-08-16T21:13:04.554Z,1723842784.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258713
2024-08-16T21:13:04.807Z,1723842784.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511251
2024-08-16T21:13:05.059Z,1723842785.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762987
2024-08-16T21:13:05.311Z,1723842785.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014797
2024-08-16T21:13:05.563Z,1723842785.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267110
2024-08-16T21:13:05.815Z,1723842785.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519251
2024-08-16T21:13:06.067Z,1723842786.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770857
2024-08-16T21:13:06.322Z,1723842786.322 [DAT](INFO): DAT read: Rx Time:21:13:04.8149
2024-08-16T21:13:06.322Z,1723842786.322 [DAT](INFO): Rx dataTimestamp_ set to:1723842786.321979
2024-08-16T21:13:06.323Z,1723842786.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027073
2024-08-16T21:13:06.571Z,1723842786.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854
2024-08-16T21:13:06.828Z,1723842786.828 [DAT](INFO): DAT read: 21:13:04.8149 LVL= 9552, 9297, 8610, 11027, AGC= 67, IDX= 179, 0.05, 2.014,-2.658,-3.087, 2.454, PHS=-0.352, 1.218, 0.739, RAW= 287.3, -22.2, CAL= 286.5, -32.5, ROT= 223.5, 32.5
223.5, 32.5 (Local)
2024-08-16T21:13:06.829Z,1723842786.829 [DAT](INFO): Local bearing/azimuth received:
21:13:04.8149 LVL= 9552, 9297, 8610, 11027, AGC= 67, IDX= 179, 0.05, 2.014,-2.658,-3.087, 2.454, PHS=-0.352, 1.218, 0.739, RAW= 287.3, -22.2, CAL= 286.5, -32.5, ROT= 223.5, 32.5
223.5, 32.5 (Local)
2024-08-16T21:13:06.831Z,1723842786.831 [DAT](INFO): DAT read: Range 10 to 6 : 16.0 m (Round-trip 21.4 ms) speed 0.0 m/s
2024-08-16T21:13:06.831Z,1723842786.831 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2024-08-16T21:13:13.846Z,1723842793.846 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:13:25.522Z,1723842805.522 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:13:36.403Z,1723842816.403 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2024-08-16T21:13:36.478Z,1723842816.478 [NAL9602](ERROR): received:
+CSQ:0
OK
2024-08-16T21:13:37.102Z,1723842817.102 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:13:45.810Z,1723842825.810 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:13:58.254Z,1723842838.254 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:14:08.133Z,1723842848.133 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 10 minute
2024-08-16T21:14:08.133Z,1723842848.133 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2024-08-16T21:14:08.134Z,1723842848.134 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 30 second
2024-08-16T21:14:08.135Z,1723842848.135 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 30 second
2024-08-16T21:14:08.136Z,1723842848.136 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 32 degree
2024-08-16T21:14:08.137Z,1723842848.137 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2024-08-16T21:14:08.138Z,1723842848.138 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121 degree
2024-08-16T21:14:08.139Z,1723842848.139 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2024-08-16T21:14:08.407Z,1723842848.407 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2024-08-16T21:14:09.398Z,1723842849.398 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:14:18.330Z,1723842858.330 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:14:27.290Z,1723842867.290 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:14:36.202Z,1723842876.202 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:14:46.954Z,1723842886.954 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2024-08-16T21:14:52.475Z,1723842892.475 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1723842848 second
2024-08-16T21:14:52.782Z,1723842892.782 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2024-08-16T21:14:52.782Z,1723842892.782 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2024-08-16T21:14:54.920Z,1723842894.920 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20240816T205924/Courier0006.lzma
2024-08-16T21:14:55.823Z,1723842895.823 [DataOverHttps](INFO): Moved sent file to Logs/20240816T205924/Courier0006.lzma.bak
2024-08-16T21:14:55.824Z,1723842895.824 [DataOverHttps](INFO): SBD MOMSN=22906319
2024-08-16T21:15:05.358Z,1723842905.358 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.time_fix 1723842848 second
2024-08-16T21:15:05.359Z,1723842905.359 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.time_fix" handled in the control thread.
2024-08-16T21:15:05.602Z,1723842905.602 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_NAL9602.time_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2024-08-16T21:15:13.942Z,1723842913.942 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20240816T211045/Courier0000.lzma
2024-08-16T21:15:14.944Z,1723842914.944 [DataOverHttps](INFO): Moved sent file to Logs/20240816T211045/Courier0000.lzma.bak
2024-08-16T21:15:14.944Z,1723842914.944 [DataOverHttps](INFO): SBD MOMSN=22906321
2024-08-16T21:15:26.547Z,1723842926.547 [CommandExec](IMPORTANT): got command run
2024-08-16T21:15:26.548Z,1723842926.548 [CommandExec](IMPORTANT): Running
2024-08-16T21:15:26.553Z,1723842926.553 [DefaultWithUndock] Stopped
2024-08-16T21:15:26.553Z,1723842926.553 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2024-08-16T21:15:26.553Z,1723842926.553 [DefaultWithUndock:SurfaceDefault] Stopped
2024-08-16T21:15:26.553Z,1723842926.553 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2024-08-16T21:15:26.553Z,1723842926.553 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2024-08-16T21:15:26.553Z,1723842926.553 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-08-16T21:15:26.554Z,1723842926.554 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2024-08-16T21:15:26.554Z,1723842926.554 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2024-08-16T21:15:26.554Z,1723842926.554 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2024-08-16T21:15:26.554Z,1723842926.554 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2024-08-16T21:15:26.554Z,1723842926.554 [lineCaptureHoming] Running Loop=1
2024-08-16T21:15:26.554Z,1723842926.554 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2024-08-16T21:15:26.554Z,1723842926.554 [lineCaptureHoming:MicromodemComms] Running Loop=1
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:E] Running Loop=1
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:TrackAC.] Running Loop=1
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2024-08-16T21:15:26.555Z,1723842926.555 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2024-08-16T21:15:26.556Z,1723842926.556 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2024-08-16T21:15:26.556Z,1723842926.556 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2024-08-16T21:15:26.556Z,1723842926.556 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2024-08-16T21:15:26.556Z,1723842926.556 [lineCaptureHoming:B] Running Loop=1
2024-08-16T21:15:26.557Z,1723842926.557 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2024-08-16T21:15:26.558Z,1723842926.558 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2024-08-16T21:15:26.558Z,1723842926.558 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2024-08-16T21:15:26.558Z,1723842926.558 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2024-08-16T21:15:26.558Z,1723842926.558 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2024-08-16T21:15:26.558Z,1723842926.558 [lineCaptureHoming:TrackAC.] Running Loop=1
2024-08-16T21:15:26.561Z,1723842926.561 [lineCaptureHoming:E] Stopped
2024-08-16T21:15:26.561Z,1723842926.561 [lineCaptureHoming:MicromodemComms] Running Loop=1
2024-08-16T21:15:26.562Z,1723842926.562 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2024-08-16T21:15:26.562Z,1723842926.562 [lineCaptureHoming:B] Stopped
2024-08-16T21:15:26.562Z,1723842926.562 [lineCaptureHoming:C] Running Loop=1
2024-08-16T21:15:26.941Z,1723842926.941 [lineCaptureHoming:C] Stopped
2024-08-16T21:15:26.941Z,1723842926.941 [lineCaptureHoming:G] Running Loop=1
2024-08-16T21:15:27.356Z,1723842927.356 [lineCaptureHoming:G] Stopped
2024-08-16T21:15:27.356Z,1723842927.356 [lineCaptureHoming:H] Running Loop=1
2024-08-16T21:15:27.779Z,1723842927.779 [lineCaptureHoming:H] Stopped
2024-08-16T21:15:27.779Z,1723842927.779 [lineCaptureHoming:I] Running Loop=1
2024-08-16T21:15:28.173Z,1723842928.173 [lineCaptureHoming:I] Stopped
2024-08-16T21:15:28.173Z,1723842928.173 [lineCaptureHoming:J] Running Loop=1
2024-08-16T21:15:28.549Z,1723842928.549 [lineCaptureHoming:J] Stopped
2024-08-16T21:15:28.549Z,1723842928.549 [lineCaptureHoming:K] Running Loop=1
2024-08-16T21:15:28.960Z,1723842928.960 [lineCaptureHoming:K] Stopped
2024-08-16T21:15:28.960Z,1723842928.960 [lineCaptureHoming:L] Running Loop=1
2024-08-16T21:15:29.352Z,1723842929.352 [lineCaptureHoming:L] Stopped
2024-08-16T21:15:29.352Z,1723842929.352 [lineCaptureHoming:M] Running Loop=1
2024-08-16T21:15:29.805Z,1723842929.805 [lineCaptureHoming:M] Stopped
2024-08-16T21:15:29.805Z,1723842929.805 [lineCaptureHoming:StartingMission] Running Loop=1
2024-08-16T21:15:29.805Z,1723842929.805 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2024-08-16T21:15:30.165Z,1723842930.165 [lineCaptureHoming:NeedComms] Running Loop=1
2024-08-16T21:15:30.165Z,1723842930.165 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2024-08-16T21:15:30.165Z,1723842930.165 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2024-08-16T21:15:30.165Z,1723842930.165 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-08-16T21:15:30.165Z,1723842930.165 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2024-08-16T21:15:30.171Z,1723842930.171 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2024-08-16T21:15:30.172Z,1723842930.172 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2024-08-16T21:15:30.172Z,1723842930.172 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2024-08-16T21:15:30.172Z,1723842930.172 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2024-08-16T21:15:30.173Z,1723842930.173 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-08-16T21:15:30.173Z,1723842930.173 [lineCaptureHoming:NeedComms:A] Running Loop=1
2024-08-16T21:15:30.179Z,1723842930.179 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1723842816.000000 second since 1970/01/01T00:00:00Z
2024-08-16T21:15:30.179Z,1723842930.179 [lineCaptureHoming:NeedComms:A] Stopped
2024-08-16T21:15:30.594Z,1723842930.594 [lineCaptureHoming:NeedComms:C] Running Loop=1
2024-08-16T21:15:30.979Z,1723842930.979 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2024-08-16T21:15:30.980Z,1723842930.980 [lineCaptureHoming:NeedComms:C] Stopped
2024-08-16T21:15:30.980Z,1723842930.980 [lineCaptureHoming:NeedComms:D] Running Loop=1
2024-08-16T21:15:31.389Z,1723842931.389 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2024-08-16T21:15:32.300Z,1723842932.300 [DataOverHttps](INFO): Sending 630 bytes from file Logs/20240816T205924/Express0007.lzma
2024-08-16T21:15:33.300Z,1723842933.300 [DataOverHttps](INFO): Moved sent file to Logs/20240816T205924/Express0007.lzma.bak
2024-08-16T21:15:33.300Z,1723842933.300 [DataOverHttps](INFO): SBD MOMSN=22906324
2024-08-16T21:15:51.423Z,1723842951.423 [DataOverHttps](INFO): Sending 1133 bytes from file Logs/20240816T211045/Express0001.lzma
2024-08-16T21:15:51.797Z,1723842951.797 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.time_fix 1723842933 second
2024-08-16T21:15:52.428Z,1723842952.428 [DataOverHttps](INFO): Moved sent file to Logs/20240816T211045/Express0001.lzma.bak
2024-08-16T21:15:52.428Z,1723842952.428 [DataOverHttps](INFO): SBD MOMSN=22906351
2024-08-16T21:15:53.998Z,1723842953.998 [lineCaptureHoming:MicromodemComms] Stopped
2024-08-16T21:15:53.999Z,1723842953.999 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2024-08-16T21:15:53.999Z,1723842953.999 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2024-08-16T21:15:53.999Z,1723842953.999 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2024-08-16T21:15:53.999Z,1723842953.999 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2024-08-16T21:15:53.999Z,1723842953.999 [lineCaptureHoming:NeedComms:D] Stopped
2024-08-16T21:15:53.999Z,1723842953.999 [lineCaptureHoming:NeedComms:E] Running Loop=1
2024-08-16T21:15:54.393Z,1723842954.393 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2024-08-16T21:15:54.393Z,1723842954.393 [lineCaptureHoming:NeedComms:E] Stopped
2024-08-16T21:15:54.394Z,1723842954.394 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2024-08-16T21:15:54.394Z,1723842954.394 [lineCaptureHoming:NeedComms] Stopped
2024-08-16T21:15:54.395Z,1723842954.395 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2024-08-16T21:15:54.395Z,1723842954.395 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2024-08-16T21:15:54.395Z,1723842954.395 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-08-16T21:15:54.812Z,1723842954.812 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2024-08-16T21:15:54.812Z,1723842954.812 [lineCaptureHoming:StartingMission] Stopped
2024-08-16T21:15:54.813Z,1723842954.813 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2024-08-16T21:15:54.813Z,1723842954.813 [lineCaptureHoming:T] Running Loop=1
2024-08-16T21:15:55.216Z,1723842955.216 [lineCaptureHoming:T](IMPORTANT): Restarting logs
2024-08-16T21:15:55.216Z,1723842955.216 [lineCaptureHoming:T] Stopped
2024-08-16T21:15:55.217Z,1723842955.217 [lineCaptureHoming:U.Execute] Running Loop=1
2024-08-16T21:15:55.677Z,1723842955.677 [lineCaptureHoming:U.Execute](INFO): Executing command restart logs
2024-08-16T21:15:55.682Z,1723842955.682 [lineCaptureHoming:U.Execute] Stopped
2024-08-16T21:15:55.682Z,1723842955.682 [lineCaptureHoming:InitialDive] Running Loop=1
2024-08-16T21:15:55.682Z,1723842955.682 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2024-08-16T21:15:55.683Z,1723842955.683 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2024-08-16T21:15:55.683Z,1723842955.683 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2024-08-16T21:15:55.683Z,1723842955.683 [lineCaptureHoming:InitialDive:B.Pitch] Running Loop=1
2024-08-16T21:15:55.683Z,1723842955.683 [lineCaptureHoming:InitialDive:B.Pitch](DEBUG): Initialize.