2025-12-11T05:17:51.142Z,1765430271.142 [Supervisor](DEBUG): Initializing supervisor.
2025-12-11T05:17:51.146Z,1765430271.146 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-12-11T05:17:51.147Z,1765430271.147 [SyncHandler](INFO): Protected caller Thread ID is 840
2025-12-11T05:17:51.147Z,1765430271.147 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-12-11T05:17:51.148Z,1765430271.148 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-12-11T05:17:51.148Z,1765430271.148 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 841
2025-12-11T05:17:51.152Z,1765430271.152 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-12-11T05:17:51.172Z,1765430271.172 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-12-11T05:17:51.173Z,1765430271.173 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-12-11T05:17:51.174Z,1765430271.174 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 842
2025-12-11T05:17:51.178Z,1765430271.178 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-12-11T05:17:51.179Z,1765430271.179 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-12-11T05:17:51.179Z,1765430271.179 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 843
2025-12-11T05:17:51.181Z,1765430271.181 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-12-11T05:17:51.182Z,1765430271.182 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-12-11T05:17:51.183Z,1765430271.183 [logger ThreadHandler](INFO): Protected caller Thread ID is 844
2025-12-11T05:17:51.186Z,1765430271.186 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-12-11T05:17:51.187Z,1765430271.187 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-12-11T05:17:51.191Z,1765430271.191 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-12-11T05:17:51.295Z,1765430271.295 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-12-11T05:17:51.297Z,1765430271.297 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-12-11T05:17:52.011Z,1765430272.011 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-12-11T05:17:52.013Z,1765430272.013 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-12-11T05:17:52.256Z,1765430272.256 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-12-11T05:17:52.258Z,1765430272.258 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-12-11T05:17:52.347Z,1765430272.347 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-12-11T05:17:52.487Z,1765430272.487 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-12-11T05:17:52.488Z,1765430272.488 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-12-11T05:17:52.587Z,1765430272.587 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-12-11T05:17:52.588Z,1765430272.588 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-12-11T05:17:52.704Z,1765430272.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-12-11T05:17:52.705Z,1765430272.705 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-12-11T05:17:53.095Z,1765430273.095 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-12-11T05:17:53.096Z,1765430273.096 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-12-11T05:17:53.649Z,1765430273.649 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-12-11T05:17:53.651Z,1765430273.651 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-12-11T05:17:53.871Z,1765430273.871 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-12-11T05:17:53.872Z,1765430273.872 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-12-11T05:17:54.063Z,1765430274.063 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-12-11T05:17:54.064Z,1765430274.064 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-12-11T05:17:54.710Z,1765430274.710 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-12-11T05:17:55.104Z,1765430275.104 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-12-11T05:17:55.567Z,1765430275.567 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-12-11T05:17:55.569Z,1765430275.569 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-12-11T05:17:55.811Z,1765430275.811 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-12-11T05:17:55.811Z,1765430275.811 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-12-11T05:17:56.198Z,1765430276.198 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-12-11T05:17:56.200Z,1765430276.200 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-12-11T05:17:56.557Z,1765430276.557 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-12-11T05:17:56.559Z,1765430276.559 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2025-12-11T05:17:56.561Z,1765430276.561 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2025-12-11T05:17:56.657Z,1765430276.657 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2025-12-11T05:17:56.829Z,1765430276.829 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Dock.cfg
2025-12-11T05:17:56.941Z,1765430276.941 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg
2025-12-11T05:17:57.044Z,1765430277.044 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2025-12-11T05:17:57.158Z,1765430277.158 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2025-12-11T05:17:57.253Z,1765430277.253 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2025-12-11T05:17:57.355Z,1765430277.355 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2025-12-11T05:17:57.474Z,1765430277.474 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2025-12-11T05:17:57.745Z,1765430277.745 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-12-11T05:17:57.746Z,1765430277.746 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2025-12-11T05:17:57.838Z,1765430277.838 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2025-12-11T05:17:57.939Z,1765430277.939 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2025-12-11T05:17:58.085Z,1765430278.085 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2025-12-11T05:17:58.189Z,1765430278.189 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-12-11T05:17:58.207Z,1765430278.207 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-12-11T05:17:58.373Z,1765430278.373 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-12-11T05:17:58.374Z,1765430278.374 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-12-11T05:17:58.446Z,1765430278.446 [VerticalControl](DEBUG): Construct VerticalControl.
2025-12-11T05:17:58.506Z,1765430278.506 [VerticalControl] Loaded
2025-12-11T05:17:58.506Z,1765430278.506 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-12-11T05:17:58.509Z,1765430278.509 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-12-11T05:17:58.556Z,1765430278.556 [HorizontalControl] Loaded
2025-12-11T05:17:58.556Z,1765430278.556 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-12-11T05:17:58.559Z,1765430278.559 [SpeedControl](DEBUG): Construct SpeedControl.
2025-12-11T05:17:58.562Z,1765430278.562 [SpeedControl] Loaded
2025-12-11T05:17:58.562Z,1765430278.562 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-12-11T05:17:58.565Z,1765430278.565 [LoopControl](DEBUG): Construct LoopControl.
2025-12-11T05:17:58.565Z,1765430278.565 [LoopControl] Loaded
2025-12-11T05:17:58.565Z,1765430278.565 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-12-11T05:17:58.566Z,1765430278.566 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-12-11T05:17:58.567Z,1765430278.567 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-12-11T05:17:58.637Z,1765430278.637 [DepthRateCalculator] Loaded
2025-12-11T05:17:58.637Z,1765430278.637 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-12-11T05:17:58.642Z,1765430278.642 [PitchRateCalculator] Loaded
2025-12-11T05:17:58.643Z,1765430278.643 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-12-11T05:17:58.653Z,1765430278.653 [SpeedCalculator] Loaded
2025-12-11T05:17:58.653Z,1765430278.653 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-12-11T05:17:58.657Z,1765430278.657 [YawRateCalculator] Loaded
2025-12-11T05:17:58.658Z,1765430278.658 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-12-11T05:17:58.676Z,1765430278.676 [ElevatorOffsetCalculator] Loaded
2025-12-11T05:17:58.677Z,1765430278.677 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-12-11T05:17:58.677Z,1765430278.677 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-12-11T05:17:58.678Z,1765430278.678 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-12-11T05:17:58.726Z,1765430278.726 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-12-11T05:17:58.727Z,1765430278.727 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-12-11T05:17:58.814Z,1765430278.814 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-12-11T05:17:58.815Z,1765430278.815 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-12-11T05:17:59.220Z,1765430279.220 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-12-11T05:17:59.221Z,1765430279.221 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-12-11T05:17:59.437Z,1765430279.437 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-12-11T05:17:59.437Z,1765430279.437 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-12-11T05:18:01.234Z,1765430281.234 [AHRS_M2] Loaded
2025-12-11T05:18:01.234Z,1765430281.234 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-12-11T05:18:01.487Z,1765430281.487 [BackseatComponent] Loaded
2025-12-11T05:18:01.487Z,1765430281.487 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-12-11T05:18:01.489Z,1765430281.489 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409EA4E0
2025-12-11T05:18:01.489Z,1765430281.489 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 932
2025-12-11T05:18:01.492Z,1765430281.492 [LcmPublisher](INFO): Full slate access is ENABLED. All requested slate values (including non-universals) will be published on LCM.
2025-12-11T05:18:01.492Z,1765430281.492 [LcmPublisher] Loaded
2025-12-11T05:18:01.493Z,1765430281.493 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2025-12-11T05:18:02.308Z,1765430282.308 [BPC1] Loaded
2025-12-11T05:18:02.309Z,1765430282.309 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-12-11T05:18:02.448Z,1765430282.448 [DAT] Loaded
2025-12-11T05:18:02.448Z,1765430282.448 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-12-11T05:18:02.450Z,1765430282.450 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A1A4E0
2025-12-11T05:18:02.450Z,1765430282.450 [DAT ThreadHandler](INFO): Protected caller Thread ID is 934
2025-12-11T05:18:02.589Z,1765430282.589 [DataOverHttps] Loaded
2025-12-11T05:18:02.589Z,1765430282.589 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-12-11T05:18:02.590Z,1765430282.590 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A4A4E0
2025-12-11T05:18:02.591Z,1765430282.591 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 935
2025-12-11T05:18:02.614Z,1765430282.614 [Depth_Keller] Loaded
2025-12-11T05:18:02.614Z,1765430282.614 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-12-11T05:18:02.619Z,1765430282.619 [DropWeight] Loaded
2025-12-11T05:18:02.619Z,1765430282.619 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-12-11T05:18:02.683Z,1765430282.683 [NAL9602] Loaded
2025-12-11T05:18:02.684Z,1765430282.684 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-12-11T05:18:02.713Z,1765430282.713 [Onboard] Loaded
2025-12-11T05:18:02.713Z,1765430282.713 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-12-11T05:18:02.714Z,1765430282.714 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A7A4E0
2025-12-11T05:18:02.715Z,1765430282.715 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 936
2025-12-11T05:18:02.729Z,1765430282.729 [Power24vConverter] Loaded
2025-12-11T05:18:02.729Z,1765430282.729 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-12-11T05:18:02.744Z,1765430282.744 [Radio_Surface] Loaded
2025-12-11T05:18:02.745Z,1765430282.745 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-12-11T05:18:02.746Z,1765430282.746 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AAA4E0
2025-12-11T05:18:02.746Z,1765430282.746 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 937
2025-12-11T05:18:02.793Z,1765430282.793 [RDI_Pathfinder] Loaded
2025-12-11T05:18:02.793Z,1765430282.793 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-12-11T05:18:02.808Z,1765430282.808 [Sonardyne_Nano] Loaded
2025-12-11T05:18:02.808Z,1765430282.808 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-12-11T05:18:02.809Z,1765430282.809 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-12-11T05:18:02.809Z,1765430282.809 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-12-11T05:18:02.947Z,1765430282.947 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-12-11T05:18:02.947Z,1765430282.947 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-12-11T05:18:02.961Z,1765430282.961 [NavChart] Loaded
2025-12-11T05:18:02.961Z,1765430282.961 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-12-11T05:18:02.967Z,1765430282.967 [UniversalFixResidualReporter] Loaded
2025-12-11T05:18:02.967Z,1765430282.967 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-12-11T05:18:02.968Z,1765430282.968 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-12-11T05:18:02.968Z,1765430282.968 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-12-11T05:18:03.162Z,1765430283.162 [SBIT](DEBUG): Construct Startup Built In Test.
2025-12-11T05:18:03.171Z,1765430283.171 [SBIT] Loaded
2025-12-11T05:18:03.171Z,1765430283.171 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-12-11T05:18:03.174Z,1765430283.174 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-12-11T05:18:03.187Z,1765430283.187 [IBIT] Loaded
2025-12-11T05:18:03.188Z,1765430283.188 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-12-11T05:18:03.193Z,1765430283.193 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-12-11T05:18:03.274Z,1765430283.274 [CBIT] Loaded
2025-12-11T05:18:03.275Z,1765430283.275 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-12-11T05:18:03.307Z,1765430283.307 [GFScanner] Loaded
2025-12-11T05:18:03.307Z,1765430283.307 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-12-11T05:18:03.307Z,1765430283.307 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-12-11T05:18:03.308Z,1765430283.308 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-12-11T05:18:03.473Z,1765430283.473 [BuoyancyServo] Loaded
2025-12-11T05:18:03.473Z,1765430283.473 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-12-11T05:18:03.496Z,1765430283.496 [ElevatorServo] Loaded
2025-12-11T05:18:03.497Z,1765430283.497 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-12-11T05:18:03.525Z,1765430283.525 [DockingStepper] Loaded
2025-12-11T05:18:03.526Z,1765430283.526 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-12-11T05:18:03.547Z,1765430283.547 [MassServo] Loaded
2025-12-11T05:18:03.548Z,1765430283.548 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-12-11T05:18:03.568Z,1765430283.568 [RudderServo] Loaded
2025-12-11T05:18:03.568Z,1765430283.568 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-12-11T05:18:03.587Z,1765430283.587 [ThrusterServo] Loaded
2025-12-11T05:18:03.588Z,1765430283.588 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2025-12-11T05:18:03.588Z,1765430283.588 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-12-11T05:18:03.589Z,1765430283.589 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-12-11T05:18:03.605Z,1765430283.605 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-12-11T05:18:03.606Z,1765430283.606 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-12-11T05:18:03.837Z,1765430283.837 [CTD_Seabird] Loaded
2025-12-11T05:18:03.837Z,1765430283.837 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-12-11T05:18:03.838Z,1765430283.838 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C0D4E0
2025-12-11T05:18:03.839Z,1765430283.839 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 938
2025-12-11T05:18:03.861Z,1765430283.861 [PAR_Licor] Loaded
2025-12-11T05:18:03.862Z,1765430283.862 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-12-11T05:18:03.907Z,1765430283.907 [WetLabsBB2FL] Loaded
2025-12-11T05:18:03.907Z,1765430283.907 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-12-11T05:18:03.908Z,1765430283.908 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C3D4E0
2025-12-11T05:18:03.908Z,1765430283.908 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 939
2025-12-11T05:18:03.929Z,1765430283.929 [WetLabsUBAT] Loaded
2025-12-11T05:18:03.929Z,1765430283.929 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2025-12-11T05:18:03.930Z,1765430283.930 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2025-12-11T05:18:03.931Z,1765430283.931 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 940
2025-12-11T05:18:03.931Z,1765430283.931 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-12-11T05:18:03.938Z,1765430283.938 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-12-11T05:18:03.941Z,1765430283.941 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-12-11T05:18:03.952Z,1765430283.952 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-12-11T05:18:03.953Z,1765430283.953 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C9D4E0
2025-12-11T05:18:03.953Z,1765430283.953 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 941
2025-12-11T05:18:03.958Z,1765430283.958 [Supervisor](INFO): Main Thread ID is 831
2025-12-11T05:18:03.958Z,1765430283.958 [Supervisor](DEBUG): Running supervisor.
2025-12-11T05:18:03.959Z,1765430283.959 [CommandExec ThreadHandler](INFO): Handler Thread ID is 942
2025-12-11T05:18:03.959Z,1765430283.959 [CommandExec](INFO): Initializing the command executive.
2025-12-11T05:18:03.961Z,1765430283.961 [CommandLine ThreadHandler](INFO): Handler Thread ID is 943
2025-12-11T05:18:03.963Z,1765430283.963 [controlThread ThreadHandler](INFO): Handler Thread ID is 944
2025-12-11T05:18:03.963Z,1765430283.963 [controlThread](DEBUG): Initializing ControlThread
2025-12-11T05:18:03.964Z,1765430283.964 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-12-11T05:18:03.966Z,1765430283.966 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-12-11T05:18:03.967Z,1765430283.967 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-12-11T05:18:03.967Z,1765430283.967 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-12-11T05:18:03.968Z,1765430283.968 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-12-11T05:18:03.968Z,1765430283.968 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-12-11T05:18:03.968Z,1765430283.968 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-12-11T05:18:03.969Z,1765430283.969 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-12-11T05:18:03.969Z,1765430283.969 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-12-11T05:18:03.973Z,1765430283.973 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-12-11T05:18:03.973Z,1765430283.973 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-12-11T05:18:03.973Z,1765430283.973 [SBIT](INFO): Initialize SBIT Component.
2025-12-11T05:18:03.974Z,1765430283.974 [SBIT](IMPORTANT): git: 2025-12-08
2025-12-11T05:18:03.974Z,1765430283.974 [SBIT](INFO): git hash: eeac4c2f4f4dbc8506b8351228d523ccb0de86b1
2025-12-11T05:18:03.974Z,1765430283.974 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-12-11T05:18:03.975Z,1765430283.975 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-12-11T05:18:03.976Z,1765430283.977 [SBIT](INFO): Beginning SBIT in 63.000000 seconds.
2025-12-11T05:18:03.977Z,1765430283.977 [IBIT](INFO): Initialize IBIT Component.
2025-12-11T05:18:03.978Z,1765430283.978 [CBIT](DEBUG): Initialize CBIT Component.
2025-12-11T05:18:03.979Z,1765430283.979 [logger ThreadHandler](INFO): Handler Thread ID is 945
2025-12-11T05:18:03.990Z,1765430283.990 [CBIT](DEBUG): Initialized mux pins.
2025-12-11T05:18:03.991Z,1765430283.991 [CBIT](DEBUG): Initializing the watchdog timer.
2025-12-11T05:18:03.999Z,1765430283.999 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 946
2025-12-11T05:18:04.014Z,1765430284.014 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-12-11T05:18:04.015Z,1765430284.015 [CBIT](DEBUG): Initializing heartbeat.
2025-12-11T05:18:04.016Z,1765430284.016 [DAT ThreadHandler](INFO): Handler Thread ID is 947
2025-12-11T05:18:04.016Z,1765430284.016 [DAT](INFO): Powering up
2025-12-11T05:18:04.017Z,1765430284.017 [DAT](DEBUG): Initializing DAT.
2025-12-11T05:18:04.020Z,1765430284.020 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 949
2025-12-11T05:18:04.022Z,1765430284.022 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-12-11T05:18:04.043Z,1765430284.043 [Onboard ThreadHandler](INFO): Handler Thread ID is 950
2025-12-11T05:18:04.060Z,1765430284.060 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 951
2025-12-11T05:18:04.079Z,1765430284.079 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 952
2025-12-11T05:18:04.080Z,1765430284.080 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-12-11T05:18:04.084Z,1765430284.084 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 954
2025-12-11T05:18:04.087Z,1765430284.087 [CBIT](DEBUG): Deactivating emergency mode.
2025-12-11T05:18:04.087Z,1765430284.087 [WetLabsBB2FL](INFO): Powering up
2025-12-11T05:18:04.089Z,1765430284.089 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 956
2025-12-11T05:18:04.091Z,1765430284.091 [WetLabsUBAT](INFO): Powering up
2025-12-11T05:18:04.092Z,1765430284.092 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 958
2025-12-11T05:18:04.101Z,1765430284.101 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-12-11T05:18:04.101Z,1765430284.101 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-12-11T05:18:04.101Z,1765430284.101 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-12-11T05:18:04.101Z,1765430284.101 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-12-11T05:18:04.102Z,1765430284.102 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-12-11T05:18:04.102Z,1765430284.102 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-12-11T05:18:04.102Z,1765430284.102 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-12-11T05:18:04.102Z,1765430284.102 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-12-11T05:18:04.127Z,1765430284.127 [CBIT](DEBUG): Backplane powered.
2025-12-11T05:18:04.127Z,1765430284.127 [GFScanner](DEBUG): Initializing GFScanner
2025-12-11T05:18:04.127Z,1765430284.127 [GFScanner](DEBUG): Deactivating GF circuits.
2025-12-11T05:18:04.139Z,1765430284.139 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-12-11T05:18:04.140Z,1765430284.140 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-12-11T05:18:04.140Z,1765430284.140 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-12-11T05:18:04.159Z,1765430284.159 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-12-11T05:18:04.174Z,1765430284.174 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
2025-12-11T05:18:04.174Z,1765430284.174 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-12-11T05:18:04.175Z,1765430284.174 [MissionManager](ERROR): Could not load startup mission.
2025-12-11T05:18:04.175Z,1765430284.175 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-12-11T05:18:04.175Z,1765430284.175 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-12-11T05:18:04.178Z,1765430284.178 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-12-11T05:18:04.467Z,1765430284.467 [Radio_Surface](INFO): Powering up
2025-12-11T05:18:04.749Z,1765430284.749 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into:
0
6
10
1
3
30
Timed out while trying to detach from dock at current depth of
.
Burn on
Dropped weight due to communications timeout.
5
Default mission has been running for
Restarting logs and Default mission.
restart logs
2025-12-11T05:18:04.761Z,1765430284.761 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-12-11T05:18:04.764Z,1765430284.764 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-12-11T05:18:04.801Z,1765430284.801 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-12-11T05:18:04.805Z,1765430284.805 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-12-11T05:18:04.817Z,1765430284.817 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-12-11T05:18:04.821Z,1765430284.821 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-12-11T05:18:04.822Z,1765430284.822 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-12-11T05:18:05.007Z,1765430285.007 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-12-11T05:18:05.008Z,1765430285.008 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-11T05:18:05.054Z,1765430285.054 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-11T05:18:05.100Z,1765430285.100 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-12-11T05:18:05.115Z,1765430285.115 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-12-11T05:18:05.121Z,1765430285.121 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-12-11T05:18:05.141Z,1765430285.141 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission DefaultWithUndock {
arguments {
ElapsedSinceDefaultStarted = 0 minute
DetachTimeout = 6 hour
"""
Maximum time duration for the vehicle to detach form the dock.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Dock transponder address.
"""
TrackingUpdatePeriod = 10 second
"""
Time duration between acoustic range queries while the mission is
detaching from the dock.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
DriftTimeout = 3 minute
"""
How long to allow vehicle to drift away from dock before retrying reverse
"""
}
behavior Guidance:Wait {
"""
Wait a moment to see if the scheduler starts a new mission before
starting to actually run Default.
"""
run in sequence
set duration = 30 second
}
aggregate LeaveDock {
run in sequence
timeout duration=DetachTimeout {
syslog important "Timed out while trying to detach from dock at current depth of "
+ Universal:depth~meter + "."
}
# Acoustic tracking directives
behavior Estimation:TrackAcousticContact {
run while (
Universal:depth > Control:VerticalControl.surfaceThreshold
)
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
# Leave the dock
behavior Dock:Undock {
run in sequence
set driftTimeout = DriftTimeout
}
}
aggregate SurfaceDefault {
run in sequence
# This mission assumes open water so from here on it's the same old default that's always used
behavior Guidance:GoToSurface {
run in progression
}
aggregate CheckIn {
run in sequence repeat=288
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P2H {
behavior Guidance:Execute {
run in sequence
set command = "Burn on"
}
syslog critical "Dropped weight due to communications timeout."
}
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )
syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
}
}
syslog important "Restarting logs and Default mission."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
2025-12-11T05:18:05.146Z,1765430285.146 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,GFScanner,LcmPublisher,Reporter,LogSplitter,
2025-12-11T05:18:05.166Z,1765430285.166 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-12-11T05:18:05.319Z,1765430285.319 [Depth_Keller](INFO): Initializing.
2025-12-11T05:18:05.321Z,1765430285.321 [Power24vConverter](INFO): Powering up.
2025-12-11T05:18:05.321Z,1765430285.321 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-12-11T05:18:05.327Z,1765430285.327 [Sonardyne_Nano](INFO): Initializing.
2025-12-11T05:18:05.359Z,1765430285.359 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-12-11T05:18:05.386Z,1765430285.386 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-12-11T05:18:05.387Z,1765430285.387 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-12-11T05:18:05.388Z,1765430285.388 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-12-11T05:18:05.395Z,1765430285.395 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-12-11T05:18:05.396Z,1765430285.396 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-11T05:18:05.403Z,1765430285.403 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-11T05:18:05.404Z,1765430285.404 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-11T05:18:05.411Z,1765430285.411 [MassServo](DEBUG): Initializing MassServo.
2025-12-11T05:18:05.412Z,1765430285.412 [RudderServo](DEBUG): Initializing EZServoServo.
2025-12-11T05:18:05.419Z,1765430285.419 [RudderServo](DEBUG): Initializing RudderServo.
2025-12-11T05:18:05.420Z,1765430285.420 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-12-11T05:18:05.427Z,1765430285.427 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-12-11T05:18:06.699Z,1765430286.699 [WetLabsBB2FL](INFO): Powering down
2025-12-11T05:18:07.577Z,1765430287.577 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-12-11T05:18:08.828Z,1765430288.828 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103
2025-12-11T05:18:09.719Z,1765430289.719 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-12-11T05:18:09.719Z,1765430289.719 [Radio_Surface](INFO): No local IP found
2025-12-11T05:18:13.415Z,1765430293.415 [WetLabsUBAT](INFO): Powering down
2025-12-11T05:18:17.875Z,1765430297.875 [DAT](INFO): DAT read:
2025-12-11T05:18:17.877Z,1765430297.877 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series
2025-12-11T05:18:23.672Z,1765430303.672 [DAT](INFO): DAT read: MF Frequency Band
2025-12-11T05:18:23.673Z,1765430303.673 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2
2025-12-11T05:18:23.673Z,1765430303.673 [DAT](INFO): DAT read: Dec 11 2025 05:16:53
2025-12-11T05:18:24.935Z,1765430304.935 [DAT](INFO): DAT read: Features enabled [Bearing]
2025-12-11T05:18:24.938Z,1765430304.938 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
2025-12-11T05:18:24.940Z,1765430304.940 [DAT](INFO): commRate: 600
2025-12-11T05:18:27.003Z,1765430307.003 [DAT](INFO): entering command mode
2025-12-11T05:18:27.199Z,1765430307.199 [DAT](INFO): DAT read:
2025-12-11T05:18:27.200Z,1765430307.200 [DAT](INFO): DAT read: user:1>
2025-12-11T05:18:27.201Z,1765430307.201 [DAT](INFO): setting verbose to 3
2025-12-11T05:18:27.451Z,1765430307.451 [DAT](INFO): DAT read: user:1>
2025-12-11T05:18:27.452Z,1765430307.452 [DAT](INFO): DAT read: Verbose | 3
2025-12-11T05:18:27.453Z,1765430307.453 [DAT](INFO): set verbose to 3
2025-12-11T05:18:27.453Z,1765430307.453 [DAT](INFO): setting DatVerbose to 27440
2025-12-11T05:18:27.703Z,1765430307.703 [DAT](INFO): DAT read: user:2>
2025-12-11T05:18:27.704Z,1765430307.704 [DAT](INFO): DAT read: DatVerbose | 27440
2025-12-11T05:18:27.705Z,1765430307.705 [DAT](INFO): set DatVerbose to 27440
2025-12-11T05:18:27.705Z,1765430307.705 [DAT](INFO): setting transmit power to 8
2025-12-11T05:18:27.955Z,1765430307.955 [DAT](INFO): DAT read: user:3>
2025-12-11T05:18:27.956Z,1765430307.956 [DAT](INFO): DAT read: TxPower | 8 (Max)
2025-12-11T05:18:27.956Z,1765430307.956 [DAT](INFO): set transmit power to 8
2025-12-11T05:18:27.957Z,1765430307.957 [DAT](INFO): setting local address to 10
2025-12-11T05:18:28.207Z,1765430308.207 [DAT](INFO): DAT read: user:4>
2025-12-11T05:18:28.208Z,1765430308.208 [DAT](INFO): DAT read: LocalAddr | 10
2025-12-11T05:18:28.209Z,1765430308.209 [DAT](INFO): set local address to 10
2025-12-11T05:18:28.210Z,1765430308.210 [DAT](INFO): Setting time to: 5:18:28 And date to:12/11/2025
2025-12-11T05:18:28.459Z,1765430308.459 [DAT](INFO): DAT read: user:5>
2025-12-11T05:18:28.460Z,1765430308.460 [DAT](INFO): DAT read: Thu Dec 11, 2025 05:18:28
2025-12-11T05:18:28.461Z,1765430308.461 [DAT](INFO): Local DAT time set to Thu Dec 11, 2025 05:18:28
2025-12-11T05:18:32.736Z,1765430312.736 [NAL9602](INFO): Powering up NAL9602
2025-12-11T05:18:43.644Z,1765430323.644 [NAL9602](INFO): NAL9602 initialized
2025-12-11T05:19:06.678Z,1765430346.678 [NAL9602](INFO): SBD MO Status=2, MOMSN=51062, MT Status=2, MTMSN=0
2025-12-11T05:19:06.678Z,1765430346.678 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-11T05:19:07.499Z,1765430347.499 [SBIT](IMPORTANT): Beginning Startup BIT
2025-12-11T05:19:07.504Z,1765430347.504 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-12-11T05:19:12.069Z,1765430352.069 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.018709
CHAN A1 (24V): 0.013807
CHAN A2 (12V): 0.013799
CHAN A3 (5V): 0.005371
CHAN B0 (3.3V): 0.005058
CHAN B1 (3.15aV): 0.004601
CHAN B2 (3.15bV): 0.004318
CHAN B3 (GND): 0.002896
OPEN: 0.007384
Full Scale: +/- 1 mA
2025-12-11T05:19:12.384Z,1765430352.384 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-11T05:19:18.037Z,1765430358.037 [NAL9602](INFO): SBD MO Status=0, MOMSN=51062, MT Status=0, MTMSN=0
2025-12-11T05:19:18.037Z,1765430358.037 [NAL9602](INFO): No messages in MT queue
2025-12-11T05:19:19.246Z,1765430359.246 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,051923.00,A,3646.43457,N,12151.88365,W,1.030,197.20,111225,,,A*7B
2025-12-11T05:19:19.249Z,1765430359.249 [NAL9602](INFO): GPS fix at 20251211T051923: (36.773910, -121.864728)
2025-12-11T05:19:27.321Z,1765430367.321 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-11T05:19:42.271Z,1765430382.271 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-11T05:19:51.162Z,1765430391.162 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-11T05:19:58.027Z,1765430398.027 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-11T05:20:01.297Z,1765430401.297 [SBIT](IMPORTANT): SBIT PASSED
2025-12-11T05:20:01.297Z,1765430401.297 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-12-11T05:20:01.298Z,1765430401.298 [SBIT](IMPORTANT): BackseatComponent.fullSlateAccess=1 bool;
2025-12-11T05:20:01.298Z,1765430401.298 [SBIT](IMPORTANT): CBIT.gf24Offset=173 microampere;
2025-12-11T05:20:01.298Z,1765430401.298 [SBIT](IMPORTANT): DAT.transponderAddress=0 enum;
2025-12-11T05:20:01.299Z,1765430401.299 [SBIT](IMPORTANT): Docked.verbose=0 bool;
2025-12-11T05:20:01.299Z,1765430401.299 [SBIT](IMPORTANT): DockingStepper.deviationValue=250 count;
2025-12-11T05:20:01.299Z,1765430401.299 [SBIT](IMPORTANT): DropWeight.loadAtStartup=1 bool;
2025-12-11T05:20:01.299Z,1765430401.299 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;
2025-12-11T05:20:01.299Z,1765430401.299 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=387.674052 cubic_centimeter;
2025-12-11T05:20:01.299Z,1765430401.299 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=1.25 reciprocal_second;
2025-12-11T05:20:01.299Z,1765430401.299 [SBIT](IMPORTANT): VerticalControl.massDefault=10.752863 millimeter;
2025-12-11T05:20:01.676Z,1765430401.676 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-12-11T05:20:01.676Z,1765430401.676 [DefaultWithUndock] Running Loop=1
2025-12-11T05:20:01.676Z,1765430401.676 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-12-11T05:20:01.677Z,1765430401.677 [DefaultWithUndock:A.Wait] Running Loop=1
2025-12-11T05:20:01.677Z,1765430401.677 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-12-11T05:20:13.782Z,1765430413.782 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-11T05:20:28.730Z,1765430428.730 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-11T05:20:31.982Z,1765430431.982 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-12-11T05:20:31.982Z,1765430431.982 [DefaultWithUndock:A.Wait] Stopped
2025-12-11T05:20:31.983Z,1765430431.983 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-11T05:20:31.983Z,1765430431.983 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-12-11T05:20:31.983Z,1765430431.983 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-12-11T05:20:31.983Z,1765430431.983 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-12-11T05:20:31.983Z,1765430431.983 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-12-11T05:20:31.983Z,1765430431.983 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-12-11T05:20:31.983Z,1765430431.983 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-11T05:20:31.984Z,1765430431.984 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-11T05:20:32.387Z,1765430432.387 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-11T05:20:32.388Z,1765430432.388 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-11T05:20:32.389Z,1765430432.389 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth -0.007036 m.
2025-12-11T05:20:32.389Z,1765430432.389 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-12-11T05:20:32.389Z,1765430432.389 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-12-11T05:20:32.784Z,1765430432.784 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-12-11T05:20:33.281Z,1765430433.281 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-11T05:20:33.396Z,1765430433.396 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-11T05:20:44.081Z,1765430444.081 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-11T05:20:53.036Z,1765430453.036 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-12-11T05:20:53.398Z,1765430453.398 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-12-11T05:20:53.779Z,1765430453.779 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:20:53.792Z,1765430453.792 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-12-11T05:20:53.792Z,1765430453.792 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-12-11T05:20:53.792Z,1765430453.792 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-12-11T05:20:53.792Z,1765430453.792 [DefaultWithUndock:LeaveDock] Stopped
2025-12-11T05:20:53.792Z,1765430453.792 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-12-11T05:20:53.792Z,1765430453.792 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-12-11T05:20:53.793Z,1765430453.793 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-12-11T05:20:53.793Z,1765430453.793 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-12-11T05:20:53.793Z,1765430453.793 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-11T05:20:53.793Z,1765430453.793 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-11T05:20:53.794Z,1765430453.794 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-11T05:20:53.794Z,1765430453.794 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-11T05:20:53.794Z,1765430453.794 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-11T05:20:53.795Z,1765430453.795 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-11T05:20:53.796Z,1765430453.796 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-11T05:20:54.233Z,1765430454.233 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-12-11T05:20:54.233Z,1765430454.233 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-11T05:20:54.233Z,1765430454.233 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-11T05:20:54.601Z,1765430454.601 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-11T05:20:56.207Z,1765430456.207 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,052100.00,A,3646.41954,N,12151.88598,W,0.719,218.64,111225,,,A*70
2025-12-11T05:20:56.209Z,1765430456.209 [NAL9602](INFO): GPS fix at 20251211T052100: (36.773659, -121.864766)
2025-12-11T05:20:56.220Z,1765430456.220 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-11T05:20:56.220Z,1765430456.220 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-11T05:20:56.639Z,1765430456.639 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-11T05:20:59.431Z,1765430459.431 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-12-11T05:21:18.984Z,1765430478.984 [NAL9602](INFO): SBD MO Status=2, MOMSN=51063, MT Status=2, MTMSN=0
2025-12-11T05:21:18.984Z,1765430478.984 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-11T05:21:24.903Z,1765430484.903 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:21:49.305Z,1765430509.305 [NAL9602](INFO): SBD MO Status=2, MOMSN=51063, MT Status=2, MTMSN=0
2025-12-11T05:21:49.305Z,1765430509.305 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-11T05:21:53.865Z,1765430513.865 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004535
2025-12-11T05:22:01.466Z,1765430521.466 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20251210T044626/Courier0295.lzma
2025-12-11T05:22:02.469Z,1765430522.469 [DataOverHttps](INFO): Moved sent file to Logs/20251210T044626/Courier0295.lzma.bak
2025-12-11T05:22:02.469Z,1765430522.469 [DataOverHttps](INFO): SBD MOMSN=26486979
2025-12-11T05:22:22.651Z,1765430542.651 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20251211T051751/Courier0000.lzma
2025-12-11T05:22:23.653Z,1765430543.653 [DataOverHttps](INFO): Moved sent file to Logs/20251211T051751/Courier0000.lzma.bak
2025-12-11T05:22:23.653Z,1765430543.653 [DataOverHttps](INFO): SBD MOMSN=26486983
2025-12-11T05:22:24.637Z,1765430544.637 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-11T05:22:39.954Z,1765430559.954 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20251210T044626/Express0296.lzma
2025-12-11T05:22:40.963Z,1765430560.963 [DataOverHttps](INFO): Moved sent file to Logs/20251210T044626/Express0296.lzma.bak
2025-12-11T05:22:40.964Z,1765430560.964 [DataOverHttps](INFO): SBD MOMSN=26486988
2025-12-11T05:22:57.257Z,1765430577.257 [DataOverHttps](INFO): Sending 1222 bytes from file Logs/20251211T051751/Express0001.lzma
2025-12-11T05:22:58.256Z,1765430578.256 [DataOverHttps](INFO): Moved sent file to Logs/20251211T051751/Express0001.lzma.bak
2025-12-11T05:22:58.257Z,1765430578.257 [DataOverHttps](INFO): SBD MOMSN=26486990
2025-12-11T05:22:59.804Z,1765430579.804 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-11T05:22:59.804Z,1765430579.804 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-11T05:22:59.804Z,1765430579.804 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-11T05:23:07.899Z,1765430587.899 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:23:16.739Z,1765430596.739 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:23:25.335Z,1765430605.335 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:23:34.239Z,1765430614.239 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:23:42.803Z,1765430622.803 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:23:51.527Z,1765430631.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:24:00.227Z,1765430640.227 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:24:08.987Z,1765430648.987 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:24:20.787Z,1765430660.787 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:24:30.019Z,1765430670.019 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:24:38.787Z,1765430678.787 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:24:47.595Z,1765430687.595 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:24:56.279Z,1765430696.279 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:25:05.139Z,1765430705.139 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:25:13.899Z,1765430713.899 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:25:22.663Z,1765430722.663 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:25:31.411Z,1765430731.411 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:25:39.855Z,1765430739.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:25:48.711Z,1765430748.711 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:25:57.291Z,1765430757.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:26:05.999Z,1765430765.999 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:26:08.976Z,1765430768.976 [BPC1](ERROR): Battery stick #7 (s/n: 02BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-12-11T05:26:08.977Z,1765430768.977 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 5.
2025-12-11T05:26:08.989Z,1765430768.989 [BPC1](INFO): Received data from all battery sticks.
2025-12-11T05:26:16.287Z,1765430776.287 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:26:27.419Z,1765430787.419 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:26:36.071Z,1765430796.071 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:26:44.623Z,1765430804.623 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:26:53.299Z,1765430813.299 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:27:01.851Z,1765430821.851 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:27:10.643Z,1765430830.643 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:27:19.267Z,1765430839.267 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:27:28.143Z,1765430848.143 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:27:36.699Z,1765430856.699 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:27:45.451Z,1765430865.451 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:27:54.035Z,1765430874.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:28:00.475Z,1765430880.475 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-12-11T05:28:00.475Z,1765430880.475 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-12-11T05:28:00.475Z,1765430880.475 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-11T05:28:00.475Z,1765430880.475 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-12-11T05:28:00.883Z,1765430880.883 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-12-11T05:28:00.883Z,1765430880.883 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-12-11T05:28:01.307Z,1765430881.307 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.986781 min
2025-12-11T05:28:01.307Z,1765430881.307 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-12-11T05:28:01.307Z,1765430881.307 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-11T05:28:01.307Z,1765430881.307 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-12-11T05:28:01.307Z,1765430881.307 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-11T05:28:01.307Z,1765430881.307 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-12-11T05:28:01.308Z,1765430881.308 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-12-11T05:28:01.308Z,1765430881.308 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-11T05:28:01.308Z,1765430881.308 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-11T05:28:02.759Z,1765430882.759 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:28:03.286Z,1765430883.286 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,052808.00,A,3646.35638,N,12151.90108,W,0.778,140.69,111225,,,D*72
2025-12-11T05:28:03.288Z,1765430883.288 [NAL9602](INFO): GPS fix at 20251211T052808: (36.772606, -121.865018)
2025-12-11T05:28:03.338Z,1765430883.338 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-11T05:28:03.338Z,1765430883.338 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-11T05:28:10.487Z,1765430890.487 [DataOverHttps](INFO): Sending 200 bytes from file Logs/20251211T051751/Courier0004.lzma
2025-12-11T05:28:11.488Z,1765430891.488 [DataOverHttps](INFO): Moved sent file to Logs/20251211T051751/Courier0004.lzma.bak
2025-12-11T05:28:11.488Z,1765430891.488 [DataOverHttps](INFO): SBD MOMSN=26487041
2025-12-11T05:28:19.177Z,1765430899.177 [NAL9602](INFO): SBD MO Status=1, MOMSN=51063, MT Status=0, MTMSN=0
2025-12-11T05:28:19.177Z,1765430899.177 [NAL9602](INFO): No messages in MT queue
2025-12-11T05:28:31.286Z,1765430911.286 [DataOverHttps](INFO): Sending 197 bytes from file Logs/20251211T051751/Express0005.lzma
2025-12-11T05:28:32.288Z,1765430912.288 [DataOverHttps](INFO): Moved sent file to Logs/20251211T051751/Express0005.lzma.bak
2025-12-11T05:28:32.289Z,1765430912.289 [DataOverHttps](INFO): SBD MOMSN=26487044
2025-12-11T05:28:33.759Z,1765430913.759 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-11T05:28:33.759Z,1765430913.759 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-11T05:28:33.759Z,1765430913.759 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-11T05:28:42.099Z,1765430922.099 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:28:49.887Z,1765430929.887 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-11T05:28:50.712Z,1765430930.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:28:59.811Z,1765430939.811 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:29:08.495Z,1765430948.495 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:29:17.247Z,1765430957.247 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:29:25.843Z,1765430965.843 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:29:34.636Z,1765430974.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:29:43.256Z,1765430983.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:29:51.911Z,1765430991.911 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:30:00.523Z,1765431000.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:30:09.323Z,1765431009.323 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:30:20.987Z,1765431020.987 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:30:29.939Z,1765431029.939 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:30:38.707Z,1765431038.707 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:30:47.243Z,1765431047.243 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:30:56.375Z,1765431056.375 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:31:03.993Z,1765431063.993 [DataOverHttps](IMPORTANT): SBD MTMSN=20251211T053109
2025-12-11T05:31:11.635Z,1765431071.635 [DataOverHttps](INFO): Received command: load Engineering/marl4.tl;set marl.ContactLabelOne 20 count;set marl.SendDataLabel 11 count;set marl.HorizontalCommandMode 2 count;set marl.SendObsUpdatePeriod 240 s;set marl.Depth 15 m;run
2025-12-11T05:31:11.684Z,1765431071.684 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/marl4.tl
2025-12-11T05:31:11.684Z,1765431071.684 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/marl4.tl
2025-12-11T05:31:11.684Z,1765431071.684 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/marl4.tl
2025-12-11T05:31:11.693Z,1765431071.693 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/marl4.tl
2025-12-11T05:31:13.639Z,1765431073.639 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:31:21.137Z,1765431081.137 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/marl4.tl translated into:
6
40
8
0
10
1
NaN
36.775
-121.865
0
0
50
4
10
0
4
480
120
20
60
5
1
10
0
NaN
0
180
8
0.010
1.5
0
0
1
2
0
0
0
0
0
0
0
0
0
0
set _.othersObservations string \"initialvalue\"
Got new data to send :
. Old temp var is
. NewSendObservations flag is
1
modem
_.othersObservations
none_str
SendData: sent send_observations :
to nearby vehicle on address:
. Elapsed time
SYNC STUF: Waiting to transmit next observation data:
seconds.
0
Updating contactLabelToLcm
, ContactLabelOneToLcm
, ContactLabelTwoToLcm
1
Updating new_send_observation flag
0
Speed timeout reached. Stopping vehicle (speed
).
Updating heading
Updating rudder angle
Updated lrauv heading lat location to
Updated lrauv heading lon location to
SYNC STUF: 2. Starting PingTargetOne mission.
SYNC STUF: Setting ping range to TargetOne:
SYNC STUF: Setting completed TargetOne
SYNC STUF: 2.b Starting PingTargetTwo mission.
SYNC STUF: Setting ping range to TargetTwo:
SYNC STUF: Setting completed TargetTwo
SYNC STUF: 2.c Starting PingAgentOne mission.
SYNC STUF: Setting ping range to AgentOne:
SYNC STUF: Setting completed AgentOne
SYNC STUF: Current range to contact is
. CurrentContactRange is
NaN
SYNC STUF: Waiting 30 seconds for rangings.
30
SYNC STUF: Current range to contact is
. CurrentContactRange is
SYNC STUF: A. Starting PingLoop1 aggregate.
SYNC STUF: Finished pinging Target at address
. Target distance
. Elapsed time
0
SYNC STUF: B. Starting PingLoop2 aggregate.
SYNC STUF: Wait before firing sample
15
SYNC STUF: Finished pinging Target at address
. Target distance
. Elapsed time
0
1
SYNC STUF: C. Starting SendDataLoop, sending string to other LRAUVs.
SYNC STUF: Wait before starting over
15
0
0
SYNC STUF: D. Starting PingLoop3 to know the position of other agents aggregate.
SYNC STUF: Wait before firing sample
15
SYNC STUF: Finished pinging Agent at address
. Target distance
. Agent latitude
. Agent longitude
. Elapsed time
2025-12-11T05:31:21.210Z,1765431081.210 [MissionManager](INFO): DefineArg marl.MissionTimeout = 6.000000 h
2025-12-11T05:31:21.225Z,1765431081.225 [MissionManager](INFO): DefineArg marl.NeedCommsTime = 40.000000 min
2025-12-11T05:31:21.232Z,1765431081.232 [MissionManager](INFO): DefineArg marl.ContactLabelOne = 8.000000 count
2025-12-11T05:31:21.239Z,1765431081.239 [MissionManager](INFO): DefineArg marl.ContactLabelTwo = 0.000000 count
2025-12-11T05:31:21.242Z,1765431081.242 [MissionManager](INFO): DefineArg marl.SendDataLabel = 10.000000 count
2025-12-11T05:31:21.249Z,1765431081.249 [MissionManager](INFO): DefineArg marl.SendDataStrPing = 1.000000 count
2025-12-11T05:31:21.256Z,1765431081.256 [MissionManager](INFO): DefineArg marl.ContactDepth = nan m
2025-12-11T05:31:21.287Z,1765431081.287 [MissionManager](INFO): DefineArg marl.LatHeading = 36.775002 arcdeg
2025-12-11T05:31:21.298Z,1765431081.298 [MissionManager](INFO): DefineArg marl.LonHeading = -121.864998 arcdeg
2025-12-11T05:31:21.301Z,1765431081.301 [MissionManager](INFO): DefineArg marl.CenterNorthingsDelta = 0.000000 m
2025-12-11T05:31:21.328Z,1765431081.328 [MissionManager](INFO): DefineArg marl.CenterEastingsDelta = 0.000000 m
2025-12-11T05:31:21.336Z,1765431081.336 [MissionManager](INFO): DefineArg marl.CircleRadius = 50.000000 m
2025-12-11T05:31:21.360Z,1765431081.360 [MissionManager](INFO): DefineArg marl.SpeedUpdateTimeout = 4.000000 h
2025-12-11T05:31:21.371Z,1765431081.371 [MissionManager](INFO): DefineArg marl.StateUpdateDelay = 10.000000 s
2025-12-11T05:31:21.374Z,1765431081.374 [MissionManager](INFO): DefineArg marl.HorizontalCommandMode = 0.000000 count
2025-12-11T05:31:21.385Z,1765431081.385 [MissionManager](INFO): DefineArg marl.AcousticContactTimeout = 4.000000 h
2025-12-11T05:31:21.396Z,1765431081.396 [MissionManager](INFO): DefineArg marl.SendObsUpdatePeriod = 480.000000 s
2025-12-11T05:31:21.407Z,1765431081.407 [MissionManager](INFO): DefineArg marl.PingRangeUpdatePeriod = 120.000000 s
2025-12-11T05:31:21.416Z,1765431081.416 [MissionManager](INFO): DefineArg marl.Depth = 20.000000 m
2025-12-11T05:31:21.451Z,1765431081.451 [MissionManager](INFO): DefineArg marl.MaxDepth = 60.000000 m
2025-12-11T05:31:21.454Z,1765431081.454 [MissionManager](INFO): DefineArg marl.MinAltitude = 5.000000 m
2025-12-11T05:31:21.469Z,1765431081.469 [MissionManager](INFO): DefineArg marl.MassHold = 1 bool
2025-12-11T05:31:21.480Z,1765431081.480 [MissionManager](INFO): DefineArg marl.BuoyancyHold = 1 bool
2025-12-11T05:31:21.503Z,1765431081.503 [MissionManager](INFO): DefineArg marl.NumberOfPings = 1.000000 count
2025-12-11T05:31:21.506Z,1765431081.506 [MissionManager](INFO): DefineArg marl.CircleMaxError = 10.000000 m
2025-12-11T05:31:21.521Z,1765431081.521 [MissionManager](INFO): DefineArg marl.CircleTurnToPort = 0 bool
2025-12-11T05:31:21.551Z,1765431081.551 [MissionManager](INFO): DefineArg marl.Speed = 0.000000 m/s
2025-12-11T05:31:21.554Z,1765431081.554 [MissionManager](INFO): DefineArg marl.MyTempVar = NaN
2025-12-11T05:31:21.566Z,1765431081.566 [MissionManager](INFO): DefineArg marl.NewSendObservations = 0.000000 count
2025-12-11T05:31:21.577Z,1765431081.577 [MissionManager](INFO): DefineArg marl.TrackingUpdatePeriod = 180.000000 s
2025-12-11T05:31:21.603Z,1765431081.603 [MissionManager](INFO): DefineArg marl.ContactLabel = 8.000000 count
2025-12-11T05:31:21.606Z,1765431081.606 [MissionManager](INFO): DefineArg marl.KwpHeading = 0.010000 rad/m
2025-12-11T05:31:21.617Z,1765431081.617 [MissionManager](INFO): DefineArg marl.MinOffshore = 1.500000 km
2025-12-11T05:31:21.643Z,1765431081.643 [MissionManager](INFO): DefineArg marl.auxNewSendObservations = 0.000000 count
2025-12-11T05:31:21.646Z,1765431081.646 [MissionManager](INFO): DefineOutput marl.PingEndOne = 0 bool
2025-12-11T05:31:21.658Z,1765431081.658 [MissionManager](INFO): DefineOutput marl.PingEndTwo = 0 bool
2025-12-11T05:31:21.669Z,1765431081.669 [MissionManager](INFO): DefineOutput marl.PingEndThree = 0 bool
2025-12-11T05:31:21.680Z,1765431081.680 [MissionManager](INFO): DefineOutput marl.HeadingMode = 0.000000 count
2025-12-11T05:31:21.688Z,1765431081.688 [MissionManager](INFO): DefineOutput marl.RudderMode = 1.000000 count
2025-12-11T05:31:21.703Z,1765431081.703 [MissionManager](INFO): DefineOutput marl.WpMode = 2.000000 count
2025-12-11T05:31:21.706Z,1765431081.706 [MissionManager](INFO): DefineOutput marl.Heading = 0.000000 arcdeg
2025-12-11T05:31:21.717Z,1765431081.717 [MissionManager](INFO): DefineOutput marl.RudderAngle = 0.000000 arcdeg
2025-12-11T05:31:21.725Z,1765431081.725 [MissionManager](INFO): DefineOutput marl.ElapsedSinceLastSendData = 0.000000 s
2025-12-11T05:31:21.736Z,1765431081.736 [MissionManager](INFO): DefineOutput marl.ElapsedSinceLastPing = 0.000000 s
2025-12-11T05:31:21.759Z,1765431081.759 [MissionManager](INFO): DefineOutput marl.CurrentContactRange = 0.000000 m
2025-12-11T05:31:21.762Z,1765431081.762 [MissionManager](INFO): DefineOutput marl.ElapsedSincePingEndTwo = 0.000000 s
2025-12-11T05:31:21.783Z,1765431081.783 [MissionManager](INFO): DefineOutput marl.ElapsedSincePingEndOne = 0.000000 s
2025-12-11T05:31:21.786Z,1765431081.786 [MissionManager](INFO): DefineOutput marl.ElapsedSincePingEndThree = 0.000000 s
2025-12-11T05:31:21.797Z,1765431081.797 [MissionManager](INFO): DefineOutput marl.ContactLatitude = 0.000000 arcdeg
2025-12-11T05:31:21.805Z,1765431081.805 [MissionManager](INFO): DefineOutput marl.ContactLongitude = 0.000000 arcdeg
2025-12-11T05:31:21.805Z,1765431081.805 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl
2025-12-11T05:31:21.805Z,1765431081.805 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl
2025-12-11T05:31:21.822Z,1765431081.822 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl
2025-12-11T05:31:21.995Z,1765431081.995 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into:
96
Insert acoustic timeout set to
.
stop
2025-12-11T05:31:22.006Z,1765431082.006 [MissionManager](INFO): DefineArg marl:AbortDrift.AcousticTimeout = 96.000000 h
2025-12-11T05:31:22.024Z,1765431082.024 [marl:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2025-12-11T05:31:22.035Z,1765431082.035 [marl:AbortDrift:C.Execute](DEBUG): Construct Execute.
2025-12-11T05:31:22.037Z,1765431082.037 [MissionManager](INFO): RedefineArg marl:AbortDrift.AcousticTimeout = reader:marl.AcousticContactTimeout
2025-12-11T05:31:22.112Z,1765431082.112 [marl:C.Execute](DEBUG): Construct Execute.
2025-12-11T05:31:22.187Z,1765431082.187 [marl:SendObservationData:CehckNewData:D.Wait](DEBUG): Construct Wait.
2025-12-11T05:31:22.313Z,1765431082.313 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-12-11T05:31:22.314Z,1765431082.314 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-12-11T05:31:22.339Z,1765431082.339 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-12-11T05:31:23.309Z,1765431083.309 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1500
7
30
0
0
0
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2025-12-11T05:31:23.339Z,1765431083.339 [MissionManager](INFO): DefineArg marl:NeedComms.DiveInterval = 1.000000 h
2025-12-11T05:31:23.342Z,1765431083.342 [MissionManager](INFO): DefineArg marl:NeedComms.WaitForPitchUp = 10.000000 min
2025-12-11T05:31:23.357Z,1765431083.357 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-12-11T05:31:23.368Z,1765431083.368 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceDepthRate = nan m/s
2025-12-11T05:31:23.395Z,1765431083.395 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-12-11T05:31:23.398Z,1765431083.398 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacingTimeout = 1500.000000 s
2025-12-11T05:31:23.425Z,1765431083.425 [MissionManager](INFO): DefineArg marl:NeedComms.GPSTimeout = 7.000000 min
2025-12-11T05:31:23.429Z,1765431083.429 [MissionManager](INFO): DefineArg marl:NeedComms.CommsTimeout = 30.000000 min
2025-12-11T05:31:23.444Z,1765431083.444 [MissionManager](INFO): DefineArg marl:NeedComms.DoingCommsMode = 0.000000 count
2025-12-11T05:31:23.479Z,1765431083.479 [MissionManager](INFO): DefineArg marl:NeedComms.RestoreMode = 0.000000 count
2025-12-11T05:31:23.482Z,1765431083.482 [MissionManager](INFO): DefineOutput marl:NeedComms.IsActive = 0 bool
2025-12-11T05:31:23.497Z,1765431083.497 [MissionManager](INFO): DefineOutput marl:NeedComms.RequiredDiveMode = 0.000000 count
2025-12-11T05:31:23.556Z,1765431083.556 [marl:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-11T05:31:23.710Z,1765431083.710 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-12-11T05:31:23.710Z,1765431083.710 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-12-11T05:31:23.719Z,1765431083.719 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-12-11T05:31:23.823Z,1765431083.823 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-12-11T05:31:23.828Z,1765431083.828 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinAltitude = 5.000000 m
2025-12-11T05:31:23.831Z,1765431083.831 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-12-11T05:31:23.834Z,1765431083.834 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepth = 200.000000 m
2025-12-11T05:31:23.837Z,1765431083.837 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-12-11T05:31:23.838Z,1765431083.838 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-11T05:31:23.891Z,1765431083.891 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-11T05:31:23.920Z,1765431083.920 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-12-11T05:31:24.075Z,1765431084.075 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-12-11T05:31:24.075Z,1765431084.075 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-12-11T05:31:24.084Z,1765431084.084 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-12-11T05:31:26.679Z,1765431086.679 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:31:28.516Z,1765431088.516 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
NaN
2.0
NaN
NaN
0
1
NaN
NaN
5
0
0
0
0
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
PeakDetectVsDepth
PeakChlAvgProfiles =
. PeakChlDepthAvgProfiles =
EdgeDetectVsDepth
GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth =
,
,
,
,
,
PeakDetectHorizontal
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
_.planktivore_LM_AvgRois
PeakPlanktivoreLMavgROIAvgProfiles =
. PeakPlanktivoreLMavgROIDepthAvgProfiles =
EdgeDetectVsDepth
_.planktivore_LM_AvgRois
GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth =
,
,
,
,
,
PeakDetectHorizontal
PeakDetectVsDepth
_.planktivore_HM_AvgRois
EdgeDetectVsDepth
_.planktivore_HM_AvgRois
GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_diatoms
EdgeDetectVsDepth
_.planktivore_diatoms
GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_dinoflagellates
EdgeDetectVsDepth
_.planktivore_dinoflagellates
GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth =
,
,
,
,
,
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-12-11T05:31:28.546Z,1765431088.546 [MissionManager](INFO): DefineArg marl:Science.PeakDetectChlActive = 0 bool
2025-12-11T05:31:28.549Z,1765431088.549 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-12-11T05:31:28.551Z,1765431088.551 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectChlActive = 0 bool
2025-12-11T05:31:28.554Z,1765431088.554 [MissionManager](INFO): DefineArg marl:Science.TimeWindowPeakReport = nan min
2025-12-11T05:31:28.557Z,1765431088.557 [MissionManager](INFO): DefineArg marl:Science.HighestChlPeakReportActive = 0 bool
2025-12-11T05:31:28.623Z,1765431088.623 [MissionManager](INFO): DefineArg marl:Science.HighestSaltPeakReportActive = 0 bool
2025-12-11T05:31:28.626Z,1765431088.626 [MissionManager](INFO): DefineArg marl:Science.HighestOilPeakReportActive = 0 bool
2025-12-11T05:31:28.648Z,1765431088.648 [MissionManager](INFO): DefineArg marl:Science.PatchTracking = 0 bool
2025-12-11T05:31:28.659Z,1765431088.659 [MissionManager](INFO): DefineArg marl:Science.FilterWidthHorizontal = 3.000000 count
2025-12-11T05:31:28.662Z,1765431088.662 [MissionManager](INFO): DefineArg marl:Science.NumProfilesSlidingwindow = 100.000000 count
2025-12-11T05:31:28.677Z,1765431088.677 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionHorizontal = 80.000000 %
2025-12-11T05:31:28.684Z,1765431088.684 [MissionManager](INFO): DefineArg marl:Science.PeakDetectNO3Active = 0 bool
2025-12-11T05:31:28.743Z,1765431088.743 [MissionManager](INFO): DefineArg marl:Science.PeakDetectOilActive = 0 bool
2025-12-11T05:31:28.746Z,1765431088.746 [MissionManager](INFO): DefineArg marl:Science.PeakDetectFDOMActive = 0 bool
2025-12-11T05:31:28.788Z,1765431088.788 [MissionManager](INFO): DefineArg marl:Science.PeakDetectSalinityActive = 0 bool
2025-12-11T05:31:28.799Z,1765431088.799 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-12-11T05:31:28.802Z,1765431088.802 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool
2025-12-11T05:31:28.817Z,1765431088.817 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-12-11T05:31:28.828Z,1765431088.828 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-12-11T05:31:28.847Z,1765431088.847 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-12-11T05:31:28.850Z,1765431088.850 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-12-11T05:31:28.865Z,1765431088.865 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-12-11T05:31:28.887Z,1765431088.887 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-12-11T05:31:28.900Z,1765431088.900 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-12-11T05:31:28.912Z,1765431088.912 [MissionManager](INFO): DefineArg marl:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-12-11T05:31:28.953Z,1765431088.953 [MissionManager](INFO): DefineArg marl:Science.EnabledAanderaaO2 = 0 bool
2025-12-11T05:31:28.977Z,1765431088.977 [MissionManager](INFO): DefineArg marl:Science.EnabledNeilBrown = 0 bool
2025-12-11T05:31:28.997Z,1765431088.997 [MissionManager](INFO): DefineArg marl:Science.EnabledRBRTridente = 0 bool
2025-12-11T05:31:29.013Z,1765431089.013 [MissionManager](INFO): DefineArg marl:Science.EnabledSeabird = 1 bool
2025-12-11T05:31:29.020Z,1765431089.020 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsBB2FL = 1 bool
2025-12-11T05:31:29.041Z,1765431089.041 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-12-11T05:31:29.049Z,1765431089.049 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsUBAT = 1 bool
2025-12-11T05:31:29.068Z,1765431089.068 [MissionManager](INFO): DefineArg marl:Science.LowPassWindowLength = 20.000000 count
2025-12-11T05:31:29.079Z,1765431089.079 [MissionManager](INFO): DefineArg marl:Science.MedianFilterLen = 5.000000 count
2025-12-11T05:31:29.082Z,1765431089.082 [MissionManager](INFO): DefineArg marl:Science.ShallowBound = nan m
2025-12-11T05:31:29.085Z,1765431089.085 [MissionManager](INFO): DefineArg marl:Science.DeepBound = nan m
2025-12-11T05:31:29.136Z,1765431089.136 [MissionManager](INFO): DefineArg marl:Science.DeepThreshValidLeg = nan m
2025-12-11T05:31:29.143Z,1765431089.143 [MissionManager](INFO): DefineArg marl:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-12-11T05:31:29.146Z,1765431089.146 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalAscent = nan %
2025-12-11T05:31:29.177Z,1765431089.177 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalDescent = nan %
2025-12-11T05:31:29.192Z,1765431089.192 [MissionManager](INFO): DefineArg marl:Science.ChlPeakThresh = 0.000000 ug/l
2025-12-11T05:31:29.207Z,1765431089.207 [MissionManager](INFO): DefineArg marl:Science.NumberOfLayers = 1.000000 count
2025-12-11T05:31:29.217Z,1765431089.217 [MissionManager](INFO): DefineArg marl:Science.ChlThreshTriggerActive = 0 bool
2025-12-11T05:31:29.233Z,1765431089.233 [MissionManager](INFO): DefineArg marl:Science.ChlLowerThresh = nan ug/l
2025-12-11T05:31:29.252Z,1765431089.252 [MissionManager](INFO): DefineArg marl:Science.ChlUpperThresh = nan ug/l
2025-12-11T05:31:29.260Z,1765431089.260 [MissionManager](INFO): DefineArg marl:Science.NumProfilesThresh = 5.000000 count
2025-12-11T05:31:29.283Z,1765431089.283 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-12-11T05:31:29.295Z,1765431089.295 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-12-11T05:31:29.298Z,1765431089.298 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-12-11T05:31:29.305Z,1765431089.305 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-12-11T05:31:29.324Z,1765431089.324 [MissionManager](INFO): DefineOutput marl:Science.GoDown = 1 bool
2025-12-11T05:31:29.331Z,1765431089.331 [MissionManager](INFO): DefineOutput marl:Science.PeakChl = nan ug/l
2025-12-11T05:31:29.334Z,1765431089.334 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepth = nan m
2025-12-11T05:31:29.349Z,1765431089.349 [MissionManager](INFO): DefineOutput marl:Science.PeakChlTemperature = nan degC
2025-12-11T05:31:29.361Z,1765431089.361 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLatitude = nan arcdeg
2025-12-11T05:31:29.385Z,1765431089.385 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLongitude = nan arcdeg
2025-12-11T05:31:29.393Z,1765431089.393 [MissionManager](INFO): DefineOutput marl:Science.PeakChlAvgProfiles = nan ug/l
2025-12-11T05:31:29.400Z,1765431089.400 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepthAvgProfiles = nan m
2025-12-11T05:31:29.427Z,1765431089.427 [MissionManager](INFO): DefineOutput marl:Science.EdgeChl = nan ug/l
2025-12-11T05:31:29.439Z,1765431089.439 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlDepth = nan m
2025-12-11T05:31:29.442Z,1765431089.442 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlTemperature = nan degC
2025-12-11T05:31:29.454Z,1765431089.454 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLatitude = nan arcdeg
2025-12-11T05:31:29.466Z,1765431089.466 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLongitude = nan arcdeg
2025-12-11T05:31:29.477Z,1765431089.477 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3 = nan umol/l
2025-12-11T05:31:29.492Z,1765431089.492 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Depth = nan m
2025-12-11T05:31:29.504Z,1765431089.504 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Latitude = nan arcdeg
2025-12-11T05:31:29.531Z,1765431089.531 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Longitude = nan arcdeg
2025-12-11T05:31:29.534Z,1765431089.534 [MissionManager](INFO): DefineOutput marl:Science.PeakOil = nan kg/m3
2025-12-11T05:31:29.549Z,1765431089.549 [MissionManager](INFO): DefineOutput marl:Science.PeakOilDepth = nan m
2025-12-11T05:31:29.562Z,1765431089.562 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLatitude = nan arcdeg
2025-12-11T05:31:29.585Z,1765431089.585 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLongitude = nan arcdeg
2025-12-11T05:31:29.616Z,1765431089.616 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOM = nan ppb
2025-12-11T05:31:29.627Z,1765431089.627 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMDepth = nan m
2025-12-11T05:31:29.630Z,1765431089.630 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMTemperature = nan degC
2025-12-11T05:31:29.646Z,1765431089.646 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLatitude = nan arcdeg
2025-12-11T05:31:29.657Z,1765431089.657 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLongitude = nan arcdeg
2025-12-11T05:31:29.666Z,1765431089.666 [MissionManager](INFO): DefineOutput marl:Science.PeakSalt = nan psu
2025-12-11T05:31:29.685Z,1765431089.685 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltDepth = nan m
2025-12-11T05:31:29.696Z,1765431089.696 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltTemperature = nan degC
2025-12-11T05:31:29.712Z,1765431089.712 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLatitude = nan arcdeg
2025-12-11T05:31:29.723Z,1765431089.723 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLongitude = nan arcdeg
2025-12-11T05:31:29.735Z,1765431089.735 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-12-11T05:31:29.738Z,1765431089.738 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-12-11T05:31:29.749Z,1765431089.749 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-12-11T05:31:29.798Z,1765431089.798 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-12-11T05:31:29.824Z,1765431089.824 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-12-11T05:31:29.839Z,1765431089.839 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s
2025-12-11T05:31:29.842Z,1765431089.842 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m
2025-12-11T05:31:29.850Z,1765431089.850 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-12-11T05:31:29.861Z,1765431089.861 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-12-11T05:31:29.872Z,1765431089.872 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-12-11T05:31:29.881Z,1765431089.881 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-12-11T05:31:29.904Z,1765431089.904 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-12-11T05:31:29.912Z,1765431089.912 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-12-11T05:31:29.943Z,1765431089.943 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-12-11T05:31:29.959Z,1765431089.959 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-12-11T05:31:29.962Z,1765431089.962 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-12-11T05:31:30.002Z,1765431090.002 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-12-11T05:31:30.009Z,1765431090.009 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-12-11T05:31:30.017Z,1765431090.017 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-12-11T05:31:30.036Z,1765431090.036 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-12-11T05:31:30.044Z,1765431090.044 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-12-11T05:31:30.063Z,1765431090.063 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-12-11T05:31:30.066Z,1765431090.066 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-12-11T05:31:30.078Z,1765431090.078 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-12-11T05:31:30.100Z,1765431090.100 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-12-11T05:31:30.107Z,1765431090.107 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-12-11T05:31:30.110Z,1765431090.110 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-12-11T05:31:30.122Z,1765431090.122 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-12-11T05:31:30.143Z,1765431090.143 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-12-11T05:31:30.155Z,1765431090.155 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-12-11T05:31:30.158Z,1765431090.158 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-12-11T05:31:30.169Z,1765431090.169 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-12-11T05:31:30.181Z,1765431090.181 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-12-11T05:31:30.194Z,1765431090.194 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-12-11T05:31:30.205Z,1765431090.205 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-12-11T05:31:30.232Z,1765431090.232 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-12-11T05:31:30.244Z,1765431090.244 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-12-11T05:31:30.267Z,1765431090.267 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-12-11T05:31:30.276Z,1765431090.276 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-12-11T05:31:30.280Z,1765431090.280 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-12-11T05:31:30.291Z,1765431090.291 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-12-11T05:31:30.303Z,1765431090.303 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-12-11T05:31:30.306Z,1765431090.306 [MissionManager](INFO): DefineOutput marl:Science.PatchChl = nan ug/l
2025-12-11T05:31:30.317Z,1765431090.317 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDepth = nan m
2025-12-11T05:31:30.364Z,1765431090.364 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLatitude = nan arcdeg
2025-12-11T05:31:30.379Z,1765431090.379 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLongitude = nan arcdeg
2025-12-11T05:31:30.396Z,1765431090.396 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDistance = nan m
2025-12-11T05:31:30.400Z,1765431090.400 [MissionManager](INFO): DefineOutput marl:Science.PatchSalt = nan psu
2025-12-11T05:31:30.420Z,1765431090.420 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDepth = nan m
2025-12-11T05:31:30.427Z,1765431090.427 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLatitude = nan arcdeg
2025-12-11T05:31:30.430Z,1765431090.430 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLongitude = nan arcdeg
2025-12-11T05:31:30.441Z,1765431090.441 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDistance = nan m
2025-12-11T05:31:30.453Z,1765431090.453 [MissionManager](INFO): DefineOutput marl:Science.PatchOil = nan psu
2025-12-11T05:31:30.465Z,1765431090.465 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDepth = nan m
2025-12-11T05:31:30.472Z,1765431090.472 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLatitude = nan arcdeg
2025-12-11T05:31:30.488Z,1765431090.488 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLongitude = nan arcdeg
2025-12-11T05:31:30.499Z,1765431090.499 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDistance = nan m
2025-12-11T05:31:30.502Z,1765431090.502 [MissionManager](INFO): DefineOutput marl:Science.TriggeredOnChl = 0 bool
2025-12-11T05:31:30.513Z,1765431090.513 [MissionManager](INFO): DefineOutput marl:Science.ChlTriggering = nan ug/l
2025-12-11T05:31:30.647Z,1765431090.647 [marl:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:30.697Z,1765431090.697 [marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-12-11T05:31:30.824Z,1765431090.824 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-12-11T05:31:30.877Z,1765431090.877 [marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-12-11T05:31:30.980Z,1765431090.980 [marl:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:31.030Z,1765431091.030 [marl:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:31.072Z,1765431091.072 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-12-11T05:31:31.119Z,1765431091.119 [marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:31.183Z,1765431091.183 [marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:31.233Z,1765431091.233 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-12-11T05:31:31.300Z,1765431091.300 [marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:31.350Z,1765431091.350 [marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-12-11T05:31:31.426Z,1765431091.426 [marl:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-12-11T05:31:31.470Z,1765431091.470 [marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:31.527Z,1765431091.527 [marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-12-11T05:31:31.649Z,1765431091.649 [marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:31.705Z,1765431091.705 [marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-12-11T05:31:31.788Z,1765431091.788 [marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-12-11T05:31:31.848Z,1765431091.848 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-12-11T05:31:31.920Z,1765431091.920 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-12-11T05:31:31.964Z,1765431091.964 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-12-11T05:31:31.964Z,1765431091.964 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-12-11T05:31:31.965Z,1765431091.965 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-12-11T05:31:32.056Z,1765431092.056 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-12-11T05:31:32.065Z,1765431092.065 [MissionManager](INFO): DefineArg marl:BackseatDriver.EnableBackseat = 0 bool
2025-12-11T05:31:32.088Z,1765431092.088 [marl:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-12-11T05:31:32.101Z,1765431092.101 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-12-11T05:31:32.101Z,1765431092.101 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-12-11T05:31:32.102Z,1765431092.102 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-12-11T05:31:32.495Z,1765431092.495 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-12-11T05:31:32.512Z,1765431092.512 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleAll = 0 bool
2025-12-11T05:31:32.523Z,1765431092.523 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad1 = 0 bool
2025-12-11T05:31:32.526Z,1765431092.526 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad2 = 0 bool
2025-12-11T05:31:32.537Z,1765431092.537 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad3 = 0 bool
2025-12-11T05:31:32.549Z,1765431092.549 [MissionManager](INFO): DefineArg marl:PowerOnly.EnabledPowerOnly = 0 bool
2025-12-11T05:31:32.576Z,1765431092.576 [marl:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-12-11T05:31:32.676Z,1765431092.676 [marl:InsertWait:CheckRange:B.Wait](DEBUG): Construct Wait.
2025-12-11T05:31:32.685Z,1765431092.685 [marl:JoystickControl:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-11T05:31:32.705Z,1765431092.705 [marl:JoystickControl:B.Pitch](DEBUG): Construct.
2025-12-11T05:31:32.778Z,1765431092.778 [marl:JoystickControl:C.Pitch](DEBUG): Construct.
2025-12-11T05:31:32.811Z,1765431092.811 [marl:JoystickControl:D.SetSpeed](DEBUG): Construct.
2025-12-11T05:31:32.828Z,1765431092.828 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Construct.
2025-12-11T05:31:32.868Z,1765431092.868 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Construct.
2025-12-11T05:31:32.894Z,1765431092.894 [marl:JoystickControl:CmdWp:A.Waypoint](DEBUG): Construct Waypoint.
2025-12-11T05:31:33.061Z,1765431093.061 [marl:JoystickControl:SyncAcousticsLoop:PingLoop2:D.Wait](DEBUG): Construct Wait.
2025-12-11T05:31:33.137Z,1765431093.137 [marl:JoystickControl:SyncAcousticsLoop:SendDataLoop:D.Wait](DEBUG): Construct Wait.
2025-12-11T05:31:33.186Z,1765431093.186 [marl:JoystickControl:SyncAcousticsLoop:PingLoop3:D.Wait](DEBUG): Construct Wait.
2025-12-11T05:31:33.554Z,1765431093.554 [MissionManager](DEBUG):
mission marl {
"""
This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only.
"""
arguments {
# Mission-wide settings
MissionTimeout = 6 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 40 minute
"""
Elapsed time after previous surface communications when vehicle will
begin to ascend for additional surface communications
"""
# You probably need to change these.
ContactLabelOne = 8 count
"""
The acoustic address of the first asset to be pinged
tethys = 6
brizo = 11
daphne = 8
galene = 9
makai = 5
pontus = 10
triton = 12
tiny = 20
"""
ContactLabelTwo = 0 count
"""
The acoustic address of the second asset to be pinged
set to 0 if only one target is to be pinged
"""
SendDataLabel = 10 count
"""
The acoustic address of the asset to send observation data 255 broadcast (it doesn't work,says it is not mapped), 10 is pontus
This is the default value, but it will be overwritten by bash file duirng simulation launch.
set to 0 if no data sending is desired
"""
SendDataStrPing = 1 count
"""
If 0 = we will use the new string funciton to send data over DAT modem (slower but we can receive more data such as range to target from other vehicle)
If 1 = we will use the old pinging method to send data (faster but we can only receive the position of the other vehicle)
"""
ContactDepth = NaN meter
"""
The asset's depth to be tracked
"""
LatHeading = 36.775 degree
"""
The latitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
"""
LonHeading = -121.865 degree
"""
The longitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
"""
CenterNorthingsDelta = 0 meter
"""
Desired change in latitude to achieve, expressed as a distance.
"""
CenterEastingsDelta = 0 meter
"""
Desired change in longitude to achieve, expressed as a distance.
"""
CircleRadius = 50 meter
"""
Radius of circle around acoustElapsedSinceLastSendDataic contact during wait time
"""
SpeedUpdateTimeout = 4 hour
"""
Max time allowed between speed command updates.
"""
StateUpdateDelay = 10 second
"""
Minimum time delay between state updates to avoid rapid changes.
"""
HorizontalCommandMode = 0 count
"""
Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command. 2 = Waypoint command
"""
AcousticContactTimeout = 4 hour
"""
If the vehicle does not receive an acoustic signal for more than this
length of time, it will surface for communications with shore.
"""
SendObsUpdatePeriod = 480 second
"""
Time to wait after an a-comms data has been sent before sending new data.
"""
PingRangeUpdatePeriod = 120 second
"""
How long to wait between acoustic queries
"""
# parameters for constant depth trajectory
Depth = 20 meter
"""
Depth of flat and level flight during the mission.
"""
MaxDepth = 60 meter
"""
Maximum depth for the entire mission.
"""
MinAltitude = 5 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.
"""
# You probably do not need to change these.
NumberOfPings = 1 count
"""
Number of return pings to request with each acoustic query (more than 1
will activate oneway mode)
"""
CircleMaxError = 10 meter
"""
If this distance away from the circle, drive straight towards (or away
from the center). Otherwise, try to reduce distance from the ideal
circle.
"""
CircleTurnToPort = false
"""
If true, vehicle turns to the left around the center point. If false,
vehicle turns to the right.
"""
Speed = 0 meter_per_second
"""
Vehicle speed.
"""
#MyTempVar = "init" #only for old lrauv-sim applications
MyTempVar = NaN none_str
"""
A custom variable from the backseat driver interface.
"""
NewSendObservations = 0 count
"""
A custom variable from the backseat driver interface to indicate new data to send.
0 = no new data
1 = new data available
"""
TrackingUpdatePeriod = 180 second
"""
Internal variable to set how long to wait between updating internal tracking variables
"""
ContactLabel = 8 count
"""
This is the default value, but it will be overwritten by bash file duirng simulation launch, and by ContactLabelOne duirng mission.
"""
# You are even less likely to need to change these.
KwpHeading = 0.010 radian_per_meter
"""
Used to relax waypoint cross-track error constant that is adjusted for
docking. (You can override this setting by passing an argument.)
"""
MinOffshore = 1.5 kilometer
"""
Minimum offshore distance for the entire mission.
"""
auxNewSendObservations = 0 count
"""
Auxiliary variable to help with new send observations flag elapsed time
"""
}
output {
PingEndOne = false
"""
Mission variable (don't change). Flag to count elapsed time after pinging target one.
"""
PingEndTwo = false
"""
Mission variable (don't change). Flag to count elapsed time after pinging target two.
"""
PingEndThree = false
"""
Mission variable (don't change). Flag to count elapsed time after pinging target three.
"""
HeadingMode = 0 count
"""
Heading angle command mode enumaration.
"""
RudderMode = 1 count
"""
Rudder angle command mode enumaration.
"""
WpMode = 2 count
"""
Waypoint command mode enumaration.
"""
Heading = 0 degree
"""
Commanded vehicle heading. Mission will init Heading to current vehicle heading.
"""
RudderAngle = 0 degree
"""
Commanded vehicle RudderAngle. Only acitve when mission is in rudder commands mode.
"""
ElapsedSinceLastSendData = 0 second
"""
Time elapsed since last Send Data fix.
"""
ElapsedSinceLastPing = 0 second
"""
Time elapsed since last Ping fix.
"""
CurrentContactRange = 0 meter
"""
Current range to acoustic contact.
"""
ElapsedSincePingEndTwo = 0 second
"""
Time elapsed since pinging target two ended.
"""
ElapsedSincePingEndOne = 0 second
"""
Time elapsed since pinging target one ended.
"""
ElapsedSincePingEndThree = 0 second
"""
Time elapsed since pinging target three ended.
"""
ContactLatitude = 0 degree
"""
The latitude of the contact being tracked.
"""
ContactLongitude = 0 degree
"""
The longitude of the contact being tracked.
"""
}
# Missions should always start with a timeout.
timeout duration=MissionTimeout
# Add tracking directive high in the stack (above NeedComms to enable tracking from surface).
insert Insert/AbortDrift.tl {
redefineArg AcousticTimeout = AcousticContactTimeout
}
behavior Estimation:TrackAcousticContact {
run in parallel
set contactDepthSetting = ContactDepth
set contactLabelSetting = ContactLabel
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
##This is a hack to make sure the scratchpad var is created with the correct underlying DataType
behavior Guidance:Execute {
run in sequence
set command = "set _.othersObservations string \"initialvalue\""
}
aggregate SendObservationData {
run when ( called )
syslog info "Got new data to send : " + customUri "_.send_observations"~none_str
+ ". Old temp var is " + MyTempVar~none_str + ". NewSendObservations flag is " + NewSendObservations~count
assign in sequence ElapsedSinceLastSendData = elapsed ( MyTempVar )
assign in sequence MyTempVar = customUri "_.send_observations"
aggregate CehckNewData {
run in sequence
break if ( NewSendObservations != 1 count)
behavior Sensor:SendDirect {
run in sequence
set destType = "modem"
set destId = SendDataLabel
set destName = "_.othersObservations"
set value = MyTempVar
set unit = "none_str"
}
syslog info "SendData: sent send_observations : " + MyTempVar~none_str
+ " to nearby vehicle on address: " + SendDataLabel~count
+ ". Elapsed time " + ElapsedSinceLastSendData~minute
syslog info "SYNC STUF: Waiting to transmit next observation data: " + SendObsUpdatePeriod~second + " seconds."
behavior Guidance:Wait {
run in sequence
set duration = SendObsUpdatePeriod
}
}
#reset the new data flag
assign in sequence NewSendObservations = 0 count
}
##new from December 2025
aggregate UpdateInternalVarialbe {
run when (
elapsed ( customUri "_.contactLabelToLcm" ) > TrackingUpdatePeriod )
#Variable used to send contactLabel to backseat app (using LCM)
assign in sequence customUri "_.contactLabelToLcm" = ContactLabel
assign in sequence customUri "_.ContactLabelOneToLcm" = ContactLabelOne
assign in sequence customUri "_.ContactLabelTwoToLcm" = ContactLabelTwo
assign in sequence customUri "_.SendDataLabelToLcm" = SendDataLabel
assign in sequence customUri "_.SendDataStrPingToLcm" = SendDataStrPing
syslog info "Updating contactLabelToLcm " + customUri "_.contactLabelToLcm"~count + ", ContactLabelOneToLcm " + customUri "_.ContactLabelOneToLcm"~count
+ ", ContactLabelTwoToLcm " + customUri "_.ContactLabelTwoToLcm"~count
}
aggregate UpdateNewSendObservations {
run when (
elapsed ( auxNewSendObservations ) >= TrackingUpdatePeriod )
#Variable used to notify the mission handler that new data is available to send
assign in sequence NewSendObservations = customUri "_.new_send_observations"
assign in sequence auxNewSendObservations = 1 count
syslog info "Updating new_send_observation flag " + NewSendObservations~count
}
##continuing with old stuff
# aggregate UpdateContactLabel {
# run when (
# elapsed ( customUri "_.contactLabelSetting" ) < ( elapsed ( ContactLabel ) )
# )
# assign in sequence ContactLabel = abs ( customUri "_.contactLabelSetting" )
# syslog info "Upadating ContactLabel " + customUri "_.contactLabelSetting"~count
# }
# Most missions have the NeedComms aggregate at high priority.
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
# Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
# Add guidance update directives high in the stack.
aggregate SpeedTimeout {
run when ( elapsed ( Speed ) >= SpeedUpdateTimeout )
assign in sequence Speed = 0 meter_per_second
syslog fault "Speed timeout reached. Stopping vehicle (speed " + Speed~meter_per_second + ")."
}
aggregate UpdateSpeed {
run when (
elapsed ( customUri "_.speedCmd" ) < ( elapsed ( Speed ) )
and ( elapsed ( Speed ) > StateUpdateDelay )
)
assign in sequence Speed = customUri "_.speedCmd"
#syslog info "Updating vehicle speed " + Speed~meter_per_second
}
aggregate UpdateCommandMode {
run when (
elapsed ( customUri "_.horizontalCmdMode" ) < ( elapsed ( HorizontalCommandMode ) )
and (
customUri "_.horizontalCmdMode" == HeadingMode
or ( customUri "_.horizontalCmdMode" == RudderMode )
or ( customUri "_.horizontalCmdMode" == WpMode )
)
and ( elapsed ( HorizontalCommandMode ) > StateUpdateDelay )
)
assign in sequence HorizontalCommandMode = customUri "_.horizontalCmdMode"
#syslog info "Updating horizontal command mode " + HorizontalCommandMode~count
}
aggregate UpdateHeading {
run when (
elapsed ( customUri "_.headingCmd" ) < ( elapsed ( Heading ) )
and ( elapsed ( Heading ) > StateUpdateDelay )
)
assign in sequence Heading = customUri "_.headingCmd"
syslog info "Updating heading " + Heading~degree
}
aggregate UpdateRudder {
run when (
elapsed ( customUri "_.rudderAngleCmd" ) < ( elapsed ( RudderAngle ) )
and ( elapsed ( RudderAngle ) > StateUpdateDelay )
)
assign in sequence RudderAngle = customUri "_.rudderAngleCmd"
syslog info "Updating rudder angle " + RudderAngle~degree
}
aggregate UpdateLat {
run when (
elapsed ( customUri "_.wpLatCmd" ) < ( elapsed ( LatHeading ) )
and ( elapsed ( LatHeading ) > StateUpdateDelay )
)
break if ( isNaN ( customUri "_.wpLatCmd" ) )
assign in sequence LatHeading = customUri "_.wpLatCmd"
syslog info "Updated lrauv heading lat location to " + LatHeading~degree
}
aggregate UpdateLon {
run when (
elapsed ( customUri "_.wpLonCmd" ) < ( elapsed ( LonHeading ) )
and ( elapsed ( LonHeading ) > StateUpdateDelay )
)
break if ( isNaN ( customUri "_.wpLonCmd" ) )
assign in sequence LonHeading = customUri "_.wpLonCmd"
syslog info "Updated lrauv heading lon location to " + LonHeading~degree
}
insert id="Science" Insert/Science.tl
# Power the Backseat payload.
insert Insert/BackseatDriver.tl
assign in sequence BackseatDriver:EnableBackseat = true
insert Insert/PowerOnly.tl
# Check for additional instructions first.
call id="StartingMission" priorityHere=false refId="NeedComms"
# Start mission to syncronize acoustics
aggregate PingTargetOne{
"""
Start pinging the first target
"""
run when ( called )
syslog info "SYNC STUF: 2. Starting PingTargetOne mission."
aggregate SetTargetLabel {
run in sequence
syslog info "SYNC STUF: Setting ping range to TargetOne: " + ContactLabelOne~count
assign in sequence ContactLabel = ContactLabelOne
}
syslog info "SYNC STUF: Setting completed TargetOne " + ContactLabelOne~count
}
aggregate PingTargetTwo{
"""
Start pinging the second target
"""
run when ( called )
syslog info "SYNC STUF: 2.b Starting PingTargetTwo mission."
aggregate SetTargetLabel {
run in sequence
syslog info "SYNC STUF: Setting ping range to TargetTwo: " + ContactLabelTwo~count
assign in sequence ContactLabel = ContactLabelTwo
}
syslog info "SYNC STUF: Setting completed TargetTwo " + ContactLabelTwo~count
}
aggregate PingAgentOne{
"""
Start pinging the second target
"""
run when ( called )
syslog info "SYNC STUF: 2.c Starting PingAgentOne mission."
aggregate SetTargetLabel {
run in sequence
syslog info "SYNC STUF: Setting ping range to AgentOne: " + SendDataLabel ~count
assign in sequence ContactLabel = SendDataLabel
}
syslog info "SYNC STUF: Setting completed AgentOne " + SendDataLabel~count
}
aggregate InsertWait {
run when ( called )
syslog info "SYNC STUF: Current range to contact is " + Estimation:TrackAcousticContact.range_to_contact~m
+ ". CurrentContactRange is " + CurrentContactRange~m
aggregate CheckRange {
run in sequence repeat=5
break if (
Estimation:TrackAcousticContact.range_to_contact != CurrentContactRange
and Estimation:TrackAcousticContact.range_to_contact != NaN meter
)
syslog info "SYNC STUF: Waiting 30 seconds for rangings."
behavior Guidance:Wait {
run in sequence
set duration = 30 second
}
syslog info "SYNC STUF: Current range to contact is " + Estimation:TrackAcousticContact.range_to_contact~m
+ ". CurrentContactRange is " + CurrentContactRange~m
}
}
aggregate JoystickControl {
run in sequence
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
aggregate CmdHeading {
run while ( HorizontalCommandMode == HeadingMode )
behavior Guidance:Point {
run in parallel
set forceUpdate = true
set heading = Heading
}
}
aggregate CmdRudder {
run while ( HorizontalCommandMode == RudderMode )
behavior Guidance:Point {
run in parallel
set forceUpdate = true
set rudderAngle = RudderAngle
}
}
aggregate CmdWp {
run while (
( HorizontalCommandMode == WpMode )
and ( not isNaN ( LatHeading ) )
and ( not isNaN ( LonHeading ) )
)
behavior Guidance:Waypoint {
#This needs to be run in sequence, in parallel is not working!
run in sequence
set latitude = LatHeading
set longitude = LonHeading
}
}
aggregate SyncAcousticsLoop {
run in parallel
#1- ranging target 1
aggregate PingLoop1 {
run in sequence
syslog info "SYNC STUF: A. Starting PingLoop1 aggregate."
assign in sequence TrackingUpdatePeriod = PingRangeUpdatePeriod
call id="StartPingOnTargetOne" priorityHere=false refId="PingTargetOne"
assign in sequence CurrentContactRange = Estimation:TrackAcousticContact.range_to_contact
call id="WaitForRangeOnTargetOne" priorityHere=false refId="InsertWait"
assign in sequence CurrentContactRange = Estimation:TrackAcousticContact.range_to_contact
assign in sequence ElapsedSincePingEndOne = elapsed ( PingEndOne )
syslog info "SYNC STUF: Finished pinging Target at address " + ContactLabelOne~count
+ ". Target distance " + CurrentContactRange~m
+ ". Elapsed time " + ElapsedSincePingEndOne~minute
assign in sequence PingEndOne = true
}
#2- ranging target 2
aggregate PingLoop2 {
run in sequence
break if ( ContactLabelTwo == 0 count )
syslog info "SYNC STUF: B. Starting PingLoop2 aggregate."
assign in sequence TrackingUpdatePeriod = PingRangeUpdatePeriod
#insert a wait before pinging the second target
syslog important "SYNC STUF: Wait before firing sample"
behavior Guidance:Wait {
run in sequence
set duration = 15 second
}
call id="StartPingOnTargetTwo" priorityHere=false refId="PingTargetTwo"
assign in sequence CurrentContactRange = Estimation:TrackAcousticContact.range_to_contact
call id="WaitForRangeOnTargetTwo" priorityHere=false refId="InsertWait"
assign in sequence CurrentContactRange = Estimation:TrackAcousticContact.range_to_contact
assign in sequence ElapsedSincePingEndTwo = elapsed ( PingEndTwo )
syslog info "SYNC STUF: Finished pinging Target at address " + ContactLabelTwo~count
+ ". Target distance " + CurrentContactRange~m
+ ". Elapsed time " + ElapsedSincePingEndTwo~minute
assign in sequence PingEndTwo = true
}
#3- sending observation data using string function
aggregate SendDataLoop {
run in sequence
break if ( SendDataLabel == 0 count or SendDataStrPing == 1 count )
syslog info "SYNC STUF: C. Starting SendDataLoop, sending string to other LRAUVs."
#increase the ping period to allow for data sending
assign in sequence TrackingUpdatePeriod = SendObsUpdatePeriod + PingRangeUpdatePeriod
#insert a wait before starting over
syslog important "SYNC STUF: Wait before starting over"
behavior Guidance:Wait {
run in sequence
set duration = 15 second
}
#sending observation data
call id="SendObservationDataCmd" priorityHere=false refId="SendObservationData"
}
#4- measuring other vehicle position using pinging, insead of the string funciton
aggregate PingLoop3 {
run in sequence
break if ( SendDataLabel == 0 count or SendDataStrPing == 0 count )
syslog info "SYNC STUF: D. Starting PingLoop3 to know the position of other agents aggregate."
assign in sequence TrackingUpdatePeriod = PingRangeUpdatePeriod
#2- insert a wait before pinging the second target
syslog important "SYNC STUF: Wait before firing sample"
behavior Guidance:Wait {
run in sequence
set duration = 15 second
}
#3- ranging agent 1
call id="StartPingOnAgentOne" priorityHere=false refId="PingAgentOne"
assign in sequence CurrentContactRange = Estimation:TrackAcousticContact.range_to_contact
call id="WaitForRangeOnTargetTwo" priorityHere=false refId="InsertWait"
assign in sequence CurrentContactRange = Estimation:TrackAcousticContact.range_to_contact
assign in sequence ElapsedSincePingEndThree = elapsed ( PingEndThree )
assign in sequence ContactLatitude = Estimation:TrackAcousticContact.contact_latitude
assign in sequence ContactLongitude = Estimation:TrackAcousticContact.contact_longitude
assign in sequence customUri "_.AgentContactLatitude" = ContactLatitude
assign in sequence customUri "_.AgentContactLongitude" = ContactLongitude
syslog info "SYNC STUF: Finished pinging Agent at address " + SendDataLabel~count
+ ". Target distance " + CurrentContactRange~m
+ ". Agent latitude " + ContactLatitude~degree
+ ". Agent longitude " + ContactLongitude~degree
+ ". Elapsed time " + ElapsedSincePingEndThree~minute
assign in sequence PingEndThree = true
}
}
}
}
2025-12-11T05:31:33.579Z,1765431093.579 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/marl4.tl id=marl
2025-12-11T05:31:40.995Z,1765431100.995 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:31:53.327Z,1765431113.327 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-11T05:31:54.588Z,1765431114.588 [CommandExec](IMPORTANT): got command set marl.ContactLabelOne 20 count
2025-12-11T05:31:54.589Z,1765431114.589 [CommandExec](IMPORTANT): got command set marl.SendDataLabel 11 count
2025-12-11T05:31:54.589Z,1765431114.589 [CommandExec](IMPORTANT): got command set marl.HorizontalCommandMode 2 count
2025-12-11T05:31:54.590Z,1765431114.590 [CommandExec](IMPORTANT): got command set marl.SendObsUpdatePeriod 240 second
2025-12-11T05:31:54.595Z,1765431114.595 [CommandExec](IMPORTANT): got command set marl.Depth 15 meter
2025-12-11T05:31:54.596Z,1765431114.596 [CommandExec](IMPORTANT): got command run
2025-12-11T05:31:54.635Z,1765431114.635 [DefaultWithUndock] Stopped
2025-12-11T05:31:54.635Z,1765431114.635 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-12-11T05:31:54.635Z,1765431114.635 [DefaultWithUndock:SurfaceDefault] Stopped
2025-12-11T05:31:54.635Z,1765431114.635 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-12-11T05:31:54.635Z,1765431114.635 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-12-11T05:31:54.635Z,1765431114.635 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-11T05:31:54.635Z,1765431114.635 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-12-11T05:31:54.636Z,1765431114.636 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-11T05:31:54.636Z,1765431114.636 [DefaultWithUndock:SurfaceDefault