2025-01-09T23:39:11.696Z,1736465951.696 [CommandExec](IMPORTANT): got command restart logs
2025-01-09T23:39:12.600Z,1736465952.600 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T233914
2025-01-09T23:39:22.866Z,1736465962.866 [DataOverHttps](INFO): Received command: sched asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.903 degree;set optimize_roll_speed.Longitude -122.113 degree;set optimize_roll_speed.TargetRollAngle 7 degree" 51gd3 1 2
2025-01-09T23:39:22.883Z,1736465962.883 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.903 degree;set optimize_roll_speed.Longitude -122.113 degree;set optimize_roll_speed.TargetRollAngle 7 degree" 51gd3 1 2.000000
2025-01-09T23:39:22.884Z,1736465962.884 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=51gd3
2025-01-09T23:39:22.885Z,1736465962.885 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='51gd3'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.903 degree;set optimize_roll_speed.Longitude -122.113 degree;set optimize_roll_speed.TargetRollAngle 7 degree", ASAP
2025-01-09T23:39:23.868Z,1736465963.868 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T233925
2025-01-09T23:39:31.539Z,1736465971.539 [DataOverHttps](INFO): Received command: sched asap "set optimize_roll_speed.RollError 0.5 degree;run" 51gd3 2 2
2025-01-09T23:39:31.637Z,1736465971.637 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed.RollError 0.5 degree;run" 51gd3 2 2.000000
2025-01-09T23:39:31.638Z,1736465971.638 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=51gd3
2025-01-09T23:39:31.639Z,1736465971.639 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='51gd3'): "set optimize_roll_speed.RollError 0.5 degree;run", ASAP
2025-01-09T23:39:31.764Z,1736465971.764 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-09T23:39:31.764Z,1736465971.764 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-09T23:39:31.765Z,1736465971.765 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-09T23:39:31.766Z,1736465971.766 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-09T23:39:32.520Z,1736465972.520 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="optimize_roll_speed">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="StartSpeed">
        <Units:meter_per_second />
        <Value>0.9</Value>
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="WindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="InitStep">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="MinStep">
        <Units:meter_per_second />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="Verbose">
        <True />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetRollSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetRollSpeed.targetRoll />
                <Arg Name="TargetRollAngle" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.rollError />
                <Arg Name="RollError" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.maxSpeed />
                <Arg Name="MaxSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.startSpeed />
                <Arg Name="StartSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minSpeed />
                <Arg Name="MinSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.estimationWindow />
                <Arg Name="WindowLen" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.initStep />
                <Arg Name="InitStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minStep />
                <Arg Name="MinStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.verbose />
                <Arg Name="Verbose" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.persistResult />
                <True />
            </Setting>
        </Guidance:SetRollSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-01-09T23:39:32.525Z,1736465972.525 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-01-09T23:39:32.528Z,1736465972.528 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-01-09T23:39:32.530Z,1736465972.530 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-01-09T23:39:32.532Z,1736465972.532 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-01-09T23:39:32.534Z,1736465972.534 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-01-09T23:39:32.537Z,1736465972.537 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-01-09T23:39:32.544Z,1736465972.544 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-01-09T23:39:32.546Z,1736465972.546 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-01-09T23:39:32.549Z,1736465972.549 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-01-09T23:39:32.551Z,1736465972.551 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-01-09T23:39:32.553Z,1736465972.553 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-01-09T23:39:32.555Z,1736465972.555 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-01-09T23:39:32.557Z,1736465972.557 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-01-09T23:39:32.559Z,1736465972.559 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-01-09T23:39:32.561Z,1736465972.561 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-01-09T23:39:32.564Z,1736465972.564 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-01-09T23:39:32.590Z,1736465972.590 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-01-09T23:39:32.592Z,1736465972.592 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-01-09T23:39:32.598Z,1736465972.598 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-01-09T23:39:32.599Z,1736465972.599 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-09T23:39:32.599Z,1736465972.599 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-09T23:39:32.600Z,1736465972.600 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-09T23:39:32.949Z,1736465972.949 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-09T23:39:32.958Z,1736465972.958 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-01-09T23:39:32.965Z,1736465972.965 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-09T23:39:32.972Z,1736465972.972 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-09T23:39:32.979Z,1736465972.979 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-01-09T23:39:32.985Z,1736465972.985 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-09T23:39:32.992Z,1736465972.992 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-09T23:39:33.023Z,1736465973.023 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-01-09T23:39:33.025Z,1736465973.025 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-01-09T23:39:33.039Z,1736465973.039 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-09T23:39:33.087Z,1736465973.087 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-09T23:39:33.087Z,1736465973.087 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-09T23:39:33.088Z,1736465973.088 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-09T23:39:33.155Z,1736465973.155 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-09T23:39:33.159Z,1736465973.159 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-09T23:39:33.161Z,1736465973.161 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-09T23:39:33.164Z,1736465973.164 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-09T23:39:33.166Z,1736465973.166 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-09T23:39:33.167Z,1736465973.167 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-09T23:39:33.172Z,1736465973.172 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-09T23:39:33.179Z,1736465973.179 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-09T23:39:33.187Z,1736465973.187 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-09T23:39:33.187Z,1736465973.187 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-09T23:39:33.188Z,1736465973.188 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-09T23:39:33.265Z,1736465973.265 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-09T23:39:33.273Z,1736465973.273 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-01-09T23:39:33.284Z,1736465973.284 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-09T23:39:33.294Z,1736465973.294 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-09T23:39:33.294Z,1736465973.294 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-09T23:39:33.295Z,1736465973.295 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-09T23:39:33.472Z,1736465973.472 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-09T23:39:33.479Z,1736465973.479 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-01-09T23:39:33.481Z,1736465973.481 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-01-09T23:39:33.483Z,1736465973.483 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-01-09T23:39:33.484Z,1736465973.484 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-01-09T23:39:33.487Z,1736465973.487 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-09T23:39:33.493Z,1736465973.493 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-09T23:39:33.495Z,1736465973.495 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-09T23:39:33.498Z,1736465973.498 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-01-09T23:39:33.504Z,1736465973.504 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-01-09T23:39:33.508Z,1736465973.508 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-01-09T23:39:33.515Z,1736465973.515 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-09T23:39:33.542Z,1736465973.542 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:39:33.565Z,1736465973.565 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission optimize_roll_speed {
  """
  Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Depth = 30 meter
      """
      Depth of flat and level flight during the mission.
      """

    StartSpeed = 0.9 meter_per_second
      """
      Initial speed for roll optimization.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    WindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    InitStep = 0.05 meter_per_second
      """
      Initial step size for roll speed optimization.
      """

    MinStep = 0.025 meter_per_second
      """
      Minimum step size for roll speed optimization.
      """

    Verbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    MaxDepth = 35 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  call id="StartingMission" refId="NeedComms"

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetRollSpeed {
      run in parallel

      set targetRoll = TargetRollAngle
      set rollError = RollError
      set maxSpeed = MaxSpeed
      set startSpeed = StartSpeed
      set minSpeed = MinSpeed
      set estimationWindow = WindowLen
      set initStep = InitStep
      set minStep = MinStep
      set verbose = Verbose
      set persistResult = true
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-01-09T23:39:33.574Z,1736465973.574 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-01-09T23:39:45.855Z,1736465985.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:39:47.584Z,1736465987.584 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 60 minute
2025-01-09T23:39:47.585Z,1736465987.585 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.903 degree
2025-01-09T23:39:47.585Z,1736465987.585 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -122.113 degree
2025-01-09T23:39:47.586Z,1736465987.586 [CommandExec](IMPORTANT): got command set optimize_roll_speed.TargetRollAngle 7 degree
2025-01-09T23:39:52.181Z,1736465992.181 [CommandExec](IMPORTANT): got command set optimize_roll_speed.RollError 0.5 degree
2025-01-09T23:39:52.193Z,1736465992.193 [CommandExec](IMPORTANT): got command run
2025-01-09T23:39:52.198Z,1736465992.198 [CommandExec](IMPORTANT): Running 
2025-01-09T23:39:52.274Z,1736465992.274 [DefaultWithUndock] Stopped
2025-01-09T23:39:52.274Z,1736465992.274 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-01-09T23:39:52.274Z,1736465992.274 [DefaultWithUndock:SurfaceDefault] Stopped
2025-01-09T23:39:52.274Z,1736465992.274 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-01-09T23:39:52.274Z,1736465992.274 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-01-09T23:39:52.274Z,1736465992.274 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-09T23:39:52.275Z,1736465992.275 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-01-09T23:39:52.275Z,1736465992.275 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-09T23:39:52.275Z,1736465992.275 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-01-09T23:39:52.275Z,1736465992.275 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-09T23:39:52.275Z,1736465992.275 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-01-09T23:39:52.275Z,1736465992.275 [optimize_roll_speed] Running Loop=1
2025-01-09T23:39:52.275Z,1736465992.275 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-01-09T23:39:52.275Z,1736465992.275 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-01-09T23:39:52.275Z,1736465992.275 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-09T23:39:52.276Z,1736465992.276 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-01-09T23:39:52.277Z,1736465992.277 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-01-09T23:39:52.278Z,1736465992.278 [optimize_roll_speed:B] Running Loop=1
2025-01-09T23:39:52.282Z,1736465992.282 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-01-09T23:39:52.283Z,1736465992.283 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-09T23:39:52.283Z,1736465992.283 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-01-09T23:39:52.283Z,1736465992.283 [optimize_roll_speed:PowerOnly:D] Stopped
2025-01-09T23:39:52.283Z,1736465992.283 [optimize_roll_speed:PowerOnly:C] Stopped
2025-01-09T23:39:52.283Z,1736465992.283 [optimize_roll_speed:PowerOnly:B] Stopped
2025-01-09T23:39:52.283Z,1736465992.283 [optimize_roll_speed:PowerOnly:A] Stopped
2025-01-09T23:39:52.283Z,1736465992.283 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-01-09T23:39:52.284Z,1736465992.284 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-01-09T23:39:52.284Z,1736465992.284 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-09T23:39:52.284Z,1736465992.284 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-09T23:39:52.284Z,1736465992.284 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-09T23:39:52.285Z,1736465992.285 [optimize_roll_speed:B] Stopped
2025-01-09T23:39:52.285Z,1736465992.285 [optimize_roll_speed:C] Running Loop=1
2025-01-09T23:39:52.660Z,1736465992.660 [optimize_roll_speed:C] Stopped
2025-01-09T23:39:52.661Z,1736465992.661 [optimize_roll_speed:E] Running Loop=1
2025-01-09T23:39:53.114Z,1736465993.114 [optimize_roll_speed:E] Stopped
2025-01-09T23:39:53.118Z,1736465993.118 [optimize_roll_speed:F] Running Loop=1
2025-01-09T23:39:53.482Z,1736465993.482 [optimize_roll_speed:F] Stopped
2025-01-09T23:39:53.482Z,1736465993.482 [optimize_roll_speed:G] Running Loop=1
2025-01-09T23:39:53.864Z,1736465993.864 [optimize_roll_speed:G] Stopped
2025-01-09T23:39:53.865Z,1736465993.865 [optimize_roll_speed:StartingMission] Running Loop=1
2025-01-09T23:39:53.865Z,1736465993.865 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::initialize optimize_roll_speed:StartingMission
2025-01-09T23:39:54.263Z,1736465994.263 [optimize_roll_speed:NeedComms] Running Loop=1
2025-01-09T23:39:54.264Z,1736465994.264 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-01-09T23:39:54.264Z,1736465994.264 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-01-09T23:39:54.264Z,1736465994.264 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-09T23:39:54.264Z,1736465994.264 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-09T23:39:54.264Z,1736465994.264 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-09T23:39:54.265Z,1736465994.265 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-09T23:39:54.265Z,1736465994.265 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-09T23:39:54.265Z,1736465994.265 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-09T23:39:54.266Z,1736465994.266 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-09T23:39:54.266Z,1736465994.266 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-01-09T23:39:54.268Z,1736465994.268 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1736465861.000000 second since 1970/01/01T00:00:00Z 
2025-01-09T23:39:54.268Z,1736465994.268 [optimize_roll_speed:NeedComms:A] Stopped
2025-01-09T23:39:54.669Z,1736465994.669 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-01-09T23:39:55.126Z,1736465995.126 [optimize_roll_speed:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-09T23:39:56.676Z,1736465996.676 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233958.00,A,3653.64976,N,12207.03016,W,0.272,42.45,090125,,,D*4B
2025-01-09T23:39:56.679Z,1736465996.679 [NAL9602](INFO): GPS fix at 20250109T233958: (36.894163, -122.117169)
2025-01-09T23:39:56.721Z,1736465996.721 [optimize_roll_speed:NeedComms:C] Stopped
2025-01-09T23:39:56.721Z,1736465996.721 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-01-09T23:39:56.782Z,1736465996.782 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:39:57.135Z,1736465997.135 [optimize_roll_speed:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-09T23:40:06.885Z,1736466006.885 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250109T224747/Courier0016.lzma
2025-01-09T23:40:07.888Z,1736466007.888 [DataOverHttps](INFO): Moved sent file to Logs/20250109T224747/Courier0016.lzma.bak
2025-01-09T23:40:07.888Z,1736466007.888 [DataOverHttps](INFO): SBD MOMSN=23891470
2025-01-09T23:40:30.450Z,1736466030.450 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20250109T233911/Courier0000.lzma
2025-01-09T23:40:31.452Z,1736466031.452 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0000.lzma.bak
2025-01-09T23:40:31.452Z,1736466031.452 [DataOverHttps](INFO): SBD MOMSN=23891472
2025-01-09T23:40:34.741Z,1736466034.741 [NAL9602](INFO): SBD MO Status=1, MOMSN=46968, MT Status=0, MTMSN=0
2025-01-09T23:40:34.741Z,1736466034.741 [NAL9602](INFO): No messages in MT queue
2025-01-09T23:40:51.662Z,1736466051.662 [DataOverHttps](INFO): Sending 106 bytes from file Logs/20250109T224747/Express0017.lzma
2025-01-09T23:40:52.664Z,1736466052.664 [DataOverHttps](INFO): Moved sent file to Logs/20250109T224747/Express0017.lzma.bak
2025-01-09T23:40:52.664Z,1736466052.664 [DataOverHttps](INFO): SBD MOMSN=23891476
2025-01-09T23:41:05.448Z,1736466065.448 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-09T23:41:11.659Z,1736466071.659 [DataOverHttps](INFO): Sending 695 bytes from file Logs/20250109T233911/Express0001.lzma
2025-01-09T23:41:12.660Z,1736466072.660 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0001.lzma.bak
2025-01-09T23:41:12.660Z,1736466072.660 [DataOverHttps](INFO): SBD MOMSN=23891481
2025-01-09T23:41:31.594Z,1736466091.594 [DataOverHttps](INFO): Sending 178 bytes from file Logs/20250109T233911/Express0004.lzma
2025-01-09T23:41:32.596Z,1736466092.596 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0004.lzma.bak
2025-01-09T23:41:32.596Z,1736466092.596 [DataOverHttps](INFO): SBD MOMSN=23891504
2025-01-09T23:41:37.044Z,1736466097.044 [optimize_roll_speed:NeedComms:D] Stopped
2025-01-09T23:41:37.045Z,1736466097.045 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-01-09T23:41:37.452Z,1736466097.452 [optimize_roll_speed:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-09T23:41:39.036Z,1736466099.036 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234141.00,A,3653.64568,N,12207.02356,W,0.311,157.42,090125,,,D*7F
2025-01-09T23:41:39.038Z,1736466099.038 [NAL9602](INFO): GPS fix at 20250109T234141: (36.894095, -122.117059)
2025-01-09T23:41:39.120Z,1736466099.120 [optimize_roll_speed:NeedComms:E] Stopped
2025-01-09T23:41:39.121Z,1736466099.121 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-01-09T23:41:39.121Z,1736466099.121 [optimize_roll_speed:NeedComms] Stopped
2025-01-09T23:41:39.121Z,1736466099.121 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-01-09T23:41:39.121Z,1736466099.121 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-01-09T23:41:39.121Z,1736466099.121 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-09T23:41:39.419Z,1736466099.419 [optimize_roll_speed:StartingMission](INFO): Completed optimize_roll_speed:StartingMission
2025-01-09T23:41:39.419Z,1736466099.419 [optimize_roll_speed:StartingMission] Stopped
2025-01-09T23:41:39.420Z,1736466099.420 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::uninitialize optimize_roll_speed:StartingMission
2025-01-09T23:41:39.420Z,1736466099.420 [optimize_roll_speed:Transit] Running Loop=1
2025-01-09T23:41:39.420Z,1736466099.420 [optimize_roll_speed:Transit](DEBUG): Aggregate::initialize optimize_roll_speed:Transit
2025-01-09T23:41:39.420Z,1736466099.420 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-01-09T23:41:39.420Z,1736466099.420 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Initialize.
2025-01-09T23:41:39.420Z,1736466099.420 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-01-09T23:41:39.420Z,1736466099.420 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Initialize.
2025-01-09T23:41:39.421Z,1736466099.421 [optimize_roll_speed:Transit:Wpt1.Waypoint] Running Loop=1
2025-01-09T23:41:39.421Z,1736466099.421 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-09T23:41:39.426Z,1736466099.426 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903000,-122.112999
2025-01-09T23:41:39.800Z,1736466099.800 [optimize_roll_speed:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.903000,-122.112999
2025-01-09T23:41:39.801Z,1736466099.801 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-01-09T23:41:39.801Z,1736466099.801 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-01-09T23:41:56.992Z,1736466116.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:42:03.186Z,1736466123.186 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010915431050,35.0, +13.7,   0.0,1502.8RA,  0.00, 980.34, 716.49, 806.81, 839.34
2025-01-09T23:42:06.314Z,1736466126.314 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:42:19.031Z,1736466139.031 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:42:20.605Z,1736466140.605 [NAL9602](INFO): SBD MO Status=1, MOMSN=46969, MT Status=0, MTMSN=0
2025-01-09T23:42:20.605Z,1736466140.605 [NAL9602](INFO): No messages in MT queue
2025-01-09T23:42:23.227Z,1736466143.227 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  -47,  +211,A
2025-01-09T23:42:28.474Z,1736466148.474 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:42:33.367Z,1736466153.367 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +219,  +45,A
2025-01-09T23:42:37.560Z,1736466157.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:42:46.650Z,1736466166.650 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:42:51.168Z,1736466171.168 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-09T23:42:53.205Z,1736466173.205 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +120,  +558,   -BE,  +120,  +558,   -65,A
2025-01-09T23:42:55.675Z,1736466175.675 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:42:58.842Z,1736466178.842 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.90 m/s, pitch 20.00 deg, mass-position 21.81 mm (1 active estimators).
2025-01-09T23:43:25.798Z,1736466205.798 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:43:26.802Z,1736466206.802 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:43:54.915Z,1736466234.915 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243454
2025-01-09T23:43:55.918Z,1736466235.918 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:43:59.194Z,1736466239.194 [Radio_Surface](INFO): Powering down
2025-01-09T23:44:26.046Z,1736466266.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:44:27.050Z,1736466267.050 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-09T23:44:27.050Z,1736466267.050 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:44:57.186Z,1736466297.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:44:58.191Z,1736466298.191 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:45:28.311Z,1736466328.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:45:29.314Z,1736466329.314 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:45:59.442Z,1736466359.442 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:46:00.446Z,1736466360.446 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:46:30.566Z,1736466390.566 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:46:31.570Z,1736466391.570 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:46:39.436Z,1736466399.436 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 8.467638 degrees over 730 samples
2025-01-09T23:46:39.437Z,1736466399.437 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.950000 m/s (avg roll: 8.467638 degrees, target: 7.000000 degrees)
2025-01-09T23:47:01.702Z,1736466421.702 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:47:02.706Z,1736466422.706 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:47:32.826Z,1736466452.826 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:47:33.830Z,1736466453.830 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:48:03.963Z,1736466483.963 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:48:04.970Z,1736466484.970 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:48:35.102Z,1736466515.102 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:48:36.106Z,1736466516.106 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:49:06.230Z,1736466546.230 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:49:07.234Z,1736466547.234 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:49:37.355Z,1736466577.355 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:49:38.358Z,1736466578.358 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:50:08.490Z,1736466608.490 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:50:09.494Z,1736466609.494 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:50:39.614Z,1736466639.614 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:50:40.618Z,1736466640.618 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:51:10.738Z,1736466670.738 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:51:11.742Z,1736466671.742 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:51:40.071Z,1736466700.071 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.395087 degrees over 736 samples
2025-01-09T23:51:40.072Z,1736466700.072 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Crossed target. New step: 0.025000 m/s
2025-01-09T23:51:40.072Z,1736466700.072 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.925000 m/s (avg roll: 6.395087 degrees, target: 7.000000 degrees)
2025-01-09T23:51:41.870Z,1736466701.870 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:51:42.874Z,1736466702.874 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:52:12.996Z,1736466732.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:52:13.998Z,1736466733.998 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:52:44.134Z,1736466764.134 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:52:45.139Z,1736466765.139 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:53:15.270Z,1736466795.270 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:53:16.275Z,1736466796.275 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:53:46.406Z,1736466826.406 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:53:47.410Z,1736466827.410 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:54:17.530Z,1736466857.530 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:54:18.534Z,1736466858.534 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:54:48.655Z,1736466888.655 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:54:49.658Z,1736466889.658 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:55:19.778Z,1736466919.778 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:55:20.782Z,1736466920.782 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:55:50.903Z,1736466950.903 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:55:51.907Z,1736466951.907 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:56:22.038Z,1736466982.038 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:56:23.042Z,1736466983.042 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:56:40.691Z,1736467000.691 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 7.317724 degrees over 738 samples
2025-01-09T23:56:40.691Z,1736467000.691 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Crossed target. New step: 0.025000 m/s
2025-01-09T23:56:40.692Z,1736467000.692 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Optimum speed found: 0.925000 m/s for target roll 7.000000 degrees
2025-01-09T23:56:40.692Z,1736467000.692 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Persisting optimum speed 0.925000 m/s for 7.000000 degrees roll to config
2025-01-09T23:56:40.695Z,1736467000.695 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-01-09T23:56:40.695Z,1736467000.695 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): CBIT.gf24Offset=173 microampere;

2025-01-09T23:56:40.696Z,1736467000.696 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DAT.convertPhaseDataToDirection=0 bool;

2025-01-09T23:56:40.697Z,1736467000.697 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DockingStepper.closedValue=16450 count;

2025-01-09T23:56:40.697Z,1736467000.697 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DockingStepper.slideValue=10700 count;

2025-01-09T23:56:40.698Z,1736467000.698 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.navigationGain=3 none;

2025-01-09T23:56:40.699Z,1736467000.699 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.openLoopFlyby=0 bool;

2025-01-09T23:56:40.700Z,1736467000.700 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2025-01-09T23:56:40.700Z,1736467000.700 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): RudderServo.offsetAngle=0.2 degree;

2025-01-09T23:56:40.701Z,1736467000.701 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): SpeedControl.rollOptimum=0.925000 m/s;

2025-01-09T23:56:40.702Z,1736467000.702 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.buoyancyNeutral=401.869368 cubic_centimeter;

2025-01-09T23:56:40.702Z,1736467000.702 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massDefault=21.805965 millimeter;

2025-01-09T23:56:40.703Z,1736467000.703 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massOnlyForceInt=0 bool;

2025-01-09T23:56:53.162Z,1736467013.162 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:56:54.167Z,1736467014.167 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:57:24.286Z,1736467044.286 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:57:25.290Z,1736467045.290 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:57:55.410Z,1736467075.410 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:57:56.415Z,1736467076.415 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:58:26.534Z,1736467106.534 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:58:27.539Z,1736467107.539 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:58:57.666Z,1736467137.666 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:58:58.670Z,1736467138.670 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:59:28.799Z,1736467168.799 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-09T23:59:29.802Z,1736467169.802 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-09T23:59:59.934Z,1736467199.934 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:00:00.938Z,1736467200.938 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:00:31.062Z,1736467231.062 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:00:32.066Z,1736467232.066 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:01:02.204Z,1736467262.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:01:03.206Z,1736467263.206 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:01:33.326Z,1736467293.326 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:01:34.330Z,1736467294.330 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:01:41.287Z,1736467301.287 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 7.101706 degrees over 738 samples
2025-01-10T00:02:04.462Z,1736467324.462 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:02:05.466Z,1736467325.466 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:02:07.934Z,1736467327.934 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.903000,-122.112999
2025-01-10T00:02:07.934Z,1736467327.934 [optimize_roll_speed:Transit:Wpt1.Waypoint] Stopped
2025-01-10T00:02:07.934Z,1736467327.934 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-10T00:02:07.935Z,1736467327.935 [optimize_roll_speed:Transit:PhoneHome] Running Loop=1
2025-01-10T00:02:07.935Z,1736467327.935 [optimize_roll_speed:Transit:PhoneHome](DEBUG): Aggregate::initialize optimize_roll_speed:Transit:PhoneHome
2025-01-10T00:02:08.335Z,1736467328.335 [optimize_roll_speed:NeedComms] Running Loop=1
2025-01-10T00:02:08.335Z,1736467328.335 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-01-10T00:02:08.335Z,1736467328.335 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-01-10T00:02:08.335Z,1736467328.335 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-10T00:02:08.336Z,1736467328.336 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-10T00:02:08.336Z,1736467328.336 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-10T00:02:08.336Z,1736467328.336 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-10T00:02:08.337Z,1736467328.337 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-10T00:02:08.337Z,1736467328.337 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-10T00:02:08.337Z,1736467328.337 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-10T00:02:08.337Z,1736467328.337 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-01-10T00:02:08.355Z,1736467328.355 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1736466101.000000 second since 1970/01/01T00:00:00Z 
2025-01-10T00:02:08.355Z,1736467328.355 [optimize_roll_speed:NeedComms:A] Stopped
2025-01-10T00:02:29.392Z,1736467349.392 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,    3,     +2625.09 +1.51,  20.00,  0.00
2025-01-10T00:02:35.590Z,1736467355.590 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:02:36.594Z,1736467356.594 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:02:39.071Z,1736467359.071 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +152.62,     +2634.   +1.16,  20.00,  0.00
2025-01-10T00:03:06.722Z,1736467386.722 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:03:07.728Z,1736467387.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:03:21.493Z,1736467401.493 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-01-10T00:03:21.496Z,1736467401.496 [BPC1](INFO): Received data from all battery sticks.
2025-01-10T00:03:37.866Z,1736467417.866 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:03:38.871Z,1736467418.871 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:04:01.501Z,1736467441.501 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-01-10T00:04:02.015Z,1736467442.015 [Radio_Surface](INFO): Powering up
2025-01-10T00:04:07.266Z,1736467447.266 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-01-10T00:04:07.267Z,1736467447.267 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-01-10T00:04:08.991Z,1736467448.991 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:04:09.994Z,1736467449.994 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-10T00:04:09.995Z,1736467449.995 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:04:40.114Z,1736467480.114 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:04:41.118Z,1736467481.118 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:05:11.247Z,1736467511.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:05:12.251Z,1736467512.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:05:42.370Z,1736467542.370 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:05:43.374Z,1736467543.374 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:06:03.883Z,1736467563.883 [NAL9602](INFO): SBD MO Status=2, MOMSN=46970, MT Status=2, MTMSN=0
2025-01-10T00:06:03.884Z,1736467563.884 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-10T00:06:13.498Z,1736467573.498 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:06:14.502Z,1736467574.502 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:06:41.875Z,1736467601.875 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 7.113199 degrees over 736 samples
2025-01-10T00:06:44.622Z,1736467604.622 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:06:45.626Z,1736467605.626 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:07:15.762Z,1736467635.762 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:07:16.766Z,1736467636.766 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:07:46.894Z,1736467666.894 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:07:47.898Z,1736467667.898 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:07:55.511Z,1736467675.511 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003288
2025-01-10T00:07:56.511Z,1736467676.511 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:08:05.210Z,1736467685.210 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:08:24.918Z,1736467704.918 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:08:48.602Z,1736467728.602 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:09:05.731Z,1736467745.731 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-01-10T00:09:16.241Z,1736467756.241 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000918.00,A,3654.20707,N,12206.74789,W,0.894,95.03,100125,,,D*40
2025-01-10T00:09:16.243Z,1736467756.243 [NAL9602](INFO): GPS fix at 20250110T000918: (36.903451, -122.112465)
2025-01-10T00:09:16.276Z,1736467756.276 [UniversalFixResidualReporter](INFO): Fix residual: 5.4 %DT, over the last 1281.3 m. Residual distance 69.6 m at bearing -76.7 degrees. Fix at (36.9035, -122.1125) with 1117.7 m made good.
2025-01-10T00:09:16.284Z,1736467756.284 [optimize_roll_speed:NeedComms:C] Stopped
2025-01-10T00:09:16.285Z,1736467756.285 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-01-10T00:09:41.090Z,1736467781.090 [DataOverHttps](INFO): Sending 266 bytes from file Logs/20250109T233911/Courier0006.lzma
2025-01-10T00:09:42.092Z,1736467782.092 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0006.lzma.bak
2025-01-10T00:09:42.092Z,1736467782.092 [DataOverHttps](INFO): SBD MOMSN=23891543
2025-01-10T00:09:48.704Z,1736467788.704 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:10:43.079Z,1736467843.079 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.987228
2025-01-10T00:10:44.054Z,1736467844.054 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2025-01-10T00:10:44.126Z,1736467844.126 [NAL9602](ERROR): received: 
+CSQ:0

OK970, 2, 0, 0, 0

OK
2025-01-10T00:10:51.675Z,1736467851.675 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003270
2025-01-10T00:11:03.707Z,1736467863.707 [DataOverHttps](INFO): Sending 991 bytes from file Logs/20250109T233911/Express0007.lzma
2025-01-10T00:11:04.708Z,1736467864.708 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0007.lzma.bak
2025-01-10T00:11:04.708Z,1736467864.708 [DataOverHttps](INFO): SBD MOMSN=23891546
2025-01-10T00:11:09.061Z,1736467869.061 [NAL9602](INFO): SBD MO Status=1, MOMSN=46970, MT Status=0, MTMSN=0
2025-01-10T00:11:09.118Z,1736467869.118 [NAL9602](INFO): Sent 332 bytes from file Logs/20250109T233911/Express0007.lzma
2025-01-10T00:11:09.119Z,1736467869.119 [NAL9602](INFO): Packets left to send: 2
2025-01-10T00:11:09.218Z,1736467869.218 [optimize_roll_speed:NeedComms:D] Stopped
2025-01-10T00:11:09.218Z,1736467869.218 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-01-10T00:11:11.469Z,1736467871.469 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001113.00,A,3654.20528,N,12206.73512,W,1.827,64.01,100125,,,D*4F
2025-01-10T00:11:11.471Z,1736467871.471 [NAL9602](INFO): GPS fix at 20250110T001113: (36.903421, -122.112252)
2025-01-10T00:11:11.510Z,1736467871.510 [optimize_roll_speed:NeedComms:E] Stopped
2025-01-10T00:11:11.515Z,1736467871.515 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-01-10T00:11:11.515Z,1736467871.515 [optimize_roll_speed:NeedComms] Stopped
2025-01-10T00:11:11.515Z,1736467871.515 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-01-10T00:11:11.515Z,1736467871.515 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-01-10T00:11:11.515Z,1736467871.515 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-10T00:11:11.912Z,1736467871.912 [optimize_roll_speed:Transit:PhoneHome](INFO): Completed optimize_roll_speed:Transit:PhoneHome
2025-01-10T00:11:11.913Z,1736467871.913 [optimize_roll_speed:Transit:PhoneHome] Stopped
2025-01-10T00:11:11.913Z,1736467871.913 [optimize_roll_speed:Transit:PhoneHome](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit:PhoneHome
2025-01-10T00:11:11.913Z,1736467871.913 [optimize_roll_speed:Transit](INFO): Completed optimize_roll_speed:Transit
2025-01-10T00:11:11.914Z,1736467871.914 [optimize_roll_speed:Transit] Stopped
2025-01-10T00:11:11.914Z,1736467871.914 [optimize_roll_speed:Transit](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit
2025-01-10T00:11:11.914Z,1736467871.914 [optimize_roll_speed:Transit:A.Pitch] Stopped
2025-01-10T00:11:11.914Z,1736467871.914 [optimize_roll_speed:Transit:B.SetRollSpeed] Stopped
2025-01-10T00:11:11.914Z,1736467871.914 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Uninitialize.
2025-01-10T00:11:11.916Z,1736467871.916 [optimize_roll_speed](INFO): Completed optimize_roll_speed
2025-01-10T00:11:11.916Z,1736467871.916 [MissionManager](INFO): optimize_roll_speed is completed.
2025-01-10T00:11:11.916Z,1736467871.916 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-01-10T00:11:11.916Z,1736467871.916 [optimize_roll_speed] Stopped
2025-01-10T00:11:11.916Z,1736467871.916 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:BackseatDriver] Stopped
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:PowerOnly] Stopped
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-01-10T00:11:11.917Z,1736467871.917 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-01-10T00:11:11.918Z,1736467871.918 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T00:11:11.918Z,1736467871.918 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-01-10T00:11:11.918Z,1736467871.918 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-10T00:11:11.918Z,1736467871.918 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-01-10T00:11:12.291Z,1736467872.291 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-01-10T00:11:12.292Z,1736467872.292 [DefaultWithUndock] Running Loop=1
2025-01-10T00:11:12.292Z,1736467872.292 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-01-10T00:11:12.292Z,1736467872.292 [DefaultWithUndock:A.Wait] Running Loop=1
2025-01-10T00:11:12.292Z,1736467872.292 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-01-10T00:11:30.118Z,1736467890.118 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:11:38.623Z,1736467898.623 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:11:42.607Z,1736467902.607 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-01-10T00:11:42.607Z,1736467902.607 [DefaultWithUndock:A.Wait] Stopped
2025-01-10T00:11:42.607Z,1736467902.607 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T00:11:42.608Z,1736467902.608 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-01-10T00:11:42.608Z,1736467902.608 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-01-10T00:11:42.608Z,1736467902.608 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-01-10T00:11:42.608Z,1736467902.608 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-01-10T00:11:42.608Z,1736467902.608 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-01-10T00:11:42.608Z,1736467902.608 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-01-10T00:11:42.608Z,1736467902.608 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-10T00:11:43.081Z,1736467903.081 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-01-10T00:11:43.082Z,1736467903.082 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-10T00:11:43.087Z,1736467903.087 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.004687 m.
2025-01-10T00:11:43.087Z,1736467903.087 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-01-10T00:11:43.087Z,1736467903.087 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-01-10T00:11:43.096Z,1736467903.096 [DockingStepper](INFO): Resume
2025-01-10T00:11:43.427Z,1736467903.427 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-01-10T00:11:43.447Z,1736467903.447 [DockingStepper](INFO): Resuming
2025-01-10T00:11:43.787Z,1736467903.787 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:11:43.817Z,1736467903.817 [DockingStepper](INFO): Start
2025-01-10T00:11:43.817Z,1736467903.817 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-10T00:11:43.931Z,1736467903.931 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-10T00:11:44.227Z,1736467904.227 [DockingStepper](INFO): Starting
2025-01-10T00:11:44.615Z,1736467904.615 [DockingStepper](INFO): Starting
2025-01-10T00:11:45.219Z,1736467905.219 [DockingStepper](INFO): Starting
2025-01-10T00:11:45.270Z,1736467905.270 [DockingStepper](INFO): Init string: /1z16363aE13561N3m50
2025-01-10T00:11:45.455Z,1736467905.455 [DockingStepper](INFO): Starting
2025-01-10T00:11:45.855Z,1736467905.855 [DockingStepper](INFO): Starting
2025-01-10T00:11:46.252Z,1736467906.252 [DockingStepper](INFO): Starting
2025-01-10T00:11:46.659Z,1736467906.659 [DockingStepper](INFO): Starting
2025-01-10T00:11:47.103Z,1736467907.103 [DockingStepper](INFO): Starting
2025-01-10T00:11:47.127Z,1736467907.127 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-10T00:11:47.170Z,1736467907.170 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:11:47.467Z,1736467907.467 [DockingStepper](INFO): Starting
2025-01-10T00:11:55.938Z,1736467915.938 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:12:03.595Z,1736467923.595 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-01-10T00:12:04.007Z,1736467924.007 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-01-10T00:12:04.416Z,1736467924.416 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-01-10T00:12:04.416Z,1736467924.416 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-01-10T00:12:04.417Z,1736467924.417 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-01-10T00:12:04.417Z,1736467924.417 [DefaultWithUndock:LeaveDock] Stopped
2025-01-10T00:12:04.417Z,1736467924.417 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-01-10T00:12:04.417Z,1736467924.417 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-01-10T00:12:04.417Z,1736467924.417 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-01-10T00:12:04.417Z,1736467924.417 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-01-10T00:12:04.417Z,1736467924.417 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-10T00:12:04.417Z,1736467924.417 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-10T00:12:04.418Z,1736467924.418 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-10T00:12:04.418Z,1736467924.418 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-10T00:12:04.419Z,1736467924.419 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-10T00:12:04.419Z,1736467924.419 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-10T00:12:04.419Z,1736467924.419 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-10T00:12:04.778Z,1736467924.778 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:12:04.807Z,1736467924.807 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-01-10T00:12:04.807Z,1736467924.807 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T00:12:04.807Z,1736467924.807 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-01-10T00:12:04.958Z,1736467924.958 [DockingStepper](INFO): Pause
2025-01-10T00:12:06.828Z,1736467926.828 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001209.00,A,3654.20501,N,12206.72662,W,0.564,89.26,100125,,,D*44
2025-01-10T00:12:06.834Z,1736467926.834 [NAL9602](INFO): GPS fix at 20250110T001209: (36.903417, -122.112110)
2025-01-10T00:12:06.854Z,1736467926.854 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-01-10T00:12:06.854Z,1736467926.854 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-01-10T00:12:16.265Z,1736467936.265 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250109T233911/Courier0009.lzma
2025-01-10T00:12:17.009Z,1736467937.009 [NAL9602](INFO): SBD MO Status=0, MOMSN=46971, MT Status=0, MTMSN=0
2025-01-10T00:12:17.010Z,1736467937.010 [NAL9602](INFO): No messages in MT queue
2025-01-10T00:12:17.272Z,1736467937.272 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0009.lzma.bak
2025-01-10T00:12:17.272Z,1736467937.272 [DataOverHttps](INFO): SBD MOMSN=23891576
2025-01-10T00:12:39.174Z,1736467959.174 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20250109T233911/Express0010.lzma
2025-01-10T00:12:40.176Z,1736467960.176 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0010.lzma.bak
2025-01-10T00:12:40.176Z,1736467960.176 [DataOverHttps](INFO): SBD MOMSN=23891579
2025-01-10T00:12:44.078Z,1736467964.078 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-01-10T00:12:44.078Z,1736467964.078 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-01-10T00:12:44.078Z,1736467964.078 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-10T00:12:47.682Z,1736467967.682 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:13:05.519Z,1736467985.519 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:13:14.011Z,1736467994.011 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:13:22.694Z,1736468002.694 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:13:31.286Z,1736468011.286 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:13:40.038Z,1736468020.038 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:13:48.646Z,1736468028.646 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:13:57.178Z,1736468037.178 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:14:05.730Z,1736468045.730 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:14:17.055Z,1736468057.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:14:29.431Z,1736468069.431 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:14:37.998Z,1736468077.998 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:14:46.570Z,1736468086.570 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:14:55.294Z,1736468095.294 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:15:03.922Z,1736468103.922 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:15:12.522Z,1736468112.522 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:15:21.107Z,1736468121.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:15:29.722Z,1736468129.722 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:15:38.382Z,1736468138.382 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:15:47.030Z,1736468147.030 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:15:55.614Z,1736468155.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:16:04.150Z,1736468164.150 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:16:15.503Z,1736468175.503 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:16:27.683Z,1736468187.683 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:16:36.143Z,1736468196.143 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:16:44.758Z,1736468204.758 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:16:55.294Z,1736468215.294 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:17:03.878Z,1736468223.878 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:17:12.458Z,1736468232.458 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:17:21.126Z,1736468241.126 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:17:29.662Z,1736468249.662 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:17:38.255Z,1736468258.255 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:17:44.712Z,1736468264.712 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-01-10T00:17:44.713Z,1736468264.713 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-01-10T00:17:44.713Z,1736468264.713 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T00:17:44.713Z,1736468264.713 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-01-10T00:17:45.137Z,1736468265.137 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-01-10T00:17:45.137Z,1736468265.137 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-01-10T00:17:45.532Z,1736468265.532 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  6.547416 min 
2025-01-10T00:17:45.532Z,1736468265.532 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-01-10T00:17:45.533Z,1736468265.533 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T00:17:45.533Z,1736468265.533 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-01-10T00:17:45.533Z,1736468265.533 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T00:17:45.533Z,1736468265.533 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-01-10T00:17:45.533Z,1736468265.533 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-01-10T00:17:45.533Z,1736468265.533 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T00:17:45.533Z,1736468265.533 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-01-10T00:17:46.818Z,1736468266.818 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:17:47.537Z,1736468267.537 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001749.00,A,3654.20345,N,12206.68707,W,1.089,65.29,100125,,,D*40
2025-01-10T00:17:47.539Z,1736468267.539 [NAL9602](INFO): GPS fix at 20250110T001749: (36.903391, -122.111451)
2025-01-10T00:17:47.551Z,1736468267.551 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-01-10T00:17:47.551Z,1736468267.551 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-01-10T00:17:55.089Z,1736468275.089 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250109T233911/Courier0012.lzma
2025-01-10T00:17:56.092Z,1736468276.092 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0012.lzma.bak
2025-01-10T00:17:56.092Z,1736468276.092 [DataOverHttps](INFO): SBD MOMSN=23891596
2025-01-10T00:18:19.091Z,1736468299.091 [DataOverHttps](INFO): Sending 179 bytes from file Logs/20250109T233911/Express0013.lzma
2025-01-10T00:18:20.088Z,1736468300.088 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0013.lzma.bak
2025-01-10T00:18:20.088Z,1736468300.088 [DataOverHttps](INFO): SBD MOMSN=23891599
2025-01-10T00:18:27.292Z,1736468307.292 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-01-10T00:18:27.292Z,1736468307.292 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-01-10T00:18:27.293Z,1736468307.293 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-10T00:18:47.434Z,1736468327.434 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:18:57.150Z,1736468337.150 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:19:03.549Z,1736468343.549 [NAL9602](INFO): SBD MO Status=2, MOMSN=46972, MT Status=2, MTMSN=0
2025-01-10T00:19:03.549Z,1736468343.549 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-10T00:19:05.682Z,1736468345.682 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:19:14.286Z,1736468354.286 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:19:22.906Z,1736468362.906 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:19:31.523Z,1736468371.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:19:40.030Z,1736468380.030 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:19:47.594Z,1736468387.594 [NAL9602](INFO): SBD MO Status=0, MOMSN=46972, MT Status=0, MTMSN=0
2025-01-10T00:19:47.594Z,1736468387.594 [NAL9602](INFO): No messages in MT queue
2025-01-10T00:19:47.676Z,1736468387.676 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T001949
2025-01-10T00:19:55.247Z,1736468395.247 [DataOverHttps](INFO): Received command: sched asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.90501 degree;set optimize_roll_speed.Longitude -122.11866 degree" 51i8t 1 2
2025-01-10T00:19:55.255Z,1736468395.255 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.90501 degree;set optimize_roll_speed.Longitude -122.11866 degree" 51i8t 1 2.000000
2025-01-10T00:19:55.255Z,1736468395.255 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=51i8t
2025-01-10T00:19:55.256Z,1736468395.256 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='51i8t'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.90501 degree;set optimize_roll_speed.Longitude -122.11866 degree", ASAP
2025-01-10T00:19:56.244Z,1736468396.244 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T001958
2025-01-10T00:20:03.866Z,1736468403.866 [DataOverHttps](INFO): Received command: sched asap "set optimize_roll_speed.TargetRollAngle 6.5 degree;set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.MinStep 0.012 m/s;run" 51i8t 2 2
2025-01-10T00:20:03.906Z,1736468403.906 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed.TargetRollAngle 6.5 degree;set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.MinStep 0.012 m/s;run" 51i8t 2 2.000000
2025-01-10T00:20:03.907Z,1736468403.907 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=51i8t
2025-01-10T00:20:03.907Z,1736468403.907 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='51i8t'): "set optimize_roll_speed.TargetRollAngle 6.5 degree;set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.MinStep 0.012 m/s;run", ASAP
2025-01-10T00:20:04.032Z,1736468404.032 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-10T00:20:04.032Z,1736468404.032 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-10T00:20:04.033Z,1736468404.033 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-10T00:20:04.035Z,1736468404.035 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-10T00:20:04.791Z,1736468404.791 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="optimize_roll_speed">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="StartSpeed">
        <Units:meter_per_second />
        <Value>0.9</Value>
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="WindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="InitStep">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="MinStep">
        <Units:meter_per_second />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="Verbose">
        <True />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetRollSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetRollSpeed.targetRoll />
                <Arg Name="TargetRollAngle" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.rollError />
                <Arg Name="RollError" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.maxSpeed />
                <Arg Name="MaxSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.startSpeed />
                <Arg Name="StartSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minSpeed />
                <Arg Name="MinSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.estimationWindow />
                <Arg Name="WindowLen" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.initStep />
                <Arg Name="InitStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minStep />
                <Arg Name="MinStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.verbose />
                <Arg Name="Verbose" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.persistResult />
                <True />
            </Setting>
        </Guidance:SetRollSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-01-10T00:20:04.796Z,1736468404.796 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-01-10T00:20:04.801Z,1736468404.801 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-01-10T00:20:04.803Z,1736468404.803 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-01-10T00:20:04.805Z,1736468404.805 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-01-10T00:20:04.807Z,1736468404.807 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-01-10T00:20:04.809Z,1736468404.809 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-01-10T00:20:04.811Z,1736468404.811 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-01-10T00:20:04.813Z,1736468404.813 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-01-10T00:20:04.815Z,1736468404.815 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-01-10T00:20:04.817Z,1736468404.817 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-01-10T00:20:04.819Z,1736468404.819 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-01-10T00:20:04.821Z,1736468404.821 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-01-10T00:20:04.824Z,1736468404.824 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-01-10T00:20:04.825Z,1736468404.825 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-01-10T00:20:04.828Z,1736468404.828 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-01-10T00:20:04.830Z,1736468404.830 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-01-10T00:20:04.892Z,1736468404.892 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-01-10T00:20:04.899Z,1736468404.899 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-01-10T00:20:04.900Z,1736468404.900 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-01-10T00:20:04.901Z,1736468404.901 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-10T00:20:04.901Z,1736468404.901 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-10T00:20:04.915Z,1736468404.915 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-10T00:20:05.286Z,1736468405.286 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-10T00:20:05.291Z,1736468405.291 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-01-10T00:20:05.293Z,1736468405.293 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-10T00:20:05.295Z,1736468405.295 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-10T00:20:05.297Z,1736468405.297 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-01-10T00:20:05.300Z,1736468405.300 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-10T00:20:05.302Z,1736468405.302 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-10T00:20:05.304Z,1736468405.304 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-01-10T00:20:05.307Z,1736468405.307 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-01-10T00:20:05.336Z,1736468405.336 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-10T00:20:05.434Z,1736468405.434 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-10T00:20:05.434Z,1736468405.434 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-10T00:20:05.435Z,1736468405.435 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-10T00:20:05.516Z,1736468405.516 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-10T00:20:05.520Z,1736468405.520 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-10T00:20:05.522Z,1736468405.522 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-10T00:20:05.524Z,1736468405.524 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-10T00:20:05.527Z,1736468405.527 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-10T00:20:05.528Z,1736468405.528 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-10T00:20:05.533Z,1736468405.533 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-10T00:20:05.562Z,1736468405.562 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-10T00:20:05.588Z,1736468405.588 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-10T00:20:05.588Z,1736468405.588 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-10T00:20:05.589Z,1736468405.589 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-10T00:20:05.621Z,1736468405.621 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-10T00:20:05.624Z,1736468405.624 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-01-10T00:20:05.626Z,1736468405.626 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-10T00:20:05.628Z,1736468405.628 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-10T00:20:05.628Z,1736468405.628 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-10T00:20:05.629Z,1736468405.629 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-10T00:20:05.741Z,1736468405.741 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-10T00:20:05.745Z,1736468405.745 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-01-10T00:20:05.783Z,1736468405.783 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-01-10T00:20:05.785Z,1736468405.785 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-01-10T00:20:05.792Z,1736468405.792 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-01-10T00:20:05.819Z,1736468405.819 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-10T00:20:05.829Z,1736468405.829 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-10T00:20:05.843Z,1736468405.843 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-10T00:20:05.851Z,1736468405.851 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-01-10T00:20:05.870Z,1736468405.870 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:20:05.871Z,1736468405.871 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-01-10T00:20:05.880Z,1736468405.880 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-01-10T00:20:05.889Z,1736468405.889 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-10T00:20:05.908Z,1736468405.908 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission optimize_roll_speed {
  """
  Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Depth = 30 meter
      """
      Depth of flat and level flight during the mission.
      """

    StartSpeed = 0.9 meter_per_second
      """
      Initial speed for roll optimization.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    WindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    InitStep = 0.05 meter_per_second
      """
      Initial step size for roll speed optimization.
      """

    MinStep = 0.025 meter_per_second
      """
      Minimum step size for roll speed optimization.
      """

    Verbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    MaxDepth = 35 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  call id="StartingMission" refId="NeedComms"

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetRollSpeed {
      run in parallel

      set targetRoll = TargetRollAngle
      set rollError = RollError
      set maxSpeed = MaxSpeed
      set startSpeed = StartSpeed
      set minSpeed = MinSpeed
      set estimationWindow = WindowLen
      set initStep = InitStep
      set minStep = MinStep
      set verbose = Verbose
      set persistResult = true
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-01-10T00:20:05.908Z,1736468405.908 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-01-10T00:20:18.007Z,1736468418.007 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:20:23.896Z,1736468423.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:20:25.488Z,1736468425.488 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 60 minute
2025-01-10T00:20:25.489Z,1736468425.489 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.90501 degree
2025-01-10T00:20:25.490Z,1736468425.490 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -122.11866 degree
2025-01-10T00:20:35.967Z,1736468435.967 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:20:36.475Z,1736468436.475 [CommandExec](IMPORTANT): got command set optimize_roll_speed.TargetRollAngle 6.5 degree
2025-01-10T00:20:36.475Z,1736468436.475 [CommandExec](IMPORTANT): got command set optimize_roll_speed.RollError 0.5 degree
2025-01-10T00:20:36.476Z,1736468436.476 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MinStep 0.012 meter_per_second
2025-01-10T00:20:36.477Z,1736468436.477 [CommandExec](IMPORTANT): got command run
2025-01-10T00:20:36.481Z,1736468436.481 [CommandExec](IMPORTANT): Running 
2025-01-10T00:20:36.639Z,1736468436.639 [DefaultWithUndock] Stopped
2025-01-10T00:20:36.639Z,1736468436.639 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-01-10T00:20:36.639Z,1736468436.639 [DefaultWithUndock:SurfaceDefault] Stopped
2025-01-10T00:20:36.639Z,1736468436.639 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-01-10T00:20:36.639Z,1736468436.639 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-01-10T00:20:36.639Z,1736468436.639 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-10T00:20:36.639Z,1736468436.639 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-01-10T00:20:36.639Z,1736468436.639 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T00:20:36.640Z,1736468436.640 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-01-10T00:20:36.640Z,1736468436.640 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T00:20:36.640Z,1736468436.640 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-01-10T00:20:36.640Z,1736468436.640 [optimize_roll_speed] Running Loop=1
2025-01-10T00:20:36.640Z,1736468436.640 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-01-10T00:20:36.640Z,1736468436.640 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-01-10T00:20:36.640Z,1736468436.640 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-01-10T00:20:36.640Z,1736468436.640 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-10T00:20:36.640Z,1736468436.640 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-01-10T00:20:36.641Z,1736468436.641 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-01-10T00:20:36.642Z,1736468436.642 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-01-10T00:20:36.642Z,1736468436.642 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-01-10T00:20:36.642Z,1736468436.642 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-01-10T00:20:36.658Z,1736468436.658 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-01-10T00:20:36.658Z,1736468436.658 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-01-10T00:20:36.658Z,1736468436.658 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-10T00:20:36.658Z,1736468436.658 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-10T00:20:36.658Z,1736468436.658 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-10T00:20:36.658Z,1736468436.658 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-01-10T00:20:36.658Z,1736468436.658 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-01-10T00:20:36.659Z,1736468436.659 [optimize_roll_speed:B] Running Loop=1
2025-01-10T00:20:36.659Z,1736468436.659 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-01-10T00:20:36.660Z,1736468436.660 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-10T00:20:36.660Z,1736468436.660 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-01-10T00:20:36.660Z,1736468436.660 [optimize_roll_speed:PowerOnly:D] Stopped
2025-01-10T00:20:36.660Z,1736468436.660 [optimize_roll_speed:PowerOnly:C] Stopped
2025-01-10T00:20:36.660Z,1736468436.660 [optimize_roll_speed:PowerOnly:B] Stopped
2025-01-10T00:20:36.660Z,1736468436.660 [optimize_roll_speed:PowerOnly:A] Stopped
2025-01-10T00:20:36.660Z,1736468436.660 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-01-10T00:20:36.660Z,1736468436.660 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-01-10T00:20:36.661Z,1736468436.661 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-10T00:20:36.661Z,1736468436.661 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-10T00:20:36.661Z,1736468436.661 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-10T00:20:36.662Z,1736468436.662 [optimize_roll_speed:B] Stopped
2025-01-10T00:20:36.666Z,1736468436.666 [optimize_roll_speed:C] Running Loop=1
2025-01-10T00:20:37.083Z,1736468437.083 [optimize_roll_speed:C] Stopped
2025-01-10T00:20:37.083Z,1736468437.083 [optimize_roll_speed:E] Running Loop=1
2025-01-10T00:20:37.448Z,1736468437.448 [optimize_roll_speed:E] Stopped
2025-01-10T00:20:37.448Z,1736468437.448 [optimize_roll_speed:F] Running Loop=1
2025-01-10T00:20:37.856Z,1736468437.856 [optimize_roll_speed:F] Stopped
2025-01-10T00:20:37.856Z,1736468437.856 [optimize_roll_speed:G] Running Loop=1
2025-01-10T00:20:38.276Z,1736468438.276 [optimize_roll_speed:G] Stopped
2025-01-10T00:20:38.276Z,1736468438.276 [optimize_roll_speed:StartingMission] Running Loop=1
2025-01-10T00:20:38.276Z,1736468438.276 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::initialize optimize_roll_speed:StartingMission
2025-01-10T00:20:38.689Z,1736468438.689 [optimize_roll_speed:NeedComms] Running Loop=1
2025-01-10T00:20:38.689Z,1736468438.689 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-01-10T00:20:38.689Z,1736468438.689 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-01-10T00:20:38.689Z,1736468438.689 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-10T00:20:38.689Z,1736468438.689 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-10T00:20:38.694Z,1736468438.694 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-10T00:20:38.694Z,1736468438.694 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-10T00:20:38.695Z,1736468438.695 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-10T00:20:38.695Z,1736468438.695 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-10T00:20:38.695Z,1736468438.695 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-10T00:20:38.696Z,1736468438.696 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-01-10T00:20:38.697Z,1736468438.697 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1736468269.000000 second since 1970/01/01T00:00:00Z 
2025-01-10T00:20:38.697Z,1736468438.697 [optimize_roll_speed:NeedComms:A] Stopped
2025-01-10T00:20:39.118Z,1736468439.118 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-01-10T00:20:39.480Z,1736468439.480 [optimize_roll_speed:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-10T00:20:41.077Z,1736468441.077 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002043.00,A,3654.20261,N,12206.66440,W,0.369,91.92,100125,,,D*40
2025-01-10T00:20:41.083Z,1736468441.083 [NAL9602](INFO): GPS fix at 20250110T002043: (36.903377, -122.111073)
2025-01-10T00:20:41.165Z,1736468441.165 [optimize_roll_speed:NeedComms:C] Stopped
2025-01-10T00:20:41.165Z,1736468441.165 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-01-10T00:20:41.517Z,1736468441.517 [optimize_roll_speed:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-10T00:20:43.790Z,1736468443.790 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250109T233911/Courier0015.lzma
2025-01-10T00:20:44.796Z,1736468444.796 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0015.lzma.bak
2025-01-10T00:20:44.796Z,1736468444.796 [DataOverHttps](INFO): SBD MOMSN=23891606
2025-01-10T00:20:55.365Z,1736468455.365 [NAL9602](INFO): SBD MO Status=0, MOMSN=46973, MT Status=0, MTMSN=0
2025-01-10T00:20:55.365Z,1736468455.365 [NAL9602](INFO): No messages in MT queue
2025-01-10T00:21:05.345Z,1736468465.345 [DataOverHttps](INFO): Sending 546 bytes from file Logs/20250109T233911/Express0016.lzma
2025-01-10T00:21:06.340Z,1736468466.340 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0016.lzma.bak
2025-01-10T00:21:06.340Z,1736468466.340 [DataOverHttps](INFO): SBD MOMSN=23891609
2025-01-10T00:21:25.429Z,1736468485.429 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250109T233911/Express0019.lzma
2025-01-10T00:21:26.063Z,1736468486.063 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:21:26.432Z,1736468486.432 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0019.lzma.bak
2025-01-10T00:21:26.432Z,1736468486.432 [DataOverHttps](INFO): SBD MOMSN=23891631
2025-01-10T00:21:30.548Z,1736468490.548 [optimize_roll_speed:NeedComms:D] Stopped
2025-01-10T00:21:30.549Z,1736468490.549 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-01-10T00:21:31.005Z,1736468491.005 [optimize_roll_speed:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-10T00:21:32.533Z,1736468492.533 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002134.00,A,3654.20207,N,12206.65783,W,0.544,91.86,100125,,,D*42
2025-01-10T00:21:32.535Z,1736468492.535 [NAL9602](INFO): GPS fix at 20250110T002134: (36.903368, -122.110964)
2025-01-10T00:21:32.594Z,1736468492.594 [optimize_roll_speed:NeedComms:E] Stopped
2025-01-10T00:21:32.595Z,1736468492.595 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-01-10T00:21:32.595Z,1736468492.595 [optimize_roll_speed:NeedComms] Stopped
2025-01-10T00:21:32.595Z,1736468492.595 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-01-10T00:21:32.596Z,1736468492.596 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-01-10T00:21:32.596Z,1736468492.596 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-10T00:21:33.020Z,1736468493.020 [optimize_roll_speed:StartingMission](INFO): Completed optimize_roll_speed:StartingMission
2025-01-10T00:21:33.020Z,1736468493.020 [optimize_roll_speed:StartingMission] Stopped
2025-01-10T00:21:33.020Z,1736468493.020 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::uninitialize optimize_roll_speed:StartingMission
2025-01-10T00:21:33.020Z,1736468493.020 [optimize_roll_speed:Transit] Running Loop=1
2025-01-10T00:21:33.020Z,1736468493.020 [optimize_roll_speed:Transit](DEBUG): Aggregate::initialize optimize_roll_speed:Transit
2025-01-10T00:21:33.021Z,1736468493.021 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-01-10T00:21:33.021Z,1736468493.021 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Initialize.
2025-01-10T00:21:33.021Z,1736468493.021 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-01-10T00:21:33.021Z,1736468493.021 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Initialize.
2025-01-10T00:21:33.022Z,1736468493.022 [optimize_roll_speed:Transit:Wpt1.Waypoint] Running Loop=1
2025-01-10T00:21:33.022Z,1736468493.022 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-10T00:21:33.027Z,1736468493.027 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.905010,-122.118660
2025-01-10T00:21:33.378Z,1736468493.378 [optimize_roll_speed:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.905010,-122.118660
2025-01-10T00:21:33.379Z,1736468493.379 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-01-10T00:21:33.379Z,1736468493.379 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-01-10T00:21:45.175Z,1736468505.175 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010916225250,35.0, +13.6,   0.0,1502.4,A,  0.00,   0.00, 638.68, 713.25, 726.22
2025-01-10T00:21:46.777Z,1736468506.777 [NAL9602](INFO): SBD MO Status=0, MOMSN=46974, MT Status=0, MTMSN=0
2025-01-10T00:21:46.777Z,1736468506.777 [NAL9602](INFO): No messages in MT queue
2025-01-10T00:21:50.725Z,1736468510.725 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:21:55.060Z,1736468515.060 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,   -83,  +598,  -5WE,   -83,  +598,  -516,A
2025-01-10T00:21:59.858Z,1736468519.858 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:22:05.199Z,1736468525.199 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00, 648.41, 708.13 -292,  +353,  -153,  -113,A
2025-01-10T00:22:08.919Z,1736468528.919 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:22:17.393Z,1736468537.393 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:22:22.419Z,1736468542.419 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:22:25.187Z,1736468545.187 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,32768,-32768,V
2025-01-10T00:22:53.486Z,1736468573.486 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:23:21.599Z,1736468601.599 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.186474
2025-01-10T00:23:22.606Z,1736468602.606 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:23:30.366Z,1736468610.366 [Radio_Surface](INFO): Powering down
2025-01-10T00:23:52.746Z,1736468632.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:23:53.750Z,1736468633.750 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-10T00:23:53.751Z,1736468633.751 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:24:23.874Z,1736468663.874 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:24:24.878Z,1736468664.878 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:24:55.018Z,1736468695.018 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:24:56.022Z,1736468696.022 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:25:26.154Z,1736468726.154 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:25:27.158Z,1736468727.158 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:25:57.286Z,1736468757.286 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:25:58.291Z,1736468758.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:26:28.410Z,1736468788.410 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:26:29.418Z,1736468789.418 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:26:33.280Z,1736468793.280 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 7.853001 degrees over 729 samples
2025-01-10T00:26:33.280Z,1736468793.280 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.950000 m/s (avg roll: 7.853001 degrees, target: 6.500000 degrees)
2025-01-10T00:26:59.543Z,1736468819.543 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:27:00.546Z,1736468820.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:27:30.670Z,1736468850.670 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:27:31.674Z,1736468851.674 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:28:01.795Z,1736468881.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:28:02.798Z,1736468882.798 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:28:32.922Z,1736468912.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:28:33.926Z,1736468913.926 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:29:04.046Z,1736468944.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:29:05.050Z,1736468945.050 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:29:35.171Z,1736468975.171 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:29:36.174Z,1736468976.174 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:30:06.342Z,1736469006.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:30:07.346Z,1736469007.346 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:30:37.466Z,1736469037.466 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:30:38.470Z,1736469038.470 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:31:08.590Z,1736469068.590 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:31:09.603Z,1736469069.603 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:31:33.848Z,1736469093.848 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.407726 degrees over 739 samples
2025-01-10T00:31:33.848Z,1736469093.848 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Crossed target. New step: 0.025000 m/s
2025-01-10T00:31:33.849Z,1736469093.849 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Optimum speed found: 0.950000 m/s for target roll 6.500000 degrees
2025-01-10T00:31:33.849Z,1736469093.849 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Persisting optimum speed 0.950000 m/s for 6.500000 degrees roll to config
2025-01-10T00:31:33.851Z,1736469093.851 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-01-10T00:31:33.852Z,1736469093.852 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): CBIT.gf24Offset=173 microampere;

2025-01-10T00:31:33.853Z,1736469093.853 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DAT.convertPhaseDataToDirection=0 bool;

2025-01-10T00:31:33.853Z,1736469093.853 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DockingStepper.closedValue=16450 count;

2025-01-10T00:31:33.854Z,1736469093.854 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DockingStepper.slideValue=10700 count;

2025-01-10T00:31:33.855Z,1736469093.855 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.navigationGain=3 none;

2025-01-10T00:31:33.856Z,1736469093.856 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.openLoopFlyby=0 bool;

2025-01-10T00:31:33.856Z,1736469093.856 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2025-01-10T00:31:33.857Z,1736469093.857 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): RudderServo.offsetAngle=0.2 degree;

2025-01-10T00:31:33.858Z,1736469093.858 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): SpeedControl.rollOptimum=0.950000 m/s;

2025-01-10T00:31:33.859Z,1736469093.859 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.buoyancyNeutral=401.869368 cubic_centimeter;

2025-01-10T00:31:33.859Z,1736469093.859 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massDefault=21.805965 millimeter;

2025-01-10T00:31:33.860Z,1736469093.860 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massOnlyForceInt=0 bool;

2025-01-10T00:31:39.722Z,1736469099.722 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:31:40.727Z,1736469100.727 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:32:10.854Z,1736469130.854 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:32:11.863Z,1736469131.863 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:32:41.990Z,1736469161.990 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:32:42.995Z,1736469162.995 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:33:13.127Z,1736469193.127 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:33:14.130Z,1736469194.130 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:33:44.250Z,1736469224.250 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:33:45.255Z,1736469225.255 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:34:15.374Z,1736469255.374 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:34:16.378Z,1736469256.378 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:34:46.499Z,1736469286.499 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:34:47.503Z,1736469287.503 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:35:17.622Z,1736469317.622 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:35:18.626Z,1736469318.626 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:35:48.746Z,1736469348.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:35:49.751Z,1736469349.751 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:36:19.882Z,1736469379.882 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:36:20.886Z,1736469380.886 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:36:34.424Z,1736469394.424 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.673411 degrees over 736 samples
2025-01-10T00:36:51.010Z,1736469411.010 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:36:52.014Z,1736469412.014 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:37:22.134Z,1736469442.134 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:37:23.138Z,1736469443.138 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:37:53.259Z,1736469473.259 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:37:54.262Z,1736469474.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:38:24.382Z,1736469504.382 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:38:25.386Z,1736469505.386 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:38:55.507Z,1736469535.507 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:38:56.510Z,1736469536.510 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:39:26.634Z,1736469566.634 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:39:27.638Z,1736469567.638 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:39:54.807Z,1736469594.807 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.905010,-122.118660
2025-01-10T00:39:54.807Z,1736469594.807 [optimize_roll_speed:Transit:Wpt1.Waypoint] Stopped
2025-01-10T00:39:54.808Z,1736469594.808 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-10T00:39:54.808Z,1736469594.808 [optimize_roll_speed:Transit:PhoneHome] Running Loop=1
2025-01-10T00:39:54.808Z,1736469594.808 [optimize_roll_speed:Transit:PhoneHome](DEBUG): Aggregate::initialize optimize_roll_speed:Transit:PhoneHome
2025-01-10T00:39:55.207Z,1736469595.207 [optimize_roll_speed:NeedComms] Running Loop=1
2025-01-10T00:39:55.207Z,1736469595.207 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-01-10T00:39:55.207Z,1736469595.207 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-01-10T00:39:55.207Z,1736469595.207 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-10T00:39:55.208Z,1736469595.208 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-10T00:39:55.208Z,1736469595.208 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-10T00:39:55.208Z,1736469595.208 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-10T00:39:55.209Z,1736469595.209 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-10T00:39:55.209Z,1736469595.209 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-10T00:39:55.209Z,1736469595.209 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-10T00:39:55.210Z,1736469595.210 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-01-10T00:39:55.211Z,1736469595.211 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1736468494.000000 second since 1970/01/01T00:00:00Z 
2025-01-10T00:39:55.211Z,1736469595.211 [optimize_roll_speed:NeedComms:A] Stopped
2025-01-10T00:39:57.760Z,1736469597.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:39:58.762Z,1736469598.762 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:40:28.922Z,1736469628.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:40:29.926Z,1736469629.926 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:41:00.075Z,1736469660.075 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:41:01.078Z,1736469661.078 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:41:31.202Z,1736469691.202 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:41:32.206Z,1736469692.206 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:41:35.049Z,1736469695.049 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.536207 degrees over 738 samples
2025-01-10T00:41:43.929Z,1736469703.929 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-01-10T00:41:44.426Z,1736469704.426 [Radio_Surface](INFO): Powering up
2025-01-10T00:41:49.678Z,1736469709.678 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-01-10T00:41:49.679Z,1736469709.679 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-01-10T00:42:02.346Z,1736469722.346 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:42:03.353Z,1736469723.353 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-10T00:42:03.353Z,1736469723.353 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:42:17.567Z,1736469737.567 [NAL9602](INFO): SBD MO Status=0, MOMSN=46975, MT Status=0, MTMSN=0
2025-01-10T00:42:17.567Z,1736469737.567 [NAL9602](INFO): No messages in MT queue
2025-01-10T00:42:18.781Z,1736469738.781 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004220.00,A,3654.20427,N,12207.14524,W,0.972,110.95,100125,,,A*78
2025-01-10T00:42:18.791Z,1736469738.791 [NAL9602](INFO): GPS fix at 20250110T004220: (36.903405, -122.119087)
2025-01-10T00:42:18.804Z,1736469738.804 [UniversalFixResidualReporter](INFO): Fix residual: 13.5 %DT, over the last 817.8 m. Residual distance 110.0 m at bearing 3.3 degrees. Fix at (36.9034, -122.1191) with 722.3 m made good.
2025-01-10T00:42:18.807Z,1736469738.807 [optimize_roll_speed:NeedComms:C] Stopped
2025-01-10T00:42:18.807Z,1736469738.807 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-01-10T00:42:33.470Z,1736469753.470 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:42:34.436Z,1736469754.436 [NAL9602](INFO): SBD MO Status=1, MOMSN=46976, MT Status=0, MTMSN=0
2025-01-10T00:42:34.474Z,1736469754.474 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:42:34.486Z,1736469754.486 [NAL9602](INFO): Sent 83 bytes from file Logs/20250109T233911/Courier0021.lzma
2025-01-10T00:42:34.486Z,1736469754.486 [NAL9602](INFO): Packets left to send: 0
2025-01-10T00:42:54.031Z,1736469774.031 [NAL9602](INFO): SBD MO Status=1, MOMSN=46977, MT Status=0, MTMSN=0
2025-01-10T00:42:54.082Z,1736469774.082 [NAL9602](INFO): Sent 332 bytes from file Logs/20250109T233911/Express0022.lzma
2025-01-10T00:42:54.082Z,1736469774.082 [NAL9602](INFO): Packets left to send: 2
2025-01-10T00:43:04.598Z,1736469784.598 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:43:05.602Z,1736469785.602 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:43:06.732Z,1736469786.732 [NAL9602](INFO): SBD MO Status=1, MOMSN=46978, MT Status=0, MTMSN=0
2025-01-10T00:43:06.786Z,1736469786.786 [NAL9602](INFO): Sent 332 bytes from file Logs/20250109T233911/Express0022.lzma
2025-01-10T00:43:06.786Z,1736469786.786 [NAL9602](INFO): Packets left to send: 1
2025-01-10T00:43:17.900Z,1736469797.900 [NAL9602](INFO): SBD MO Status=1, MOMSN=46979, MT Status=0, MTMSN=0
2025-01-10T00:43:17.960Z,1736469797.960 [NAL9602](INFO): Sent 149 bytes from file Logs/20250109T233911/Express0022.lzma
2025-01-10T00:43:17.960Z,1736469797.960 [NAL9602](INFO): Packets left to send: 0
2025-01-10T00:43:25.285Z,1736469805.285 [NAL9602](INFO): SBD MO Status=0, MOMSN=46980, MT Status=0, MTMSN=0
2025-01-10T00:43:25.373Z,1736469805.373 [optimize_roll_speed:NeedComms:D] Stopped
2025-01-10T00:43:25.373Z,1736469805.373 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-01-10T00:43:27.705Z,1736469807.705 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004329.00,A,3654.20113,N,12207.13481,W,1.575,99.19,100125,,,D*40
2025-01-10T00:43:27.708Z,1736469807.708 [NAL9602](INFO): GPS fix at 20250110T004329: (36.903352, -122.118914)
2025-01-10T00:43:27.742Z,1736469807.742 [optimize_roll_speed:NeedComms:E] Stopped
2025-01-10T00:43:27.743Z,1736469807.743 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-01-10T00:43:27.743Z,1736469807.743 [optimize_roll_speed:NeedComms] Stopped
2025-01-10T00:43:27.743Z,1736469807.743 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-01-10T00:43:27.743Z,1736469807.743 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-01-10T00:43:27.743Z,1736469807.743 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-10T00:43:28.169Z,1736469808.169 [optimize_roll_speed:Transit:PhoneHome](INFO): Completed optimize_roll_speed:Transit:PhoneHome
2025-01-10T00:43:28.169Z,1736469808.169 [optimize_roll_speed:Transit:PhoneHome] Stopped
2025-01-10T00:43:28.169Z,1736469808.169 [optimize_roll_speed:Transit:PhoneHome](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit:PhoneHome
2025-01-10T00:43:28.174Z,1736469808.174 [optimize_roll_speed:Transit](INFO): Completed optimize_roll_speed:Transit
2025-01-10T00:43:28.174Z,1736469808.174 [optimize_roll_speed:Transit] Stopped
2025-01-10T00:43:28.174Z,1736469808.174 [optimize_roll_speed:Transit](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit
2025-01-10T00:43:28.174Z,1736469808.174 [optimize_roll_speed:Transit:A.Pitch] Stopped
2025-01-10T00:43:28.174Z,1736469808.174 [optimize_roll_speed:Transit:B.SetRollSpeed] Stopped
2025-01-10T00:43:28.174Z,1736469808.174 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Uninitialize.
2025-01-10T00:43:28.176Z,1736469808.176 [optimize_roll_speed](INFO): Completed optimize_roll_speed
2025-01-10T00:43:28.176Z,1736469808.176 [MissionManager](INFO): optimize_roll_speed is completed.
2025-01-10T00:43:28.176Z,1736469808.176 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed] Stopped
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:BackseatDriver] Stopped
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-01-10T00:43:28.177Z,1736469808.177 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-01-10T00:43:28.178Z,1736469808.178 [optimize_roll_speed:PowerOnly] Stopped
2025-01-10T00:43:28.178Z,1736469808.178 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-01-10T00:43:28.182Z,1736469808.182 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-01-10T00:43:28.182Z,1736469808.182 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T00:43:28.182Z,1736469808.182 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-01-10T00:43:28.182Z,1736469808.182 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-10T00:43:28.182Z,1736469808.182 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-01-10T00:43:28.519Z,1736469808.519 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-01-10T00:43:28.519Z,1736469808.519 [DefaultWithUndock] Running Loop=1
2025-01-10T00:43:28.520Z,1736469808.520 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-01-10T00:43:28.520Z,1736469808.520 [DefaultWithUndock:A.Wait] Running Loop=1
2025-01-10T00:43:28.520Z,1736469808.520 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-01-10T00:43:35.722Z,1736469815.722 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:43:36.726Z,1736469816.726 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:43:58.892Z,1736469838.892 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-01-10T00:43:58.892Z,1736469838.892 [DefaultWithUndock:A.Wait] Stopped
2025-01-10T00:43:58.892Z,1736469838.892 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T00:43:58.892Z,1736469838.892 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-01-10T00:43:58.892Z,1736469838.892 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-01-10T00:43:58.893Z,1736469838.893 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-01-10T00:43:58.893Z,1736469838.893 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-01-10T00:43:58.893Z,1736469838.893 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-01-10T00:43:58.893Z,1736469838.893 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-01-10T00:43:58.893Z,1736469838.893 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-10T00:43:59.311Z,1736469839.311 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-01-10T00:43:59.311Z,1736469839.311 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-10T00:43:59.312Z,1736469839.312 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.010159 m.
2025-01-10T00:43:59.313Z,1736469839.313 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-01-10T00:43:59.313Z,1736469839.313 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-01-10T00:43:59.339Z,1736469839.339 [DockingStepper](INFO): Resume
2025-01-10T00:43:59.622Z,1736469839.622 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:43:59.658Z,1736469839.658 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-01-10T00:43:59.688Z,1736469839.688 [DockingStepper](INFO): Resuming
2025-01-10T00:44:00.153Z,1736469840.153 [DockingStepper](INFO): Start
2025-01-10T00:44:00.153Z,1736469840.153 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-10T00:44:00.271Z,1736469840.271 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-10T00:44:00.439Z,1736469840.439 [DockingStepper](INFO): Starting
2025-01-10T00:44:00.852Z,1736469840.852 [DockingStepper](INFO): Starting
2025-01-10T00:44:01.387Z,1736469841.387 [DockingStepper](INFO): Starting
2025-01-10T00:44:01.438Z,1736469841.438 [DockingStepper](INFO): Init string: /1z16367aE13561N3m50
2025-01-10T00:44:01.679Z,1736469841.679 [DockingStepper](INFO): Starting
2025-01-10T00:44:02.131Z,1736469842.131 [DockingStepper](INFO): Starting
2025-01-10T00:44:02.499Z,1736469842.499 [DockingStepper](INFO): Starting
2025-01-10T00:44:02.899Z,1736469842.899 [DockingStepper](INFO): Starting
2025-01-10T00:44:02.930Z,1736469842.930 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-10T00:44:03.311Z,1736469843.311 [DockingStepper](INFO): Starting
2025-01-10T00:44:06.854Z,1736469846.854 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:44:07.858Z,1736469847.858 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:44:19.830Z,1736469859.830 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-01-10T00:44:20.247Z,1736469860.247 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-01-10T00:44:20.638Z,1736469860.638 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-01-10T00:44:20.638Z,1736469860.638 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-01-10T00:44:20.639Z,1736469860.639 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-01-10T00:44:20.639Z,1736469860.639 [DefaultWithUndock:LeaveDock] Stopped
2025-01-10T00:44:20.639Z,1736469860.639 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-01-10T00:44:20.639Z,1736469860.639 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-01-10T00:44:20.639Z,1736469860.639 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-01-10T00:44:20.639Z,1736469860.639 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-01-10T00:44:20.639Z,1736469860.639 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-10T00:44:20.639Z,1736469860.639 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-10T00:44:20.640Z,1736469860.640 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-10T00:44:20.640Z,1736469860.640 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-10T00:44:20.640Z,1736469860.640 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-10T00:44:20.641Z,1736469860.641 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-10T00:44:20.641Z,1736469860.641 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-10T00:44:21.037Z,1736469861.037 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-01-10T00:44:21.037Z,1736469861.037 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T00:44:21.038Z,1736469861.038 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-01-10T00:44:21.211Z,1736469861.211 [DockingStepper](INFO): Pause
2025-01-10T00:44:23.048Z,1736469863.048 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004425.00,A,3654.20053,N,12207.12724,W,0.564,118.61,100125,,,D*75
2025-01-10T00:44:23.050Z,1736469863.050 [NAL9602](INFO): GPS fix at 20250110T004425: (36.903342, -122.118787)
2025-01-10T00:44:23.061Z,1736469863.061 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-01-10T00:44:23.062Z,1736469863.062 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-01-10T00:44:37.979Z,1736469877.979 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:44:38.982Z,1736469878.982 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:45:00.344Z,1736469900.344 [NAL9602](INFO): SBD MO Status=1, MOMSN=46981, MT Status=0, MTMSN=0
2025-01-10T00:45:00.394Z,1736469900.394 [NAL9602](INFO): Sent 73 bytes from file Logs/20250109T233911/Courier0024.lzma
2025-01-10T00:45:00.395Z,1736469900.395 [NAL9602](INFO): Packets left to send: 0
2025-01-10T00:45:09.102Z,1736469909.102 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:45:09.885Z,1736469909.885 [NAL9602](INFO): SBD MO Status=1, MOMSN=46982, MT Status=0, MTMSN=0
2025-01-10T00:45:09.951Z,1736469909.951 [NAL9602](INFO): Sent 144 bytes from file Logs/20250109T233911/Express0025.lzma
2025-01-10T00:45:09.952Z,1736469909.952 [NAL9602](INFO): Packets left to send: 0
2025-01-10T00:45:10.107Z,1736469910.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:45:17.580Z,1736469917.580 [NAL9602](INFO): SBD MO Status=0, MOMSN=46983, MT Status=0, MTMSN=0
2025-01-10T00:45:17.663Z,1736469917.663 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-01-10T00:45:17.663Z,1736469917.663 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-01-10T00:45:17.663Z,1736469917.663 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-10T00:45:28.491Z,1736469928.491 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003234
2025-01-10T00:45:29.490Z,1736469929.490 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:45:39.130Z,1736469939.130 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:45:47.659Z,1736469947.659 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:45:48.271Z,1736469948.271 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:45:56.314Z,1736469956.314 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:46:04.886Z,1736469964.886 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:46:20.242Z,1736469980.242 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:46:30.834Z,1736469990.834 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:46:40.402Z,1736470000.402 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:46:55.074Z,1736470015.074 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:47:05.620Z,1736470025.620 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T004707
2025-01-10T00:47:17.182Z,1736470037.182 [DataOverHttps](INFO): Received command: sched asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.87852 degree;set optimize_roll_speed.Longitude -122.07579 degree" 51jij 1 2
2025-01-10T00:47:17.215Z,1736470037.215 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.87852 degree;set optimize_roll_speed.Longitude -122.07579 degree" 51jij 1 2.000000
2025-01-10T00:47:17.215Z,1736470037.215 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=51jij
2025-01-10T00:47:17.216Z,1736470037.216 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='51jij'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.87852 degree;set optimize_roll_speed.Longitude -122.07579 degree", ASAP
2025-01-10T00:47:18.184Z,1736470038.184 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T004720
2025-01-10T00:47:27.670Z,1736470047.670 [DataOverHttps](INFO): Received command: sched asap "set optimize_roll_speed.TargetRollAngle 6.5 degree;set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.WindowLen 10 min;set optimize_roll_speed.MinStep 0.012 m/s;run" 51jij 2 2
2025-01-10T00:47:27.743Z,1736470047.743 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed.TargetRollAngle 6.5 degree;set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.WindowLen 10 min;set optimize_roll_speed.MinStep 0.012 m/s;run" 51jij 2 2.000000
2025-01-10T00:47:27.743Z,1736470047.743 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=51jij
2025-01-10T00:47:27.744Z,1736470047.744 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='51jij'): "set optimize_roll_speed.TargetRollAngle 6.5 degree;set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.WindowLen 10 min;set optimize_roll_speed.MinStep 0.012 m/s;run", ASAP
2025-01-10T00:47:27.867Z,1736470047.867 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-10T00:47:27.867Z,1736470047.867 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-10T00:47:27.868Z,1736470047.868 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-10T00:47:27.869Z,1736470047.869 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-10T00:47:28.710Z,1736470048.710 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="optimize_roll_speed">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="StartSpeed">
        <Units:meter_per_second />
        <Value>0.9</Value>
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="WindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="InitStep">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="MinStep">
        <Units:meter_per_second />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="Verbose">
        <True />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetRollSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetRollSpeed.targetRoll />
                <Arg Name="TargetRollAngle" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.rollError />
                <Arg Name="RollError" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.maxSpeed />
                <Arg Name="MaxSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.startSpeed />
                <Arg Name="StartSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minSpeed />
                <Arg Name="MinSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.estimationWindow />
                <Arg Name="WindowLen" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.initStep />
                <Arg Name="InitStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minStep />
                <Arg Name="MinStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.verbose />
                <Arg Name="Verbose" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.persistResult />
                <True />
            </Setting>
        </Guidance:SetRollSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-01-10T00:47:28.716Z,1736470048.716 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-01-10T00:47:28.728Z,1736470048.728 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-01-10T00:47:28.730Z,1736470048.730 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-01-10T00:47:28.732Z,1736470048.732 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-01-10T00:47:28.735Z,1736470048.735 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-01-10T00:47:28.737Z,1736470048.737 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-01-10T00:47:28.739Z,1736470048.739 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-01-10T00:47:28.741Z,1736470048.741 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-01-10T00:47:28.743Z,1736470048.743 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-01-10T00:47:28.745Z,1736470048.745 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-01-10T00:47:28.748Z,1736470048.748 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-01-10T00:47:28.751Z,1736470048.751 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-01-10T00:47:28.753Z,1736470048.753 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-01-10T00:47:28.755Z,1736470048.755 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-01-10T00:47:28.757Z,1736470048.757 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-01-10T00:47:28.759Z,1736470048.759 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-01-10T00:47:28.761Z,1736470048.761 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-01-10T00:47:28.763Z,1736470048.763 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-01-10T00:47:28.765Z,1736470048.765 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-01-10T00:47:28.765Z,1736470048.765 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-10T00:47:28.766Z,1736470048.766 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-10T00:47:28.767Z,1736470048.767 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-10T00:47:29.095Z,1736470049.095 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-10T00:47:29.100Z,1736470049.100 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-01-10T00:47:29.103Z,1736470049.103 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-10T00:47:29.105Z,1736470049.105 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-10T00:47:29.109Z,1736470049.109 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-01-10T00:47:29.111Z,1736470049.111 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-10T00:47:29.113Z,1736470049.113 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-10T00:47:29.115Z,1736470049.115 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-01-10T00:47:29.117Z,1736470049.117 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-01-10T00:47:29.123Z,1736470049.123 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-10T00:47:29.168Z,1736470049.168 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-10T00:47:29.168Z,1736470049.168 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-10T00:47:29.169Z,1736470049.169 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-10T00:47:29.253Z,1736470049.253 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-10T00:47:29.256Z,1736470049.256 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-10T00:47:29.259Z,1736470049.259 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-10T00:47:29.261Z,1736470049.261 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-10T00:47:29.263Z,1736470049.263 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-10T00:47:29.264Z,1736470049.264 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-10T00:47:29.269Z,1736470049.269 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-10T00:47:29.276Z,1736470049.276 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-10T00:47:29.285Z,1736470049.285 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-10T00:47:29.285Z,1736470049.285 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-10T00:47:29.286Z,1736470049.286 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-10T00:47:29.363Z,1736470049.363 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-10T00:47:29.374Z,1736470049.374 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-01-10T00:47:29.376Z,1736470049.376 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-10T00:47:29.388Z,1736470049.388 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-10T00:47:29.388Z,1736470049.388 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-10T00:47:29.389Z,1736470049.389 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-10T00:47:29.533Z,1736470049.533 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-10T00:47:29.536Z,1736470049.536 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-01-10T00:47:29.538Z,1736470049.538 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-01-10T00:47:29.540Z,1736470049.540 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-01-10T00:47:29.542Z,1736470049.542 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-01-10T00:47:29.544Z,1736470049.544 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-10T00:47:29.550Z,1736470049.550 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-10T00:47:29.552Z,1736470049.552 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-10T00:47:29.556Z,1736470049.556 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-01-10T00:47:29.594Z,1736470049.594 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-01-10T00:47:29.600Z,1736470049.600 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-01-10T00:47:29.612Z,1736470049.612 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-10T00:47:29.628Z,1736470049.628 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission optimize_roll_speed {
  """
  Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Depth = 30 meter
      """
      Depth of flat and level flight during the mission.
      """

    StartSpeed = 0.9 meter_per_second
      """
      Initial speed for roll optimization.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    WindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    InitStep = 0.05 meter_per_second
      """
      Initial step size for roll speed optimization.
      """

    MinStep = 0.025 meter_per_second
      """
      Minimum step size for roll speed optimization.
      """

    Verbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    MaxDepth = 35 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  call id="StartingMission" refId="NeedComms"

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetRollSpeed {
      run in parallel

      set targetRoll = TargetRollAngle
      set rollError = RollError
      set maxSpeed = MaxSpeed
      set startSpeed = StartSpeed
      set minSpeed = MinSpeed
      set estimationWindow = WindowLen
      set initStep = InitStep
      set minStep = MinStep
      set verbose = Verbose
      set persistResult = true
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-01-10T00:47:29.628Z,1736470049.628 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-01-10T00:47:29.674Z,1736470049.674 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:47:40.775Z,1736470060.775 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 60 minute
2025-01-10T00:47:40.776Z,1736470060.776 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.87852 degree
2025-01-10T00:47:40.776Z,1736470060.776 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -122.07579 degree
2025-01-10T00:47:42.970Z,1736470062.970 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:47:54.299Z,1736470074.299 [CommandExec](IMPORTANT): got command set optimize_roll_speed.TargetRollAngle 6.5 degree
2025-01-10T00:47:54.300Z,1736470074.300 [CommandExec](IMPORTANT): got command set optimize_roll_speed.RollError 0.5 degree
2025-01-10T00:47:54.301Z,1736470074.301 [CommandExec](IMPORTANT): got command set optimize_roll_speed.WindowLen 10 minute
2025-01-10T00:47:54.301Z,1736470074.301 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MinStep 0.012 meter_per_second
2025-01-10T00:47:54.302Z,1736470074.302 [CommandExec](IMPORTANT): got command run
2025-01-10T00:47:54.304Z,1736470074.304 [CommandExec](IMPORTANT): Running 
2025-01-10T00:47:54.404Z,1736470074.404 [DefaultWithUndock] Stopped
2025-01-10T00:47:54.404Z,1736470074.404 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-01-10T00:47:54.404Z,1736470074.404 [DefaultWithUndock:SurfaceDefault] Stopped
2025-01-10T00:47:54.404Z,1736470074.404 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-01-10T00:47:54.405Z,1736470074.405 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-01-10T00:47:54.405Z,1736470074.405 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-10T00:47:54.405Z,1736470074.405 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-01-10T00:47:54.405Z,1736470074.405 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T00:47:54.405Z,1736470074.405 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-01-10T00:47:54.405Z,1736470074.405 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T00:47:54.405Z,1736470074.405 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-01-10T00:47:54.405Z,1736470074.405 [optimize_roll_speed] Running Loop=1
2025-01-10T00:47:54.405Z,1736470074.405 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-01-10T00:47:54.406Z,1736470074.406 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-01-10T00:47:54.406Z,1736470074.406 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-01-10T00:47:54.406Z,1736470074.406 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-10T00:47:54.406Z,1736470074.406 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-01-10T00:47:54.407Z,1736470074.407 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-01-10T00:47:54.408Z,1736470074.408 [optimize_roll_speed:B] Running Loop=1
2025-01-10T00:47:54.409Z,1736470074.409 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-01-10T00:47:54.409Z,1736470074.409 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-10T00:47:54.409Z,1736470074.409 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-01-10T00:47:54.411Z,1736470074.411 [optimize_roll_speed:PowerOnly:D] Stopped
2025-01-10T00:47:54.411Z,1736470074.411 [optimize_roll_speed:PowerOnly:C] Stopped
2025-01-10T00:47:54.411Z,1736470074.411 [optimize_roll_speed:PowerOnly:B] Stopped
2025-01-10T00:47:54.411Z,1736470074.411 [optimize_roll_speed:PowerOnly:A] Stopped
2025-01-10T00:47:54.411Z,1736470074.411 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-01-10T00:47:54.412Z,1736470074.412 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-01-10T00:47:54.412Z,1736470074.412 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-10T00:47:54.412Z,1736470074.412 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-10T00:47:54.412Z,1736470074.412 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-10T00:47:54.413Z,1736470074.413 [optimize_roll_speed:B] Stopped
2025-01-10T00:47:54.413Z,1736470074.413 [optimize_roll_speed:C] Running Loop=1
2025-01-10T00:47:54.825Z,1736470074.825 [optimize_roll_speed:C] Stopped
2025-01-10T00:47:54.825Z,1736470074.825 [optimize_roll_speed:E] Running Loop=1
2025-01-10T00:47:55.207Z,1736470075.207 [optimize_roll_speed:E] Stopped
2025-01-10T00:47:55.207Z,1736470075.207 [optimize_roll_speed:F] Running Loop=1
2025-01-10T00:47:55.611Z,1736470075.611 [optimize_roll_speed:F] Stopped
2025-01-10T00:47:55.612Z,1736470075.612 [optimize_roll_speed:G] Running Loop=1
2025-01-10T00:47:56.055Z,1736470076.055 [optimize_roll_speed:G] Stopped
2025-01-10T00:47:56.055Z,1736470076.055 [optimize_roll_speed:StartingMission] Running Loop=1
2025-01-10T00:47:56.055Z,1736470076.055 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::initialize optimize_roll_speed:StartingMission
2025-01-10T00:47:56.326Z,1736470076.326 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:47:56.424Z,1736470076.424 [optimize_roll_speed:NeedComms] Running Loop=1
2025-01-10T00:47:56.424Z,1736470076.424 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-01-10T00:47:56.424Z,1736470076.424 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-01-10T00:47:56.424Z,1736470076.424 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-10T00:47:56.424Z,1736470076.424 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-10T00:47:56.425Z,1736470076.425 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-10T00:47:56.425Z,1736470076.425 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-10T00:47:56.425Z,1736470076.425 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-10T00:47:56.426Z,1736470076.426 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-10T00:47:56.446Z,1736470076.446 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-10T00:47:56.447Z,1736470076.447 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-01-10T00:47:56.448Z,1736470076.448 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1736469865.000000 second since 1970/01/01T00:00:00Z 
2025-01-10T00:47:56.448Z,1736470076.448 [optimize_roll_speed:NeedComms:A] Stopped
2025-01-10T00:47:56.840Z,1736470076.840 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-01-10T00:47:57.228Z,1736470077.228 [optimize_roll_speed:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-10T00:47:58.833Z,1736470078.833 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004801.00,A,3654.20396,N,12207.09915,W,0.583,90.82,100125,,,D*46
2025-01-10T00:47:58.835Z,1736470078.835 [NAL9602](INFO): GPS fix at 20250110T004801: (36.903399, -122.118319)
2025-01-10T00:47:58.888Z,1736470078.888 [optimize_roll_speed:NeedComms:C] Stopped
2025-01-10T00:47:58.888Z,1736470078.888 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-01-10T00:47:59.284Z,1736470079.284 [optimize_roll_speed:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-10T00:48:10.162Z,1736470090.162 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250109T233911/Courier0027.lzma
2025-01-10T00:48:11.164Z,1736470091.164 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0027.lzma.bak
2025-01-10T00:48:11.164Z,1736470091.164 [DataOverHttps](INFO): SBD MOMSN=23891710
2025-01-10T00:48:19.984Z,1736470099.984 [NAL9602](INFO): SBD MO Status=0, MOMSN=46984, MT Status=0, MTMSN=0
2025-01-10T00:48:19.985Z,1736470099.985 [NAL9602](INFO): No messages in MT queue
2025-01-10T00:48:36.809Z,1736470116.809 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250109T233911/Courier0030.lzma
2025-01-10T00:48:37.812Z,1736470117.812 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0030.lzma.bak
2025-01-10T00:48:37.812Z,1736470117.812 [DataOverHttps](INFO): SBD MOMSN=23891714
2025-01-10T00:48:50.647Z,1736470130.647 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:49:12.199Z,1736470152.199 [DataOverHttps](INFO): Sending 582 bytes from file Logs/20250109T233911/Express0028.lzma
2025-01-10T00:49:13.200Z,1736470153.200 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0028.lzma.bak
2025-01-10T00:49:13.200Z,1736470153.200 [DataOverHttps](INFO): SBD MOMSN=23891716
2025-01-10T00:50:40.464Z,1736470240.464 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.823811
2025-01-10T00:51:00.185Z,1736470260.185 [NAL9602](INFO): SBD MO Status=1, MOMSN=46985, MT Status=0, MTMSN=0
2025-01-10T00:51:00.242Z,1736470260.242 [NAL9602](INFO): Sent 70 bytes from file Logs/20250109T233911/Express0031.lzma
2025-01-10T00:51:00.242Z,1736470260.242 [NAL9602](INFO): Packets left to send: 0
2025-01-10T00:51:11.586Z,1736470271.586 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:51:12.333Z,1736470272.333 [NAL9602](INFO): SBD MO Status=0, MOMSN=46986, MT Status=0, MTMSN=0
2025-01-10T00:51:12.431Z,1736470272.431 [optimize_roll_speed:NeedComms:D] Stopped
2025-01-10T00:51:12.432Z,1736470272.432 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-01-10T00:51:12.590Z,1736470272.590 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:51:12.757Z,1736470272.757 [optimize_roll_speed:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-10T00:51:14.757Z,1736470274.757 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,005116.00,A,3654.20786,N,12207.07102,W,0.972,75.67,100125,,,D*4F
2025-01-10T00:51:14.761Z,1736470274.761 [NAL9602](INFO): GPS fix at 20250110T005116: (36.903464, -122.117850)
2025-01-10T00:51:14.809Z,1736470274.809 [optimize_roll_speed:NeedComms:E] Stopped
2025-01-10T00:51:14.815Z,1736470274.815 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-01-10T00:51:14.815Z,1736470274.815 [optimize_roll_speed:NeedComms] Stopped
2025-01-10T00:51:14.815Z,1736470274.815 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-01-10T00:51:14.815Z,1736470274.815 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-01-10T00:51:14.815Z,1736470274.815 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-10T00:51:15.209Z,1736470275.209 [optimize_roll_speed:StartingMission](INFO): Completed optimize_roll_speed:StartingMission
2025-01-10T00:51:15.209Z,1736470275.209 [optimize_roll_speed:StartingMission] Stopped
2025-01-10T00:51:15.209Z,1736470275.209 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::uninitialize optimize_roll_speed:StartingMission
2025-01-10T00:51:15.209Z,1736470275.209 [optimize_roll_speed:Transit] Running Loop=1
2025-01-10T00:51:15.209Z,1736470275.209 [optimize_roll_speed:Transit](DEBUG): Aggregate::initialize optimize_roll_speed:Transit
2025-01-10T00:51:15.209Z,1736470275.209 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-01-10T00:51:15.210Z,1736470275.210 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Initialize.
2025-01-10T00:51:15.234Z,1736470275.234 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-01-10T00:51:15.234Z,1736470275.234 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Initialize.
2025-01-10T00:51:15.235Z,1736470275.235 [optimize_roll_speed:Transit:Wpt1.Waypoint] Running Loop=1
2025-01-10T00:51:15.235Z,1736470275.235 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-10T00:51:15.236Z,1736470275.236 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.878521,-122.075790
2025-01-10T00:51:15.585Z,1736470275.585 [optimize_roll_speed:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.878521,-122.075790
2025-01-10T00:51:15.586Z,1736470275.586 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-01-10T00:51:15.603Z,1736470275.603 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-01-10T00:51:42.710Z,1736470302.710 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:51:43.714Z,1736470303.714 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:51:46.675Z,1736470306.675 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T00:52:13.839Z,1736470333.839 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:52:14.842Z,1736470334.842 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:52:44.966Z,1736470364.966 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:52:45.972Z,1736470365.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:53:16.099Z,1736470396.099 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:53:17.102Z,1736470397.102 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:53:21.490Z,1736470401.490 [Radio_Surface](INFO): Powering down
2025-01-10T00:53:47.226Z,1736470427.226 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:53:48.230Z,1736470428.230 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-10T00:53:48.230Z,1736470428.230 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:54:18.362Z,1736470458.362 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:54:19.366Z,1736470459.366 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:54:49.495Z,1736470489.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:54:50.498Z,1736470490.498 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:55:20.624Z,1736470520.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:55:21.626Z,1736470521.626 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:55:51.746Z,1736470551.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:55:52.750Z,1736470552.750 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:56:22.874Z,1736470582.874 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:56:23.878Z,1736470583.878 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:56:54.018Z,1736470614.018 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:56:55.022Z,1736470615.022 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:57:25.142Z,1736470645.142 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:57:26.146Z,1736470646.146 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:57:56.266Z,1736470676.266 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:57:57.271Z,1736470677.271 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:58:27.390Z,1736470707.390 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:58:28.394Z,1736470708.394 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:58:58.515Z,1736470738.515 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:58:59.519Z,1736470739.519 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T00:59:29.638Z,1736470769.638 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T00:59:30.642Z,1736470770.642 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:00:00.798Z,1736470800.798 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:00:01.802Z,1736470801.802 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:00:31.922Z,1736470831.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:00:32.926Z,1736470832.926 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:01:03.054Z,1736470863.054 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:01:04.058Z,1736470864.058 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:01:15.247Z,1736470875.247 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.826440 degrees over 1479 samples
2025-01-10T01:01:15.248Z,1736470875.248 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Optimum speed found: 0.900000 m/s for target roll 6.500000 degrees
2025-01-10T01:01:15.248Z,1736470875.248 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Persisting optimum speed 0.900000 m/s for 6.500000 degrees roll to config
2025-01-10T01:01:15.251Z,1736470875.251 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-01-10T01:01:15.251Z,1736470875.251 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): CBIT.gf24Offset=173 microampere;

2025-01-10T01:01:15.252Z,1736470875.252 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DAT.convertPhaseDataToDirection=0 bool;

2025-01-10T01:01:15.253Z,1736470875.253 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DockingStepper.closedValue=16450 count;

2025-01-10T01:01:15.253Z,1736470875.253 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DockingStepper.slideValue=10700 count;

2025-01-10T01:01:15.254Z,1736470875.254 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.navigationGain=3 none;

2025-01-10T01:01:15.255Z,1736470875.255 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.openLoopFlyby=0 bool;

2025-01-10T01:01:15.256Z,1736470875.256 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2025-01-10T01:01:15.256Z,1736470875.256 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): RudderServo.offsetAngle=0.2 degree;

2025-01-10T01:01:15.257Z,1736470875.257 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): SpeedControl.rollOptimum=0.900000 m/s;

2025-01-10T01:01:15.257Z,1736470875.257 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.buoyancyNeutral=401.869368 cubic_centimeter;

2025-01-10T01:01:15.258Z,1736470875.258 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massDefault=21.805965 millimeter;

2025-01-10T01:01:15.259Z,1736470875.259 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massOnlyForceInt=0 bool;

2025-01-10T01:01:34.190Z,1736470894.190 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:01:35.194Z,1736470895.194 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:01:59.386Z,1736470919.386 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2025-01-10T01:01:59.386Z,1736470919.386 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2025-01-10T01:01:59.387Z,1736470919.387 [ThrusterServo] Communications Fault, FailCount= 1
2025-01-10T01:01:59.387Z,1736470919.387 [ThrusterServo](ERROR): Communications Fault
2025-01-10T01:01:59.400Z,1736470919.400 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2025-01-10T01:01:59.680Z,1736470919.680 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2025-01-10T01:01:59.680Z,1736470919.680 [ThrusterServo](INFO): Powering down
2025-01-10T01:02:00.473Z,1736470920.473 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-01-10T01:02:00.592Z,1736470920.592 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-01-10T01:02:00.596Z,1736470920.596 [CBIT](INFO): Clearing failed state for component ThrusterServo
2025-01-10T01:02:00.596Z,1736470920.596 [ThrusterServo] No Fault, FailCount= 1
2025-01-10T01:02:05.314Z,1736470925.314 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:02:06.319Z,1736470926.319 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:02:36.450Z,1736470956.450 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:02:37.454Z,1736470957.454 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:03:07.574Z,1736470987.574 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:03:08.578Z,1736470988.578 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:03:38.698Z,1736471018.698 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:03:39.702Z,1736471019.702 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:04:09.830Z,1736471049.830 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:04:10.834Z,1736471050.834 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:04:40.962Z,1736471080.962 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:04:41.966Z,1736471081.966 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:05:12.095Z,1736471112.095 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:05:13.099Z,1736471113.099 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:05:17.207Z,1736471117.207 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS, +746,
2025-01-10T01:05:27.316Z,1736471127.316 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +109 +4152.71,       -9.72,  43.83,  0.00
2025-01-10T01:05:37.430Z,1736471137.430 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  -175,  +700,
2025-01-10T01:05:43.218Z,1736471143.218 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:05:44.223Z,1736471144.223 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:06:14.363Z,1736471174.363 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:06:15.366Z,1736471175.366 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:06:45.486Z,1736471205.486 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:06:46.490Z,1736471206.490 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:07:16.618Z,1736471236.618 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:07:17.622Z,1736471237.622 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:07:47.742Z,1736471267.742 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:07:48.746Z,1736471268.746 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:08:18.866Z,1736471298.866 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:08:19.870Z,1736471299.870 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:08:49.998Z,1736471329.998 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:08:51.015Z,1736471331.015 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:09:21.136Z,1736471361.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:09:22.138Z,1736471362.138 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:09:52.258Z,1736471392.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:09:53.262Z,1736471393.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:10:23.382Z,1736471423.382 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:10:24.386Z,1736471424.386 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:10:45.284Z,1736471445.284 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-01-10T01:10:45.287Z,1736471445.287 [BPC1](INFO): Received data from all battery sticks.
2025-01-10T01:10:54.507Z,1736471454.507 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:10:55.510Z,1736471455.510 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:11:15.995Z,1736471475.995 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.414260 degrees over 1481 samples
2025-01-10T01:11:25.634Z,1736471485.634 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:11:26.639Z,1736471486.639 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:11:56.762Z,1736471516.762 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:11:57.766Z,1736471517.766 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:12:27.886Z,1736471547.886 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:12:28.891Z,1736471548.891 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:12:59.014Z,1736471579.014 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:13:00.018Z,1736471580.018 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:13:30.138Z,1736471610.138 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:13:31.143Z,1736471611.143 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:14:01.266Z,1736471641.266 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:14:02.271Z,1736471642.271 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:14:32.390Z,1736471672.390 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:14:33.394Z,1736471673.394 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:15:03.514Z,1736471703.514 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:15:04.518Z,1736471704.518 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:15:34.638Z,1736471734.638 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:15:35.642Z,1736471735.642 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:16:05.762Z,1736471765.762 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:16:06.766Z,1736471766.766 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:16:36.899Z,1736471796.899 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:16:37.902Z,1736471797.902 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:17:08.026Z,1736471828.026 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:17:09.030Z,1736471829.030 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:17:39.150Z,1736471859.150 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:17:40.155Z,1736471860.155 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:18:10.276Z,1736471890.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:18:11.278Z,1736471891.278 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:18:41.398Z,1736471921.398 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:18:42.402Z,1736471922.402 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:19:12.524Z,1736471952.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:19:13.526Z,1736471953.526 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:19:43.646Z,1736471983.646 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:19:44.650Z,1736471984.650 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:20:14.770Z,1736472014.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:20:15.774Z,1736472015.774 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:20:45.902Z,1736472045.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:20:46.906Z,1736472046.906 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:21:16.794Z,1736472076.794 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.311043 degrees over 1478 samples
2025-01-10T01:21:17.026Z,1736472077.026 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:21:18.043Z,1736472078.043 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:21:48.162Z,1736472108.162 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:21:49.166Z,1736472109.166 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:22:19.286Z,1736472139.286 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:22:20.290Z,1736472140.290 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:22:50.410Z,1736472170.410 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:22:51.414Z,1736472171.414 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:23:21.534Z,1736472201.534 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:23:22.538Z,1736472202.538 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:23:52.666Z,1736472232.666 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:23:53.671Z,1736472233.671 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:24:23.802Z,1736472263.802 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:24:24.806Z,1736472264.806 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:24:54.926Z,1736472294.926 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:24:55.930Z,1736472295.930 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:25:26.050Z,1736472326.050 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:25:27.054Z,1736472327.054 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:25:57.186Z,1736472357.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:25:58.190Z,1736472358.190 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:26:28.318Z,1736472388.318 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:26:29.322Z,1736472389.322 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:26:59.462Z,1736472419.462 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:27:00.466Z,1736472420.466 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:27:03.427Z,1736472423.427 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       +65.57,     +5     -16.91,  20.00,  0.00
2025-01-10T01:27:23.629Z,1736472443.629 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +88,  +795,  

2025-01-10T01:27:30.598Z,1736472450.598 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:27:31.602Z,1736472451.602 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:28:01.722Z,1736472481.722 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:28:02.726Z,1736472482.726 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:28:32.854Z,1736472512.854 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:28:33.858Z,1736472513.858 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:29:03.982Z,1736472543.982 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:29:04.986Z,1736472544.986 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:29:35.106Z,1736472575.106 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:29:36.110Z,1736472576.110 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:30:06.230Z,1736472606.230 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:30:07.235Z,1736472607.235 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:30:37.354Z,1736472637.354 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:30:38.358Z,1736472638.358 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:31:08.486Z,1736472668.486 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:31:09.490Z,1736472669.490 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:31:17.567Z,1736472677.567 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.332702 degrees over 1480 samples
2025-01-10T01:31:39.610Z,1736472699.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:31:40.614Z,1736472700.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:32:10.734Z,1736472730.734 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:32:11.738Z,1736472731.738 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:32:41.866Z,1736472761.866 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:32:42.870Z,1736472762.870 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:33:12.990Z,1736472792.990 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:33:13.994Z,1736472793.994 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:33:44.127Z,1736472824.127 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:33:45.131Z,1736472825.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:34:15.259Z,1736472855.259 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:34:16.262Z,1736472856.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:34:46.406Z,1736472886.406 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:34:47.410Z,1736472887.410 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:35:17.558Z,1736472917.558 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:35:18.562Z,1736472918.562 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:35:48.686Z,1736472948.686 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:35:49.690Z,1736472949.690 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:36:19.826Z,1736472979.826 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:36:20.830Z,1736472980.830 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:36:50.960Z,1736473010.960 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:36:51.962Z,1736473011.962 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:37:22.082Z,1736473042.082 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:37:23.086Z,1736473043.086 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:37:53.223Z,1736473073.223 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:37:54.222Z,1736473074.222 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:38:24.342Z,1736473104.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:38:25.346Z,1736473105.346 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:38:55.466Z,1736473135.466 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:38:56.470Z,1736473136.470 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:39:26.602Z,1736473166.602 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:39:27.606Z,1736473167.606 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:39:57.734Z,1736473197.734 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:39:58.738Z,1736473198.738 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:40:28.863Z,1736473228.863 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:40:29.868Z,1736473229.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:40:59.994Z,1736473259.994 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:41:00.998Z,1736473260.998 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:41:18.306Z,1736473278.306 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.610844 degrees over 1474 samples
2025-01-10T01:41:31.118Z,1736473291.118 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:41:32.122Z,1736473292.122 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:42:02.258Z,1736473322.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:42:03.265Z,1736473323.265 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:42:33.382Z,1736473353.382 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:42:34.387Z,1736473354.387 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:43:04.510Z,1736473384.510 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:43:05.514Z,1736473385.514 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:43:35.650Z,1736473415.650 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:43:36.654Z,1736473416.654 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:44:06.790Z,1736473446.790 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:44:07.794Z,1736473447.794 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:44:37.914Z,1736473477.914 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:44:38.918Z,1736473478.918 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:45:09.046Z,1736473509.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:45:10.050Z,1736473510.050 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:45:40.170Z,1736473540.170 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:45:41.175Z,1736473541.175 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:46:11.302Z,1736473571.302 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:46:12.306Z,1736473572.306 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:46:42.474Z,1736473602.474 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:46:43.478Z,1736473603.478 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:47:13.598Z,1736473633.598 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:47:14.602Z,1736473634.602 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:47:19.477Z,1736473639.477 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,   -82,  ++2,A
2025-01-10T01:47:44.726Z,1736473664.726 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:47:45.730Z,1736473665.730 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:47:54.619Z,1736473674.619 [optimize_roll_speed](INFO): Timed out from 2025-01-10T00:47:54.4Z
2025-01-10T01:47:54.619Z,1736473674.619 [MissionManager](INFO): optimize_roll_speed is completed.
2025-01-10T01:47:54.619Z,1736473674.619 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-01-10T01:47:54.619Z,1736473674.619 [optimize_roll_speed] Stopped
2025-01-10T01:47:54.619Z,1736473674.619 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-01-10T01:47:54.619Z,1736473674.619 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:BackseatDriver] Stopped
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:PowerOnly] Stopped
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-01-10T01:47:54.620Z,1736473674.620 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:Transit] Stopped
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:Transit](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:Transit:A.Pitch] Stopped
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:Transit:B.SetRollSpeed] Stopped
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Uninitialize.
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:Transit:Wpt1.Waypoint] Stopped
2025-01-10T01:47:54.621Z,1736473674.621 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-10T01:47:55.032Z,1736473675.032 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-01-10T01:47:55.032Z,1736473675.032 [DefaultWithUndock] Running Loop=1
2025-01-10T01:47:55.032Z,1736473675.032 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-01-10T01:47:55.033Z,1736473675.033 [DefaultWithUndock:A.Wait] Running Loop=1
2025-01-10T01:47:55.033Z,1736473675.033 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-01-10T01:48:15.850Z,1736473695.850 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:48:16.855Z,1736473696.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:48:25.347Z,1736473705.347 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-01-10T01:48:25.347Z,1736473705.347 [DefaultWithUndock:A.Wait] Stopped
2025-01-10T01:48:25.347Z,1736473705.347 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T01:48:25.347Z,1736473705.347 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-01-10T01:48:25.347Z,1736473705.347 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-01-10T01:48:25.347Z,1736473705.347 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-01-10T01:48:25.347Z,1736473705.347 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-01-10T01:48:25.347Z,1736473705.347 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-01-10T01:48:25.348Z,1736473705.348 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-01-10T01:48:25.348Z,1736473705.348 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-10T01:48:25.755Z,1736473705.755 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-01-10T01:48:25.755Z,1736473705.755 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-10T01:48:25.756Z,1736473705.756 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 30.272861 m.
2025-01-10T01:48:25.756Z,1736473705.756 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-01-10T01:48:25.903Z,1736473705.903 [DockingStepper](INFO): Resume
2025-01-10T01:48:26.174Z,1736473706.174 [DockingStepper](INFO): Resuming
2025-01-10T01:48:26.549Z,1736473706.549 [DockingStepper](INFO): Start
2025-01-10T01:48:26.549Z,1736473706.549 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-10T01:48:26.669Z,1736473706.669 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-10T01:48:27.099Z,1736473707.099 [DockingStepper](INFO): Starting
2025-01-10T01:48:27.471Z,1736473707.471 [DockingStepper](INFO): Starting
2025-01-10T01:48:27.783Z,1736473707.783 [DockingStepper](INFO): Starting
2025-01-10T01:48:27.830Z,1736473707.830 [DockingStepper](INFO): Init string: /1z16367aE13561N3m50
2025-01-10T01:48:28.299Z,1736473708.299 [DockingStepper](INFO): Starting
2025-01-10T01:48:28.587Z,1736473708.587 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-01-10T01:48:28.679Z,1736473708.679 [DockingStepper](INFO): Starting
2025-01-10T01:48:29.003Z,1736473709.003 [DockingStepper](INFO): Starting
2025-01-10T01:48:29.399Z,1736473709.399 [DockingStepper](INFO): Starting
2025-01-10T01:48:29.434Z,1736473709.434 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-10T01:48:29.923Z,1736473709.923 [DockingStepper](INFO): Starting
2025-01-10T01:48:30.207Z,1736473710.207 [DockingStepper](INFO): Changing to mode: 3
2025-01-10T01:48:30.207Z,1736473710.207 [DockingStepper](INFO): Detach mode.
2025-01-10T01:48:30.274Z,1736473710.274 [DockingStepper](INFO): Commanding negative:54500
2025-01-10T01:48:35.445Z,1736473715.445 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-10T01:48:35.655Z,1736473715.655 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:35.655Z,1736473715.655 [DAT](INFO): setting remote address to 0
2025-01-10T01:48:35.908Z,1736473715.908 [DAT](INFO): DAT read: user:6>

2025-01-10T01:48:35.909Z,1736473715.909 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-01-10T01:48:35.909Z,1736473715.909 [DAT](INFO): set remote address to 0
2025-01-10T01:48:35.910Z,1736473715.910 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:35.910Z,1736473715.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T01:48:36.159Z,1736473716.159 [DAT](INFO): DAT read: user:7>

2025-01-10T01:48:36.160Z,1736473716.160 [DAT](INFO): DAT read: Tx time:01:48:35.2958

2025-01-10T01:48:36.160Z,1736473716.160 [DAT](INFO): Ping request sent.
2025-01-10T01:48:36.160Z,1736473716.160 [DAT](INFO): transmitted an acoustic signal
2025-01-10T01:48:36.160Z,1736473716.160 [DAT](INFO): publishing transmit ping time
2025-01-10T01:48:36.161Z,1736473716.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934
2025-01-10T01:48:36.263Z,1736473716.263 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-01-10T01:48:36.412Z,1736473716.412 [DAT](INFO): DAT read: TxSync time:01:48:35.2951

2025-01-10T01:48:36.413Z,1736473716.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253245
2025-01-10T01:48:36.664Z,1736473716.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503327
2025-01-10T01:48:36.915Z,1736473716.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754967
2025-01-10T01:48:37.167Z,1736473717.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859
2025-01-10T01:48:37.419Z,1736473717.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995
2025-01-10T01:48:37.671Z,1736473717.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510959
2025-01-10T01:48:37.923Z,1736473717.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762847
2025-01-10T01:48:38.175Z,1736473718.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932
2025-01-10T01:48:38.427Z,1736473718.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266963
2025-01-10T01:48:38.679Z,1736473718.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518895
2025-01-10T01:48:38.931Z,1736473718.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771169
2025-01-10T01:48:39.183Z,1736473719.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022957
2025-01-10T01:48:39.435Z,1736473719.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274841
2025-01-10T01:48:39.687Z,1736473719.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526935
2025-01-10T01:48:39.939Z,1736473719.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779008
2025-01-10T01:48:40.191Z,1736473720.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030888
2025-01-10T01:48:40.443Z,1736473720.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282905
2025-01-10T01:48:40.695Z,1736473720.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535044
2025-01-10T01:48:40.947Z,1736473720.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786904
2025-01-10T01:48:41.201Z,1736473721.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040749
2025-01-10T01:48:41.451Z,1736473721.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290909
2025-01-10T01:48:41.703Z,1736473721.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542890
2025-01-10T01:48:41.956Z,1736473721.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795708
2025-01-10T01:48:42.207Z,1736473722.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046912
2025-01-10T01:48:42.459Z,1736473722.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299280
2025-01-10T01:48:42.711Z,1736473722.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551233
2025-01-10T01:48:42.963Z,1736473722.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802959
2025-01-10T01:48:43.218Z,1736473723.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057154
2025-01-10T01:48:43.467Z,1736473723.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307076
2025-01-10T01:48:43.719Z,1736473723.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558984
2025-01-10T01:48:43.971Z,1736473723.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811211
2025-01-10T01:48:44.223Z,1736473724.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062909
2025-01-10T01:48:44.475Z,1736473724.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314956
2025-01-10T01:48:44.727Z,1736473724.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567119
2025-01-10T01:48:44.979Z,1736473724.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819224
2025-01-10T01:48:45.233Z,1736473725.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072955
2025-01-10T01:48:45.483Z,1736473725.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322900
2025-01-10T01:48:45.549Z,1736473725.549 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-10T01:48:45.735Z,1736473725.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575189
2025-01-10T01:48:45.987Z,1736473725.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827071
2025-01-10T01:48:46.239Z,1736473726.239 [DAT](INFO): Reached modem response timeout
2025-01-10T01:48:46.239Z,1736473726.239 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:46.239Z,1736473726.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T01:48:46.491Z,1736473726.491 [DAT](INFO): Reached modem response timeout
2025-01-10T01:48:46.491Z,1736473726.491 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:46.491Z,1736473726.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T01:48:46.743Z,1736473726.743 [DAT](INFO): Reached modem response timeout
2025-01-10T01:48:46.743Z,1736473726.743 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:46.743Z,1736473726.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T01:48:46.982Z,1736473726.982 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:48:46.995Z,1736473726.995 [DAT](INFO): DAT read: Response Not Received

2025-01-10T01:48:46.995Z,1736473726.995 [DAT](INFO): response not received
2025-01-10T01:48:46.996Z,1736473726.996 [DAT](INFO): DAT read: user:8>

2025-01-10T01:48:46.996Z,1736473726.996 [DAT](INFO): DAT read: Tx time:01:48:46.2458

2025-01-10T01:48:46.997Z,1736473726.997 [DAT](INFO): Ping request sent.
2025-01-10T01:48:46.997Z,1736473726.997 [DAT](INFO): transmitted an acoustic signal
2025-01-10T01:48:46.997Z,1736473726.997 [DAT](INFO): publishing transmit ping time
2025-01-10T01:48:46.997Z,1736473726.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-01-10T01:48:47.249Z,1736473727.249 [DAT](INFO): DAT read: TxSync time:01:48:46.2451

2025-01-10T01:48:47.253Z,1736473727.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256309
2025-01-10T01:48:47.499Z,1736473727.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502084
2025-01-10T01:48:47.751Z,1736473727.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754144
2025-01-10T01:48:47.987Z,1736473727.987 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:48:48.004Z,1736473728.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006804
2025-01-10T01:48:48.255Z,1736473728.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258207
2025-01-10T01:48:48.507Z,1736473728.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510133
2025-01-10T01:48:48.759Z,1736473728.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762520
2025-01-10T01:48:49.011Z,1736473729.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014237
2025-01-10T01:48:49.263Z,1736473729.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266218
2025-01-10T01:48:49.515Z,1736473729.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518413
2025-01-10T01:48:49.767Z,1736473729.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770237
2025-01-10T01:48:50.020Z,1736473730.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022950
2025-01-10T01:48:50.271Z,1736473730.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274161
2025-01-10T01:48:50.523Z,1736473730.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526253
2025-01-10T01:48:50.775Z,1736473730.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778248
2025-01-10T01:48:51.027Z,1736473731.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030455
2025-01-10T01:48:51.280Z,1736473731.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283217
2025-01-10T01:48:51.531Z,1736473731.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534224
2025-01-10T01:48:51.783Z,1736473731.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786170
2025-01-10T01:48:52.036Z,1736473732.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038986
2025-01-10T01:48:52.287Z,1736473732.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290126
2025-01-10T01:48:52.539Z,1736473732.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542167
2025-01-10T01:48:52.791Z,1736473732.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794329
2025-01-10T01:48:53.043Z,1736473733.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046127
2025-01-10T01:48:53.296Z,1736473733.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298864
2025-01-10T01:48:53.547Z,1736473733.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550224
2025-01-10T01:48:53.799Z,1736473733.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802149
2025-01-10T01:48:54.051Z,1736473734.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054541
2025-01-10T01:48:54.303Z,1736473734.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306173
2025-01-10T01:48:54.555Z,1736473734.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558209
2025-01-10T01:48:54.807Z,1736473734.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810328
2025-01-10T01:48:55.059Z,1736473735.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062204
2025-01-10T01:48:55.311Z,1736473735.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314703
2025-01-10T01:48:55.563Z,1736473735.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566357
2025-01-10T01:48:55.645Z,1736473735.645 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-01-10T01:48:55.815Z,1736473735.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818216
2025-01-10T01:48:56.067Z,1736473736.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070101
2025-01-10T01:48:56.319Z,1736473736.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322163
2025-01-10T01:48:56.435Z,1736473736.435 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-01-10T01:48:56.571Z,1736473736.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574212
2025-01-10T01:48:56.823Z,1736473736.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826037
2025-01-10T01:48:56.842Z,1736473736.842 [DockingStepper](INFO): Changing to mode: 1
2025-01-10T01:48:56.842Z,1736473736.842 [DockingStepper](INFO): Standby mode.
2025-01-10T01:48:56.906Z,1736473736.906 [DockingStepper](INFO): Commanding positive:54488
2025-01-10T01:48:57.075Z,1736473737.075 [DAT](INFO): Reached modem response timeout
2025-01-10T01:48:57.075Z,1736473737.075 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:57.075Z,1736473737.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T01:48:57.330Z,1736473737.330 [DAT](INFO): Reached modem response timeout
2025-01-10T01:48:57.331Z,1736473737.331 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:57.332Z,1736473737.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T01:48:57.578Z,1736473737.578 [DAT](INFO): Reached modem response timeout
2025-01-10T01:48:57.579Z,1736473737.579 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:57.579Z,1736473737.579 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T01:48:57.832Z,1736473737.832 [DAT](INFO): DAT read: Response Not Received

2025-01-10T01:48:57.832Z,1736473737.832 [DAT](INFO): response not received
2025-01-10T01:48:57.832Z,1736473737.832 [DAT](INFO): DAT read: user:9>

2025-01-10T01:48:57.833Z,1736473737.833 [DAT](ERROR): No response from remote modem.
2025-01-10T01:48:57.833Z,1736473737.833 [DAT](DEBUG): Acoustic response timeout
2025-01-10T01:48:57.833Z,1736473737.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T01:48:58.084Z,1736473738.084 [DAT](INFO): DAT read: Tx time:01:48:57.1959

2025-01-10T01:48:58.084Z,1736473738.084 [DAT](INFO): Ping request sent.
2025-01-10T01:48:58.084Z,1736473738.084 [DAT](INFO): transmitted an acoustic signal
2025-01-10T01:48:58.085Z,1736473738.085 [DAT](INFO): DAT read: TxSync time:01:48:57.1952

2025-01-10T01:48:58.085Z,1736473738.085 [DAT](INFO): publishing transmit ping time
2025-01-10T01:48:58.086Z,1736473738.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002134
2025-01-10T01:48:58.335Z,1736473738.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250622
2025-01-10T01:48:58.587Z,1736473738.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502625
2025-01-10T01:48:58.839Z,1736473738.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754721
2025-01-10T01:48:59.091Z,1736473739.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006629
2025-01-10T01:48:59.345Z,1736473739.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260450
2025-01-10T01:48:59.595Z,1736473739.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510719
2025-01-10T01:48:59.847Z,1736473739.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762668
2025-01-10T01:49:00.100Z,1736473740.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015514
2025-01-10T01:49:00.351Z,1736473740.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266695
2025-01-10T01:49:00.603Z,1736473740.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518677
2025-01-10T01:49:00.855Z,1736473740.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770952
2025-01-10T01:49:01.107Z,1736473741.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022708
2025-01-10T01:49:01.359Z,1736473741.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274893
2025-01-10T01:49:01.611Z,1736473741.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526865
2025-01-10T01:49:01.863Z,1736473741.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778937
2025-01-10T01:49:02.115Z,1736473742.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030753
2025-01-10T01:49:02.367Z,1736473742.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282918
2025-01-10T01:49:02.619Z,1736473742.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534679
2025-01-10T01:49:02.871Z,1736473742.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786900
2025-01-10T01:49:02.903Z,1736473742.903 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-01-10T01:49:03.123Z,1736473743.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038670
2025-01-10T01:49:03.317Z,1736473743.317 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-01-10T01:49:03.317Z,1736473743.317 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-01-10T01:49:03.317Z,1736473743.317 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-01-10T01:49:03.318Z,1736473743.318 [DefaultWithUndock:LeaveDock] Stopped
2025-01-10T01:49:03.318Z,1736473743.318 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-01-10T01:49:03.318Z,1736473743.318 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-01-10T01:49:03.318Z,1736473743.318 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-01-10T01:49:03.318Z,1736473743.318 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-01-10T01:49:03.318Z,1736473743.318 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-01-10T01:49:03.318Z,1736473743.318 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-01-10T01:49:03.318Z,1736473743.318 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-10T01:49:03.319Z,1736473743.319 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-10T01:49:03.319Z,1736473743.319 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-10T01:49:03.319Z,1736473743.319 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-10T01:49:03.320Z,1736473743.320 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-10T01:49:03.320Z,1736473743.320 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-10T01:49:03.320Z,1736473743.320 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-10T01:49:03.375Z,1736473743.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290893
2025-01-10T01:49:03.627Z,1736473743.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542645
2025-01-10T01:49:03.722Z,1736473743.722 [DockingStepper](INFO): Pause
2025-01-10T01:49:03.879Z,1736473743.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795137
2025-01-10T01:49:04.106Z,1736473744.106 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -22.00 mm (2 active estimators).
2025-01-10T01:49:04.131Z,1736473744.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046806
2025-01-10T01:49:04.234Z,1736473744.234 [Radio_Surface](INFO): Powering up
2025-01-10T01:49:04.383Z,1736473744.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298665
2025-01-10T01:49:04.635Z,1736473744.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550692
2025-01-10T01:49:04.892Z,1736473744.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807837
2025-01-10T01:49:05.139Z,1736473745.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054616
2025-01-10T01:49:05.391Z,1736473745.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306769
2025-01-10T01:49:05.644Z,1736473745.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559604
2025-01-10T01:49:05.896Z,1736473745.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811419
2025-01-10T01:49:06.148Z,1736473746.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063972
2025-01-10T01:49:06.399Z,1736473746.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314663
2025-01-10T01:49:06.652Z,1736473746.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567504
2025-01-10T01:49:06.903Z,1736473746.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818531
2025-01-10T01:49:07.155Z,1736473747.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071117
2025-01-10T01:49:07.407Z,1736473747.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322792
2025-01-10T01:49:07.659Z,1736473747.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575100
2025-01-10T01:49:07.911Z,1736473747.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827009
2025-01-10T01:49:08.163Z,1736473748.163 [DAT](INFO): Reached modem response timeout
2025-01-10T01:49:08.919Z,1736473748.919 [DAT](INFO): DAT read: Response Not Received

2025-01-10T01:49:08.919Z,1736473748.919 [DAT](INFO): response not received
2025-01-10T01:49:08.920Z,1736473748.920 [DAT](INFO): DAT read: user:10>

2025-01-10T01:49:08.920Z,1736473748.920 [DAT](INFO): DAT read: Tx time:01:49:08.1460

2025-01-10T01:49:08.921Z,1736473748.921 [DAT](INFO): Ping request sent.
2025-01-10T01:49:08.921Z,1736473748.921 [DAT](INFO): transmitted an acoustic signal
2025-01-10T01:49:08.921Z,1736473748.921 [DAT](INFO): publishing transmit ping time
2025-01-10T01:49:08.922Z,1736473748.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-01-10T01:49:09.175Z,1736473749.175 [DAT](INFO): DAT read: TxSync time:01:49:08.1453

2025-01-10T01:49:09.175Z,1736473749.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254517
2025-01-10T01:49:09.423Z,1736473749.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502256
2025-01-10T01:49:09.498Z,1736473749.498 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-01-10T01:49:09.499Z,1736473749.499 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-01-10T01:49:09.675Z,1736473749.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754160
2025-01-10T01:49:09.927Z,1736473749.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006490
2025-01-10T01:49:10.179Z,1736473750.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258121
2025-01-10T01:49:10.431Z,1736473750.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510154
2025-01-10T01:49:10.683Z,1736473750.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762177
2025-01-10T01:49:10.935Z,1736473750.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014050
2025-01-10T01:49:11.190Z,1736473751.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268637
2025-01-10T01:49:11.439Z,1736473751.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518078
2025-01-10T01:49:11.691Z,1736473751.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770374
2025-01-10T01:49:11.944Z,1736473751.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022748
2025-01-10T01:49:12.195Z,1736473752.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274088
2025-01-10T01:49:12.447Z,1736473752.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526074
2025-01-10T01:49:12.699Z,1736473752.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778179
2025-01-10T01:49:12.951Z,1736473752.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030073
2025-01-10T01:49:13.206Z,1736473753.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284435
2025-01-10T01:49:13.455Z,1736473753.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534145
2025-01-10T01:49:13.707Z,1736473753.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786068
2025-01-10T01:49:13.960Z,1736473753.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039119
2025-01-10T01:49:14.211Z,1736473754.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290154
2025-01-10T01:49:14.464Z,1736473754.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542882
2025-01-10T01:49:14.715Z,1736473754.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794231
2025-01-10T01:49:14.967Z,1736473754.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046140
2025-01-10T01:49:15.222Z,1736473755.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300770
2025-01-10T01:49:15.471Z,1736473755.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550099
2025-01-10T01:49:15.724Z,1736473755.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803390
2025-01-10T01:49:15.975Z,1736473755.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054481
2025-01-10T01:49:16.227Z,1736473756.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306091
2025-01-10T01:49:16.479Z,1736473756.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558141
2025-01-10T01:49:16.731Z,1736473756.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810181
2025-01-10T01:49:16.983Z,1736473756.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062378
2025-01-10T01:49:17.241Z,1736473757.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316821
2025-01-10T01:49:17.487Z,1736473757.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566095
2025-01-10T01:49:17.739Z,1736473757.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818099
2025-01-10T01:49:17.992Z,1736473757.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070776
2025-01-10T01:49:18.106Z,1736473758.106 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:49:18.243Z,1736473758.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322085
2025-01-10T01:49:18.495Z,1736473758.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574140
2025-01-10T01:49:18.747Z,1736473758.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826366
2025-01-10T01:49:19.110Z,1736473759.110 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-10T01:49:19.110Z,1736473759.110 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:49:19.755Z,1736473759.755 [DAT](INFO): DAT read: Response Not Received

2025-01-10T01:49:19.755Z,1736473759.755 [DAT](INFO): response not received
2025-01-10T01:49:19.756Z,1736473759.756 [DAT](INFO): DAT read: user:11>

2025-01-10T01:49:19.756Z,1736473759.756 [DAT](ERROR): No response from remote modem.
2025-01-10T01:49:20.008Z,1736473760.008 [DAT](INFO): DAT read: Tx time:01:49:19.0961

2025-01-10T01:49:20.008Z,1736473760.008 [DAT](INFO): Ping request sent.
2025-01-10T01:49:20.008Z,1736473760.008 [DAT](INFO): transmitted an acoustic signal
2025-01-10T01:49:20.009Z,1736473760.009 [DAT](INFO): DAT read: TxSync time:01:49:19.0954

2025-01-10T01:49:20.009Z,1736473760.009 [DAT](INFO): publishing transmit ping time
2025-01-10T01:49:20.010Z,1736473760.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001538
2025-01-10T01:49:20.259Z,1736473760.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250910
2025-01-10T01:49:20.511Z,1736473760.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503076
2025-01-10T01:49:20.763Z,1736473760.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755253
2025-01-10T01:49:21.016Z,1736473761.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008216
2025-01-10T01:49:21.267Z,1736473761.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258958
2025-01-10T01:49:21.519Z,1736473761.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510893
2025-01-10T01:49:21.771Z,1736473761.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762933
2025-01-10T01:49:22.023Z,1736473762.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014944
2025-01-10T01:49:22.275Z,1736473762.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266883
2025-01-10T01:49:22.527Z,1736473762.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518935
2025-01-10T01:49:22.779Z,1736473762.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770803
2025-01-10T01:49:23.031Z,1736473763.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022881
2025-01-10T01:49:23.283Z,1736473763.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274936
2025-01-10T01:49:23.535Z,1736473763.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526899
2025-01-10T01:49:23.788Z,1736473763.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779475
2025-01-10T01:49:24.039Z,1736473764.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031048
2025-01-10T01:49:24.291Z,1736473764.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282865
2025-01-10T01:49:24.543Z,1736473764.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535181
2025-01-10T01:49:24.795Z,1736473764.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787062
2025-01-10T01:49:25.047Z,1736473765.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038875
2025-01-10T01:49:25.299Z,1736473765.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291412
2025-01-10T01:49:25.551Z,1736473765.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542943
2025-01-10T01:49:25.803Z,1736473765.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794878
2025-01-10T01:49:26.055Z,1736473766.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046982
2025-01-10T01:49:26.307Z,1736473766.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298922
2025-01-10T01:49:26.559Z,1736473766.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550829
2025-01-10T01:49:26.811Z,1736473766.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803275
2025-01-10T01:49:27.063Z,1736473767.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054927
2025-01-10T01:49:27.315Z,1736473767.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306997
2025-01-10T01:49:27.567Z,1736473767.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558890
2025-01-10T01:49:27.821Z,1736473767.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812908
2025-01-10T01:49:28.084Z,1736473768.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075698
2025-01-10T01:49:28.335Z,1736473768.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326913
2025-01-10T01:49:28.587Z,1736473768.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578931
2025-01-10T01:49:28.839Z,1736473768.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831002
2025-01-10T01:49:29.091Z,1736473769.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083151
2025-01-10T01:49:29.343Z,1736473769.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335022
2025-01-10T01:49:29.595Z,1736473769.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586872
2025-01-10T01:49:29.847Z,1736473769.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839285
2025-01-10T01:49:30.855Z,1736473770.855 [DAT](INFO): DAT read: Response Not Received

2025-01-10T01:49:30.855Z,1736473770.855 [DAT](INFO): response not received
2025-01-10T01:49:30.856Z,1736473770.856 [DAT](INFO): DAT read: user:12>

2025-01-10T01:49:30.857Z,1736473770.857 [DAT](INFO): DAT read: Tx time:01:49:30.0462

2025-01-10T01:49:30.857Z,1736473770.857 [DAT](INFO): Ping request sent.
2025-01-10T01:49:30.857Z,1736473770.857 [DAT](INFO): transmitted an acoustic signal
2025-01-10T01:49:30.857Z,1736473770.857 [DAT](INFO): publishing transmit ping time
2025-01-10T01:49:30.858Z,1736473770.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-01-10T01:49:31.107Z,1736473771.107 [DAT](INFO): DAT read: TxSync time:01:49:30.0455

2025-01-10T01:49:31.108Z,1736473771.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250844
2025-01-10T01:49:31.361Z,1736473771.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504287
2025-01-10T01:49:31.611Z,1736473771.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753958
2025-01-10T01:49:31.863Z,1736473771.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005946
2025-01-10T01:49:32.115Z,1736473772.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258163
2025-01-10T01:49:32.367Z,1736473772.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509996
2025-01-10T01:49:32.619Z,1736473772.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761972
2025-01-10T01:49:32.871Z,1736473772.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014066
2025-01-10T01:49:33.123Z,1736473773.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266035
2025-01-10T01:49:33.375Z,1736473773.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518306
2025-01-10T01:49:33.627Z,1736473773.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769967
2025-01-10T01:49:33.879Z,1736473773.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022008
2025-01-10T01:49:34.131Z,1736473774.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273988
2025-01-10T01:49:34.383Z,1736473774.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525922
2025-01-10T01:49:34.635Z,1736473774.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778009
2025-01-10T01:49:34.887Z,1736473774.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030037
2025-01-10T01:49:35.139Z,1736473775.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282530
2025-01-10T01:49:35.391Z,1736473775.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534075
2025-01-10T01:49:35.643Z,1736473775.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785939
2025-01-10T01:49:35.895Z,1736473775.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037949
2025-01-10T01:49:36.148Z,1736473776.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290791
2025-01-10T01:49:36.399Z,1736473776.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541969
2025-01-10T01:49:36.651Z,1736473776.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793958
2025-01-10T01:49:36.903Z,1736473776.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046107
2025-01-10T01:49:37.155Z,1736473777.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297948
2025-01-10T01:49:37.408Z,1736473777.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551142
2025-01-10T01:49:37.659Z,1736473777.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802011
2025-01-10T01:49:37.911Z,1736473777.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053931
2025-01-10T01:49:38.163Z,1736473778.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306283
2025-01-10T01:49:38.415Z,1736473778.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558004
2025-01-10T01:49:38.667Z,1736473778.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810016
2025-01-10T01:49:38.919Z,1736473778.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062326
2025-01-10T01:49:39.174Z,1736473779.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317401
2025-01-10T01:49:39.423Z,1736473779.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566045
2025-01-10T01:49:39.675Z,1736473779.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817948
2025-01-10T01:49:39.927Z,1736473779.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070187
2025-01-10T01:49:40.179Z,1736473780.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322318
2025-01-10T01:49:40.431Z,1736473780.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573990
2025-01-10T01:49:40.685Z,1736473780.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827617
2025-01-10T01:49:41.691Z,1736473781.691 [DAT](INFO): DAT read: Response Not Received

2025-01-10T01:49:41.691Z,1736473781.691 [DAT](INFO): response not received
2025-01-10T01:49:41.692Z,1736473781.692 [DAT](INFO): DAT read: user:13>

2025-01-10T01:49:41.692Z,1736473781.692 [DAT](INFO): DAT read: Tx time:01:49:40.9963

2025-01-10T01:49:41.693Z,1736473781.693 [DAT](INFO): Ping request sent.
2025-01-10T01:49:41.693Z,1736473781.693 [DAT](INFO): transmitted an acoustic signal
2025-01-10T01:49:41.693Z,1736473781.693 [DAT](INFO): publishing transmit ping time
2025-01-10T01:49:41.693Z,1736473781.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000717
2025-01-10T01:49:41.943Z,1736473781.943 [DAT](INFO): DAT read: TxSync time:01:49:40.9956

2025-01-10T01:49:41.944Z,1736473781.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251071
2025-01-10T01:49:42.195Z,1736473782.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502151
2025-01-10T01:49:42.447Z,1736473782.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754131
2025-01-10T01:49:42.699Z,1736473782.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006151
2025-01-10T01:49:42.951Z,1736473782.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258206
2025-01-10T01:49:43.205Z,1736473783.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512203
2025-01-10T01:49:43.457Z,1736473783.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763944
2025-01-10T01:49:43.707Z,1736473783.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014156
2025-01-10T01:49:43.959Z,1736473783.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266112
2025-01-10T01:49:44.211Z,1736473784.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518103
2025-01-10T01:49:44.463Z,1736473784.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770194
2025-01-10T01:49:44.715Z,1736473784.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022146
2025-01-10T01:49:44.967Z,1736473784.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274115
2025-01-10T01:49:45.222Z,1736473785.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528324
2025-01-10T01:49:45.472Z,1736473785.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778850
2025-01-10T01:49:45.723Z,1736473785.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030414
2025-01-10T01:49:45.975Z,1736473785.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282157
2025-01-10T01:49:46.227Z,1736473786.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534333
2025-01-10T01:49:46.479Z,1736473786.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786144
2025-01-10T01:49:46.731Z,1736473786.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038569
2025-01-10T01:49:46.983Z,1736473786.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290116
2025-01-10T01:49:47.239Z,1736473787.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545240
2025-01-10T01:49:47.487Z,1736473787.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794345
2025-01-10T01:49:47.739Z,1736473787.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046139
2025-01-10T01:49:47.991Z,1736473787.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298269
2025-01-10T01:49:48.245Z,1736473788.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552245
2025-01-10T01:49:48.495Z,1736473788.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802123
2025-01-10T01:49:48.747Z,1736473788.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054247
2025-01-10T01:49:48.999Z,1736473788.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306199
2025-01-10T01:49:49.232Z,1736473789.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:49:49.254Z,1736473789.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560643
2025-01-10T01:49:49.503Z,1736473789.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810434
2025-01-10T01:49:49.755Z,1736473789.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062214
2025-01-10T01:49:50.007Z,1736473790.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314141
2025-01-10T01:49:50.234Z,1736473790.234 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:49:50.259Z,1736473790.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566370
2025-01-10T01:49:50.511Z,1736473790.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818247
2025-01-10T01:49:50.763Z,1736473790.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070421
2025-01-10T01:49:51.015Z,1736473791.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322435
2025-01-10T01:49:51.267Z,1736473791.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574198
2025-01-10T01:49:51.519Z,1736473791.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826211
2025-01-10T01:49:52.779Z,1736473792.779 [DAT](INFO): DAT read: Response Not Received

2025-01-10T01:49:52.779Z,1736473792.779 [DAT](INFO): response not received
2025-01-10T01:49:52.780Z,1736473792.780 [DAT](INFO): DAT read: user:14>

2025-01-10T01:49:52.780Z,1736473792.780 [DAT](INFO): DAT read: Tx time:01:49:51.9463

2025-01-10T01:49:52.781Z,1736473792.781 [DAT](INFO): Ping request sent.
2025-01-10T01:49:52.781Z,1736473792.781 [DAT](INFO): transmitted an acoustic signal
2025-01-10T01:49:52.781Z,1736473792.781 [DAT](INFO): publishing transmit ping time
2025-01-10T01:49:52.782Z,1736473792.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000717
2025-01-10T01:49:53.031Z,1736473793.031 [DAT](INFO): DAT read: TxSync time:01:49:51.9456

2025-01-10T01:49:53.032Z,1736473793.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250943
2025-01-10T01:49:53.283Z,1736473793.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502079
2025-01-10T01:49:53.548Z,1736473793.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766961
2025-01-10T01:49:53.799Z,1736473793.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018088
2025-01-10T01:49:54.051Z,1736473794.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270350
2025-01-10T01:49:54.303Z,1736473794.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522359
2025-01-10T01:49:54.555Z,1736473794.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774094
2025-01-10T01:49:54.808Z,1736473794.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026815
2025-01-10T01:49:55.059Z,1736473795.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278122
2025-01-10T01:49:55.311Z,1736473795.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530208
2025-01-10T01:49:55.563Z,1736473795.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782344
2025-01-10T01:49:55.815Z,1736473795.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034114
2025-01-10T01:49:56.067Z,1736473796.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286066
2025-01-10T01:49:56.319Z,1736473796.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538436
2025-01-10T01:49:56.571Z,1736473796.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790123
2025-01-10T01:49:56.823Z,1736473796.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042075
2025-01-10T01:49:57.075Z,1736473797.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294074
2025-01-10T01:49:57.330Z,1736473797.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.549034
2025-01-10T01:49:57.579Z,1736473797.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798540
2025-01-10T01:49:57.831Z,1736473797.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050060
2025-01-10T01:49:58.085Z,1736473798.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.304441
2025-01-10T01:49:58.339Z,1736473798.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.558147
2025-01-10T01:49:58.591Z,1736473798.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810082
2025-01-10T01:49:58.843Z,1736473798.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062647
2025-01-10T01:49:59.095Z,1736473799.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.314056
2025-01-10T01:49:59.347Z,1736473799.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566484
2025-01-10T01:49:59.600Z,1736473799.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818575
2025-01-10T01:49:59.851Z,1736473799.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.070083
2025-01-10T01:50:00.103Z,1736473800.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322087
2025-01-10T01:50:00.355Z,1736473800.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.574273
2025-01-10T01:50:00.607Z,1736473800.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826053
2025-01-10T01:50:00.860Z,1736473800.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078830
2025-01-10T01:50:01.111Z,1736473801.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330142
2025-01-10T01:50:01.363Z,1736473801.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582063
2025-01-10T01:50:01.615Z,1736473801.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834093
2025-01-10T01:50:01.867Z,1736473801.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086090
2025-01-10T01:50:02.119Z,1736473802.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338108
2025-01-10T01:50:02.371Z,1736473802.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590001
2025-01-10T01:50:02.623Z,1736473802.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842131
2025-01-10T01:50:03.631Z,1736473803.631 [DAT](INFO): DAT read: Response Not Received

2025-01-10T01:50:03.632Z,1736473803.632 [DAT](INFO): response not received
2025-01-10T01:50:03.632Z,1736473803.632 [DAT](ERROR): No response from remote modem.
2025-01-10T01:50:13.321Z,1736473813.321 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-01-10T01:50:13.321Z,1736473813.321 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T01:50:13.321Z,1736473813.321 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-01-10T01:50:20.371Z,1736473820.371 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:50:21.374Z,1736473821.374 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:50:51.494Z,1736473851.494 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:50:52.499Z,1736473852.499 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:51:05.797Z,1736473865.797 [NAL9602](INFO): SBD MO Status=2, MOMSN=46987, MT Status=2, MTMSN=0
2025-01-10T01:51:05.797Z,1736473865.797 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-10T01:51:22.618Z,1736473882.618 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:51:23.622Z,1736473883.622 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:51:53.758Z,1736473913.758 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:51:54.762Z,1736473914.762 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:51:55.484Z,1736473915.484 [NAL9602](INFO): SBD MO Status=2, MOMSN=46987, MT Status=2, MTMSN=0
2025-01-10T01:51:55.484Z,1736473915.484 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-10T01:52:20.128Z,1736473940.128 [NAL9602](INFO): SBD MO Status=2, MOMSN=46987, MT Status=2, MTMSN=0
2025-01-10T01:52:20.128Z,1736473940.128 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-10T01:52:24.918Z,1736473944.918 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:52:25.922Z,1736473945.922 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:52:41.142Z,1736473961.142 [NAL9602](INFO): SBD MO Status=2, MOMSN=46987, MT Status=2, MTMSN=0
2025-01-10T01:52:41.142Z,1736473961.142 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-10T01:52:56.046Z,1736473976.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:52:57.051Z,1736473977.051 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:53:27.171Z,1736474007.171 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:53:28.174Z,1736474008.174 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:53:41.341Z,1736474021.341 [NAL9602](INFO): SBD MO Status=0, MOMSN=46987, MT Status=0, MTMSN=0
2025-01-10T01:53:41.341Z,1736474021.341 [NAL9602](INFO): No messages in MT queue
2025-01-10T01:53:42.545Z,1736474022.545 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015344.00,A,3653.23501,N,12205.50049,W,0.233,117.68,100125,,,D*78
2025-01-10T01:53:42.548Z,1736474022.548 [NAL9602](INFO): GPS fix at 20250110T015344: (36.887250, -122.091675)
2025-01-10T01:53:42.561Z,1736474022.561 [UniversalFixResidualReporter](INFO): Fix residual: 3.4 %DT, over the last 2981.0 m. Residual distance 102.4 m at bearing 28.3 degrees. Fix at (36.8872, -122.0917) with 2944.3 m made good.
2025-01-10T01:53:42.562Z,1736474022.562 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-01-10T01:53:42.562Z,1736474022.562 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-01-10T01:53:58.294Z,1736474038.294 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:53:59.298Z,1736474039.298 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:54:29.419Z,1736474069.419 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:54:30.422Z,1736474070.422 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:54:33.740Z,1736474073.740 [NAL9602](INFO): SBD MO Status=1, MOMSN=46988, MT Status=0, MTMSN=0
2025-01-10T01:54:33.790Z,1736474073.790 [NAL9602](INFO): Sent 94 bytes from file Logs/20250109T233911/Courier0033.lzma
2025-01-10T01:54:33.790Z,1736474073.790 [NAL9602](INFO): Packets left to send: 0
2025-01-10T01:54:50.068Z,1736474090.068 [NAL9602](INFO): SBD MO Status=1, MOMSN=46989, MT Status=0, MTMSN=0
2025-01-10T01:54:50.122Z,1736474090.122 [NAL9602](INFO): Sent 332 bytes from file Logs/20250109T233911/Express0034.lzma
2025-01-10T01:54:50.122Z,1736474090.122 [NAL9602](INFO): Packets left to send: 3
2025-01-10T01:55:00.542Z,1736474100.542 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:55:01.546Z,1736474101.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:55:17.829Z,1736474117.829 [NAL9602](INFO): SBD MO Status=2, MOMSN=46990, MT Status=2, MTMSN=0
2025-01-10T01:55:17.829Z,1736474117.829 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-10T01:55:31.666Z,1736474131.666 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:55:32.670Z,1736474132.670 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:56:02.790Z,1736474162.790 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:56:03.794Z,1736474163.794 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:56:33.914Z,1736474193.914 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:56:34.918Z,1736474194.918 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:56:53.345Z,1736474213.345 [NAL9602](INFO): SBD MO Status=2, MOMSN=46990, MT Status=2, MTMSN=0
2025-01-10T01:56:53.345Z,1736474213.345 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-10T01:57:05.042Z,1736474225.042 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-10T01:57:06.046Z,1736474226.046 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:57:34.786Z,1736474254.786 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003133
2025-01-10T01:57:47.627Z,1736474267.627 [DataOverHttps](INFO): Sending 1059 bytes from file Logs/20250109T233911/Express0034.lzma
2025-01-10T01:57:48.630Z,1736474268.630 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0034.lzma.bak
2025-01-10T01:57:48.630Z,1736474268.630 [DataOverHttps](INFO): SBD MOMSN=23891830
2025-01-10T01:57:52.775Z,1736474272.775 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-01-10T01:57:52.775Z,1736474272.775 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-01-10T01:57:52.775Z,1736474272.775 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-10T01:58:08.899Z,1736474288.899 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-10T01:58:14.670Z,1736474294.670 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:58:26.403Z,1736474306.403 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:58:35.202Z,1736474315.202 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:58:43.754Z,1736474323.754 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:58:56.418Z,1736474336.418 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:59:05.042Z,1736474345.042 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:59:15.642Z,1736474355.642 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:59:26.174Z,1736474366.174 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:59:35.722Z,1736474375.722 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T01:59:43.356Z,1736474383.356 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T015945
2025-01-10T01:59:50.918Z,1736474390.918 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 10 count;set lineCaptureHoming.WaitOnDockTimeout 8 min" 51mvh 1 4
2025-01-10T01:59:50.931Z,1736474390.931 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 10 count;set lineCaptureHoming.WaitOnDockTimeout 8 min" 51mvh 1 4.000000
2025-01-10T01:59:50.931Z,1736474390.931 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=51mvh
2025-01-10T01:59:50.932Z,1736474390.932 [CommandExec](IMPORTANT): Scheduled #9 (#1 of 4 with id='51mvh'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 10 count;set lineCaptureHoming.WaitOnDockTimeout 8 min", ASAP
2025-01-10T01:59:51.920Z,1736474391.920 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T015953
2025-01-10T01:59:59.402Z,1736474399.402 [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" 51mvh 2 4
2025-01-10T01:59:59.467Z,1736474399.467 [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" 51mvh 2 4.000000
2025-01-10T01:59:59.467Z,1736474399.467 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=51mvh
2025-01-10T01:59:59.468Z,1736474399.468 [CommandExec](IMPORTANT): Scheduled #10 (#2 of 4 with id='51mvh'): "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
2025-01-10T02:00:00.404Z,1736474400.404 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T020002
2025-01-10T02:00:07.894Z,1736474407.894 [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" 51mvh 3 4
2025-01-10T02:00:07.899Z,1736474407.899 [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" 51mvh 3 4.000000
2025-01-10T02:00:07.899Z,1736474407.899 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=51mvh
2025-01-10T02:00:07.900Z,1736474407.900 [CommandExec](IMPORTANT): Scheduled #11 (#3 of 4 with id='51mvh'): "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m", ASAP
2025-01-10T02:00:08.896Z,1736474408.896 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T020010
2025-01-10T02:00:19.252Z,1736474419.252 [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;set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 51mvh 4 4
2025-01-10T02:00:19.271Z,1736474419.271 [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;set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 51mvh 4 4.000000
2025-01-10T02:00:19.271Z,1736474419.271 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=51mvh
2025-01-10T02:00:19.272Z,1736474419.272 [CommandExec](IMPORTANT): Scheduled #12 (#4 of 4 with id='51mvh'): "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-01-10T02:00:19.437Z,1736474419.437 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-01-10T02:00:19.438Z,1736474419.438 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-01-10T02:00:19.455Z,1736474419.455 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-01-10T02:00:19.463Z,1736474419.463 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-01-10T02:00:20.244Z,1736474420.244 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T020022
2025-01-10T02:00:30.352Z,1736474430.352 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>240</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Important">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">
                    Timed out trying to reach the target depth. Stopping mission at current depth of 
                    <Universal:depth />
                    <Units:meter />
                </Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-01-10T02:00:30.384Z,1736474430.384 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2025-01-10T02:00:30.391Z,1736474430.391 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 240.000000 min
2025-01-10T02:00:30.394Z,1736474430.394 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 5.000000 min
2025-01-10T02:00:30.453Z,1736474430.453 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-01-10T02:00:30.503Z,1736474430.503 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-01-10T02:00:30.505Z,1736474430.505 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-01-10T02:00:30.516Z,1736474430.516 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-01-10T02:00:30.523Z,1736474430.523 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-01-10T02:00:30.539Z,1736474430.539 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 2.000000 count
2025-01-10T02:00:30.550Z,1736474430.550 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 5.000000 min
2025-01-10T02:00:30.553Z,1736474430.553 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 5.000000 min
2025-01-10T02:00:30.565Z,1736474430.565 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-01-10T02:00:30.588Z,1736474430.588 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-01-10T02:00:30.607Z,1736474430.607 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.500000 s
2025-01-10T02:00:30.614Z,1736474430.614 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-01-10T02:00:30.617Z,1736474430.617 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-01-10T02:00:30.628Z,1736474430.628 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-01-10T02:00:30.636Z,1736474430.636 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 1.000000 count
2025-01-10T02:00:30.659Z,1736474430.659 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-01-10T02:00:30.670Z,1736474430.670 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-01-10T02:00:30.673Z,1736474430.673 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-01-10T02:00:30.680Z,1736474430.680 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2025-01-10T02:00:30.703Z,1736474430.703 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-01-10T02:00:30.714Z,1736474430.714 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2025-01-10T02:00:30.717Z,1736474430.717 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-01-10T02:00:30.736Z,1736474430.736 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-01-10T02:00:30.748Z,1736474430.748 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-01-10T02:00:30.751Z,1736474430.751 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-01-10T02:00:30.754Z,1736474430.754 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-01-10T02:00:30.773Z,1736474430.773 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-01-10T02:00:30.776Z,1736474430.776 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-01-10T02:00:30.791Z,1736474430.791 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-01-10T02:00:30.799Z,1736474430.799 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-01-10T02:00:30.835Z,1736474430.835 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-01-10T02:00:30.850Z,1736474430.850 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-01-10T02:00:30.870Z,1736474430.870 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-01-10T02:00:30.873Z,1736474430.873 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-01-10T02:00:30.893Z,1736474430.893 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-01-10T02:00:30.908Z,1736474430.908 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-01-10T02:00:30.938Z,1736474430.938 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-01-10T02:00:30.941Z,1736474430.941 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-01-10T02:00:30.952Z,1736474430.952 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-01-10T02:00:30.964Z,1736474430.964 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-01-10T02:00:30.964Z,1736474430.964 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-10T02:00:30.964Z,1736474430.964 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-10T02:00:30.976Z,1736474430.976 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-10T02:00:32.922Z,1736474432.922 [DataOverHttps](INFO): Received command: sched "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool" 51mvu 1 4
2025-01-10T02:00:33.559Z,1736474433.559 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PeakShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-01-10T02:00:33.593Z,1736474433.593 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-01-10T02:00:33.597Z,1736474433.597 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-01-10T02:00:33.600Z,1736474433.600 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-01-10T02:00:33.603Z,1736474433.603 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-01-10T02:00:33.605Z,1736474433.605 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-01-10T02:00:33.608Z,1736474433.608 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-01-10T02:00:33.611Z,1736474433.611 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-01-10T02:00:33.614Z,1736474433.614 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-10T02:00:33.617Z,1736474433.617 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-10T02:00:33.624Z,1736474433.624 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-01-10T02:00:33.627Z,1736474433.627 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-01-10T02:00:33.686Z,1736474433.686 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-01-10T02:00:33.689Z,1736474433.689 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-01-10T02:00:33.704Z,1736474433.704 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-10T02:00:33.768Z,1736474433.768 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-10T02:00:33.772Z,1736474433.772 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-10T02:00:33.791Z,1736474433.791 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-10T02:00:33.793Z,1736474433.793 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-10T02:00:33.802Z,1736474433.802 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-01-10T02:00:33.809Z,1736474433.809 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-01-10T02:00:33.832Z,1736474433.832 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-01-10T02:00:33.836Z,1736474433.836 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-10T02:00:33.854Z,1736474433.854 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-10T02:00:33.857Z,1736474433.857 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 1 bool
2025-01-10T02:00:33.865Z,1736474433.865 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-01-10T02:00:33.883Z,1736474433.883 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-01-10T02:00:33.890Z,1736474433.890 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakShallowBound = nan m
2025-01-10T02:00:33.893Z,1736474433.893 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDeepBound = nan m
2025-01-10T02:00:33.896Z,1736474433.896 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-10T02:00:33.907Z,1736474433.907 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-01-10T02:00:33.914Z,1736474433.914 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-01-10T02:00:33.924Z,1736474433.924 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T020035
2025-01-10T02:00:33.933Z,1736474433.933 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-01-10T02:00:33.937Z,1736474433.937 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-01-10T02:00:33.948Z,1736474433.948 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-01-10T02:00:33.952Z,1736474433.952 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-01-10T02:00:33.963Z,1736474433.963 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-01-10T02:00:33.970Z,1736474433.970 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-01-10T02:00:33.973Z,1736474433.973 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-01-10T02:00:33.981Z,1736474433.981 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-01-10T02:00:33.984Z,1736474433.984 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-01-10T02:00:33.996Z,1736474433.996 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-01-10T02:00:34.000Z,1736474434.000 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-01-10T02:00:34.012Z,1736474434.012 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-01-10T02:00:34.031Z,1736474434.031 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-01-10T02:00:34.039Z,1736474434.039 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-01-10T02:00:34.042Z,1736474434.042 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-01-10T02:00:34.049Z,1736474434.049 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-01-10T02:00:34.088Z,1736474434.088 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-01-10T02:00:34.095Z,1736474434.095 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-01-10T02:00:34.111Z,1736474434.111 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-01-10T02:00:34.114Z,1736474434.114 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-01-10T02:00:34.132Z,1736474434.132 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-01-10T02:00:34.140Z,1736474434.140 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-01-10T02:00:34.151Z,1736474434.151 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-01-10T02:00:34.158Z,1736474434.158 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-01-10T02:00:34.161Z,1736474434.161 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-01-10T02:00:34.169Z,1736474434.169 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-10T02:00:34.183Z,1736474434.183 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-10T02:00:34.190Z,1736474434.190 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-10T02:00:34.193Z,1736474434.193 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-10T02:00:34.200Z,1736474434.200 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-10T02:00:34.208Z,1736474434.208 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-10T02:00:34.217Z,1736474434.217 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-10T02:00:34.225Z,1736474434.225 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-10T02:00:34.228Z,1736474434.228 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-10T02:00:34.240Z,1736474434.240 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-10T02:00:34.243Z,1736474434.243 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-10T02:00:34.247Z,1736474434.247 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-10T02:00:34.262Z,1736474434.262 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-10T02:00:34.265Z,1736474434.265 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-10T02:00:34.273Z,1736474434.273 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-10T02:00:34.292Z,1736474434.292 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-10T02:00:34.307Z,1736474434.307 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-10T02:00:34.314Z,1736474434.314 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-10T02:00:34.317Z,1736474434.317 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-10T02:00:34.324Z,1736474434.324 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-10T02:00:34.328Z,1736474434.328 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-01-10T02:00:34.340Z,1736474434.340 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-01-10T02:00:34.347Z,1736474434.347 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-01-10T02:00:34.355Z,1736474434.355 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-01-10T02:00:34.358Z,1736474434.358 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-01-10T02:00:34.365Z,1736474434.365 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-01-10T02:00:34.372Z,1736474434.372 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-01-10T02:00:34.377Z,1736474434.377 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-01-10T02:00:34.388Z,1736474434.388 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-01-10T02:00:34.395Z,1736474434.395 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-01-10T02:00:34.403Z,1736474434.403 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-01-10T02:00:34.406Z,1736474434.406 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-01-10T02:00:34.420Z,1736474434.420 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-01-10T02:00:34.424Z,1736474434.424 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-01-10T02:00:34.440Z,1736474434.440 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-01-10T02:00:34.443Z,1736474434.443 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-01-10T02:00:34.488Z,1736474434.488 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-01-10T02:00:34.589Z,1736474434.589 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:34.626Z,1736474434.626 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-10T02:00:34.652Z,1736474434.652 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:34.680Z,1736474434.680 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:34.704Z,1736474434.704 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-10T02:00:34.733Z,1736474434.733 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:34.757Z,1736474434.757 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:34.795Z,1736474434.795 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-10T02:00:34.831Z,1736474434.831 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:34.887Z,1736474434.887 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:34.929Z,1736474434.929 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:34.999Z,1736474434.999 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-10T02:00:35.017Z,1736474435.017 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-10T02:00:35.041Z,1736474435.041 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-10T02:00:35.041Z,1736474435.041 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-10T02:00:35.046Z,1736474435.046 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-10T02:00:35.168Z,1736474435.168 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-10T02:00:35.177Z,1736474435.177 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-10T02:00:35.200Z,1736474435.200 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-10T02:00:35.240Z,1736474435.240 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-10T02:00:35.253Z,1736474435.253 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-10T02:00:35.303Z,1736474435.303 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-10T02:00:35.336Z,1736474435.336 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-10T02:00:35.374Z,1736474435.374 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-10T02:00:35.399Z,1736474435.399 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-10T02:00:35.399Z,1736474435.399 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-10T02:00:35.402Z,1736474435.402 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-10T02:00:35.882Z,1736474435.882 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-10T02:00:35.896Z,1736474435.896 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-01-10T02:00:35.899Z,1736474435.899 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-10T02:00:35.911Z,1736474435.911 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-10T02:00:35.914Z,1736474435.914 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-01-10T02:00:35.921Z,1736474435.921 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-10T02:00:35.925Z,1736474435.925 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-10T02:00:35.936Z,1736474435.936 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-01-10T02:00:35.940Z,1736474435.940 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-01-10T02:00:35.959Z,1736474435.959 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-10T02:00:36.012Z,1736474436.012 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-01-10T02:00:36.012Z,1736474436.012 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-01-10T02:00:36.013Z,1736474436.013 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-01-10T02:00:36.135Z,1736474436.135 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-01-10T02:00:36.152Z,1736474436.152 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-01-10T02:00:36.157Z,1736474436.157 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-01-10T02:00:36.175Z,1736474436.175 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-01-10T02:00:36.182Z,1736474436.182 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-01-10T02:00:36.182Z,1736474436.182 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-01-10T02:00:36.185Z,1736474436.185 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-01-10T02:00:38.380Z,1736474438.380 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-01-10T02:00:38.419Z,1736474438.419 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.903300 arcdeg
2025-01-10T02:00:38.426Z,1736474438.426 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.119000 arcdeg
2025-01-10T02:00:38.429Z,1736474438.429 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-01-10T02:00:38.437Z,1736474438.437 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-01-10T02:00:38.445Z,1736474438.445 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-01-10T02:00:38.453Z,1736474438.453 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-01-10T02:00:38.484Z,1736474438.484 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-01-10T02:00:38.492Z,1736474438.492 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-01-10T02:00:38.536Z,1736474438.536 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-01-10T02:00:38.555Z,1736474438.555 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-01-10T02:00:38.586Z,1736474438.586 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-01-10T02:00:38.589Z,1736474438.589 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-01-10T02:00:38.601Z,1736474438.601 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-01-10T02:00:38.609Z,1736474438.609 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-01-10T02:00:38.620Z,1736474438.620 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-01-10T02:00:38.631Z,1736474438.631 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-01-10T02:00:38.642Z,1736474438.642 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-01-10T02:00:38.646Z,1736474438.646 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-01-10T02:00:38.657Z,1736474438.657 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-01-10T02:00:38.668Z,1736474438.668 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-01-10T02:00:38.687Z,1736474438.687 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-01-10T02:00:38.707Z,1736474438.707 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-01-10T02:00:38.718Z,1736474438.718 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-01-10T02:00:38.722Z,1736474438.722 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-01-10T02:00:38.745Z,1736474438.745 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-01-10T02:00:38.779Z,1736474438.779 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-01-10T02:00:38.787Z,1736474438.787 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-01-10T02:00:38.798Z,1736474438.798 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-01-10T02:00:38.803Z,1736474438.803 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-01-10T02:00:38.811Z,1736474438.811 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-01-10T02:00:38.822Z,1736474438.822 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-01-10T02:00:38.825Z,1736474438.825 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-01-10T02:00:38.847Z,1736474438.847 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-10T02:00:38.847Z,1736474438.847 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-10T02:00:38.848Z,1736474438.848 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-10T02:00:39.103Z,1736474439.103 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-10T02:00:39.116Z,1736474439.116 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-10T02:00:39.128Z,1736474439.128 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-10T02:00:39.135Z,1736474439.135 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-10T02:00:39.151Z,1736474439.151 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-10T02:00:39.152Z,1736474439.152 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-10T02:00:39.204Z,1736474439.204 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-10T02:00:39.283Z,1736474439.283 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-10T02:00:39.392Z,1736474439.392 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-01-10T02:00:39.435Z,1736474439.435 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-10T02:00:39.454Z,1736474439.454 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-01-10T02:00:39.454Z,1736474439.454 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-01-10T02:00:39.556Z,1736474439.556 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-01-10T02:00:39.567Z,1736474439.567 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-01-10T02:00:39.581Z,1736474439.581 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-01-10T02:00:39.637Z,1736474439.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-01-10T02:00:39.660Z,1736474439.660 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-01-10T02:00:39.723Z,1736474439.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-01-10T02:00:39.763Z,1736474439.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-01-10T02:00:39.797Z,1736474439.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-01-10T02:00:39.963Z,1736474439.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-01-10T02:00:39.964Z,1736474439.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-01-10T02:00:39.976Z,1736474439.976 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-01-10T02:00:40.338Z,1736474440.338 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-01-10T02:00:40.350Z,1736474440.350 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-01-10T02:00:40.353Z,1736474440.353 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-01-10T02:00:40.360Z,1736474440.360 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-01-10T02:00:40.372Z,1736474440.372 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-01-10T02:00:40.401Z,1736474440.401 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-10T02:00:40.463Z,1736474440.463 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-01-10T02:00:40.463Z,1736474440.463 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-01-10T02:00:40.464Z,1736474440.464 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-01-10T02:00:40.775Z,1736474440.775 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-01-10T02:00:40.784Z,1736474440.784 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.903300 arcdeg
2025-01-10T02:00:40.800Z,1736474440.800 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.119000 arcdeg
2025-01-10T02:00:40.809Z,1736474440.809 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-01-10T02:00:40.825Z,1736474440.825 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-01-10T02:00:40.859Z,1736474440.859 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-01-10T02:00:40.881Z,1736474440.881 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-01-10T02:00:40.881Z,1736474440.881 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-01-10T02:00:41.008Z,1736474441.008 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-01-10T02:00:41.008Z,1736474441.008 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-01-10T02:00:41.072Z,1736474441.072 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-01-10T02:00:41.094Z,1736474441.094 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-01-10T02:00:41.097Z,1736474441.097 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-01-10T02:00:41.144Z,1736474441.144 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-10T02:00:41.152Z,1736474441.152 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-01-10T02:00:41.194Z,1736474441.194 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-01-10T02:00:41.260Z,1736474441.260 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-01-10T02:00:41.268Z,1736474441.268 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-01-10T02:00:41.555Z,1736474441.555 [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.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # 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

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # 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:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    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
        }
      }
    }
  }
}


2025-01-10T02:00:41.556Z,1736474441.556 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-01-10T02:00:47.038Z,1736474447.038 [DataOverHttps](INFO): Received command: sched "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" 51mvu 2 4
2025-01-10T02:00:48.040Z,1736474448.040 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T020049
2025-01-10T02:00:59.358Z,1736474459.358 [DataOverHttps](INFO): Received command: sched "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min" 51mvu 3 4
2025-01-10T02:01:00.360Z,1736474460.360 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T020102
2025-01-10T02:01:01.699Z,1736474461.699 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour
2025-01-10T02:01:01.700Z,1736474461.700 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 9 hour
2025-01-10T02:01:01.700Z,1736474461.700 [CommandExec](IMPORTANT): got command set lineCaptureHoming.Repeat 10 count
2025-01-10T02:01:01.701Z,1736474461.701 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 8 minute
2025-01-10T02:01:01.716Z,1736474461.716 [CommandExec](IMPORTANT): got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool" 51mvu 1 4.000000
2025-01-10T02:01:01.717Z,1736474461.717 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=51mvu
2025-01-10T02:01:01.718Z,1736474461.718 [CommandExec](IMPORTANT): Scheduled #13 (#1 of 4 with id='51mvu'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 8 min;set lineCaptureHoming.StayOnDock 1 bool", AFTER MISSION
2025-01-10T02:01:01.719Z,1736474461.719 [CommandExec](FAULT): Scheduling was paused by an error at 2025-01-09T22:50:41Z
2025-01-10T02:01:01.746Z,1736474461.746 [CommandExec](IMPORTANT): got command schedule "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" 51mvu 2 4.000000
2025-01-10T02:01:01.747Z,1736474461.747 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=51mvu
2025-01-10T02:01:01.748Z,1736474461.748 [CommandExec](IMPORTANT): Scheduled #14 (#2 of 4 with id='51mvu'): "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", AFTER MISSION
2025-01-10T02:01:01.748Z,1736474461.748 [CommandExec](FAULT): Scheduling was paused by an error at 2025-01-09T22:50:41Z
2025-01-10T02:01:01.785Z,1736474461.785 [CommandExec](IMPORTANT): got command schedule "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min" 51mvu 3 4.000000
2025-01-10T02:01:01.785Z,1736474461.785 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=51mvu
2025-01-10T02:01:01.791Z,1736474461.791 [CommandExec](IMPORTANT): Scheduled #15 (#3 of 4 with id='51mvu'): "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min", AFTER MISSION
2025-01-10T02:01:01.792Z,1736474461.792 [CommandExec](FAULT): Scheduling was paused by an error at 2025-01-09T22:50:41Z
2025-01-10T02:01:11.630Z,1736474471.630 [DataOverHttps](INFO): Received command: sched "set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run" 51mvu 4 4
2025-01-10T02:01:12.632Z,1736474472.632 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T020114
2025-01-10T02:01:23.802Z,1736474483.802 [DataOverHttps](INFO): Received command: sched "load Engineering/OnDock.tl;set OnDock.DockedTime 8 h;run"
2025-01-10T02:01:24.803Z,1736474484.803 [DataOverHttps](IMPORTANT): SBD MTMSN=20250110T020126
2025-01-10T02:01:26.312Z,1736474486.312 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2025-01-10T02:01:26.313Z,1736474486.313 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RetryIncompleteDock 1 bool
2025-01-10T02:01:26.313Z,1736474486.313 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 4 count
2025-01-10T02:01:26.314Z,1736474486.314 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 1.5 minute
2025-01-10T02:01:26.315Z,1736474486.315 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1.5 minute
2025-01-10T02:01:26.325Z,1736474486.325 [CommandExec](IMPORTANT): got command schedule "set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run" 51mvu 4 4.000000
2025-01-10T02:01:26.326Z,1736474486.326 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=51mvu
2025-01-10T02:01:26.327Z,1736474486.327 [CommandExec](IMPORTANT): Scheduled #16 (#4 of 4 with id='51mvu'): "set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 72 m;run", AFTER MISSION
2025-01-10T02:01:26.328Z,1736474486.328 [CommandExec](FAULT): Scheduling was paused by an error at 2025-01-09T22:50:41Z
2025-01-10T02:01:26.335Z,1736474486.335 [CommandExec](IMPORTANT): got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 8 h;run"
2025-01-10T02:01:26.335Z,1736474486.335 [CommandExec](IMPORTANT): Scheduled #17: "load Engineering/OnDock.tl;set OnDock.DockedTime 8 h;run", AFTER MISSION
2025-01-10T02:01:26.336Z,1736474486.336 [CommandExec](FAULT): Scheduling was paused by an error at 2025-01-09T22:50:41Z
2025-01-10T02:01:36.166Z,1736474496.166 [DataOverHttps](INFO): Received command: schedule resume
2025-01-10T02:01:38.171Z,1736474498.171 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T02:01:47.813Z,1736474507.813 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second
2025-01-10T02:01:47.820Z,1736474507.820 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 120 count
2025-01-10T02:01:47.821Z,1736474507.821 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RangeUSBL 40 meter
2025-01-10T02:01:47.822Z,1736474507.822 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.05 meter
2025-01-10T02:01:47.825Z,1736474507.825 [CommandExec](IMPORTANT): got command schedule resume
2025-01-10T02:01:47.825Z,1736474507.825 [CommandExec](IMPORTANT): Scheduling is resumed
2025-01-10T02:01:50.478Z,1736474510.478 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T02:02:02.738Z,1736474522.738 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T02:02:12.443Z,1736474532.443 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute
2025-01-10T02:02:12.444Z,1736474532.444 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 70 meter
2025-01-10T02:02:12.445Z,1736474532.445 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter
2025-01-10T02:02:12.445Z,1736474532.445 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 72 meter
2025-01-10T02:02:12.446Z,1736474532.446 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-01-10T02:02:12.447Z,1736474532.447 [CommandExec](IMPORTANT): got command run
2025-01-10T02:02:12.452Z,1736474532.452 [CommandExec](IMPORTANT): Running 
2025-01-10T02:02:12.670Z,1736474532.670 [DefaultWithUndock] Stopped
2025-01-10T02:02:12.670Z,1736474532.670 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-01-10T02:02:12.670Z,1736474532.670 [DefaultWithUndock:SurfaceDefault] Stopped
2025-01-10T02:02:12.670Z,1736474532.670 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-01-10T02:02:12.670Z,1736474532.670 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-01-10T02:02:12.670Z,1736474532.670 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-10T02:02:12.670Z,1736474532.670 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-01-10T02:02:12.670Z,1736474532.670 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-01-10T02:02:12.671Z,1736474532.671 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-01-10T02:02:12.671Z,1736474532.671 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-10T02:02:12.671Z,1736474532.671 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-01-10T02:02:12.671Z,1736474532.671 [lineCaptureHoming] Running Loop=1
2025-01-10T02:02:12.671Z,1736474532.671 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-01-10T02:02:12.671Z,1736474532.671 [lineCaptureHoming:Science] Running Loop=1
2025-01-10T02:02:12.671Z,1736474532.671 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-01-10T02:02:12.671Z,1736474532.671 [lineCaptureHoming:Science:A] Running Loop=1
2025-01-10T02:02:12.671Z,1736474532.671 [lineCaptureHoming:Science:B] Running Loop=1
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:C] Running Loop=1
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:D] Running Loop=1
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:E] Running Loop=1
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:F] Running Loop=1
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.672Z,1736474532.672 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.675Z,1736474532.675 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-01-10T02:02:12.675Z,1736474532.675 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-01-10T02:02:12.675Z,1736474532.675 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-10T02:02:12.675Z,1736474532.675 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-10T02:02:12.676Z,1736474532.676 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-01-10T02:02:12.676Z,1736474532.676 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-01-10T02:02:12.676Z,1736474532.676 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.676Z,1736474532.676 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.680Z,1736474532.680 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-01-10T02:02:12.680Z,1736474532.680 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-01-10T02:02:12.680Z,1736474532.680 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.680Z,1736474532.680 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.683Z,1736474532.683 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-01-10T02:02:12.683Z,1736474532.683 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-01-10T02:02:12.684Z,1736474532.684 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-10T02:02:12.684Z,1736474532.684 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-10T02:02:12.684Z,1736474532.684 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-01-10T02:02:12.684Z,1736474532.684 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-01-10T02:02:12.684Z,1736474532.684 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.685Z,1736474532.685 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.687Z,1736474532.687 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-01-10T02:02:12.687Z,1736474532.687 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-01-10T02:02:12.687Z,1736474532.687 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.687Z,1736474532.687 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.689Z,1736474532.689 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-01-10T02:02:12.689Z,1736474532.689 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-01-10T02:02:12.689Z,1736474532.689 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-10T02:02:12.689Z,1736474532.689 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-10T02:02:12.689Z,1736474532.689 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-10T02:02:12.690Z,1736474532.690 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-01-10T02:02:12.690Z,1736474532.690 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.690Z,1736474532.690 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.690Z,1736474532.690 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-10T02:02:12.692Z,1736474532.692 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-10T02:02:12.692Z,1736474532.692 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-01-10T02:02:12.692Z,1736474532.692 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.692Z,1736474532.692 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.692Z,1736474532.692 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-10T02:02:12.693Z,1736474532.693 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-10T02:02:12.693Z,1736474532.693 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-01-10T02:02:12.694Z,1736474532.694 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.694Z,1736474532.694 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.694Z,1736474532.694 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-10T02:02:12.697Z,1736474532.697 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-10T02:02:12.698Z,1736474532.698 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-10T02:02:12.699Z,1736474532.699 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-10T02:02:12.699Z,1736474532.699 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-10T02:02:12.701Z,1736474532.701 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-10T02:02:12.702Z,1736474532.702 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-01-10T02:02:12.702Z,1736474532.702 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-01-10T02:02:12.702Z,1736474532.702 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-10T02:02:12.703Z,1736474532.703 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-10T02:02:12.703Z,1736474532.703 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-01-10T02:02:12.703Z,1736474532.703 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-01-10T02:02:12.703Z,1736474532.703 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-01-10T02:02:12.703Z,1736474532.703 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-10T02:02:12.703Z,1736474532.703 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-01-10T02:02:12.703Z,1736474532.703 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-10T02:02:12.704Z,1736474532.704 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:J] Running Loop=1
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-01-10T02:02:12.705Z,1736474532.705 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-10T02:02:12.706Z,1736474532.706 [lineCaptureHoming:C] Running Loop=1
2025-01-10T02:02:12.723Z,1736474532.723 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-01-10T02:02:12.724Z,1736474532.724 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-10T02:02:12.724Z,1736474532.724 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-01-10T02:02:12.724Z,1736474532.724 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-10T02:02:12.724Z,1736474532.724 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-01-10T02:02:12.724Z,1736474532.724 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-01-10T02:02:12.724Z,1736474532.724 [lineCaptureHoming:J] Stopped
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:MicromodemComms] Stopped
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:C] Stopped
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:D] Running Loop=1
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-01-10T02:02:12.725Z,1736474532.725 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-10T02:02:12.726Z,1736474532.726 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-10T02:02:12.730Z,1736474532.730 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-10T02:02:12.731Z,1736474532.731 [lineCaptureHoming:Science] Running Loop=1
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-10T02:02:12.732Z,1736474532.732 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-01-10T02:02:12.733Z,1736474532.733 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-10T02:02:12.734Z,1736474532.734 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-10T02:02:12.734Z,1736474532.734 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-01-10T02:02:12.738Z,1736474532.738 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-01-10T02:02:12.738Z,1736474532.738 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.738Z,1736474532.738 [lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.738Z,1736474532.738 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-01-10T02:02:12.738Z,1736474532.738 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-01-10T02:02:12.738Z,1736474532.738 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.738Z,1736474532.738 [lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.738Z,1736474532.738 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-01-10T02:02:12.739Z,1736474532.739 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-01-10T02:02:12.740Z,1736474532.740 [lineCaptureHoming:Science:F] Running Loop=1
2025-01-10T02:02:12.741Z,1736474532.741 [lineCaptureHoming:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence
2025-01-10T02:02:12.741Z,1736474532.741 [lineCaptureHoming:Science:E] Running Loop=1
2025-01-10T02:02:12.743Z,1736474532.743 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-01-10T02:02:12.743Z,1736474532.743 [lineCaptureHoming:Science:D] Stopped
2025-01-10T02:02:12.743Z,1736474532.743 [lineCaptureHoming:Science:C] Running Loop=1
2025-01-10T02:02:12.744Z,1736474532.744 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-01-10T02:02:12.745Z,1736474532.745 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-01-10T02:02:12.745Z,1736474532.745 [lineCaptureHoming:Science:B] Running Loop=1
2025-01-10T02:02:12.745Z,1736474532.745 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-01-10T02:02:12.754Z,1736474532.754 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-01-10T02:02:12.754Z,1736474532.754 [lineCaptureHoming:Science:A] Stopped
2025-01-10T02:02:13.077Z,1736474533.077 [lineCaptureHoming:D] Stopped
2025-01-10T02:02:13.077Z,1736474533.077 [lineCaptureHoming:E] Running Loop=1
2025-01-10T02:02:13.126Z,1736474533.126 [WetLabsBB2FL](INFO): Powering up
2025-01-10T02:02:13.213Z,1736474533.213 [WetLabsUBAT](INFO): Powering up
2025-01-10T02:02:13.492Z,1736474533.492 [lineCaptureHoming:E] Stopped
2025-01-10T02:02:13.492Z,1736474533.492 [lineCaptureHoming:G] Running Loop=1
2025-01-10T02:02:13.902Z,1736474533.902 [lineCaptureHoming:G] Stopped
2025-01-10T02:02:13.902Z,1736474533.902 [lineCaptureHoming:H] Running Loop=1
2025-01-10T02:02:14.285Z,1736474534.285 [lineCaptureHoming:H] Stopped
2025-01-10T02:02:14.285Z,1736474534.285 [lineCaptureHoming:L] Running Loop=1
2025-01-10T02:02:14.688Z,1736474534.688 [lineCaptureHoming:L] Stopped
2025-01-10T02:02:14.688Z,1736474534.688 [lineCaptureHoming:M] Running Loop=1
2025-01-10T02:02:14.942Z,1736474534.942 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-10T02:02:15.107Z,1736474535.107 [lineCaptureHoming:M] Stopped
2025-01-10T02:02:15.107Z,1736474535.107 [lineCaptureHoming:N] Running Loop=1
2025-01-10T02:02:15.538Z,1736474535.538 [lineCaptureHoming:N] Stopped
2025-01-10T02:02:15.538Z,1736474535.538 [lineCaptureHoming:O] Running Loop=1
2025-01-10T02:02:15.899Z,1736474535.899 [lineCaptureHoming:O] Stopped
2025-01-10T02:02:15.899Z,1736474535.899 [lineCaptureHoming:P] Running Loop=1
2025-01-10T02:02:16.204Z,1736474536.204 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-01-10T02:02:16.310Z,1736474536.310 [lineCaptureHoming:P] Stopped
2025-01-10T02:02:16.310Z,1736474536.310 [lineCaptureHoming:Q] Running Loop=1
2025-01-10T02:02:16.731Z,1736474536.731 [lineCaptureHoming:Q] Stopped
2025-01-10T02:02:16.731Z,1736474536.731 [lineCaptureHoming:U] Running Loop=1
2025-01-10T02:02:17.265Z,1736474537.265 [lineCaptureHoming:U] Stopped
2025-01-10T02:02:17.265Z,1736474537.265 [lineCaptureHoming:StartingMission] Running Loop=1
2025-01-10T02:02:17.266Z,1736474537.266 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-01-10T02:02:17.667Z,1736474537.667 [lineCaptureHoming:NeedComms] Running Loop=1
2025-01-10T02:02:17.667Z,1736474537.667 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-01-10T02:02:17.667Z,1736474537.667 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-01-10T02:02:17.667Z,1736474537.667 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-10T02:02:17.667Z,1736474537.667 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-10T02:02:17.668Z,1736474537.668 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-10T02:02:17.668Z,1736474537.668 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-10T02:02:17.668Z,1736474537.668 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-10T02:02:17.669Z,1736474537.669 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-10T02:02:17.669Z,1736474537.669 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-10T02:02:17.669Z,1736474537.669 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-01-10T02:02:17.687Z,1736474537.687 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1736474024.000000 second since 1970/01/01T00:00:00Z 
2025-01-10T02:02:17.687Z,1736474537.687 [lineCaptureHoming:NeedComms:A] Stopped
2025-01-10T02:02:17.983Z,1736474537.983 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-01-10T02:02:18.365Z,1736474538.365 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-10T02:02:20.064Z,1736474540.064 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020222.00,A,3653.23225,N,12205.44220,W,0.214,91.53,100125,,,D*44
2025-01-10T02:02:20.071Z,1736474540.071 [NAL9602](INFO): GPS fix at 20250110T020222: (36.887204, -122.090703)
2025-01-10T02:02:20.158Z,1736474540.158 [lineCaptureHoming:NeedComms:C] Stopped
2025-01-10T02:02:20.158Z,1736474540.158 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-01-10T02:02:20.500Z,1736474540.500 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-10T02:02:23.384Z,1736474543.384 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s.
2025-01-10T02:02:28.466Z,1736474548.466 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-10T02:02:29.832Z,1736474549.832 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250109T233911/Courier0036.lzma
2025-01-10T02:02:30.840Z,1736474550.840 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0036.lzma.bak
2025-01-10T02:02:30.840Z,1736474550.840 [DataOverHttps](INFO): SBD MOMSN=23891878
2025-01-10T02:02:51.930Z,1736474571.930 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250109T233911/Courier0039.lzma
2025-01-10T02:02:52.932Z,1736474572.932 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Courier0039.lzma.bak
2025-01-10T02:02:52.932Z,1736474572.932 [DataOverHttps](INFO): SBD MOMSN=23891881
2025-01-10T02:02:55.598Z,1736474575.598 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-10T02:02:55.598Z,1736474575.598 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-10T02:02:55.599Z,1736474575.599 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-10T02:02:55.599Z,1736474575.599 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-10T02:02:55.599Z,1736474575.599 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-10T02:02:55.599Z,1736474575.599 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-10T02:02:55.600Z,1736474575.600 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-10T02:02:55.963Z,1736474575.963 [lineCaptureHoming:MicromodemComms] Stopped
2025-01-10T02:02:55.963Z,1736474575.963 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-01-10T02:02:55.963Z,1736474575.963 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-10T02:02:55.963Z,1736474575.963 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-10T02:02:55.963Z,1736474575.963 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-10T02:03:12.928Z,1736474592.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-10T02:03:13.043Z,1736474593.043 [DAT](DEBUG): Acoustic response timeout
2025-01-10T02:03:13.043Z,1736474593.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-10T02:03:13.295Z,1736474593.295 [DAT](INFO): DAT read: user:15>

2025-01-10T02:03:13.296Z,1736474593.296 [DAT](INFO): DAT read: Tx time:02:03:12.4530

2025-01-10T02:03:13.296Z,1736474593.296 [DAT](INFO): Ping request sent.
2025-01-10T02:03:13.296Z,1736474593.296 [DAT](INFO): transmitted an acoustic signal
2025-01-10T02:03:13.296Z,1736474593.296 [DAT](INFO): publishing transmit ping time
2025-01-10T02:03:13.297Z,1736474593.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-01-10T02:03:13.547Z,1736474593.547 [DAT](INFO): DAT read: TxSync time:02:03:12.4523

2025-01-10T02:03:13.548Z,1736474593.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251880
2025-01-10T02:03:13.779Z,1736474593.779 [NAL9602](INFO): SBD MO Status=1, MOMSN=46990, MT Status=0, MTMSN=0
2025-01-10T02:03:13.779Z,1736474593.779 [NAL9602](INFO): No messages in MT queue
2025-01-10T02:03:13.799Z,1736474593.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502727
2025-01-10T02:03:14.051Z,1736474594.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754812
2025-01-10T02:03:14.303Z,1736474594.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863
2025-01-10T02:03:14.555Z,1736474594.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259039
2025-01-10T02:03:14.807Z,1736474594.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511068
2025-01-10T02:03:14.845Z,1736474594.845 [DataOverHttps](INFO): Sending 1257 bytes from file Logs/20250109T233911/Express0037.lzma
2025-01-10T02:03:15.059Z,1736474595.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763404
2025-01-10T02:03:15.311Z,1736474595.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014731
2025-01-10T02:03:15.563Z,1736474595.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267063
2025-01-10T02:03:15.815Z,1736474595.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519146
2025-01-10T02:03:16.067Z,1736474596.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770764
2025-01-10T02:03:16.319Z,1736474596.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023217
2025-01-10T02:03:16.531Z,1736474596.531 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0037.lzma.bak
2025-01-10T02:03:16.531Z,1736474596.531 [DataOverHttps](INFO): SBD MOMSN=23891883
2025-01-10T02:03:16.571Z,1736474596.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274941
2025-01-10T02:03:16.824Z,1736474596.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527244
2025-01-10T02:03:17.076Z,1736474597.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779460
2025-01-10T02:03:17.327Z,1736474597.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030984
2025-01-10T02:03:17.579Z,1736474597.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282976
2025-01-10T02:03:17.832Z,1736474597.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535802
2025-01-10T02:03:18.083Z,1736474598.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787002
2025-01-10T02:03:18.335Z,1736474598.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038981
2025-01-10T02:03:18.587Z,1736474598.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290973
2025-01-10T02:03:18.839Z,1736474598.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543056
2025-01-10T02:03:19.092Z,1736474599.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795784
2025-01-10T02:03:19.344Z,1736474599.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047424
2025-01-10T02:03:19.595Z,1736474599.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299066
2025-01-10T02:03:19.847Z,1736474599.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550855
2025-01-10T02:03:20.099Z,1736474600.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803242
2025-01-10T02:03:20.351Z,1736474600.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055028
2025-01-10T02:03:20.603Z,1736474600.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306949
2025-01-10T02:03:20.855Z,1736474600.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559363
2025-01-10T02:03:21.108Z,1736474601.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811415
2025-01-10T02:03:21.359Z,1736474601.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062898
2025-01-10T02:03:21.611Z,1736474601.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314882
2025-01-10T02:03:21.864Z,1736474601.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567494
2025-01-10T02:03:22.115Z,1736474602.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818840
2025-01-10T02:03:22.367Z,1736474602.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070827
2025-01-10T02:03:22.619Z,1736474602.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322999
2025-01-10T02:03:22.872Z,1736474602.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575240
2025-01-10T02:03:23.124Z,1736474603.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827234
2025-01-10T02:03:23.375Z,1736474603.375 [DAT](INFO): Reached modem response timeout
2025-01-10T02:03:24.131Z,1736474604.131 [DAT](INFO): DAT read: Response Not Received

2025-01-10T02:03:24.131Z,1736474604.131 [DAT](INFO): response not received
2025-01-10T02:03:24.132Z,1736474604.132 [DAT](ERROR): No response from remote modem.
2025-01-10T02:03:37.942Z,1736474617.942 [DataOverHttps](INFO): Sending 288 bytes from file Logs/20250109T233911/Express0040.lzma
2025-01-10T02:03:38.940Z,1736474618.940 [DataOverHttps](INFO): Moved sent file to Logs/20250109T233911/Express0040.lzma.bak
2025-01-10T02:03:38.941Z,1736474618.941 [DataOverHttps](INFO): SBD MOMSN=23891951
2025-01-10T02:03:43.654Z,1736474623.654 [lineCaptureHoming:NeedComms:D] Stopped
2025-01-10T02:03:43.655Z,1736474623.655 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-01-10T02:03:44.042Z,1736474624.042 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-10T02:03:45.633Z,1736474625.633 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020347.00,A,3653.23261,N,12205.43150,W,0.641,92.36,100125,,,D*41
2025-01-10T02:03:45.651Z,1736474625.651 [NAL9602](INFO): GPS fix at 20250110T020347: (36.887210, -122.090525)
2025-01-10T02:03:45.677Z,1736474625.677 [lineCaptureHoming:NeedComms:E] Stopped
2025-01-10T02:03:45.682Z,1736474625.682 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-01-10T02:03:45.682Z,1736474625.682 [lineCaptureHoming:NeedComms] Stopped
2025-01-10T02:03:45.682Z,1736474625.682 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-01-10T02:03:45.682Z,1736474625.682 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-01-10T02:03:45.682Z,1736474625.682 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-10T02:03:46.081Z,1736474626.081 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-01-10T02:03:46.081Z,1736474626.081 [lineCaptureHoming:StartingMission] Stopped
2025-01-10T02:03:46.081Z,1736474626.081 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-01-10T02:03:46.081Z,1736474626.081 [lineCaptureHoming:Z] Running Loop=1
2025-01-10T02:03:46.463Z,1736474626.463 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-01-10T02:03:46.463Z,1736474626.463 [lineCaptureHoming:Z] Stopped
2025-01-10T02:03:46.463Z,1736474626.463 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-01-10T02:03:46.893Z,1736474626.893 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-01-10T02:03:46.893Z,1736474626.893 [lineCaptureHoming:BA.Execute] Stopped
2025-01-10T02:03:46.893Z,1736474626.893 [lineCaptureHoming:InitialDive] Running Loop=1
2025-01-10T02:03:46.893Z,1736474626.893 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive