2024-10-09T00:24:00.350Z,1728433440.350 [OnDock:K.Execute](INFO): Executing command restart logs 2024-10-09T00:24:00.350Z,1728433440.350 [OnDock:K.Execute] Stopped 2024-10-09T00:24:00.351Z,1728433440.351 [OnDock:M.Docked] Running Loop=1 2024-10-09T00:24:00.351Z,1728433440.351 [OnDock:M.Docked](DEBUG): Initialize. 2024-10-09T00:24:00.351Z,1728433440.351 [OnDock:M.Docked](DEBUG): Initializing internal variables to default values. 2024-10-09T00:24:00.391Z,1728433440.391 [CommandExec](IMPORTANT): got command restart logs 2024-10-09T00:24:00.419Z,1728433440.419 [DockingStepper](INFO): Changing to mode: 1 2024-10-09T00:24:00.419Z,1728433440.419 [DockingStepper](INFO): Standby mode. 2024-10-09T00:24:00.482Z,1728433440.482 [DockingStepper](INFO): Commanding positive:54593 2024-10-09T00:24:00.675Z,1728433440.675 [OnDock:M.Docked](FAULT): Off dock, range to dock 35.599998 exceeded threshold. 2024-10-09T00:24:00.675Z,1728433440.675 [OnDock:M.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act... 2024-10-09T00:24:00.676Z,1728433440.676 [OnDock:M.Docked](INFO): No local IP found 2024-10-09T00:24:00.724Z,1728433440.724 [DAT](IMPORTANT): Requesting device enable set for address 50. 2024-10-09T00:24:00.974Z,1728433440.974 [DAT](IMPORTANT): Requesting device enable set for address 50. 2024-10-09T00:24:01.226Z,1728433441.226 [DAT](IMPORTANT): Requesting device enable set for address 50. 2024-10-09T00:24:02.491Z,1728433442.491 [DAT](INFO): DAT read: Rx Time:00:24:01.2505 2024-10-09T00:24:02.491Z,1728433442.491 [DAT](INFO): Rx dataTimestamp_ set to:1728433442.490952 2024-10-09T00:24:03.000Z,1728433443.000 [DAT](INFO): DAT read: 00:24:01.2505 LVL= 27024, 31841, 18210, 32755, AGC= 52, IDX= 413, 0.29, 0.089,-1.444, 0.322,-0.130, PHS= 0.307,-1.267, 0.449, RAW= 154.3, 6.2, CAL= 155.1, -2.9, ROT= 354.9, 2.9 2024-10-09T00:24:03.002Z,1728433443.002 [DAT](INFO): got valid direction response: 00:24:01.2505 LVL= 27024, 31841, 18210, 32755, AGC= 52, IDX= 413, 0.29, 0.089,-1.444, 0.322,-0.130, PHS= 0.307,-1.267, 0.449, RAW= 154.3, 6.2, CAL= 155.1, -2.9, ROT= 354.9, 2.9 2024-10-09T00:24:03.003Z,1728433443.003 [DAT](INFO): DAT read: Bearing 354.9, 2.9 (Local) 2024-10-09T00:24:03.003Z,1728433443.003 [DAT](INFO): Local bearing/azimuth received: Bearing 354.9, 2.9 (Local) 2024-10-09T00:24:03.004Z,1728433443.004 [DAT](INFO): DAT read: Range 10 to 50 : 34.0 m (Round-trip 45.4 ms) speed 0.3 m/s 2024-10-09T00:24:03.005Z,1728433443.005 [DAT](INFO): DAT read: user:588> 2024-10-09T00:24:03.006Z,1728433443.006 [DAT](INFO): DAT read: Tx time:00:24:02.3510 2024-10-09T00:24:03.006Z,1728433443.006 [DAT](INFO): Ping request sent. 2024-10-09T00:24:03.006Z,1728433443.006 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:03.007Z,1728433443.007 [DAT](INFO): #Rx 4: Read range and direction messages. 2024-10-09T00:24:03.008Z,1728433443.008 [DAT](INFO): direction in FSK: [0.994765,-0.088781,-0.050593] 2024-10-09T00:24:03.008Z,1728433443.008 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:03.008Z,1728433443.008 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:03.011Z,1728433443.011 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:03.012Z,1728433443.012 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:03.247Z,1728433443.247 [DAT](INFO): DAT read: TxSync time:00:24:02.3502 2024-10-09T00:24:06.019Z,1728433446.019 [DAT](INFO): DAT read: Rx Time:00:24:04.7988 2024-10-09T00:24:06.019Z,1728433446.019 [DAT](INFO): Rx dataTimestamp_ set to:1728433446.018748 2024-10-09T00:24:06.528Z,1728433446.528 [DAT](INFO): DAT read: 00:24:04.7988 LVL= 24144, 32753, 18962, 32755, AGC= 50, IDX= 427, 0.18, 1.141,-0.326, 1.378, 0.929, PHS= 0.300,-1.208, 0.446, RAW= 154.6, 5.9, CAL= 155.5, -3.2, ROT= 354.5, 3.2 2024-10-09T00:24:06.530Z,1728433446.530 [DAT](INFO): got valid direction response: 00:24:04.7988 LVL= 24144, 32753, 18962, 32755, AGC= 50, IDX= 427, 0.18, 1.141,-0.326, 1.378, 0.929, PHS= 0.300,-1.208, 0.446, RAW= 154.6, 5.9, CAL= 155.5, -3.2, ROT= 354.5, 3.2 2024-10-09T00:24:06.531Z,1728433446.531 [DAT](INFO): DAT read: Bearing 354.5, 3.2 (Local) 2024-10-09T00:24:06.531Z,1728433446.531 [DAT](INFO): Local bearing/azimuth received: Bearing 354.5, 3.2 (Local) 2024-10-09T00:24:06.532Z,1728433446.532 [DAT](INFO): DAT read: Range 10 to 50 : 32.7 m (Round-trip 43.6 ms) speed 0.3 m/s 2024-10-09T00:24:06.533Z,1728433446.533 [DAT](INFO): DAT read: user:589> 2024-10-09T00:24:06.534Z,1728433446.534 [DAT](INFO): DAT read: Tx time:00:24:05.9010 2024-10-09T00:24:06.534Z,1728433446.534 [DAT](INFO): Ping request sent. 2024-10-09T00:24:06.534Z,1728433446.534 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:06.535Z,1728433446.535 [DAT](INFO): #Rx 5: Read range and direction messages. 2024-10-09T00:24:06.536Z,1728433446.536 [DAT](INFO): direction in FSK: [0.993844,-0.095697,-0.055822] 2024-10-09T00:24:06.536Z,1728433446.536 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:06.536Z,1728433446.536 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:06.543Z,1728433446.543 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:06.543Z,1728433446.543 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:06.775Z,1728433446.775 [DAT](INFO): DAT read: TxSync time:00:24:05.9002 2024-10-09T00:24:09.547Z,1728433449.547 [DAT](INFO): DAT read: Rx Time:00:24:08.3473 2024-10-09T00:24:09.547Z,1728433449.547 [DAT](INFO): Rx dataTimestamp_ set to:1728433449.546827 2024-10-09T00:24:10.068Z,1728433450.068 [DAT](INFO): DAT read: 00:24:08.3473 LVL= 23600, 32753, 18770, 32755, AGC= 48, IDX= 428,-0.41, 0.054,-1.371, 0.302,-0.135, PHS= 0.278,-1.189, 0.434, RAW= 155.0, 6.2, CAL= 155.8, -3.0, ROT= 354.2, 3.0 2024-10-09T00:24:10.072Z,1728433450.072 [DAT](INFO): got valid direction response: 00:24:08.3473 LVL= 23600, 32753, 18770, 32755, AGC= 48, IDX= 428,-0.41, 0.054,-1.371, 0.302,-0.135, PHS= 0.278,-1.189, 0.434, RAW= 155.0, 6.2, CAL= 155.8, -3.0, ROT= 354.2, 3.0 2024-10-09T00:24:10.074Z,1728433450.074 [DAT](INFO): DAT read: Bearing 354.2, 3.0 (Local) 2024-10-09T00:24:10.074Z,1728433450.074 [DAT](INFO): Local bearing/azimuth received: Bearing 354.2, 3.0 (Local) 2024-10-09T00:24:10.075Z,1728433450.075 [DAT](INFO): DAT read: Range 10 to 50 : 31.5 m (Round-trip 42.1 ms) speed 0.2 m/s 2024-10-09T00:24:10.076Z,1728433450.076 [DAT](INFO): DAT read: user:590> 2024-10-09T00:24:10.077Z,1728433450.077 [DAT](INFO): DAT read: Tx time:00:24:09.4510 2024-10-09T00:24:10.077Z,1728433450.077 [DAT](INFO): Ping request sent. 2024-10-09T00:24:10.077Z,1728433450.077 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:10.078Z,1728433450.078 [DAT](INFO): #Rx 6: Read range and direction messages. 2024-10-09T00:24:10.079Z,1728433450.079 [DAT](INFO): direction in FSK: [0.993517,-0.100918,-0.052336] 2024-10-09T00:24:10.079Z,1728433450.079 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:10.079Z,1728433450.079 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:10.090Z,1728433450.090 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:10.090Z,1728433450.090 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:10.303Z,1728433450.303 [DAT](INFO): DAT read: TxSync time:00:24:09.4503 2024-10-09T00:24:13.080Z,1728433453.080 [DAT](INFO): DAT read: Rx Time:00:24:11.8961 2024-10-09T00:24:13.081Z,1728433453.081 [DAT](INFO): Rx dataTimestamp_ set to:1728433453.080297 2024-10-09T00:24:13.275Z,1728433453.275 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,3 2024-10-09T00:24:13.584Z,1728433453.584 [DAT](INFO): DAT read: 00:24:11.8961 LVL= 24640, 32753, 21682, 32755, AGC= 49, IDX= 431,-0.15,-1.864, 3.034,-1.655,-2.015, PHS= 0.239,-1.187, 0.358, RAW= 153.9, 8.0, CAL= 154.3, -1.2, ROT= 355.7, 1.2 2024-10-09T00:24:13.585Z,1728433453.585 [DAT](INFO): got valid direction response: 00:24:11.8961 LVL= 24640, 32753, 21682, 32755, AGC= 49, IDX= 431,-0.15,-1.864, 3.034,-1.655,-2.015, PHS= 0.239,-1.187, 0.358, RAW= 153.9, 8.0, CAL= 154.3, -1.2, ROT= 355.7, 1.2 2024-10-09T00:24:13.586Z,1728433453.586 [DAT](INFO): DAT read: Bearing 355.7, 1.2 (Local) 2024-10-09T00:24:13.587Z,1728433453.587 [DAT](INFO): Local bearing/azimuth received: Bearing 355.7, 1.2 (Local) 2024-10-09T00:24:13.588Z,1728433453.588 [DAT](INFO): DAT read: Range 10 to 50 : 30.6 m (Round-trip 40.9 ms) speed 0.2 m/s 2024-10-09T00:24:13.589Z,1728433453.589 [DAT](INFO): DAT read: user:591> 2024-10-09T00:24:13.590Z,1728433453.590 [DAT](INFO): DAT read: Tx time:00:24:13.0011 2024-10-09T00:24:13.590Z,1728433453.590 [DAT](INFO): Ping request sent. 2024-10-09T00:24:13.590Z,1728433453.590 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:13.590Z,1728433453.590 [DAT](INFO): #Rx 7: Read range and direction messages. 2024-10-09T00:24:13.591Z,1728433453.591 [DAT](INFO): direction in FSK: [0.996966,-0.074962,-0.020942] 2024-10-09T00:24:13.592Z,1728433453.592 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:13.592Z,1728433453.592 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:13.603Z,1728433453.603 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:13.603Z,1728433453.603 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:13.831Z,1728433453.831 [DAT](INFO): DAT read: TxSync time:00:24:13.0003 2024-10-09T00:24:16.603Z,1728433456.603 [DAT](INFO): DAT read: Rx Time:00:24:15.4450 2024-10-09T00:24:16.603Z,1728433456.603 [DAT](INFO): Rx dataTimestamp_ set to:1728433456.603009 2024-10-09T00:24:17.128Z,1728433457.128 [DAT](INFO): DAT read: 00:24:15.4450 LVL= 28272, 32753, 24018, 32755, AGC= 48, IDX= 434, 0.25,-1.876, 3.076,-1.692,-2.000, PHS= 0.212,-1.161, 0.305, RAW= 153.2, 9.1, CAL= 153.3, -0.1, ROT= 356.7, 0.1 2024-10-09T00:24:17.131Z,1728433457.131 [DAT](INFO): got valid direction response: 00:24:15.4450 LVL= 28272, 32753, 24018, 32755, AGC= 48, IDX= 434, 0.25,-1.876, 3.076,-1.692,-2.000, PHS= 0.212,-1.161, 0.305, RAW= 153.2, 9.1, CAL= 153.3, -0.1, ROT= 356.7, 0.1 2024-10-09T00:24:17.135Z,1728433457.135 [DAT](INFO): DAT read: Bearing 356.7, 0.1 (Local) 2024-10-09T00:24:17.135Z,1728433457.135 [DAT](INFO): Local bearing/azimuth received: Bearing 356.7, 0.1 (Local) 2024-10-09T00:24:17.140Z,1728433457.140 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m (Round-trip 39.7 ms) speed 0.2 m/s 2024-10-09T00:24:17.142Z,1728433457.142 [DAT](INFO): DAT read: user:592> 2024-10-09T00:24:17.144Z,1728433457.144 [DAT](INFO): DAT read: Tx time:00:24:16.5511 2024-10-09T00:24:17.146Z,1728433457.146 [DAT](INFO): Ping request sent. 2024-10-09T00:24:17.146Z,1728433457.146 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:17.147Z,1728433457.147 [DAT](INFO): #Rx 8: Read range and direction messages. 2024-10-09T00:24:17.151Z,1728433457.151 [DAT](INFO): direction in FSK: [0.998340,-0.057564,-0.001745] 2024-10-09T00:24:17.151Z,1728433457.151 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:17.152Z,1728433457.152 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:17.163Z,1728433457.163 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:17.163Z,1728433457.163 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:17.363Z,1728433457.363 [DAT](INFO): DAT read: TxSync time:00:24:16.5503 2024-10-09T00:24:20.139Z,1728433460.139 [DAT](INFO): DAT read: Rx Time:00:24:18.9939 2024-10-09T00:24:20.140Z,1728433460.140 [DAT](INFO): Rx dataTimestamp_ set to:1728433460.139588 2024-10-09T00:24:20.644Z,1728433460.644 [DAT](INFO): DAT read: 00:24:18.9939 LVL= 32672, 32753, 25586, 32755, AGC= 48, IDX= 423, 0.48, 2.019, 0.622, 2.181, 1.834, PHS= 0.273,-1.165, 0.343, RAW= 152.4, 7.5, CAL= 153.0, -1.6, ROT= 357.0, 1.6 2024-10-09T00:24:20.645Z,1728433460.645 [DAT](INFO): got valid direction response: 00:24:18.9939 LVL= 32672, 32753, 25586, 32755, AGC= 48, IDX= 423, 0.48, 2.019, 0.622, 2.181, 1.834, PHS= 0.273,-1.165, 0.343, RAW= 152.4, 7.5, CAL= 153.0, -1.6, ROT= 357.0, 1.6 2024-10-09T00:24:20.646Z,1728433460.646 [DAT](INFO): DAT read: Bearing 357.0, 1.6 (Local) 2024-10-09T00:24:20.647Z,1728433460.647 [DAT](INFO): Local bearing/azimuth received: Bearing 357.0, 1.6 (Local) 2024-10-09T00:24:20.648Z,1728433460.648 [DAT](INFO): DAT read: Range 10 to 50 : 28.9 m (Round-trip 38.6 ms) speed 0.1 m/s 2024-10-09T00:24:20.649Z,1728433460.649 [DAT](INFO): DAT read: user:593> 2024-10-09T00:24:20.650Z,1728433460.650 [DAT](INFO): DAT read: Tx time:00:24:20.1011 2024-10-09T00:24:20.651Z,1728433460.651 [DAT](INFO): Ping request sent. 2024-10-09T00:24:20.651Z,1728433460.651 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:20.651Z,1728433460.651 [DAT](INFO): #Rx 9: Read range and direction messages. 2024-10-09T00:24:20.652Z,1728433460.652 [DAT](INFO): direction in FSK: [0.998240,-0.052316,-0.027922] 2024-10-09T00:24:20.652Z,1728433460.652 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:20.653Z,1728433460.653 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:20.655Z,1728433460.655 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:20.656Z,1728433460.656 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:20.890Z,1728433460.890 [DAT](INFO): DAT read: TxSync time:00:24:20.1003 2024-10-09T00:24:23.665Z,1728433463.665 [DAT](INFO): DAT read: Rx Time:00:24:22.5430 2024-10-09T00:24:23.666Z,1728433463.666 [DAT](INFO): Rx dataTimestamp_ set to:1728433463.665325 2024-10-09T00:24:24.173Z,1728433464.173 [DAT](INFO): DAT read: 00:24:22.5430 LVL= 26048, 32753, 23538, 32755, AGC= 49, IDX= 430,-0.44,-0.227,-1.681,-0.095,-0.432, PHS= 0.293,-1.202, 0.334, RAW= 151.3, 7.6, CAL= 152.1, -1.4, ROT= 357.9, 1.4 2024-10-09T00:24:24.174Z,1728433464.174 [DAT](INFO): got valid direction response: 00:24:22.5430 LVL= 26048, 32753, 23538, 32755, AGC= 49, IDX= 430,-0.44,-0.227,-1.681,-0.095,-0.432, PHS= 0.293,-1.202, 0.334, RAW= 151.3, 7.6, CAL= 152.1, -1.4, ROT= 357.9, 1.4 2024-10-09T00:24:24.175Z,1728433464.175 [DAT](INFO): DAT read: Bearing 357.9, 1.4 (Local) 2024-10-09T00:24:24.175Z,1728433464.175 [DAT](INFO): Local bearing/azimuth received: Bearing 357.9, 1.4 (Local) 2024-10-09T00:24:24.177Z,1728433464.177 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (Round-trip 37.6 ms) speed 0.0 m/s 2024-10-09T00:24:24.178Z,1728433464.178 [DAT](INFO): DAT read: user:594> 2024-10-09T00:24:24.178Z,1728433464.178 [DAT](INFO): DAT read: Tx time:00:24:23.6512 2024-10-09T00:24:24.179Z,1728433464.179 [DAT](INFO): Ping request sent. 2024-10-09T00:24:24.179Z,1728433464.179 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:24.179Z,1728433464.179 [DAT](INFO): #Rx 10: Read range and direction messages. 2024-10-09T00:24:24.180Z,1728433464.180 [DAT](INFO): direction in FSK: [0.999030,-0.036633,-0.024432] 2024-10-09T00:24:24.180Z,1728433464.180 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:24.180Z,1728433464.180 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:24.255Z,1728433464.255 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:24.256Z,1728433464.256 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:24.419Z,1728433464.419 [DAT](INFO): DAT read: TxSync time:00:24:23.6504 2024-10-09T00:24:27.190Z,1728433467.190 [DAT](INFO): DAT read: Rx Time:00:24:26.0921 2024-10-09T00:24:27.191Z,1728433467.191 [DAT](INFO): Rx dataTimestamp_ set to:1728433467.190643 2024-10-09T00:24:27.716Z,1728433467.716 [DAT](INFO): DAT read: 00:24:26.0921 LVL= 23520, 32753, 17970, 32755, AGC= 47, IDX= 437,-0.12,-1.194,-2.619,-1.093,-1.391, PHS= 0.285,-1.181, 0.295, RAW= 150.3, 8.2, CAL= 151.0, -0.7, ROT= 359.0, 0.7 2024-10-09T00:24:27.717Z,1728433467.717 [DAT](INFO): got valid direction response: 00:24:26.0921 LVL= 23520, 32753, 17970, 32755, AGC= 47, IDX= 437,-0.12,-1.194,-2.619,-1.093,-1.391, PHS= 0.285,-1.181, 0.295, RAW= 150.3, 8.2, CAL= 151.0, -0.7, ROT= 359.0, 0.7 2024-10-09T00:24:27.718Z,1728433467.718 [DAT](INFO): DAT read: Bearing 359.0, 0.7 (Local) 2024-10-09T00:24:27.719Z,1728433467.719 [DAT](INFO): Local bearing/azimuth received: Bearing 359.0, 0.7 (Local) 2024-10-09T00:24:27.720Z,1728433467.720 [DAT](INFO): DAT read: Range 10 to 50 : 27.6 m (Round-trip 36.8 ms) speed 0.1 m/s 2024-10-09T00:24:27.721Z,1728433467.721 [DAT](INFO): DAT read: user:595> 2024-10-09T00:24:27.730Z,1728433467.730 [DAT](INFO): DAT read: Tx time:00:24:27.2012 2024-10-09T00:24:27.730Z,1728433467.730 [DAT](INFO): Ping request sent. 2024-10-09T00:24:27.730Z,1728433467.730 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:27.731Z,1728433467.731 [DAT](INFO): #Rx 11: Read range and direction messages. 2024-10-09T00:24:27.731Z,1728433467.731 [DAT](INFO): direction in FSK: [0.999773,-0.017451,-0.012217] 2024-10-09T00:24:27.732Z,1728433467.732 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:27.732Z,1728433467.732 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:27.740Z,1728433467.740 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:27.740Z,1728433467.740 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:27.963Z,1728433467.963 [DAT](INFO): DAT read: TxSync time:00:24:27.2004 2024-10-09T00:24:30.735Z,1728433470.735 [DAT](INFO): DAT read: Rx Time:00:24:29.6414 2024-10-09T00:24:30.735Z,1728433470.735 [DAT](INFO): Rx dataTimestamp_ set to:1728433470.734759 2024-10-09T00:24:30.763Z,1728433470.763 [OnDock:M.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK. 2024-10-09T00:24:30.763Z,1728433470.763 [OnDock:M.Docked] Stopped 2024-10-09T00:24:30.763Z,1728433470.763 [OnDock:Detach] Running Loop=1 2024-10-09T00:24:30.763Z,1728433470.763 [OnDock:Detach](DEBUG): Aggregate::initialize OnDock:Detach 2024-10-09T00:24:30.763Z,1728433470.763 [OnDock:Detach:A] Running Loop=1 2024-10-09T00:24:30.770Z,1728433470.770 [DockingStepper](INFO): Changing to mode: 2 2024-10-09T00:24:30.770Z,1728433470.770 [DockingStepper](INFO): Armed mode. 2024-10-09T00:24:30.834Z,1728433470.834 [DockingStepper](INFO): Commanding negative:54593 2024-10-09T00:24:30.986Z,1728433470.986 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2024-10-09T00:24:30.991Z,1728433470.991 [OnDock:Detach:A](IMPORTANT): Mission ending, breaking off. Range: 27.600000 m . 2024-10-09T00:24:30.991Z,1728433470.991 [OnDock:Detach:A] Stopped 2024-10-09T00:24:30.991Z,1728433470.991 [OnDock:Detach:B.Undock] Running Loop=1 2024-10-09T00:24:30.991Z,1728433470.991 [OnDock:Detach:B.Undock](DEBUG): Initialize. 2024-10-09T00:24:30.991Z,1728433470.991 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2024-10-09T00:24:31.244Z,1728433471.244 [DAT](INFO): DAT read: 00:24:29.6414 LVL= 32480, 32753, 28706, 32755, AGC= 47, IDX= 429, 0.07, 0.053,-1.304, 0.163,-0.085, PHS= 0.226,-1.172, 0.245, RAW= 150.7, 10.0, CAL= 151.2, 1.4, ROT= 358.8, -1.4 2024-10-09T00:24:31.246Z,1728433471.246 [DAT](INFO): got valid direction response: 00:24:29.6414 LVL= 32480, 32753, 28706, 32755, AGC= 47, IDX= 429, 0.07, 0.053,-1.304, 0.163,-0.085, PHS= 0.226,-1.172, 0.245, RAW= 150.7, 10.0, CAL= 151.2, 1.4, ROT= 358.8, -1.4 2024-10-09T00:24:31.247Z,1728433471.247 [DAT](INFO): DAT read: Bearing 358.8, -1.4 (Local) 2024-10-09T00:24:31.247Z,1728433471.247 [DAT](INFO): Local bearing/azimuth received: Bearing 358.8, -1.4 (Local) 2024-10-09T00:24:31.248Z,1728433471.248 [DAT](INFO): DAT read: Range 10 to 50 : 27.0 m (Round-trip 36.0 ms) speed 0.1 m/s 2024-10-09T00:24:31.249Z,1728433471.249 [DAT](INFO): DAT read: user:596> 2024-10-09T00:24:31.251Z,1728433471.251 [DAT](INFO): DAT read: Tx time:00:24:30.7512 2024-10-09T00:24:31.251Z,1728433471.251 [DAT](INFO): Ping request sent. 2024-10-09T00:24:31.251Z,1728433471.251 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:31.251Z,1728433471.251 [DAT](INFO): #Rx 12: Read range and direction messages. 2024-10-09T00:24:31.252Z,1728433471.252 [DAT](INFO): direction in FSK: [0.999482,-0.020936,0.024432] 2024-10-09T00:24:31.253Z,1728433471.253 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:31.253Z,1728433471.253 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:31.256Z,1728433471.256 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:31.256Z,1728433471.256 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:31.259Z,1728433471.259 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2024-10-09T00:24:31.447Z,1728433471.447 [OnDock:Detach:B.Undock](DEBUG): Initialize. 2024-10-09T00:24:31.447Z,1728433471.447 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2024-10-09T00:24:31.448Z,1728433471.448 [OnDock:Detach:B.Undock](INFO): Detached from dock at depth 65.227669 m. 2024-10-09T00:24:31.495Z,1728433471.495 [DAT](INFO): DAT read: TxSync time:00:24:30.7504 2024-10-09T00:24:31.496Z,1728433471.496 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2024-10-09T00:24:31.891Z,1728433471.891 [DockingStepper](INFO): Changing to mode: 3 2024-10-09T00:24:31.892Z,1728433471.892 [DockingStepper](INFO): Detach mode. 2024-10-09T00:24:34.267Z,1728433474.267 [DAT](INFO): DAT read: Rx Time:00:24:33.1910 2024-10-09T00:24:34.268Z,1728433474.268 [DAT](INFO): Rx dataTimestamp_ set to:1728433474.267225 2024-10-09T00:24:34.781Z,1728433474.781 [DAT](INFO): DAT read: 00:24:33.1910 LVL= 24800, 32753, 26162, 32755, AGC= 45, IDX= 439, 0.37,-1.977, 2.907,-2.023,-2.237, PHS= 0.348,-1.092, 0.211, RAW= 145.1, 7.8, CAL= 147.1, -0.4, ROT= 2.9, 0.4 2024-10-09T00:24:34.785Z,1728433474.785 [DAT](INFO): got valid direction response: 00:24:33.1910 LVL= 24800, 32753, 26162, 32755, AGC= 45, IDX= 439, 0.37,-1.977, 2.907,-2.023,-2.237, PHS= 0.348,-1.092, 0.211, RAW= 145.1, 7.8, CAL= 147.1, -0.4, ROT= 2.9, 0.4 2024-10-09T00:24:34.799Z,1728433474.799 [DAT](INFO): DAT read: Bearing 2.9, 0.4 (Local) 2024-10-09T00:24:34.799Z,1728433474.799 [DAT](INFO): Local bearing/azimuth received: Bearing 2.9, 0.4 (Local) 2024-10-09T00:24:34.800Z,1728433474.800 [DAT](INFO): DAT read: Range 10 to 50 : 26.6 m (Round-trip 35.5 ms) speed 0.1 m/s 2024-10-09T00:24:34.801Z,1728433474.801 [DAT](INFO): DAT read: user:597> 2024-10-09T00:24:34.810Z,1728433474.810 [DAT](INFO): DAT read: Tx time:00:24:34.3011 2024-10-09T00:24:34.811Z,1728433474.811 [DAT](INFO): Ping request sent. 2024-10-09T00:24:34.811Z,1728433474.811 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:34.811Z,1728433474.811 [DAT](INFO): #Rx 13: Read range and direction messages. 2024-10-09T00:24:34.812Z,1728433474.812 [DAT](INFO): direction in FSK: [0.998695,0.050592,-0.006981] 2024-10-09T00:24:34.812Z,1728433474.812 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:34.813Z,1728433474.813 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:34.820Z,1728433474.820 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:34.820Z,1728433474.820 [DAT](INFO): publishing direction and range info 2024-10-09T00:24:37.130Z,1728433477.130 [OnDock:Detach:B.Undock](INFO): Detected possible detachment. Starting timer. 2024-10-09T00:24:37.290Z,1728433477.290 [DAT](INFO): DAT read: Rx Time:00:24:36.1952 2024-10-09T00:24:37.291Z,1728433477.291 [DAT](INFO): Rx dataTimestamp_ set to:1728433477.290646 2024-10-09T00:24:37.799Z,1728433477.799 [DAT](INFO): DAT read: 00:24:36.1952 LVL= 29680, 32753, 27890, 32755, AGC= 47, IDX= 499,-0.09,-2.928, 2.076,-3.043,-3.058, PHS= 0.218,-1.102, 0.012, RAW= 141.7, 14.1, CAL= 144.5, 7.7, ROT= 5.5, -7.7 2024-10-09T00:24:37.800Z,1728433477.800 [DAT](INFO): got valid direction response: 00:24:36.1952 LVL= 29680, 32753, 27890, 32755, AGC= 47, IDX= 499,-0.09,-2.928, 2.076,-3.043,-3.058, PHS= 0.218,-1.102, 0.012, RAW= 141.7, 14.1, CAL= 144.5, 7.7, ROT= 5.5, -7.7 2024-10-09T00:24:37.800Z,1728433477.800 [DAT](INFO): DAT read: OK 2024-10-09T00:24:37.801Z,1728433477.801 [DAT](INFO): unknown deviceResponse_: OK 2024-10-09T00:24:37.801Z,1728433477.801 [DAT](INFO): DAT read: user:598> 2024-10-09T00:24:37.802Z,1728433477.802 [DAT](INFO): DAT read: Tx time:00:24:37.3003 2024-10-09T00:24:37.802Z,1728433477.802 [DAT](INFO): Ping request sent. 2024-10-09T00:24:37.802Z,1728433477.802 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:37.803Z,1728433477.803 [DAT](INFO): #Rx 14: Read direction message, but no range. 2024-10-09T00:24:37.804Z,1728433477.804 [DAT](INFO): direction in FSK: [0.986421,0.094982,0.133986] 2024-10-09T00:24:37.804Z,1728433477.804 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:37.812Z,1728433477.812 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:40.315Z,1728433480.315 [DAT](INFO): DAT read: Rx Time:00:24:39.1949 2024-10-09T00:24:40.315Z,1728433480.315 [DAT](INFO): Rx dataTimestamp_ set to:1728433480.315015 2024-10-09T00:24:40.823Z,1728433480.823 [DAT](INFO): DAT read: 00:24:39.1949 LVL= 29488, 32753, 24450, 32755, AGC= 46, IDX= 432,-0.01,-1.046,-2.343,-1.148,-1.192, PHS= 0.234,-1.105, 0.040, RAW= 142.3, 13.2, CAL= 145.0, 6.6, ROT= 5.0, -6.6 2024-10-09T00:24:40.824Z,1728433480.824 [DAT](INFO): got valid direction response: 00:24:39.1949 LVL= 29488, 32753, 24450, 32755, AGC= 46, IDX= 432,-0.01,-1.046,-2.343,-1.148,-1.192, PHS= 0.234,-1.105, 0.040, RAW= 142.3, 13.2, CAL= 145.0, 6.6, ROT= 5.0, -6.6 2024-10-09T00:24:40.824Z,1728433480.824 [DAT](INFO): DAT read: OK 2024-10-09T00:24:40.825Z,1728433480.825 [DAT](INFO): unknown deviceResponse_: OK 2024-10-09T00:24:40.825Z,1728433480.825 [DAT](INFO): DAT read: user:599> 2024-10-09T00:24:40.826Z,1728433480.826 [DAT](INFO): DAT read: Tx time:00:24:40.3003 2024-10-09T00:24:40.826Z,1728433480.826 [DAT](INFO): Ping request sent. 2024-10-09T00:24:40.826Z,1728433480.826 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:40.827Z,1728433480.827 [DAT](INFO): #Rx 15: Read direction message, but no range. 2024-10-09T00:24:40.827Z,1728433480.827 [DAT](INFO): direction in FSK: [0.989593,0.086578,0.114937] 2024-10-09T00:24:40.828Z,1728433480.828 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:40.831Z,1728433480.831 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:43.338Z,1728433483.338 [DAT](INFO): DAT read: Rx Time:00:24:42.1948 2024-10-09T00:24:43.339Z,1728433483.339 [DAT](INFO): Rx dataTimestamp_ set to:1728433483.338615 2024-10-09T00:24:43.847Z,1728433483.847 [DAT](INFO): DAT read: 00:24:42.1948 LVL= 22640, 26961, 19154, 32755, AGC= 45, IDX= 447,-0.40,-2.728, 2.090,-2.860,-2.951, PHS= 0.311,-1.195, 0.088, RAW= 142.1, 11.3, CAL= 144.9, 4.3, ROT= 5.1, -4.3 2024-10-09T00:24:43.848Z,1728433483.848 [DAT](INFO): got valid direction response: 00:24:42.1948 LVL= 22640, 26961, 19154, 32755, AGC= 45, IDX= 447,-0.40,-2.728, 2.090,-2.860,-2.951, PHS= 0.311,-1.195, 0.088, RAW= 142.1, 11.3, CAL= 144.9, 4.3, ROT= 5.1, -4.3 2024-10-09T00:24:43.848Z,1728433483.848 [DAT](INFO): DAT read: OK 2024-10-09T00:24:43.849Z,1728433483.849 [DAT](INFO): unknown deviceResponse_: OK 2024-10-09T00:24:43.849Z,1728433483.849 [DAT](INFO): DAT read: user:600> 2024-10-09T00:24:43.850Z,1728433483.850 [DAT](INFO): DAT read: Tx time:00:24:43.3003 2024-10-09T00:24:43.850Z,1728433483.850 [DAT](INFO): Ping request sent. 2024-10-09T00:24:43.850Z,1728433483.850 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:43.851Z,1728433483.851 [DAT](INFO): #Rx 16: Read direction message, but no range. 2024-10-09T00:24:43.852Z,1728433483.852 [DAT](INFO): direction in FSK: [0.993237,0.088644,0.074979] 2024-10-09T00:24:43.852Z,1728433483.852 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:43.855Z,1728433483.855 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:46.380Z,1728433486.380 [DAT](INFO): DAT read: Rx Time:00:24:45.1949 2024-10-09T00:24:46.381Z,1728433486.381 [DAT](INFO): Rx dataTimestamp_ set to:1728433486.380293 2024-10-09T00:24:46.895Z,1728433486.895 [DAT](INFO): DAT read: 00:24:45.1949 LVL= 24704, 32753, 24434, 32755, AGC= 45, IDX= 446, 0.05,-1.544,-2.969,-1.690,-1.800, PHS= 0.343,-1.122, 0.106, RAW= 141.3, 9.9, CAL= 144.3, 2.7, ROT= 5.7, -2.7 2024-10-09T00:24:46.896Z,1728433486.896 [DAT](INFO): got valid direction response: 00:24:45.1949 LVL= 24704, 32753, 24434, 32755, AGC= 45, IDX= 446, 0.05,-1.544,-2.969,-1.690,-1.800, PHS= 0.343,-1.122, 0.106, RAW= 141.3, 9.9, CAL= 144.3, 2.7, ROT= 5.7, -2.7 2024-10-09T00:24:46.896Z,1728433486.896 [DAT](INFO): DAT read: OK 2024-10-09T00:24:46.896Z,1728433486.896 [DAT](INFO): unknown deviceResponse_: OK 2024-10-09T00:24:46.897Z,1728433486.897 [DAT](INFO): DAT read: user:601> 2024-10-09T00:24:46.898Z,1728433486.898 [DAT](INFO): DAT read: Tx time:00:24:46.3004 2024-10-09T00:24:46.898Z,1728433486.898 [DAT](INFO): Ping request sent. 2024-10-09T00:24:46.898Z,1728433486.898 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:46.899Z,1728433486.899 [DAT](INFO): #Rx 17: Read direction message, but no range. 2024-10-09T00:24:46.900Z,1728433486.900 [DAT](INFO): direction in FSK: [0.993951,0.099209,0.047106] 2024-10-09T00:24:46.900Z,1728433486.900 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:46.903Z,1728433486.903 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:49.403Z,1728433489.403 [DAT](INFO): DAT read: Rx Time:00:24:48.1959 2024-10-09T00:24:49.403Z,1728433489.403 [DAT](INFO): Rx dataTimestamp_ set to:1728433489.402805 2024-10-09T00:24:49.911Z,1728433489.911 [DAT](INFO): DAT read: 00:24:48.1959 LVL= 30704, 32753, 25202, 32755, AGC= 43, IDX= 458,-0.28,-1.450,-2.781,-1.637,-1.655, PHS= 0.293,-1.078, 0.016, RAW= 139.0, 12.2, CAL= 142.4, 5.8, ROT= 7.6, -5.8 2024-10-09T00:24:49.912Z,1728433489.912 [DAT](INFO): got valid direction response: 00:24:48.1959 LVL= 30704, 32753, 25202, 32755, AGC= 43, IDX= 458,-0.28,-1.450,-2.781,-1.637,-1.655, PHS= 0.293,-1.078, 0.016, RAW= 139.0, 12.2, CAL= 142.4, 5.8, ROT= 7.6, -5.8 2024-10-09T00:24:49.912Z,1728433489.912 [DAT](INFO): DAT read: OK 2024-10-09T00:24:49.913Z,1728433489.913 [DAT](INFO): unknown deviceResponse_: OK 2024-10-09T00:24:49.913Z,1728433489.913 [DAT](INFO): DAT read: user:602> 2024-10-09T00:24:49.914Z,1728433489.914 [DAT](INFO): DAT read: Tx time:00:24:49.3004 2024-10-09T00:24:49.914Z,1728433489.914 [DAT](INFO): Ping request sent. 2024-10-09T00:24:49.914Z,1728433489.914 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:24:49.914Z,1728433489.914 [DAT](INFO): #Rx 18: Read direction message, but no range. 2024-10-09T00:24:49.915Z,1728433489.915 [DAT](INFO): direction in FSK: [0.986141,0.131579,0.101056] 2024-10-09T00:24:49.916Z,1728433489.916 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:49.931Z,1728433489.931 [DAT](INFO): publishing transmit ping time 2024-10-09T00:24:52.176Z,1728433492.176 [DAT](INFO): DAT read: Rx Time:00:24:51.1958 2024-10-09T00:24:52.177Z,1728433492.177 [DAT](INFO): Rx dataTimestamp_ set to:1728433492.176113 2024-10-09T00:24:52.934Z,1728433492.934 [DAT](INFO): DAT read: 00:24:51.1958 LVL= 21200, 32753, 16802, 32755, AGC= 44, IDX= 440,-0.07, 0.277,-1.136, 0.067, 0.015, PHS= 0.350,-1.104, 0.049, RAW= 138.7, 10.6, CAL= 142.3, 4.0, ROT= 7.7, -4.0 2024-10-09T00:24:52.936Z,1728433492.936 [DAT](INFO): got valid direction response: 00:24:51.1958 LVL= 21200, 32753, 16802, 32755, AGC= 44, IDX= 440,-0.07, 0.277,-1.136, 0.067, 0.015, PHS= 0.350,-1.104, 0.049, RAW= 138.7, 10.6, CAL= 142.3, 4.0, ROT= 7.7, -4.0 2024-10-09T00:24:52.936Z,1728433492.936 [DAT](INFO): DAT read: OK 2024-10-09T00:24:52.936Z,1728433492.936 [DAT](INFO): unknown deviceResponse_: OK 2024-10-09T00:24:52.936Z,1728433492.936 [DAT](INFO): #Rx 19: Read direction message, but no range. 2024-10-09T00:24:52.938Z,1728433492.938 [DAT](INFO): direction in FSK: [0.988569,0.133660,0.069756] 2024-10-09T00:24:57.264Z,1728433497.264 [OnDock:Detach:B.Undock](INFO): Detached at range: 26.60 m. Transitioning docking module to standby. 2024-10-09T00:24:57.690Z,1728433497.690 [DockingStepper](INFO): Changing to mode: 1 2024-10-09T00:24:57.690Z,1728433497.690 [DockingStepper](INFO): Standby mode. 2024-10-09T00:24:57.750Z,1728433497.750 [DockingStepper](INFO): Commanding positive:54562 2024-10-09T00:25:03.718Z,1728433503.718 [OnDock:Detach:B.Undock](INFO): Docking module at standby. 2024-10-09T00:25:04.156Z,1728433504.156 [OnDock:Detach:B.Undock](IMPORTANT): Undocking sequence complete. 2024-10-09T00:25:04.156Z,1728433504.156 [OnDock:Detach:B.Undock] Stopped 2024-10-09T00:25:04.156Z,1728433504.156 [OnDock:Detach](INFO): Completed OnDock:Detach 2024-10-09T00:25:04.156Z,1728433504.156 [OnDock:Detach] Stopped 2024-10-09T00:25:04.156Z,1728433504.156 [OnDock:Detach](DEBUG): Aggregate::uninitialize OnDock:Detach 2024-10-09T00:25:04.159Z,1728433504.159 [OnDock](INFO): Completed OnDock 2024-10-09T00:25:04.159Z,1728433504.159 [MissionManager](INFO): OnDock is completed. 2024-10-09T00:25:04.159Z,1728433504.159 [MissionManager](INFO): Uninitializing Mission OnDock 2024-10-09T00:25:04.159Z,1728433504.159 [OnDock] Stopped 2024-10-09T00:25:04.159Z,1728433504.159 [OnDock](DEBUG): Aggregate::uninitialize OnDock 2024-10-09T00:25:04.159Z,1728433504.159 [OnDock:StandardEnvelopes] Stopped 2024-10-09T00:25:04.159Z,1728433504.159 [OnDock:StandardEnvelopes](DEBUG): Aggregate::uninitialize OnDock:StandardEnvelopes 2024-10-09T00:25:04.159Z,1728433504.159 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2024-10-09T00:25:04.159Z,1728433504.159 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:StandardEnvelopes:B.DepthEnvelope] Stopped 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:BackseatDriver] Stopped 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:BackseatDriver](DEBUG): Aggregate::uninitialize OnDock:BackseatDriver 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:BackseatDriver:A.BackseatDriver] Stopped 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:PowerOnly] Stopped 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:PowerOnly](DEBUG): Aggregate::uninitialize OnDock:PowerOnly 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:PowerOnly:E.Wait] Stopped 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:dataRead] Stopped 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:dataRead](DEBUG): Aggregate::uninitialize OnDock:dataRead 2024-10-09T00:25:04.160Z,1728433504.160 [OnDock:dataRead:A] Stopped 2024-10-09T00:25:04.161Z,1728433504.161 [OnDock:I.] Stopped 2024-10-09T00:25:04.161Z,1728433504.161 [OnDock:I.](DEBUG): Uninitializing TrackAcousticContact. 2024-10-09T00:25:04.161Z,1728433504.161 [OnDock:PeriodicCheck] Stopped 2024-10-09T00:25:04.161Z,1728433504.161 [OnDock:PeriodicCheck](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck 2024-10-09T00:25:04.161Z,1728433504.161 [OnDock:PeriodicCheck:CheckIP] Stopped 2024-10-09T00:25:04.161Z,1728433504.161 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck:CheckIP 2024-10-09T00:25:04.161Z,1728433504.161 [OnDock:PeriodicCheck:CheckIP:B.Wait] Stopped 2024-10-09T00:25:04.161Z,1728433504.161 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Uninitialize Wait Component. 2024-10-09T00:25:04.530Z,1728433504.530 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2024-10-09T00:25:04.531Z,1728433504.531 [DefaultWithUndock] Running Loop=1 2024-10-09T00:25:04.531Z,1728433504.531 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2024-10-09T00:25:04.531Z,1728433504.531 [DefaultWithUndock:A.Wait] Running Loop=1 2024-10-09T00:25:04.531Z,1728433504.531 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2024-10-09T00:25:04.545Z,1728433504.545 [DockingStepper](INFO): Pause 2024-10-09T00:25:23.169Z,1728433523.169 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V 2024-10-09T00:25:34.819Z,1728433534.819 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2024-10-09T00:25:34.819Z,1728433534.819 [DefaultWithUndock:A.Wait] Stopped 2024-10-09T00:25:34.819Z,1728433534.819 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2024-10-09T00:25:34.819Z,1728433534.819 [DefaultWithUndock:LeaveDock] Running Loop=1 2024-10-09T00:25:34.819Z,1728433534.819 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2024-10-09T00:25:34.819Z,1728433534.819 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2024-10-09T00:25:34.819Z,1728433534.819 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2024-10-09T00:25:34.819Z,1728433534.819 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2024-10-09T00:25:34.820Z,1728433534.820 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2024-10-09T00:25:34.820Z,1728433534.820 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2024-10-09T00:25:35.227Z,1728433535.227 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2024-10-09T00:25:35.227Z,1728433535.227 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2024-10-09T00:25:35.228Z,1728433535.228 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 65.948456 m. 2024-10-09T00:25:35.228Z,1728433535.228 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2024-10-09T00:25:35.378Z,1728433535.378 [DockingStepper](INFO): Resume 2024-10-09T00:25:35.609Z,1728433535.609 [NAL9602](INFO): Not Powering down - fast GPS 2024-10-09T00:25:35.698Z,1728433535.698 [DockingStepper](INFO): Resuming 2024-10-09T00:25:36.036Z,1728433536.036 [DockingStepper](INFO): Start 2024-10-09T00:25:36.036Z,1728433536.036 [DockingStepper](DEBUG): Initializing EZServoServo. 2024-10-09T00:25:36.154Z,1728433536.154 [DockingStepper](DEBUG): Initializing DockingStepper. 2024-10-09T00:25:36.453Z,1728433536.453 [DockingStepper](INFO): Starting 2024-10-09T00:25:36.930Z,1728433536.930 [DockingStepper](INFO): Starting 2024-10-09T00:25:37.259Z,1728433537.259 [DockingStepper](INFO): Starting 2024-10-09T00:25:37.306Z,1728433537.306 [DockingStepper](INFO): Init string: /1z16351aE13561N3m50 2024-10-09T00:25:37.684Z,1728433537.684 [DockingStepper](INFO): Starting 2024-10-09T00:25:38.055Z,1728433538.055 [DockingStepper](INFO): Starting 2024-10-09T00:25:38.506Z,1728433538.506 [DockingStepper](INFO): Starting 2024-10-09T00:25:38.872Z,1728433538.872 [DockingStepper](INFO): Starting 2024-10-09T00:25:38.898Z,1728433538.898 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2024-10-09T00:25:39.399Z,1728433539.399 [DockingStepper](INFO): Starting 2024-10-09T00:25:39.751Z,1728433539.751 [DockingStepper](INFO): Changing to mode: 3 2024-10-09T00:25:39.751Z,1728433539.751 [DockingStepper](INFO): Detach mode. 2024-10-09T00:25:39.813Z,1728433539.813 [DockingStepper](INFO): Commanding negative:54494 2024-10-09T00:25:44.921Z,1728433544.921 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2024-10-09T00:25:45.146Z,1728433545.146 [DAT](INFO): Acoustic response timeout 2024-10-09T00:25:45.146Z,1728433545.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2024-10-09T00:25:45.400Z,1728433545.400 [DAT](INFO): DAT read: user:603> 2024-10-09T00:25:45.401Z,1728433545.401 [DAT](INFO): DAT read: Tx time:00:25:44.7520 2024-10-09T00:25:45.402Z,1728433545.402 [DAT](INFO): Ping request sent. 2024-10-09T00:25:45.402Z,1728433545.402 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:25:45.402Z,1728433545.402 [DAT](INFO): publishing transmit ping time 2024-10-09T00:25:45.403Z,1728433545.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001072 2024-10-09T00:25:45.651Z,1728433545.651 [DAT](INFO): DAT read: TxSync time:00:25:44.7512 2024-10-09T00:25:45.651Z,1728433545.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249400 2024-10-09T00:25:45.755Z,1728433545.755 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2024-10-09T00:25:45.902Z,1728433545.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500312 2024-10-09T00:25:46.156Z,1728433546.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753749 2024-10-09T00:25:46.406Z,1728433546.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004400 2024-10-09T00:25:46.658Z,1728433546.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256296 2024-10-09T00:25:46.911Z,1728433546.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509259 2024-10-09T00:25:47.162Z,1728433547.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760411 2024-10-09T00:25:47.415Z,1728433547.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013006 2024-10-09T00:25:47.667Z,1728433547.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264622 2024-10-09T00:25:47.918Z,1728433547.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516421 2024-10-09T00:25:48.171Z,1728433548.171 [DAT](INFO): DAT read: Rx Time:00:25:47.1874 2024-10-09T00:25:48.171Z,1728433548.171 [DAT](INFO): Rx dataTimestamp_ set to:1728433548.170926 2024-10-09T00:25:48.172Z,1728433548.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769702 2024-10-09T00:25:48.423Z,1728433548.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020607 2024-10-09T00:25:48.675Z,1728433548.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272794 2024-10-09T00:25:48.932Z,1728433548.932 [DAT](INFO): DAT read: 00:25:47.1874 LVL= 23856, 31217, 19698, 32755, AGC= 44, IDX= 330, 0.30,-0.882,-2.374,-1.224,-1.406, PHS= 0.612,-0.921, 0.179, RAW= 134.1, 1.9, CAL= 139.5, -6.3, ROT= 10.5, 6.3 2024-10-09T00:25:48.933Z,1728433548.933 [DAT](INFO): got valid direction response: 00:25:47.1874 LVL= 23856, 31217, 19698, 32755, AGC= 44, IDX= 330, 0.30,-0.882,-2.374,-1.224,-1.406, PHS= 0.612,-0.921, 0.179, RAW= 134.1, 1.9, CAL= 139.5, -6.3, ROT= 10.5, 6.3 2024-10-09T00:25:48.934Z,1728433548.934 [DAT](INFO): DAT read: Bearing 10.5, 6.3 (Local) 2024-10-09T00:25:48.934Z,1728433548.934 [DAT](INFO): Local bearing/azimuth received: Bearing 10.5, 6.3 (Local) 2024-10-09T00:25:48.935Z,1728433548.935 [DAT](INFO): DAT read: Range 10 to 50 : 23.3 m (Round-trip 31.1 ms) speed 0.0 m/s 2024-10-09T00:25:48.936Z,1728433548.936 [DAT](INFO): #Rx 1: Read range and direction messages. 2024-10-09T00:25:48.937Z,1728433548.937 [DAT](INFO): direction in FSK: [0.977317,0.181135,-0.109734] 2024-10-09T00:25:48.940Z,1728433548.940 [DAT](INFO): publishing direction and range info 2024-10-09T00:25:55.063Z,1728433555.063 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2024-10-09T00:25:55.234Z,1728433555.234 [DAT](INFO): ****** received valid address query ****** 2024-10-09T00:25:55.235Z,1728433555.235 [DAT](INFO): ****** received valid ping request ****** 2024-10-09T00:25:55.235Z,1728433555.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2024-10-09T00:25:55.487Z,1728433555.487 [DAT](INFO): DAT read: user:604> 2024-10-09T00:25:55.488Z,1728433555.488 [DAT](INFO): DAT read: Tx time:00:25:54.8522 2024-10-09T00:25:55.489Z,1728433555.489 [DAT](INFO): Ping request sent. 2024-10-09T00:25:55.489Z,1728433555.489 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:25:55.489Z,1728433555.489 [DAT](INFO): publishing transmit ping time 2024-10-09T00:25:55.490Z,1728433555.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001165 2024-10-09T00:25:55.738Z,1728433555.738 [DAT](INFO): DAT read: TxSync time:00:25:54.8514 2024-10-09T00:25:55.739Z,1728433555.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250409 2024-10-09T00:25:55.991Z,1728433555.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501850 2024-10-09T00:25:56.243Z,1728433556.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753695 2024-10-09T00:25:56.494Z,1728433556.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005523 2024-10-09T00:25:56.747Z,1728433556.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258343 2024-10-09T00:25:56.998Z,1728433556.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509595 2024-10-09T00:25:57.250Z,1728433557.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761478 2024-10-09T00:25:57.503Z,1728433557.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014085 2024-10-09T00:25:57.754Z,1728433557.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265522 2024-10-09T00:25:58.006Z,1728433558.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517521 2024-10-09T00:25:58.269Z,1728433558.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780175 2024-10-09T00:25:58.518Z,1728433558.518 [DAT](INFO): DAT read: Rx Time:00:25:57.2878 2024-10-09T00:25:58.519Z,1728433558.519 [DAT](INFO): Rx dataTimestamp_ set to:1728433558.518663 2024-10-09T00:25:58.519Z,1728433558.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030665 2024-10-09T00:25:58.771Z,1728433558.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282212 2024-10-09T00:25:59.028Z,1728433559.028 [DAT](INFO): DAT read: 00:25:57.2878 LVL= 20144, 30417, 21778, 32755, AGC= 42, IDX= 447,-0.39, 0.412,-1.145, 0.147,-0.069, PHS= 0.569,-1.028, 0.213, RAW= 137.7, 3.4, CAL= 142.3, -4.6, ROT= 7.7, 4.6 2024-10-09T00:25:59.030Z,1728433559.030 [DAT](INFO): got valid direction response: 00:25:57.2878 LVL= 20144, 30417, 21778, 32755, AGC= 42, IDX= 447,-0.39, 0.412,-1.145, 0.147,-0.069, PHS= 0.569,-1.028, 0.213, RAW= 137.7, 3.4, CAL= 142.3, -4.6, ROT= 7.7, 4.6 2024-10-09T00:25:59.031Z,1728433559.031 [DAT](INFO): DAT read: Bearing 7.7, 4.6 (Local) 2024-10-09T00:25:59.031Z,1728433559.031 [DAT](INFO): Local bearing/azimuth received: Bearing 7.7, 4.6 (Local) 2024-10-09T00:25:59.032Z,1728433559.032 [DAT](INFO): DAT read: Range 10 to 50 : 23.6 m (Round-trip 31.5 ms) speed 0.0 m/s 2024-10-09T00:25:59.033Z,1728433559.033 [DAT](INFO): #Rx 1: Read range and direction messages. 2024-10-09T00:25:59.034Z,1728433559.034 [DAT](INFO): direction in FSK: [0.987791,0.133555,-0.080199] 2024-10-09T00:25:59.034Z,1728433559.034 [DAT](INFO): publishing direction and range info 2024-10-09T00:26:05.159Z,1728433565.159 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2024-10-09T00:26:05.330Z,1728433565.330 [DAT](INFO): ****** received valid address query ****** 2024-10-09T00:26:05.330Z,1728433565.330 [DAT](INFO): ****** received valid ping request ****** 2024-10-09T00:26:05.331Z,1728433565.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2024-10-09T00:26:05.582Z,1728433565.582 [DAT](INFO): DAT read: user:605> 2024-10-09T00:26:05.583Z,1728433565.583 [DAT](INFO): DAT read: Tx time:00:26:04.9523 2024-10-09T00:26:05.583Z,1728433565.583 [DAT](INFO): Ping request sent. 2024-10-09T00:26:05.584Z,1728433565.584 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:26:05.584Z,1728433565.584 [DAT](INFO): publishing transmit ping time 2024-10-09T00:26:05.584Z,1728433565.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2024-10-09T00:26:05.835Z,1728433565.835 [DAT](INFO): DAT read: TxSync time:00:26:04.9515 2024-10-09T00:26:05.836Z,1728433565.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252050 2024-10-09T00:26:05.992Z,1728433565.992 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 23.60 m. Transitioning docking module to standby. 2024-10-09T00:26:06.086Z,1728433566.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855 2024-10-09T00:26:06.350Z,1728433566.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766838 2024-10-09T00:26:06.373Z,1728433566.373 [DockingStepper](INFO): Changing to mode: 1 2024-10-09T00:26:06.373Z,1728433566.373 [DockingStepper](INFO): Standby mode. 2024-10-09T00:26:06.437Z,1728433566.437 [DockingStepper](INFO): Commanding positive:54500 2024-10-09T00:26:06.603Z,1728433566.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.019217 2024-10-09T00:26:06.855Z,1728433566.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271455 2024-10-09T00:26:07.106Z,1728433567.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522933 2024-10-09T00:26:07.359Z,1728433567.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775025 2024-10-09T00:26:07.611Z,1728433567.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027565 2024-10-09T00:26:07.862Z,1728433567.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278791 2024-10-09T00:26:08.115Z,1728433568.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531077 2024-10-09T00:26:08.369Z,1728433568.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785159 2024-10-09T00:26:08.618Z,1728433568.618 [DAT](INFO): DAT read: Rx Time:00:26:07.3881 2024-10-09T00:26:08.619Z,1728433568.619 [DAT](INFO): Rx dataTimestamp_ set to:1728433568.618666 2024-10-09T00:26:08.619Z,1728433568.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035925 2024-10-09T00:26:08.871Z,1728433568.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287144 2024-10-09T00:26:09.128Z,1728433569.128 [DAT](INFO): DAT read: 00:26:07.3881 LVL= 20608, 29793, 24610, 32755, AGC= 37, IDX= 449,-0.39, 2.849, 1.236, 2.184, 2.291, PHS= 0.646,-1.008,-0.110, RAW= 122.9, 6.6, CAL= 131.3, 2.0, ROT= 18.7, -2.0 2024-10-09T00:26:09.129Z,1728433569.129 [DAT](INFO): got valid direction response: 00:26:07.3881 LVL= 20608, 29793, 24610, 32755, AGC= 37, IDX= 449,-0.39, 2.849, 1.236, 2.184, 2.291, PHS= 0.646,-1.008,-0.110, RAW= 122.9, 6.6, CAL= 131.3, 2.0, ROT= 18.7, -2.0 2024-10-09T00:26:09.130Z,1728433569.130 [DAT](INFO): DAT read: Bearing 18.7, -2.0 (Local) 2024-10-09T00:26:09.130Z,1728433569.130 [DAT](INFO): Local bearing/azimuth received: Bearing 18.7, -2.0 (Local) 2024-10-09T00:26:09.132Z,1728433569.132 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.7 ms) speed -0.1 m/s 2024-10-09T00:26:09.132Z,1728433569.132 [DAT](INFO): #Rx 1: Read range and direction messages. 2024-10-09T00:26:09.134Z,1728433569.134 [DAT](INFO): direction in FSK: [0.946633,0.320418,0.034899] 2024-10-09T00:26:09.134Z,1728433569.134 [DAT](INFO): publishing direction and range info 2024-10-09T00:26:12.427Z,1728433572.427 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2024-10-09T00:26:12.884Z,1728433572.884 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2024-10-09T00:26:12.884Z,1728433572.884 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2024-10-09T00:26:12.885Z,1728433572.885 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2024-10-09T00:26:12.885Z,1728433572.885 [DefaultWithUndock:LeaveDock] Stopped 2024-10-09T00:26:12.889Z,1728433572.889 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2024-10-09T00:26:12.890Z,1728433572.890 [DefaultWithUndock:LeaveDock:A.] Stopped 2024-10-09T00:26:12.890Z,1728433572.890 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2024-10-09T00:26:12.890Z,1728433572.890 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2024-10-09T00:26:12.890Z,1728433572.890 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2024-10-09T00:26:12.890Z,1728433572.890 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2024-10-09T00:26:12.890Z,1728433572.890 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-10-09T00:26:12.890Z,1728433572.890 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-10-09T00:26:12.891Z,1728433572.891 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-10-09T00:26:12.891Z,1728433572.891 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-10-09T00:26:12.891Z,1728433572.891 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-10-09T00:26:12.891Z,1728433572.891 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-10-09T00:26:12.892Z,1728433572.892 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-10-09T00:26:13.264Z,1728433573.264 [DockingStepper](INFO): Pause 2024-10-09T00:26:13.628Z,1728433573.628 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -22.00 mm (3 active estimators). 2024-10-09T00:26:13.774Z,1728433573.774 [Radio_Surface](INFO): Powering up 2024-10-09T00:26:19.026Z,1728433579.026 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10 2024-10-09T00:26:19.026Z,1728433579.026 [Radio_Surface](INFO): No local IP found 2024-10-09T00:26:38.345Z,1728433598.345 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,24100816275603,35.0, +12.2, 97.6, 0 2024-10-09T00:28:24.224Z,1728433704.224 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2024-10-09T00:28:24.224Z,1728433704.224 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2024-10-09T00:28:24.224Z,1728433704.224 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2024-10-09T00:28:54.072Z,1728433734.072 [NAL9602](INFO): SBD MO Status=0, MOMSN=42962, MT Status=0, MTMSN=0 2024-10-09T00:28:54.072Z,1728433734.072 [NAL9602](INFO): No messages in MT queue 2024-10-09T00:29:02.806Z,1728433742.806 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-10-09T00:29:03.810Z,1728433743.810 [DataOverHttps](INFO): Radio surface powered ON. 2024-10-09T00:29:03.810Z,1728433743.810 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-10-09T00:29:33.931Z,1728433773.931 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-10-09T00:29:34.934Z,1728433774.934 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-10-09T00:30:05.703Z,1728433805.703 [DataOverHttps](IMPORTANT): SBD MTMSN=20241009T003004 2024-10-09T00:30:05.707Z,1728433805.707 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004156 2024-10-09T00:30:19.690Z,1728433819.690 [DataOverHttps](INFO): Received command: configset dockingstepper.closedvalue 16450 count persist; configset dockingstepper.slidevalue 10700 count persist 2024-10-09T00:30:21.288Z,1728433821.288 [CommandExec](IMPORTANT): got command configSet DockingStepper.closedValue 16450 count persist 2024-10-09T00:30:21.291Z,1728433821.291 [CommandExec](IMPORTANT): got command configSet DockingStepper.slideValue 10700 count persist 2024-10-09T00:30:23.710Z,1728433823.710 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-10-09T00:30:33.686Z,1728433833.686 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-10-09T00:30:47.366Z,1728433847.366 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-10-09T00:31:09.094Z,1728433869.094 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-10-09T00:31:10.324Z,1728433870.324 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -372, -450, WD, -25.62, +27.51, +11.30, 20.00, 0.00 2024-10-09T00:31:28.080Z,1728433888.080 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003127.99,A,3654.24293,N,12207.14104,W,1.108,0.00,091024,,,A*71 2024-10-09T00:31:28.100Z,1728433888.100 [NAL9602](INFO): GPS fix at 20241009T003127: (36.904049, -122.119017) 2024-10-09T00:31:28.132Z,1728433888.132 [UniversalFixResidualReporter](INFO): Fix residual: 3.5 %DT, over the last 2397.3 m. Residual distance 83.6 m at bearing 15.6 degrees. Fix at (36.9040, -122.1190) with 746.8 m made good. 2024-10-09T00:31:28.132Z,1728433888.132 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2024-10-09T00:31:28.133Z,1728433888.133 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2024-10-09T00:31:38.353Z,1728433898.353 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20241008T224834/Courier0008.lzma 2024-10-09T00:31:39.355Z,1728433899.355 [DataOverHttps](INFO): Moved sent file to Logs/20241008T224834/Courier0008.lzma.bak 2024-10-09T00:31:39.355Z,1728433899.355 [DataOverHttps](INFO): SBD MOMSN=23278910 2024-10-09T00:31:58.758Z,1728433918.758 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20241008T225431/Courier0000.lzma 2024-10-09T00:32:00.764Z,1728433920.764 [DataOverHttps](INFO): Moved sent file to Logs/20241008T225431/Courier0000.lzma.bak 2024-10-09T00:32:00.764Z,1728433920.764 [DataOverHttps](INFO): SBD MOMSN=23278913 2024-10-09T00:32:00.802Z,1728433920.802 [NAL9602](INFO): Not Powering down - fast GPS 2024-10-09T00:32:25.837Z,1728433945.837 [DataOverHttps](INFO): Sending 169 bytes from file Logs/20241008T225431/Courier0003.lzma 2024-10-09T00:32:26.841Z,1728433946.841 [DataOverHttps](INFO): Moved sent file to Logs/20241008T225431/Courier0003.lzma.bak 2024-10-09T00:32:26.841Z,1728433946.841 [DataOverHttps](INFO): SBD MOMSN=23278916 2024-10-09T00:32:45.253Z,1728433965.253 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20241008T225431/Courier0006.lzma 2024-10-09T00:32:46.255Z,1728433966.255 [DataOverHttps](INFO): Moved sent file to Logs/20241008T225431/Courier0006.lzma.bak 2024-10-09T00:32:46.256Z,1728433966.256 [DataOverHttps](INFO): SBD MOMSN=23278918 2024-10-09T00:33:02.607Z,1728433982.607 [DataOverHttps](INFO): Sending 326 bytes from file Logs/20241009T002400/Courier0000.lzma 2024-10-09T00:33:03.604Z,1728433983.604 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Courier0000.lzma.bak 2024-10-09T00:33:03.604Z,1728433983.604 [DataOverHttps](INFO): SBD MOMSN=23278920 2024-10-09T00:33:21.886Z,1728434001.886 [DataOverHttps](INFO): Sending 469 bytes from file Logs/20241008T224834/Express0007.lzma 2024-10-09T00:33:22.883Z,1728434002.883 [DataOverHttps](INFO): Moved sent file to Logs/20241008T224834/Express0007.lzma.bak 2024-10-09T00:33:22.883Z,1728434002.883 [DataOverHttps](INFO): SBD MOMSN=23278924 2024-10-09T00:33:50.927Z,1728434030.927 [DataOverHttps](INFO): Sending 634 bytes from file Logs/20241008T225431/Express0001.lzma 2024-10-09T00:33:51.937Z,1728434031.937 [DataOverHttps](INFO): Moved sent file to Logs/20241008T225431/Express0001.lzma.bak 2024-10-09T00:33:51.945Z,1728434031.945 [DataOverHttps](IMPORTANT): SBD MOMSN=23278928, MTMSN=20241009T003352 2024-10-09T00:34:05.610Z,1728434045.610 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool" 9awb 1 4 2024-10-09T00:34:05.615Z,1728434045.615 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool" 9awb 1 4.000000 2024-10-09T00:34:05.615Z,1728434045.615 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=9awb 2024-10-09T00:34:05.616Z,1728434045.616 [CommandExec](IMPORTANT): Scheduled #6 (#1 of 4 with id='9awb'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool", ASAP 2024-10-09T00:34:07.370Z,1728434047.370 [DataOverHttps](IMPORTANT): SBD MTMSN=20241009T003406 2024-10-09T00:34:26.262Z,1728434066.262 [DataOverHttps](INFO): Sending 2539 bytes from file Logs/20241008T225431/Express0004.lzma 2024-10-09T00:34:26.274Z,1728434066.274 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min" 9awb 2 4 2024-10-09T00:34:26.311Z,1728434066.311 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min" 9awb 2 4.000000 2024-10-09T00:34:26.312Z,1728434066.312 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=9awb 2024-10-09T00:34:26.313Z,1728434066.313 [CommandExec](IMPORTANT): Scheduled #7 (#2 of 4 with id='9awb'): "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.RetryIncompleteDock 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1.5 min;set lineCaptureHoming.SlideCloseDuration 1.5 min", ASAP 2024-10-09T00:34:28.264Z,1728434068.264 [DataOverHttps](INFO): Moved sent file to Logs/20241008T225431/Express0004.lzma.bak 2024-10-09T00:34:28.265Z,1728434068.265 [DataOverHttps](IMPORTANT): SBD MOMSN=23278933, MTMSN=20241009T003428 2024-10-09T00:34:35.886Z,1728434075.886 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m" 9awb 3 4 2024-10-09T00:34:35.913Z,1728434075.913 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m" 9awb 3 4.000000 2024-10-09T00:34:35.915Z,1728434075.915 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=9awb 2024-10-09T00:34:35.918Z,1728434075.918 [CommandExec](IMPORTANT): Scheduled #8 (#3 of 4 with id='9awb'): "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m", ASAP 2024-10-09T00:34:37.131Z,1728434077.131 [DataOverHttps](IMPORTANT): SBD MTMSN=20241009T003436 2024-10-09T00:34:45.888Z,1728434085.888 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20241009T002400/Courier0005.lzma 2024-10-09T00:34:45.890Z,1728434085.890 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run" 9awb 4 4 2024-10-09T00:34:45.929Z,1728434085.929 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run" 9awb 4 4.000000 2024-10-09T00:34:45.931Z,1728434085.931 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=9awb 2024-10-09T00:34:45.934Z,1728434085.934 [CommandExec](IMPORTANT): Scheduled #9 (#4 of 4 with id='9awb'): "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run", ASAP 2024-10-09T00:34:46.147Z,1728434086.147 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl 2024-10-09T00:34:46.148Z,1728434086.148 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl 2024-10-09T00:34:46.148Z,1728434086.148 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl 2024-10-09T00:34:46.155Z,1728434086.155 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl 2024-10-09T00:34:47.364Z,1728434087.364 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Courier0005.lzma.bak 2024-10-09T00:34:47.364Z,1728434087.364 [DataOverHttps](IMPORTANT): SBD MOMSN=23279004, MTMSN=20241009T003446 2024-10-09T00:34:52.260Z,1728434092.260 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into: 4 240 5 1 5 2 5 5 60 2.5 2 5 1 1 40 5 NaN NaN NaN 5 205 2 20 0.05 NaN NaN NaN 60 -1 1 1 0 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 1 -99 Mode 0 Waiting on dock for Retrying incomplete docking attempt 1 Breaking off. Range: . Driving to post-undock waypoint , No post-undock waypoint, drifting for minutes 0 0 0 2024-10-09T00:34:52.296Z,1728434092.296 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h 2024-10-09T00:34:52.334Z,1728434092.334 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 240.000000 min 2024-10-09T00:34:52.336Z,1728434092.336 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 5.000000 min 2024-10-09T00:34:52.347Z,1728434092.347 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count 2024-10-09T00:34:52.349Z,1728434092.349 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min 2024-10-09T00:34:52.415Z,1728434092.415 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool 2024-10-09T00:34:52.417Z,1728434092.417 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool 2024-10-09T00:34:52.435Z,1728434092.435 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool 2024-10-09T00:34:52.450Z,1728434092.450 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 2.000000 count 2024-10-09T00:34:52.453Z,1728434092.453 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 5.000000 min 2024-10-09T00:34:52.472Z,1728434092.472 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 5.000000 min 2024-10-09T00:34:52.488Z,1728434092.488 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count 2024-10-09T00:34:52.522Z,1728434092.522 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s 2024-10-09T00:34:52.524Z,1728434092.524 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.500000 s 2024-10-09T00:34:52.543Z,1728434092.543 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min 2024-10-09T00:34:52.545Z,1728434092.545 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count 2024-10-09T00:34:52.571Z,1728434092.571 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count 2024-10-09T00:34:52.582Z,1728434092.582 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 1.000000 count 2024-10-09T00:34:52.584Z,1728434092.584 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m 2024-10-09T00:34:52.591Z,1728434092.591 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count 2024-10-09T00:34:52.593Z,1728434092.593 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m 2024-10-09T00:34:52.611Z,1728434092.611 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min 2024-10-09T00:34:52.626Z,1728434092.626 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m 2024-10-09T00:34:52.628Z,1728434092.628 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m 2024-10-09T00:34:52.639Z,1728434092.639 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m 2024-10-09T00:34:52.641Z,1728434092.641 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km 2024-10-09T00:34:52.652Z,1728434092.652 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min 2024-10-09T00:34:52.666Z,1728434092.666 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s 2024-10-09T00:34:52.668Z,1728434092.668 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg 2024-10-09T00:34:52.694Z,1728434092.694 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg 2024-10-09T00:34:52.696Z,1728434092.696 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m 2024-10-09T00:34:52.731Z,1728434092.731 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m 2024-10-09T00:34:52.754Z,1728434092.754 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s 2024-10-09T00:34:52.763Z,1728434092.763 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s 2024-10-09T00:34:52.765Z,1728434092.765 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count 2024-10-09T00:34:52.785Z,1728434092.785 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count 2024-10-09T00:34:52.807Z,1728434092.807 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count 2024-10-09T00:34:52.820Z,1728434092.820 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool 2024-10-09T00:34:52.836Z,1728434092.836 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool 2024-10-09T00:34:52.851Z,1728434092.851 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool 2024-10-09T00:34:52.853Z,1728434092.853 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count 2024-10-09T00:34:52.864Z,1728434092.864 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count 2024-10-09T00:34:52.864Z,1728434092.864 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2024-10-09T00:34:52.864Z,1728434092.864 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2024-10-09T00:34:52.875Z,1728434092.875 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2024-10-09T00:34:56.068Z,1728434096.068 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 5 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2024-10-09T00:34:56.142Z,1728434096.142 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool 2024-10-09T00:34:56.144Z,1728434096.144 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min 2024-10-09T00:34:56.154Z,1728434096.154 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool 2024-10-09T00:34:56.156Z,1728434096.156 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool 2024-10-09T00:34:56.170Z,1728434096.170 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool 2024-10-09T00:34:56.172Z,1728434096.172 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool 2024-10-09T00:34:56.200Z,1728434096.200 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count 2024-10-09T00:34:56.203Z,1728434096.203 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count 2024-10-09T00:34:56.205Z,1728434096.205 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 % 2024-10-09T00:34:56.225Z,1728434096.225 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool 2024-10-09T00:34:56.227Z,1728434096.227 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool 2024-10-09T00:34:56.228Z,1728434096.228 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool 2024-10-09T00:34:56.248Z,1728434096.248 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool 2024-10-09T00:34:56.250Z,1728434096.250 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2024-10-09T00:34:56.252Z,1728434096.252 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool 2024-10-09T00:34:56.273Z,1728434096.273 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool 2024-10-09T00:34:56.276Z,1728434096.276 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool 2024-10-09T00:34:56.299Z,1728434096.299 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool 2024-10-09T00:34:56.301Z,1728434096.301 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2024-10-09T00:34:56.304Z,1728434096.304 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 1 bool 2024-10-09T00:34:56.323Z,1728434096.323 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count 2024-10-09T00:34:56.325Z,1728434096.325 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count 2024-10-09T00:34:56.363Z,1728434096.363 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakShallowBound = nan m 2024-10-09T00:34:56.365Z,1728434096.365 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDeepBound = nan m 2024-10-09T00:34:56.383Z,1728434096.383 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2024-10-09T00:34:56.385Z,1728434096.385 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool 2024-10-09T00:34:56.399Z,1728434096.399 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l 2024-10-09T00:34:56.410Z,1728434096.410 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l 2024-10-09T00:34:56.432Z,1728434096.432 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count 2024-10-09T00:34:56.446Z,1728434096.446 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l 2024-10-09T00:34:56.448Z,1728434096.448 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m 2024-10-09T00:34:56.459Z,1728434096.459 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC 2024-10-09T00:34:56.461Z,1728434096.461 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg 2024-10-09T00:34:56.471Z,1728434096.471 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg 2024-10-09T00:34:56.478Z,1728434096.478 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l 2024-10-09T00:34:56.480Z,1728434096.480 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m 2024-10-09T00:34:56.495Z,1728434096.495 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg 2024-10-09T00:34:56.497Z,1728434096.497 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg 2024-10-09T00:34:56.505Z,1728434096.505 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3 2024-10-09T00:34:56.519Z,1728434096.519 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m 2024-10-09T00:34:56.538Z,1728434096.538 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg 2024-10-09T00:34:56.541Z,1728434096.541 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg 2024-10-09T00:34:56.551Z,1728434096.551 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb 2024-10-09T00:34:56.562Z,1728434096.562 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m 2024-10-09T00:34:56.564Z,1728434096.564 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC 2024-10-09T00:34:56.575Z,1728434096.575 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg 2024-10-09T00:34:56.594Z,1728434096.594 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg 2024-10-09T00:34:56.596Z,1728434096.596 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu 2024-10-09T00:34:56.611Z,1728434096.611 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m 2024-10-09T00:34:56.613Z,1728434096.613 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC 2024-10-09T00:34:56.623Z,1728434096.623 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg 2024-10-09T00:34:56.634Z,1728434096.634 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg 2024-10-09T00:34:56.636Z,1728434096.636 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l 2024-10-09T00:34:56.642Z,1728434096.642 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m 2024-10-09T00:34:56.645Z,1728434096.645 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg 2024-10-09T00:34:56.659Z,1728434096.659 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg 2024-10-09T00:34:56.668Z,1728434096.668 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m 2024-10-09T00:34:56.686Z,1728434096.686 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu 2024-10-09T00:34:56.689Z,1728434096.689 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m 2024-10-09T00:34:56.699Z,1728434096.699 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg 2024-10-09T00:34:56.718Z,1728434096.718 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg 2024-10-09T00:34:56.720Z,1728434096.720 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m 2024-10-09T00:34:56.732Z,1728434096.732 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu 2024-10-09T00:34:56.779Z,1728434096.779 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m 2024-10-09T00:34:56.794Z,1728434096.794 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg 2024-10-09T00:34:56.796Z,1728434096.796 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg 2024-10-09T00:34:56.806Z,1728434096.806 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m 2024-10-09T00:34:56.808Z,1728434096.808 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool 2024-10-09T00:34:56.835Z,1728434096.835 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l 2024-10-09T00:34:56.887Z,1728434096.887 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2024-10-09T00:34:56.940Z,1728434096.940 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2024-10-09T00:34:56.984Z,1728434096.984 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2024-10-09T00:34:57.034Z,1728434097.034 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2024-10-09T00:34:57.060Z,1728434097.060 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2024-10-09T00:34:57.096Z,1728434097.096 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2024-10-09T00:34:57.166Z,1728434097.166 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2024-10-09T00:34:57.197Z,1728434097.197 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2024-10-09T00:34:57.261Z,1728434097.261 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2024-10-09T00:34:57.283Z,1728434097.283 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2024-10-09T00:34:57.284Z,1728434097.284 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2024-10-09T00:34:57.285Z,1728434097.285 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2024-10-09T00:34:57.475Z,1728434097.475 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2024-10-09T00:34:57.483Z,1728434097.483 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m 2024-10-09T00:34:57.490Z,1728434097.490 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2024-10-09T00:34:57.492Z,1728434097.492 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m 2024-10-09T00:34:57.498Z,1728434097.498 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m 2024-10-09T00:34:57.499Z,1728434097.499 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2024-10-09T00:34:57.509Z,1728434097.509 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2024-10-09T00:34:57.547Z,1728434097.547 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2024-10-09T00:34:57.614Z,1728434097.614 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2024-10-09T00:34:57.614Z,1728434097.614 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2024-10-09T00:34:57.615Z,1728434097.615 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2024-10-09T00:34:58.215Z,1728434098.215 [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 2024-10-09T00:34:58.223Z,1728434098.223 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h 2024-10-09T00:34:58.230Z,1728434098.230 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min 2024-10-09T00:34:58.232Z,1728434098.232 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg 2024-10-09T00:34:58.238Z,1728434098.238 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s 2024-10-09T00:34:58.240Z,1728434098.240 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s 2024-10-09T00:34:58.247Z,1728434098.247 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s 2024-10-09T00:34:58.249Z,1728434098.249 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min 2024-10-09T00:34:58.255Z,1728434098.255 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min 2024-10-09T00:34:58.289Z,1728434098.289 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-10-09T00:34:58.349Z,1728434098.349 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl 2024-10-09T00:34:58.354Z,1728434098.354 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl 2024-10-09T00:34:58.355Z,1728434098.355 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl 2024-10-09T00:34:58.496Z,1728434098.496 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into: 10 5 2024-10-09T00:34:58.504Z,1728434098.504 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min 2024-10-09T00:34:58.510Z,1728434098.510 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min 2024-10-09T00:34:58.518Z,1728434098.518 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval 2024-10-09T00:34:58.521Z,1728434098.521 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl 2024-10-09T00:34:58.521Z,1728434098.521 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl 2024-10-09T00:34:58.527Z,1728434098.527 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl 2024-10-09T00:35:00.565Z,1728434100.565 [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 2024-10-09T00:35:00.589Z,1728434100.589 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.903300 arcdeg 2024-10-09T00:35:00.596Z,1728434100.596 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.119000 arcdeg 2024-10-09T00:35:00.603Z,1728434100.603 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min 2024-10-09T00:35:00.605Z,1728434100.605 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m 2024-10-09T00:35:00.612Z,1728434100.612 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s 2024-10-09T00:35:00.642Z,1728434100.642 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h 2024-10-09T00:35:00.645Z,1728434100.645 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m 2024-10-09T00:35:00.656Z,1728434100.656 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min 2024-10-09T00:35:00.665Z,1728434100.665 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a 2024-10-09T00:35:00.684Z,1728434100.684 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min 2024-10-09T00:35:00.710Z,1728434100.710 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m 2024-10-09T00:35:00.712Z,1728434100.712 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m 2024-10-09T00:35:00.738Z,1728434100.738 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool 2024-10-09T00:35:00.740Z,1728434100.740 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m 2024-10-09T00:35:00.746Z,1728434100.746 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg 2024-10-09T00:35:00.748Z,1728434100.748 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m 2024-10-09T00:35:00.755Z,1728434100.755 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m 2024-10-09T00:35:00.757Z,1728434100.757 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m 2024-10-09T00:35:00.763Z,1728434100.763 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m 2024-10-09T00:35:00.765Z,1728434100.765 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min 2024-10-09T00:35:00.771Z,1728434100.771 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m 2024-10-09T00:35:00.818Z,1728434100.818 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a 2024-10-09T00:35:00.820Z,1728434100.820 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min 2024-10-09T00:35:00.838Z,1728434100.838 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m 2024-10-09T00:35:00.840Z,1728434100.840 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count 2024-10-09T00:35:00.855Z,1728434100.855 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count 2024-10-09T00:35:00.857Z,1728434100.857 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count 2024-10-09T00:35:00.872Z,1728434100.872 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count 2024-10-09T00:35:00.898Z,1728434100.898 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count 2024-10-09T00:35:00.900Z,1728434100.900 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count 2024-10-09T00:35:00.916Z,1728434100.916 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m 2024-10-09T00:35:00.925Z,1728434100.925 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2024-10-09T00:35:00.925Z,1728434100.925 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2024-10-09T00:35:00.939Z,1728434100.939 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2024-10-09T00:35:01.144Z,1728434101.144 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2024-10-09T00:35:01.152Z,1728434101.152 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m 2024-10-09T00:35:01.158Z,1728434101.158 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2024-10-09T00:35:01.161Z,1728434101.161 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m 2024-10-09T00:35:01.169Z,1728434101.169 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m 2024-10-09T00:35:01.218Z,1728434101.218 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2024-10-09T00:35:01.266Z,1728434101.266 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2024-10-09T00:35:01.315Z,1728434101.315 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2024-10-09T00:35:01.361Z,1728434101.361 [lineCaptureHoming:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct. 2024-10-09T00:35:01.368Z,1728434101.368 [lineCaptureHoming:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy. 2024-10-09T00:35:01.377Z,1728434101.377 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct. 2024-10-09T00:35:01.382Z,1728434101.382 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2024-10-09T00:35:01.416Z,1728434101.416 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct. 2024-10-09T00:35:01.419Z,1728434101.419 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct. 2024-10-09T00:35:01.423Z,1728434101.423 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint. 2024-10-09T00:35:01.434Z,1728434101.434 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct. 2024-10-09T00:35:01.439Z,1728434101.439 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait. 2024-10-09T00:35:01.451Z,1728434101.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct. 2024-10-09T00:35:01.457Z,1728434101.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct. 2024-10-09T00:35:01.481Z,1728434101.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct. 2024-10-09T00:35:01.492Z,1728434101.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2024-10-09T00:35:01.492Z,1728434101.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2024-10-09T00:35:01.496Z,1728434101.496 [lineCaptureHoming:LineCapture:K.Wait](DEBUG): Construct Wait. 2024-10-09T00:35:01.630Z,1728434101.630 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute. 2024-10-09T00:35:01.633Z,1728434101.633 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute. 2024-10-09T00:35:01.639Z,1728434101.639 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct. 2024-10-09T00:35:01.641Z,1728434101.641 [lineCaptureHoming:InitialDive:B.Pitch](DEBUG): Construct. 2024-10-09T00:35:01.655Z,1728434101.655 [lineCaptureHoming:InitialDive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute. 2024-10-09T00:35:01.692Z,1728434101.692 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl 2024-10-09T00:35:01.692Z,1728434101.692 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl 2024-10-09T00:35:01.701Z,1728434101.701 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl 2024-10-09T00:35:01.800Z,1728434101.800 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into: Reseting nav to dock location at range 2024-10-09T00:35:01.808Z,1728434101.808 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.903300 arcdeg 2024-10-09T00:35:01.815Z,1728434101.815 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.119000 arcdeg 2024-10-09T00:35:01.817Z,1728434101.817 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m 2024-10-09T00:35:01.841Z,1728434101.841 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min 2024-10-09T00:35:01.855Z,1728434101.855 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav. 2024-10-09T00:35:01.870Z,1728434101.870 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct. 2024-10-09T00:35:01.870Z,1728434101.870 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2024-10-09T00:35:01.980Z,1728434101.980 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct. 2024-10-09T00:35:01.980Z,1728434101.980 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values. 2024-10-09T00:35:02.021Z,1728434102.021 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct. 2024-10-09T00:35:02.025Z,1728434102.025 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct. 2024-10-09T00:35:02.044Z,1728434102.044 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint. 2024-10-09T00:35:02.061Z,1728434102.061 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy. 2024-10-09T00:35:02.072Z,1728434102.072 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct. 2024-10-09T00:35:02.081Z,1728434102.081 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct. 2024-10-09T00:35:02.111Z,1728434102.111 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct. 2024-10-09T00:35:02.119Z,1728434102.119 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait. 2024-10-09T00:35:02.195Z,1728434102.195 [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 capture, without executing the undock sequence. """ TrySlide = false """ If true, once docked, try to slide down the docking rod until charging and comms are acheived """ RetryIncompleteDock = false """ If true, restart docking sequence in event of a successful capture but unsuccessful slide """ 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 """ 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. """ 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. """ EndDockingSequence = StayOnDock """ Mission variable (don't change). The mission sets this variable to determine whether or not to restart the docking sequence upon completion of the Docked behavior. """ LastDockSuccessful = false """ Mission variable (don't change). The mission sets this variable based on the last run of the Docked behavior """ DockSuccessfulCount = 0 count """ Mission variable (don't change). The mission sets this variable to track the number of complete docking attempts """ RepeatArg = Repeat """ Mission variable (don't change). Actual number of Lap repetitions """ } # 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 } } # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the # required repetition count (which has just been decremented by the lap attempt). # But that repeat check is evaluated at the beginning of the aggregate, not the end. # In order to be able to retry an incomplete docking attempt on the last lap # we need to make it back up to the top of the Lap aggregate somehow. # Solve this by quietly setting the repeat count to one more than actually desired. # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra # lap, but starting the Lap aggregate will allow us to check the repeat on each run. aggregate RepeatHack { run in sequence break if ( not RetryIncompleteDock ) assign in sequence RepeatArg = Repeat + 1 count } aggregate Lap { run in sequence repeat=RepeatArg break if ( ( StayOnDock and LastDockSuccessful ) or ( RetryIncompleteDock # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count and ( DockSuccessfulCount == Repeat ) ) ) assign in sequence Mode = -99 count # Execute the LineCapture sequence. call refId="LineCapture" assign in sequence Mode = LineCapture:GuidanceMode 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 assign in sequence EndDockingSequence = StayOnDock behavior Dock:Docked id="Docked" { run in sequence timeout duration=WaitOnDockTimeout set slideSinkTime = SlideSinkDuration set slideCloseTime = SlideCloseDuration set slideRetries = SlideRetries set slideAllowed = TrySlide outputArg LastDockSuccessful = dockSuccessful } # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock aggregate setCompletion { run in sequence break if ( not RetryIncompleteDock ) assign in sequence EndDockingSequence = ( LastDockSuccessful and StayOnDock ) assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful aggregate setRetry { run in sequence break if ( LastDockSuccessful ) syslog important "Retrying incomplete docking attempt" # This lap failed and doesn't "count", so repeat one additional time assign in sequence RepeatArg = RepeatArg + 1 count } } aggregate Detach { run in sequence break if ( EndDockingSequence ) 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 ( EndDockingSequence ) ) 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 ( EndDockingSequence ) ) 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 } } } } } 2024-10-09T00:35:02.196Z,1728434102.196 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming 2024-10-09T00:35:02.406Z,1728434102.406 [DataOverHttps](INFO): Received command: sched "load Engineering/OnDock.tl;set OnDock.DockedTime 15 min;run" 2024-10-09T00:35:18.838Z,1728434118.838 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20241009T002400/Courier0009.lzma 2024-10-09T00:35:19.839Z,1728434119.839 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Courier0009.lzma.bak 2024-10-09T00:35:19.840Z,1728434119.840 [DataOverHttps](INFO): SBD MOMSN=23279008 2024-10-09T00:35:24.095Z,1728434124.095 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour 2024-10-09T00:35:24.096Z,1728434124.096 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 9 hour 2024-10-09T00:35:24.097Z,1728434124.097 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 8 minute 2024-10-09T00:35:24.102Z,1728434124.102 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool 2024-10-09T00:35:24.112Z,1728434124.112 [CommandExec](IMPORTANT): got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 15 min;run" 2024-10-09T00:35:24.112Z,1728434124.112 [CommandExec](IMPORTANT): Scheduled #10: "load Engineering/OnDock.tl;set OnDock.DockedTime 15 min;run", AFTER MISSION 2024-10-09T00:35:46.337Z,1728434146.337 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20241009T002400/Courier0012.lzma 2024-10-09T00:35:48.344Z,1728434148.344 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Courier0012.lzma.bak 2024-10-09T00:35:48.344Z,1728434148.344 [DataOverHttps](INFO): SBD MOMSN=23279010 2024-10-09T00:35:52.457Z,1728434152.457 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool 2024-10-09T00:35:52.466Z,1728434152.466 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RetryIncompleteDock 1 bool 2024-10-09T00:35:52.467Z,1728434152.467 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 4 count 2024-10-09T00:35:52.467Z,1728434152.467 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 1.5 minute 2024-10-09T00:35:52.468Z,1728434152.468 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1.5 minute 2024-10-09T00:36:18.533Z,1728434178.533 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20241009T002400/Courier0015.lzma 2024-10-09T00:36:19.539Z,1728434179.539 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Courier0015.lzma.bak 2024-10-09T00:36:19.539Z,1728434179.539 [DataOverHttps](INFO): SBD MOMSN=23279012 2024-10-09T00:36:27.724Z,1728434187.724 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second 2024-10-09T00:36:27.741Z,1728434187.741 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 120 count 2024-10-09T00:36:27.742Z,1728434187.742 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RangeUSBL 40 meter 2024-10-09T00:36:27.743Z,1728434187.743 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.05 meter 2024-10-09T00:36:53.389Z,1728434213.389 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute 2024-10-09T00:36:53.390Z,1728434213.390 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 70 meter 2024-10-09T00:36:53.391Z,1728434213.391 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter 2024-10-09T00:36:53.391Z,1728434213.391 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 72 meter 2024-10-09T00:36:53.392Z,1728434213.392 [CommandExec](IMPORTANT): got command run 2024-10-09T00:36:53.394Z,1728434213.394 [CommandExec](IMPORTANT): Running 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock] Stopped 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock:SurfaceDefault] Stopped 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2024-10-09T00:36:53.682Z,1728434213.682 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2024-10-09T00:36:53.683Z,1728434213.683 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming] Running Loop=1 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming:Science] Running Loop=1 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming:Science:A] Running Loop=1 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming:Science:B] Running Loop=1 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming:Science:C] Running Loop=1 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming:Science:D] Running Loop=1 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming:Science:E] Running Loop=1 2024-10-09T00:36:53.683Z,1728434213.683 [lineCaptureHoming:Science:F] Running Loop=1 2024-10-09T00:36:53.684Z,1728434213.684 [lineCaptureHoming:Science:Read_Oil] Running Loop=1 2024-10-09T00:36:53.684Z,1728434213.684 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1 2024-10-09T00:36:53.684Z,1728434213.684 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl 2024-10-09T00:36:53.684Z,1728434213.684 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1 2024-10-09T00:36:53.684Z,1728434213.684 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize. 2024-10-09T00:36:53.685Z,1728434213.685 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1 2024-10-09T00:36:53.697Z,1728434213.697 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport 2024-10-09T00:36:53.698Z,1728434213.698 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2024-10-09T00:36:53.698Z,1728434213.698 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2024-10-09T00:36:53.698Z,1728434213.698 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1 2024-10-09T00:36:53.698Z,1728434213.698 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3 2024-10-09T00:36:53.699Z,1728434213.699 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1 2024-10-09T00:36:53.699Z,1728434213.699 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize. 2024-10-09T00:36:53.700Z,1728434213.700 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1 2024-10-09T00:36:53.700Z,1728434213.700 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil 2024-10-09T00:36:53.700Z,1728434213.700 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1 2024-10-09T00:36:53.700Z,1728434213.700 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize. 2024-10-09T00:36:53.706Z,1728434213.706 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1 2024-10-09T00:36:53.706Z,1728434213.706 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport 2024-10-09T00:36:53.706Z,1728434213.706 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2024-10-09T00:36:53.706Z,1728434213.706 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2024-10-09T00:36:53.707Z,1728434213.707 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1 2024-10-09T00:36:53.707Z,1728434213.707 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM 2024-10-09T00:36:53.707Z,1728434213.707 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1 2024-10-09T00:36:53.707Z,1728434213.707 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize. 2024-10-09T00:36:53.708Z,1728434213.708 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1 2024-10-09T00:36:53.708Z,1728434213.708 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity 2024-10-09T00:36:53.708Z,1728434213.708 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1 2024-10-09T00:36:53.708Z,1728434213.708 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize. 2024-10-09T00:36:53.714Z,1728434213.714 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1 2024-10-09T00:36:53.714Z,1728434213.714 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport 2024-10-09T00:36:53.714Z,1728434213.714 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2024-10-09T00:36:53.714Z,1728434213.714 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2024-10-09T00:36:53.715Z,1728434213.715 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1 2024-10-09T00:36:53.715Z,1728434213.715 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger 2024-10-09T00:36:53.715Z,1728434213.715 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2024-10-09T00:36:53.715Z,1728434213.715 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2024-10-09T00:36:53.715Z,1728434213.715 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1 2024-10-09T00:36:53.715Z,1728434213.715 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent 2024-10-09T00:36:53.715Z,1728434213.715 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1 2024-10-09T00:36:53.715Z,1728434213.715 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:StandardEnvelopes] Running Loop=1 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:MicromodemComms] Running Loop=1 2024-10-09T00:36:53.716Z,1728434213.716 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2024-10-09T00:36:53.717Z,1728434213.717 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2024-10-09T00:36:53.717Z,1728434213.717 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2024-10-09T00:36:53.717Z,1728434213.717 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2024-10-09T00:36:53.717Z,1728434213.717 [lineCaptureHoming:J] Running Loop=1 2024-10-09T00:36:53.717Z,1728434213.717 [lineCaptureHoming:TrackAC.] Running Loop=1 2024-10-09T00:36:53.717Z,1728434213.717 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact. 2024-10-09T00:36:53.717Z,1728434213.717 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2024-10-09T00:36:53.722Z,1728434213.722 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2024-10-09T00:36:53.722Z,1728434213.722 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2024-10-09T00:36:53.723Z,1728434213.723 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2024-10-09T00:36:53.724Z,1728434213.724 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2024-10-09T00:36:53.725Z,1728434213.725 [lineCaptureHoming:C] Running Loop=1 2024-10-09T00:36:53.750Z,1728434213.750 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2024-10-09T00:36:53.750Z,1728434213.750 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2024-10-09T00:36:53.750Z,1728434213.750 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2024-10-09T00:36:53.751Z,1728434213.751 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2024-10-09T00:36:53.751Z,1728434213.751 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2024-10-09T00:36:53.751Z,1728434213.751 [lineCaptureHoming:TrackAC.] Running Loop=1 2024-10-09T00:36:53.758Z,1728434213.758 [lineCaptureHoming:J] Stopped 2024-10-09T00:36:53.758Z,1728434213.758 [lineCaptureHoming:MicromodemComms] Running Loop=1 2024-10-09T00:36:53.759Z,1728434213.759 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-10-09T00:36:53.759Z,1728434213.759 [lineCaptureHoming:C] Stopped 2024-10-09T00:36:53.759Z,1728434213.759 [lineCaptureHoming:D] Running Loop=1 2024-10-09T00:36:53.759Z,1728434213.759 [lineCaptureHoming:StandardEnvelopes] Running Loop=1 2024-10-09T00:36:53.759Z,1728434213.759 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-10-09T00:36:53.760Z,1728434213.760 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-10-09T00:36:53.760Z,1728434213.760 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-10-09T00:36:53.760Z,1728434213.760 [lineCaptureHoming:Science] Running Loop=1 2024-10-09T00:36:53.764Z,1728434213.764 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped 2024-10-09T00:36:53.764Z,1728434213.764 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger 2024-10-09T00:36:53.764Z,1728434213.764 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2024-10-09T00:36:53.764Z,1728434213.764 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2024-10-09T00:36:53.764Z,1728434213.764 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped 2024-10-09T00:36:53.764Z,1728434213.764 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped 2024-10-09T00:36:53.765Z,1728434213.765 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:PeakDetectOil] Stopped 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:PeakDetectNO3] Stopped 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped 2024-10-09T00:36:53.778Z,1728434213.778 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:PeakDetectChl] Stopped 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:Read_Oil] Stopped 2024-10-09T00:36:53.779Z,1728434213.779 [lineCaptureHoming:Science:F] Running Loop=1 2024-10-09T00:36:53.780Z,1728434213.780 [lineCaptureHoming:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence 2024-10-09T00:36:53.780Z,1728434213.780 [lineCaptureHoming:Science:E] Running Loop=1 2024-10-09T00:36:53.780Z,1728434213.780 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2024-10-09T00:36:53.781Z,1728434213.781 [lineCaptureHoming:Science:D] Stopped 2024-10-09T00:36:53.781Z,1728434213.781 [lineCaptureHoming:Science:C] Running Loop=1 2024-10-09T00:36:53.781Z,1728434213.781 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2024-10-09T00:36:53.786Z,1728434213.786 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2024-10-09T00:36:53.786Z,1728434213.786 [lineCaptureHoming:Science:B] Running Loop=1 2024-10-09T00:36:53.786Z,1728434213.786 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2024-10-09T00:36:53.787Z,1728434213.787 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2024-10-09T00:36:53.787Z,1728434213.787 [lineCaptureHoming:Science:A] Stopped 2024-10-09T00:36:54.033Z,1728434214.033 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20241009T002400/Courier0018.lzma 2024-10-09T00:36:54.139Z,1728434214.139 [lineCaptureHoming:MicromodemComms] Stopped 2024-10-09T00:36:54.139Z,1728434214.139 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2024-10-09T00:36:54.139Z,1728434214.139 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2024-10-09T00:36:54.139Z,1728434214.139 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2024-10-09T00:36:54.139Z,1728434214.139 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2024-10-09T00:36:54.140Z,1728434214.140 [lineCaptureHoming:D] Stopped 2024-10-09T00:36:54.140Z,1728434214.140 [lineCaptureHoming:E] Running Loop=1 2024-10-09T00:36:54.163Z,1728434214.163 [WetLabsBB2FL](INFO): Powering up 2024-10-09T00:36:54.291Z,1728434214.291 [WetLabsUBAT](INFO): Powering up 2024-10-09T00:36:54.492Z,1728434214.492 [lineCaptureHoming:E] Stopped 2024-10-09T00:36:54.493Z,1728434214.493 [lineCaptureHoming:G] Running Loop=1 2024-10-09T00:36:54.891Z,1728434214.891 [lineCaptureHoming:G] Stopped 2024-10-09T00:36:54.891Z,1728434214.891 [lineCaptureHoming:H] Running Loop=1 2024-10-09T00:36:55.297Z,1728434215.297 [lineCaptureHoming:H] Stopped 2024-10-09T00:36:55.297Z,1728434215.297 [lineCaptureHoming:L] Running Loop=1 2024-10-09T00:36:55.711Z,1728434215.711 [lineCaptureHoming:L] Stopped 2024-10-09T00:36:55.711Z,1728434215.711 [lineCaptureHoming:M] Running Loop=1 2024-10-09T00:36:56.134Z,1728434216.134 [lineCaptureHoming:M] Stopped 2024-10-09T00:36:56.134Z,1728434216.134 [lineCaptureHoming:N] Running Loop=1 2024-10-09T00:36:56.506Z,1728434216.506 [lineCaptureHoming:N] Stopped 2024-10-09T00:36:56.506Z,1728434216.506 [lineCaptureHoming:O] Running Loop=1 2024-10-09T00:36:56.912Z,1728434216.912 [lineCaptureHoming:O] Stopped 2024-10-09T00:36:56.912Z,1728434216.912 [lineCaptureHoming:P] Running Loop=1 2024-10-09T00:36:57.044Z,1728434217.044 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Courier0018.lzma.bak 2024-10-09T00:36:57.044Z,1728434217.044 [DataOverHttps](INFO): SBD MOMSN=23279014 2024-10-09T00:36:57.132Z,1728434217.132 [CTD_Seabird](ERROR): Failed to parse device response: 2024-10-09T00:36:57.329Z,1728434217.329 [lineCaptureHoming:P] Stopped 2024-10-09T00:36:57.329Z,1728434217.329 [lineCaptureHoming:Q] Running Loop=1 2024-10-09T00:36:57.721Z,1728434217.721 [lineCaptureHoming:Q] Stopped 2024-10-09T00:36:57.722Z,1728434217.722 [lineCaptureHoming:U] Running Loop=1 2024-10-09T00:36:58.172Z,1728434218.172 [lineCaptureHoming:U] Stopped 2024-10-09T00:36:58.172Z,1728434218.172 [lineCaptureHoming:StartingMission] Running Loop=1 2024-10-09T00:36:58.172Z,1728434218.172 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission 2024-10-09T00:36:58.551Z,1728434218.551 [lineCaptureHoming:NeedComms] Running Loop=1 2024-10-09T00:36:58.551Z,1728434218.551 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms 2024-10-09T00:36:58.551Z,1728434218.551 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1 2024-10-09T00:36:58.551Z,1728434218.551 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-10-09T00:36:58.552Z,1728434218.552 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2024-10-09T00:36:58.552Z,1728434218.552 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2024-10-09T00:36:58.553Z,1728434218.553 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2024-10-09T00:36:58.553Z,1728434218.553 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2024-10-09T00:36:58.553Z,1728434218.553 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-10-09T00:36:58.554Z,1728434218.554 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-10-09T00:36:58.554Z,1728434218.554 [lineCaptureHoming:NeedComms:A] Running Loop=1 2024-10-09T00:36:58.555Z,1728434218.555 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1728433887.990000 second since 1970/01/01T00:00:00Z 2024-10-09T00:36:58.555Z,1728434218.555 [lineCaptureHoming:NeedComms:A] Stopped 2024-10-09T00:36:58.940Z,1728434218.940 [lineCaptureHoming:NeedComms:C] Running Loop=1 2024-10-09T00:36:59.379Z,1728434219.379 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2024-10-09T00:37:00.944Z,1728434220.944 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003701.00,A,3654.18740,N,12207.15984,W,0.680,151.57,091024,,,A*77 2024-10-09T00:37:00.947Z,1728434220.947 [NAL9602](INFO): GPS fix at 20241009T003701: (36.903123, -122.119331) 2024-10-09T00:37:00.995Z,1728434220.995 [lineCaptureHoming:NeedComms:C] Stopped 2024-10-09T00:37:00.995Z,1728434220.995 [lineCaptureHoming:NeedComms:D] Running Loop=1 2024-10-09T00:37:01.371Z,1728434221.371 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-10-09T00:37:04.459Z,1728434224.459 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s. 2024-10-09T00:37:24.916Z,1728434244.916 [NAL9602](INFO): SBD MO Status=0, MOMSN=42963, MT Status=0, MTMSN=0 2024-10-09T00:37:24.917Z,1728434244.917 [NAL9602](INFO): No messages in MT queue 2024-10-09T00:37:29.286Z,1728434249.286 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20241009T002400/Courier0021.lzma 2024-10-09T00:37:30.288Z,1728434250.288 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Courier0021.lzma.bak 2024-10-09T00:37:30.288Z,1728434250.288 [DataOverHttps](INFO): SBD MOMSN=23279016 2024-10-09T00:37:49.190Z,1728434269.190 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:37:50.073Z,1728434270.073 [DataOverHttps](INFO): Sending 125 bytes from file Logs/20241008T225431/Express0007.lzma 2024-10-09T00:37:51.076Z,1728434271.076 [DataOverHttps](INFO): Moved sent file to Logs/20241008T225431/Express0007.lzma.bak 2024-10-09T00:37:51.076Z,1728434271.076 [DataOverHttps](INFO): SBD MOMSN=23279019 2024-10-09T00:37:54.051Z,1728434274.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2024-10-09T00:37:54.294Z,1728434274.294 [DAT](INFO): Acoustic response timeout 2024-10-09T00:37:54.294Z,1728434274.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2024-10-09T00:37:54.547Z,1728434274.547 [DAT](INFO): DAT read: user:606> 2024-10-09T00:37:54.547Z,1728434274.547 [DAT](INFO): DAT read: Tx time:00:37:53.9102 2024-10-09T00:37:54.548Z,1728434274.548 [DAT](INFO): Ping request sent. 2024-10-09T00:37:54.548Z,1728434274.548 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:37:54.548Z,1728434274.548 [DAT](INFO): publishing transmit ping time 2024-10-09T00:37:54.549Z,1728434274.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2024-10-09T00:37:54.799Z,1728434274.799 [DAT](INFO): DAT read: TxSync time:00:37:53.9094 2024-10-09T00:37:54.799Z,1728434274.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251462 2024-10-09T00:37:55.050Z,1728434275.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502541 2024-10-09T00:37:55.302Z,1728434275.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754566 2024-10-09T00:37:55.555Z,1728434275.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006702 2024-10-09T00:37:55.626Z,1728434275.626 [NAL9602](INFO): Not Powering down - fast GPS 2024-10-09T00:37:55.806Z,1728434275.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258599 2024-10-09T00:37:56.060Z,1728434276.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511696 2024-10-09T00:37:56.311Z,1728434276.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762763 2024-10-09T00:37:56.562Z,1728434276.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014416 2024-10-09T00:37:56.814Z,1728434276.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266652 2024-10-09T00:37:57.067Z,1728434277.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518843 2024-10-09T00:37:57.327Z,1728434277.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778729 2024-10-09T00:37:57.338Z,1728434277.338 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:37:57.579Z,1728434277.579 [DAT](INFO): DAT read: Rx Time:00:37:56.4742 2024-10-09T00:37:57.579Z,1728434277.579 [DAT](INFO): Rx dataTimestamp_ set to:1728434277.578707 2024-10-09T00:37:57.580Z,1728434277.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031719 2024-10-09T00:37:57.831Z,1728434277.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283123 2024-10-09T00:37:58.089Z,1728434278.089 [DAT](INFO): DAT read: 00:37:56.4742 LVL= 13008, 23729, 21682, 25123, AGC= 50, IDX= 204,-0.03,-2.405, 2.490, 2.114, 2.980, PHS= 0.986,-0.443,-0.870, RAW= 77.3, 3.9, CAL= 81.3, 2.1, ROT= 68.7, -2.1 2024-10-09T00:37:58.098Z,1728434278.098 [DAT](INFO): got valid direction response: 00:37:56.4742 LVL= 13008, 23729, 21682, 25123, AGC= 50, IDX= 204,-0.03,-2.405, 2.490, 2.114, 2.980, PHS= 0.986,-0.443,-0.870, RAW= 77.3, 3.9, CAL= 81.3, 2.1, ROT= 68.7, -2.1 2024-10-09T00:37:58.099Z,1728434278.099 [DAT](INFO): DAT read: Bearing 68.7, -2.1 (Local) 2024-10-09T00:37:58.100Z,1728434278.100 [DAT](INFO): Local bearing/azimuth received: Bearing 68.7, -2.1 (Local) 2024-10-09T00:37:58.101Z,1728434278.101 [DAT](INFO): DAT read: Range 10 to 50 : 119.8 m (Round-trip 159.8 ms) speed -0.2 m/s 2024-10-09T00:37:58.103Z,1728434278.103 [DAT](INFO): #Rx 1: Read range and direction messages. 2024-10-09T00:37:58.104Z,1728434278.104 [DAT](INFO): direction in FSK: [0.363007,0.931065,0.036644] 2024-10-09T00:37:58.104Z,1728434278.104 [DAT](INFO): publishing direction and range info 2024-10-09T00:38:05.474Z,1728434285.474 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:38:11.566Z,1728434291.566 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:38:13.606Z,1728434293.606 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:38:25.379Z,1728434305.379 [DataOverHttps](INFO): Sending 921 bytes from file Logs/20241009T002400/Express0001.lzma 2024-10-09T00:38:26.380Z,1728434306.380 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Express0001.lzma.bak 2024-10-09T00:38:26.380Z,1728434306.380 [DataOverHttps](INFO): SBD MOMSN=23279023 2024-10-09T00:38:39.006Z,1728434319.006 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:38:48.717Z,1728434328.717 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20241009T002400/Express0002.lzma 2024-10-09T00:38:49.720Z,1728434329.720 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Express0002.lzma.bak 2024-10-09T00:38:49.721Z,1728434329.721 [DataOverHttps](INFO): SBD MOMSN=23279042 2024-10-09T00:38:54.114Z,1728434334.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2024-10-09T00:38:54.138Z,1728434334.138 [DAT](INFO): Acoustic response timeout 2024-10-09T00:38:54.139Z,1728434334.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2024-10-09T00:38:54.390Z,1728434334.390 [DAT](INFO): DAT read: user:607> 2024-10-09T00:38:54.391Z,1728434334.391 [DAT](INFO): DAT read: Tx time:00:38:53.7609 2024-10-09T00:38:54.391Z,1728434334.391 [DAT](INFO): Ping request sent. 2024-10-09T00:38:54.392Z,1728434334.392 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:38:54.392Z,1728434334.392 [DAT](INFO): publishing transmit ping time 2024-10-09T00:38:54.392Z,1728434334.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2024-10-09T00:38:54.643Z,1728434334.643 [DAT](INFO): DAT read: TxSync time:00:38:53.7601 2024-10-09T00:38:54.643Z,1728434334.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251830 2024-10-09T00:38:54.894Z,1728434334.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502682 2024-10-09T00:38:55.151Z,1728434335.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758305 2024-10-09T00:38:55.399Z,1728434335.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007184 2024-10-09T00:38:55.650Z,1728434335.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258681 2024-10-09T00:38:55.905Z,1728434335.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513254 2024-10-09T00:38:56.155Z,1728434336.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763026 2024-10-09T00:38:56.408Z,1728434336.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015683 2024-10-09T00:38:56.658Z,1728434336.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266852 2024-10-09T00:38:56.911Z,1728434336.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518947 2024-10-09T00:38:57.162Z,1728434337.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770842 2024-10-09T00:38:57.415Z,1728434337.415 [DAT](INFO): DAT read: Rx Time:00:38:56.3475 2024-10-09T00:38:57.415Z,1728434337.415 [DAT](INFO): Rx dataTimestamp_ set to:1728434337.414732 2024-10-09T00:38:57.416Z,1728434337.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023975 2024-10-09T00:38:57.667Z,1728434337.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274941 2024-10-09T00:38:57.923Z,1728434337.923 [DAT](INFO): DAT read: Range 10 to 50 : 136.8 m (Round-trip 182.5 ms) speed -0.6 m/s 2024-10-09T00:38:57.926Z,1728434337.926 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2024-10-09T00:39:11.050Z,1728434351.050 [DataOverHttps](INFO): Sending 331 bytes from file Logs/20241009T002400/Express0006.lzma 2024-10-09T00:39:12.052Z,1728434352.052 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Express0006.lzma.bak 2024-10-09T00:39:12.053Z,1728434352.053 [DataOverHttps](INFO): SBD MOMSN=23279044 2024-10-09T00:39:33.215Z,1728434373.215 [DataOverHttps](INFO): Sending 309 bytes from file Logs/20241009T002400/Express0010.lzma 2024-10-09T00:39:34.212Z,1728434374.212 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Express0010.lzma.bak 2024-10-09T00:39:34.212Z,1728434374.212 [DataOverHttps](INFO): SBD MOMSN=23279050 2024-10-09T00:39:54.294Z,1728434394.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2024-10-09T00:39:54.447Z,1728434394.447 [DAT](INFO): Acoustic response timeout 2024-10-09T00:39:54.448Z,1728434394.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2024-10-09T00:39:54.698Z,1728434394.698 [DAT](INFO): DAT read: user:608> 2024-10-09T00:39:54.701Z,1728434394.701 [DAT](INFO): DAT read: Tx time:00:39:54.0631 2024-10-09T00:39:54.702Z,1728434394.702 [DAT](INFO): Ping request sent. 2024-10-09T00:39:54.702Z,1728434394.702 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:39:54.702Z,1728434394.702 [DAT](INFO): publishing transmit ping time 2024-10-09T00:39:54.703Z,1728434394.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000789 2024-10-09T00:39:54.951Z,1728434394.951 [DAT](INFO): DAT read: TxSync time:00:39:54.0624 2024-10-09T00:39:54.952Z,1728434394.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249949 2024-10-09T00:39:55.203Z,1728434395.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500708 2024-10-09T00:39:55.454Z,1728434395.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752054 2024-10-09T00:39:55.706Z,1728434395.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004127 2024-10-09T00:39:55.961Z,1728434395.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258390 2024-10-09T00:39:56.211Z,1728434396.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509138 2024-10-09T00:39:56.462Z,1728434396.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760143 2024-10-09T00:39:56.715Z,1728434396.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012341 2024-10-09T00:39:56.975Z,1728434396.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272879 2024-10-09T00:39:57.226Z,1728434397.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524209 2024-10-09T00:39:57.478Z,1728434397.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776251 2024-10-09T00:39:57.731Z,1728434397.731 [DAT](INFO): DAT read: Rx Time:00:39:56.6719 2024-10-09T00:39:57.731Z,1728434397.731 [DAT](INFO): Rx dataTimestamp_ set to:1728434397.730702 2024-10-09T00:39:57.731Z,1728434397.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029282 2024-10-09T00:39:57.982Z,1728434397.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280229 2024-10-09T00:39:58.236Z,1728434398.236 [DAT](INFO): DAT read: Range 10 to 50 : 153.3 m (Round-trip 204.5 ms) speed 0.0 m/s 2024-10-09T00:39:58.237Z,1728434398.237 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2024-10-09T00:39:58.354Z,1728434398.354 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:39:59.362Z,1728434399.362 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:40:02.422Z,1728434402.422 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:40:03.442Z,1728434403.442 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:40:04.450Z,1728434404.450 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:40:07.820Z,1728434407.820 [DataOverHttps](INFO): Sending 315 bytes from file Logs/20241009T002400/Express0013.lzma 2024-10-09T00:40:08.820Z,1728434408.820 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Express0013.lzma.bak 2024-10-09T00:40:08.820Z,1728434408.820 [DataOverHttps](INFO): SBD MOMSN=23279056 2024-10-09T00:40:10.558Z,1728434410.558 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:40:14.144Z,1728434414.144 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,24100816413160,35.0, +16.1, 0.0,1510.1,A, 0.00, 0.00, 0.00, 0.00, 0.00 2024-10-09T00:40:39.054Z,1728434439.054 [DataOverHttps](INFO): Sending 322 bytes from file Logs/20241009T002400/Express0016.lzma 2024-10-09T00:40:40.056Z,1728434440.056 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Express0016.lzma.bak 2024-10-09T00:40:40.057Z,1728434440.057 [DataOverHttps](INFO): SBD MOMSN=23279062 2024-10-09T00:40:44.126Z,1728434444.126 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:40:54.557Z,1728434454.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2024-10-09T00:40:54.766Z,1728434454.766 [DAT](INFO): Acoustic response timeout 2024-10-09T00:40:54.767Z,1728434454.767 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2024-10-09T00:40:55.021Z,1728434455.021 [DAT](INFO): DAT read: user:609> 2024-10-09T00:40:55.022Z,1728434455.022 [DAT](INFO): DAT read: Tx time:00:40:54.3624 2024-10-09T00:40:55.022Z,1728434455.022 [DAT](INFO): Ping request sent. 2024-10-09T00:40:55.022Z,1728434455.022 [DAT](INFO): transmitted an acoustic signal 2024-10-09T00:40:55.023Z,1728434455.023 [DAT](INFO): DAT read: TxSync time:00:40:54.3616 2024-10-09T00:40:55.023Z,1728434455.023 [DAT](INFO): publishing transmit ping time 2024-10-09T00:40:55.024Z,1728434455.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001560 2024-10-09T00:40:55.270Z,1728434455.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247780 2024-10-09T00:40:55.522Z,1728434455.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499839 2024-10-09T00:40:55.775Z,1728434455.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752064 2024-10-09T00:40:56.026Z,1728434456.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003936 2024-10-09T00:40:56.279Z,1728434456.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256267 2024-10-09T00:40:56.530Z,1728434456.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508011 2024-10-09T00:40:56.782Z,1728434456.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759941 2024-10-09T00:40:57.035Z,1728434457.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012565 2024-10-09T00:40:57.287Z,1728434457.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264070 2024-10-09T00:40:57.538Z,1728434457.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515998 2024-10-09T00:40:57.791Z,1728434457.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768236 2024-10-09T00:40:58.043Z,1728434458.043 [DAT](INFO): DAT read: Rx Time:00:40:56.9955 2024-10-09T00:40:58.043Z,1728434458.043 [DAT](INFO): Rx dataTimestamp_ set to:1728434458.042768 2024-10-09T00:40:58.044Z,1728434458.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021105 2024-10-09T00:40:58.294Z,1728434458.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271856 2024-10-09T00:40:58.599Z,1728434458.599 [DAT](INFO): DAT read: 00:40:56.9955 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 174, 0.08, 2.910, 1.961, 1.313, 2.165, PHS= 0.832,-0.157,-0.855, RAW= 65.7, 2.5, CAL= 67.7, 0.1, ROT= 82.3, -0.1 2024-10-09T00:40:58.600Z,1728434458.600 [DAT](INFO): got valid direction response: 00:40:56.9955 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 174, 0.08, 2.910, 1.961, 1.313, 2.165, PHS= 0.832,-0.157,-0.855, RAW= 65.7, 2.5, CAL= 67.7, 0.1, ROT= 82.3, -0.1 2024-10-09T00:40:58.610Z,1728434458.610 [DAT](INFO): DAT read: Bearing 82.3, -0.1 (Local) 2024-10-09T00:40:58.610Z,1728434458.610 [DAT](INFO): Local bearing/azimuth received: Bearing 82.3, -0.1 (Local) 2024-10-09T00:40:58.612Z,1728434458.612 [DAT](INFO): DAT read: Range 10 to 50 : 171.7 m (Round-trip 229.0 ms) speed 0.0 m/s 2024-10-09T00:40:58.612Z,1728434458.612 [DAT](INFO): #Rx 1: Read range and direction messages. 2024-10-09T00:40:58.626Z,1728434458.626 [DAT](INFO): direction in FSK: [0.133986,0.990982,0.001745] 2024-10-09T00:40:58.626Z,1728434458.626 [DAT](INFO): publishing direction and range info 2024-10-09T00:41:01.314Z,1728434461.314 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20241009T002400/Express0019.lzma 2024-10-09T00:41:02.315Z,1728434462.315 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Express0019.lzma.bak 2024-10-09T00:41:02.316Z,1728434462.316 [DataOverHttps](INFO): SBD MOMSN=23279069 2024-10-09T00:41:04.263Z,1728434464.263 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, - 28.71, +196.50, 46, 0.00 2024-10-09T00:41:10.630Z,1728434470.630 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2024-10-09T00:41:16.015Z,1728434476.015 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,-3276,-32768,V 2024-10-09T00:41:38.984Z,1728434498.984 [DataOverHttps](INFO): Sending 746 bytes from file Logs/20241009T002400/Express0022.lzma 2024-10-09T00:41:41.996Z,1728434501.996 [DataOverHttps](INFO): Moved sent file to Logs/20241009T002400/Express0022.lzma.bak 2024-10-09T00:41:41.996Z,1728434501.996 [DataOverHttps](INFO): SBD MOMSN=23279073 2024-10-09T00:41:43.458Z,1728434503.458 [lineCaptureHoming:NeedComms:D] Stopped 2024-10-09T00:41:43.458Z,1728434503.458 [lineCaptureHoming:NeedComms:E] Running Loop=1 2024-10-09T00:41:43.848Z,1728434503.848 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix 2024-10-09T00:41:45.460Z,1728434505.460 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004145.00,A,3654.13973,N,12207.18505,W,1.652,239.41,091024,,,A*7F 2024-10-09T00:41:45.479Z,1728434505.479 [NAL9602](INFO): GPS fix at 20241009T004145: (36.902329, -122.119751) 2024-10-09T00:41:45.501Z,1728434505.501 [lineCaptureHoming:NeedComms:E] Stopped 2024-10-09T00:41:45.506Z,1728434505.506 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms 2024-10-09T00:41:45.506Z,1728434505.506 [lineCaptureHoming:NeedComms] Stopped 2024-10-09T00:41:45.506Z,1728434505.506 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms 2024-10-09T00:41:45.506Z,1728434505.506 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped 2024-10-09T00:41:45.506Z,1728434505.506 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-10-09T00:41:45.917Z,1728434505.917 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission 2024-10-09T00:41:45.919Z,1728434505.919 [lineCaptureHoming:StartingMission] Stopped 2024-10-09T00:41:45.920Z,1728434505.920 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission 2024-10-09T00:41:45.920Z,1728434505.920 [lineCaptureHoming:Z] Running Loop=1 2024-10-09T00:41:46.323Z,1728434506.323 [lineCaptureHoming:Z](IMPORTANT): Restarting logs 2024-10-09T00:41:46.323Z,1728434506.323 [lineCaptureHoming:Z] Stopped 2024-10-09T00:41:46.323Z,1728434506.323 [lineCaptureHoming:BA.Execute] Running Loop=1 2024-10-09T00:41:46.693Z,1728434506.693 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs 2024-10-09T00:41:46.693Z,1728434506.693 [lineCaptureHoming:BA.Execute] Stopped 2024-10-09T00:41:46.695Z,1728434506.695 [lineCaptureHoming:InitialDive] Running Loop=1 2024-10-09T00:41:46.695Z,1728434506.695 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive 2024-10-09T00:41:46.695Z,1728434506.695 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2024-10-09T00:41:46.696Z,1728434506.696 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize. 2024-10-09T00:41:46.696Z,1728434506.696 [lineCaptureHoming:InitialDive:B.Pitch] Running Loop=1 2024-10-09T00:41:46.696Z,1728434506.696 [lineCaptureHoming:InitialDive:B.Pitch](DEBUG): Initialize.