2025-09-11T16:29:36.381Z,1757608176.381 [Supervisor](DEBUG): Initializing supervisor. 2025-09-11T16:29:36.386Z,1757608176.386 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2025-09-11T16:29:36.386Z,1757608176.386 [SyncHandler](INFO): Protected caller Thread ID is 1245 2025-09-11T16:29:36.387Z,1757608176.387 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2025-09-11T16:29:36.387Z,1757608176.387 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2025-09-11T16:29:36.388Z,1757608176.388 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1246 2025-09-11T16:29:36.392Z,1757608176.392 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2025-09-11T16:29:36.413Z,1757608176.413 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2025-09-11T16:29:36.414Z,1757608176.414 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2025-09-11T16:29:36.414Z,1757608176.414 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1247 2025-09-11T16:29:36.419Z,1757608176.419 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2025-09-11T16:29:36.420Z,1757608176.420 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2025-09-11T16:29:36.420Z,1757608176.420 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1248 2025-09-11T16:29:36.423Z,1757608176.423 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2025-09-11T16:29:36.424Z,1757608176.424 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2025-09-11T16:29:36.424Z,1757608176.424 [logger ThreadHandler](INFO): Protected caller Thread ID is 1249 2025-09-11T16:29:36.428Z,1757608176.428 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2025-09-11T16:29:36.429Z,1757608176.429 [Supervisor](INFO): Looking for Config files in directory: Config/ 2025-09-11T16:29:36.430Z,1757608176.430 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2025-09-11T16:29:37.031Z,1757608177.031 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2025-09-11T16:29:37.031Z,1757608177.031 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2025-09-11T16:29:37.266Z,1757608177.266 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2025-09-11T16:29:37.267Z,1757608177.267 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2025-09-11T16:29:37.371Z,1757608177.371 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance 2025-09-11T16:29:37.372Z,1757608177.372 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2025-09-11T16:29:37.633Z,1757608177.633 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2025-09-11T16:29:37.634Z,1757608177.634 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2025-09-11T16:29:37.726Z,1757608177.726 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2025-09-11T16:29:37.837Z,1757608177.837 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2025-09-11T16:29:37.838Z,1757608177.838 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2025-09-11T16:29:38.226Z,1757608178.226 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2025-09-11T16:29:38.227Z,1757608178.227 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2025-09-11T16:29:38.376Z,1757608178.376 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2025-09-11T16:29:38.377Z,1757608178.377 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2025-09-11T16:29:38.959Z,1757608178.959 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2025-09-11T16:29:38.960Z,1757608178.960 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2025-09-11T16:29:39.165Z,1757608179.165 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2025-09-11T16:29:39.165Z,1757608179.165 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2025-09-11T16:29:39.623Z,1757608179.623 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2025-09-11T16:29:39.624Z,1757608179.624 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2025-09-11T16:29:39.936Z,1757608179.936 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2025-09-11T16:29:39.937Z,1757608179.937 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2025-09-11T16:29:40.063Z,1757608180.063 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2025-09-11T16:29:40.064Z,1757608180.064 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2025-09-11T16:29:40.976Z,1757608180.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2025-09-11T16:29:40.977Z,1757608180.977 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2025-09-11T16:29:41.763Z,1757608181.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2025-09-11T16:29:41.764Z,1757608181.764 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2025-09-11T16:29:42.196Z,1757608182.196 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2025-09-11T16:29:42.198Z,1757608182.198 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/ 2025-09-11T16:29:42.199Z,1757608182.199 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/vehicle.cfg 2025-09-11T16:29:42.335Z,1757608182.335 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/secure.cfg 2025-09-11T16:29:42.433Z,1757608182.433 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Science.cfg 2025-09-11T16:29:42.588Z,1757608182.588 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Simulator.cfg 2025-09-11T16:29:42.687Z,1757608182.687 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Battery.cfg 2025-09-11T16:29:42.974Z,1757608182.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2025-09-11T16:29:42.974Z,1757608182.974 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/logger.cfg 2025-09-11T16:29:43.094Z,1757608183.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Servo.cfg 2025-09-11T16:29:43.216Z,1757608183.216 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Navigation.cfg 2025-09-11T16:29:43.330Z,1757608183.330 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Sensor.cfg 2025-09-11T16:29:43.503Z,1757608183.503 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Control.cfg 2025-09-11T16:29:43.615Z,1757608183.615 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/BIT.cfg 2025-09-11T16:29:43.716Z,1757608183.716 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/root/ 2025-09-11T16:29:43.716Z,1757608183.716 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg 2025-09-11T16:29:43.717Z,1757608183.717 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2025-09-11T16:29:43.728Z,1757608183.728 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2025-09-11T16:29:43.729Z,1757608183.729 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2025-09-11T16:29:43.870Z,1757608183.870 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2025-09-11T16:29:43.870Z,1757608183.870 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2025-09-11T16:29:43.927Z,1757608183.927 [VerticalControl](DEBUG): Construct VerticalControl. 2025-09-11T16:29:43.990Z,1757608183.990 [VerticalControl] Loaded 2025-09-11T16:29:43.991Z,1757608183.991 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2025-09-11T16:29:43.993Z,1757608183.993 [HorizontalControl](DEBUG): Construct HorizontalControl. 2025-09-11T16:29:44.042Z,1757608184.042 [HorizontalControl] Loaded 2025-09-11T16:29:44.043Z,1757608184.043 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2025-09-11T16:29:44.045Z,1757608184.045 [SpeedControl](DEBUG): Construct SpeedControl. 2025-09-11T16:29:44.048Z,1757608184.048 [SpeedControl] Loaded 2025-09-11T16:29:44.048Z,1757608184.048 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2025-09-11T16:29:44.051Z,1757608184.051 [LoopControl](DEBUG): Construct LoopControl. 2025-09-11T16:29:44.052Z,1757608184.052 [LoopControl] Loaded 2025-09-11T16:29:44.052Z,1757608184.052 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2025-09-11T16:29:44.053Z,1757608184.053 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2025-09-11T16:29:44.053Z,1757608184.053 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2025-09-11T16:29:44.195Z,1757608184.195 [BuoyancyServo] Loaded 2025-09-11T16:29:44.195Z,1757608184.195 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2025-09-11T16:29:44.219Z,1757608184.219 [ElevatorServo] Loaded 2025-09-11T16:29:44.219Z,1757608184.219 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2025-09-11T16:29:44.241Z,1757608184.241 [MassServo] Loaded 2025-09-11T16:29:44.241Z,1757608184.241 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2025-09-11T16:29:44.263Z,1757608184.263 [RudderServo] Loaded 2025-09-11T16:29:44.263Z,1757608184.263 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2025-09-11T16:29:44.280Z,1757608184.280 [ThrusterHE] Loaded 2025-09-11T16:29:44.281Z,1757608184.281 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2025-09-11T16:29:44.281Z,1757608184.281 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2025-09-11T16:29:44.282Z,1757608184.282 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2025-09-11T16:29:44.335Z,1757608184.335 [DepthRateCalculator] Loaded 2025-09-11T16:29:44.336Z,1757608184.336 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2025-09-11T16:29:44.341Z,1757608184.341 [PitchRateCalculator] Loaded 2025-09-11T16:29:44.341Z,1757608184.341 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2025-09-11T16:29:44.351Z,1757608184.351 [SpeedCalculator] Loaded 2025-09-11T16:29:44.351Z,1757608184.351 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2025-09-11T16:29:44.356Z,1757608184.356 [YawRateCalculator] Loaded 2025-09-11T16:29:44.356Z,1757608184.356 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2025-09-11T16:29:44.375Z,1757608184.375 [ElevatorOffsetCalculator] Loaded 2025-09-11T16:29:44.376Z,1757608184.376 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2025-09-11T16:29:44.376Z,1757608184.376 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2025-09-11T16:29:44.377Z,1757608184.377 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2025-09-11T16:29:44.495Z,1757608184.495 [DeadReckonUsingMultipleVelocitySources] Loaded 2025-09-11T16:29:44.496Z,1757608184.496 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2025-09-11T16:29:44.510Z,1757608184.510 [NavChart] Loaded 2025-09-11T16:29:44.510Z,1757608184.510 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2025-09-11T16:29:44.516Z,1757608184.516 [UniversalFixResidualReporter] Loaded 2025-09-11T16:29:44.516Z,1757608184.516 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2025-09-11T16:29:44.517Z,1757608184.517 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2025-09-11T16:29:44.517Z,1757608184.517 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2025-09-11T16:29:45.033Z,1757608185.033 [AHRS_M2] Loaded 2025-09-11T16:29:45.033Z,1757608185.033 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2025-09-11T16:29:45.074Z,1757608185.074 [BackseatComponent] Loaded 2025-09-11T16:29:45.075Z,1757608185.075 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2025-09-11T16:29:45.076Z,1757608185.076 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4092B4E0 2025-09-11T16:29:45.076Z,1757608185.076 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1332 2025-09-11T16:29:45.079Z,1757608185.079 [LcmUniversalReporter] Loaded 2025-09-11T16:29:45.079Z,1757608185.079 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2025-09-11T16:29:45.086Z,1757608185.086 [BioacousticsDataBridge] Loaded 2025-09-11T16:29:45.086Z,1757608185.086 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread. 2025-09-11T16:29:45.966Z,1757608185.966 [BPC1] Loaded 2025-09-11T16:29:45.966Z,1757608185.966 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2025-09-11T16:29:46.071Z,1757608186.071 [DAT] Loaded 2025-09-11T16:29:46.071Z,1757608186.071 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2025-09-11T16:29:46.072Z,1757608186.072 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 4095B4E0 2025-09-11T16:29:46.072Z,1757608186.072 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1333 2025-09-11T16:29:46.145Z,1757608186.145 [DataOverHttps] Loaded 2025-09-11T16:29:46.146Z,1757608186.146 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2025-09-11T16:29:46.147Z,1757608186.147 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4098B4E0 2025-09-11T16:29:46.147Z,1757608186.147 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1334 2025-09-11T16:29:46.172Z,1757608186.172 [Depth_Keller] Loaded 2025-09-11T16:29:46.172Z,1757608186.172 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2025-09-11T16:29:46.177Z,1757608186.177 [DropWeight] Loaded 2025-09-11T16:29:46.178Z,1757608186.178 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2025-09-11T16:29:46.246Z,1757608186.246 [NAL9602] Loaded 2025-09-11T16:29:46.247Z,1757608186.247 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2025-09-11T16:29:46.278Z,1757608186.278 [Onboard] Loaded 2025-09-11T16:29:46.279Z,1757608186.279 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2025-09-11T16:29:46.280Z,1757608186.280 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409BB4E0 2025-09-11T16:29:46.280Z,1757608186.280 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1335 2025-09-11T16:29:46.295Z,1757608186.295 [Power24vConverter] Loaded 2025-09-11T16:29:46.296Z,1757608186.296 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2025-09-11T16:29:46.314Z,1757608186.314 [Radio_Surface] Loaded 2025-09-11T16:29:46.314Z,1757608186.314 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2025-09-11T16:29:46.315Z,1757608186.315 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409EB4E0 2025-09-11T16:29:46.316Z,1757608186.316 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1336 2025-09-11T16:29:46.331Z,1757608186.331 [Sonardyne_Nano] Loaded 2025-09-11T16:29:46.331Z,1757608186.331 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2025-09-11T16:29:46.356Z,1757608186.356 [Waterlinked] Loaded 2025-09-11T16:29:46.356Z,1757608186.356 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread. 2025-09-11T16:29:46.356Z,1757608186.356 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2025-09-11T16:29:46.357Z,1757608186.357 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2025-09-11T16:29:46.419Z,1757608186.419 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2025-09-11T16:29:46.420Z,1757608186.420 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2025-09-11T16:29:46.605Z,1757608186.605 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2025-09-11T16:29:46.606Z,1757608186.606 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2025-09-11T16:29:46.636Z,1757608186.636 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2025-09-11T16:29:46.636Z,1757608186.636 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2025-09-11T16:29:46.817Z,1757608186.817 [CTD_Seabird] Loaded 2025-09-11T16:29:46.817Z,1757608186.817 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2025-09-11T16:29:46.818Z,1757608186.818 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40B344E0 2025-09-11T16:29:46.819Z,1757608186.819 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1337 2025-09-11T16:29:46.842Z,1757608186.842 [PAR_Licor] Loaded 2025-09-11T16:29:46.842Z,1757608186.842 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2025-09-11T16:29:46.890Z,1757608186.890 [WetLabsBB2FL] Loaded 2025-09-11T16:29:46.890Z,1757608186.890 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2025-09-11T16:29:46.891Z,1757608186.891 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40B644E0 2025-09-11T16:29:46.892Z,1757608186.892 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1338 2025-09-11T16:29:46.892Z,1757608186.892 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2025-09-11T16:29:46.893Z,1757608186.893 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2025-09-11T16:29:47.675Z,1757608187.675 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2025-09-11T16:29:47.676Z,1757608187.676 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2025-09-11T16:29:47.842Z,1757608187.842 [SBIT](DEBUG): Construct Startup Built In Test. 2025-09-11T16:29:47.852Z,1757608187.852 [SBIT] Loaded 2025-09-11T16:29:47.852Z,1757608187.852 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2025-09-11T16:29:47.855Z,1757608187.855 [IBIT](DEBUG): Construct Initiated Built In Test. 2025-09-11T16:29:47.868Z,1757608187.868 [IBIT] Loaded 2025-09-11T16:29:47.868Z,1757608187.868 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2025-09-11T16:29:47.874Z,1757608187.874 [CBIT](DEBUG): Construct Continuous Built In Test. 2025-09-11T16:29:47.959Z,1757608187.959 [CBIT] Loaded 2025-09-11T16:29:47.959Z,1757608187.959 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2025-09-11T16:29:47.993Z,1757608187.993 [GFScanner] Loaded 2025-09-11T16:29:47.993Z,1757608187.993 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread. 2025-09-11T16:29:47.994Z,1757608187.994 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2025-09-11T16:29:48.000Z,1757608188.000 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2025-09-11T16:29:48.003Z,1757608188.003 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2025-09-11T16:29:48.015Z,1757608188.015 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2025-09-11T16:29:48.016Z,1757608188.016 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0 2025-09-11T16:29:48.017Z,1757608188.017 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1339 2025-09-11T16:29:48.021Z,1757608188.021 [Supervisor](INFO): Main Thread ID is 1244 2025-09-11T16:29:48.022Z,1757608188.022 [Supervisor](DEBUG): Running supervisor. 2025-09-11T16:29:48.022Z,1757608188.022 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1340 2025-09-11T16:29:48.023Z,1757608188.023 [CommandExec](INFO): Initializing the command executive. 2025-09-11T16:29:48.024Z,1757608188.024 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1341 2025-09-11T16:29:48.027Z,1757608188.027 [controlThread ThreadHandler](INFO): Handler Thread ID is 1342 2025-09-11T16:29:48.027Z,1757608188.027 [controlThread](DEBUG): Initializing ControlThread 2025-09-11T16:29:48.028Z,1757608188.028 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2025-09-11T16:29:48.030Z,1757608188.030 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2025-09-11T16:29:48.030Z,1757608188.030 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2025-09-11T16:29:48.031Z,1757608188.031 [LoopControl](DEBUG): Initialize LoopControlComponent. 2025-09-11T16:29:48.032Z,1757608188.032 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2025-09-11T16:29:48.032Z,1757608188.032 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2025-09-11T16:29:48.033Z,1757608188.033 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2025-09-11T16:29:48.033Z,1757608188.033 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2025-09-11T16:29:48.033Z,1757608188.033 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2025-09-11T16:29:48.034Z,1757608188.034 [NavChart](DEBUG): Initialize NavChart Navigation. 2025-09-11T16:29:48.035Z,1757608188.035 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2025-09-11T16:29:48.041Z,1757608188.041 [SBIT](INFO): Initialize SBIT Component. 2025-09-11T16:29:48.042Z,1757608188.042 [SBIT](IMPORTANT): git: 2025-09-04-1-gf23ca45e4 2025-09-11T16:29:48.042Z,1757608188.042 [SBIT](INFO): git hash: f23ca45e43ac75619dec41dfb725120fbb894329 2025-09-11T16:29:48.042Z,1757608188.042 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-09-11T16:29:48.043Z,1757608188.043 [SBIT](INFO): Kernel Reporting Different Version From Configuration. Kernel Expected: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021 2025-09-11T16:29:48.044Z,1757608188.044 [SBIT](INFO): Beginning SBIT in 20.000000 seconds. 2025-09-11T16:29:48.045Z,1757608188.045 [IBIT](INFO): Initialize IBIT Component. 2025-09-11T16:29:48.046Z,1757608188.046 [CBIT](DEBUG): Initialize CBIT Component. 2025-09-11T16:29:48.047Z,1757608188.047 [logger ThreadHandler](INFO): Handler Thread ID is 1343 2025-09-11T16:29:48.057Z,1757608188.057 [CBIT](DEBUG): Initialized mux pins. 2025-09-11T16:29:48.057Z,1757608188.057 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL. 2025-09-11T16:29:48.057Z,1757608188.057 [CBIT](DEBUG): Initializing the watchdog timer. 2025-09-11T16:29:48.065Z,1757608188.065 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1344 2025-09-11T16:29:48.077Z,1757608188.077 [DAT ThreadHandler](INFO): Handler Thread ID is 1345 2025-09-11T16:29:48.078Z,1757608188.078 [DAT](INFO): Powering up 2025-09-11T16:29:48.078Z,1757608188.078 [DAT](DEBUG): Initializing DAT. 2025-09-11T16:29:48.081Z,1757608188.081 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2025-09-11T16:29:48.081Z,1757608188.081 [CBIT](DEBUG): Initializing heartbeat. 2025-09-11T16:29:48.083Z,1757608188.083 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1347 2025-09-11T16:29:48.085Z,1757608188.085 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2025-09-11T16:29:48.094Z,1757608188.094 [Onboard ThreadHandler](INFO): Handler Thread ID is 1348 2025-09-11T16:29:48.123Z,1757608188.123 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1349 2025-09-11T16:29:48.137Z,1757608188.137 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1350 2025-09-11T16:29:48.138Z,1757608188.138 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2025-09-11T16:29:48.142Z,1757608188.142 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1352 2025-09-11T16:29:48.145Z,1757608188.145 [WetLabsBB2FL](INFO): Powering up 2025-09-11T16:29:48.147Z,1757608188.147 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1354 2025-09-11T16:29:48.150Z,1757608188.150 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI79M.000 2025-09-11T16:29:48.150Z,1757608188.150 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI79M.000 2025-09-11T16:29:48.150Z,1757608188.150 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QL.000 2025-09-11T16:29:48.151Z,1757608188.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QL.000 2025-09-11T16:29:48.151Z,1757608188.151 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QM.000 2025-09-11T16:29:48.151Z,1757608188.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QM.000 2025-09-11T16:29:48.151Z,1757608188.151 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2PM.000 2025-09-11T16:29:48.151Z,1757608188.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2PM.000 2025-09-11T16:29:48.151Z,1757608188.151 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI74M.000 2025-09-11T16:29:48.151Z,1757608188.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI74M.000 2025-09-11T16:29:48.152Z,1757608188.152 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QN.000 2025-09-11T16:29:48.152Z,1757608188.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QN.000 2025-09-11T16:29:48.152Z,1757608188.152 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QO.000 2025-09-11T16:29:48.152Z,1757608188.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QO.000 2025-09-11T16:29:48.152Z,1757608188.152 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2RO.000 2025-09-11T16:29:48.153Z,1757608188.153 [CBIT](DEBUG): Deactivating emergency mode. 2025-09-11T16:29:48.152Z,1757608188.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2RO.000 2025-09-11T16:29:48.154Z,1757608188.154 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2RN.000 2025-09-11T16:29:48.154Z,1757608188.154 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2RN.000 2025-09-11T16:29:48.154Z,1757608188.154 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QP.000 2025-09-11T16:29:48.154Z,1757608188.154 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QP.000 2025-09-11T16:29:48.193Z,1757608188.193 [CBIT](DEBUG): Backplane powered. 2025-09-11T16:29:48.193Z,1757608188.193 [GFScanner](DEBUG): Initializing GFScanner 2025-09-11T16:29:48.194Z,1757608188.194 [GFScanner](DEBUG): Deactivating GF circuits. 2025-09-11T16:29:48.198Z,1757608188.198 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-09-11T16:29:48.199Z,1757608188.199 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2025-09-11T16:29:48.199Z,1757608188.199 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2025-09-11T16:29:48.200Z,1757608188.200 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2025-09-11T16:29:48.252Z,1757608188.252 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2025-09-11T16:29:48.273Z,1757608188.273 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2025-09-11T16:29:48.319Z,1757608188.319 [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 Startup { behavior Guidance:GoToSurface { run in progression } aggregate StartupSatComms { run in sequence readDatum { timeout duration=P1M Universal:latitude_fix } readDatum { timeout duration=P1M Universal:platform_communications } } } 2025-09-11T16:29:48.319Z,1757608188.319 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2025-09-11T16:29:48.319Z,1757608188.319 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2025-09-11T16:29:48.320Z,1757608188.320 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2025-09-11T16:29:48.525Z,1757608188.525 [Radio_Surface](INFO): Powering up 2025-09-11T16:29:48.677Z,1757608188.677 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into: 0 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs 2025-09-11T16:29:48.691Z,1757608188.691 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2025-09-11T16:29:48.701Z,1757608188.701 [Default:A.Wait](DEBUG): Construct Wait. 2025-09-11T16:29:48.703Z,1757608188.703 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-09-11T16:29:48.741Z,1757608188.741 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2025-09-11T16:29:48.744Z,1757608188.744 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2025-09-11T16:29:48.770Z,1757608188.770 [Default:E.Execute](DEBUG): Construct Execute. 2025-09-11T16:29:48.789Z,1757608188.789 [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 Default { arguments { ElapsedSinceDefaultStarted = 0 minute } 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 = 13 second } 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=P4H { 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" } } 2025-09-11T16:29:48.794Z,1757608188.794 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BioacousticsDataBridge,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,Waterlinked,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter, 2025-09-11T16:29:48.817Z,1757608188.817 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2025-09-11T16:29:48.877Z,1757608188.877 [Depth_Keller](INFO): Initializing. 2025-09-11T16:29:48.879Z,1757608188.879 [Power24vConverter](INFO): Powering up. 2025-09-11T16:29:48.879Z,1757608188.879 [Sonardyne_Nano](INFO): Initializing. 2025-09-11T16:29:48.922Z,1757608188.922 [DepthRateCalculator](ERROR): Depth measurement is not active 2025-09-11T16:29:48.948Z,1757608188.948 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2025-09-11T16:29:48.953Z,1757608188.953 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2025-09-11T16:29:48.954Z,1757608188.954 [ElevatorServo](DEBUG): Initializing EZServoServo. 2025-09-11T16:29:48.961Z,1757608188.961 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2025-09-11T16:29:48.962Z,1757608188.962 [MassServo](DEBUG): Initializing EZServoServo. 2025-09-11T16:29:48.969Z,1757608188.969 [MassServo](DEBUG): Initializing MassServo. 2025-09-11T16:29:48.970Z,1757608188.970 [RudderServo](DEBUG): Initializing EZServoServo. 2025-09-11T16:29:48.977Z,1757608188.977 [RudderServo](DEBUG): Initializing RudderServo. 2025-09-11T16:29:48.978Z,1757608188.978 [ThrusterHE](DEBUG): Initializing EZServoServo. 2025-09-11T16:29:48.985Z,1757608188.985 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2025-09-11T16:29:49.254Z,1757608189.254 [DropWeight](CRITICAL): DROP WEIGHT MISSING. 2025-09-11T16:29:49.254Z,1757608189.254 [DropWeight] Hardware Fault, FailCount= 1 2025-09-11T16:29:49.254Z,1757608189.254 [DropWeight](ERROR): Hardware Fault 2025-09-11T16:29:49.294Z,1757608189.294 [CommandExec](FAULT): Scheduling is paused 2025-09-11T16:29:49.295Z,1757608189.295 [CBIT](INFO): Critical error at 20250911T162949 2025-09-11T16:29:49.295Z,1757608189.295 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2025-09-11T16:29:49.305Z,1757608189.305 [CBIT](ERROR): Hardware Fault in component: DropWeight 2025-09-11T16:29:49.306Z,1757608189.306 [CBIT](CRITICAL): Hardware Fault in component: DropWeight 2025-09-11T16:29:49.674Z,1757608189.674 [CBIT](INFO): Critical error at 20250911T162949 2025-09-11T16:29:50.761Z,1757608190.761 [WetLabsBB2FL](INFO): Powering down 2025-09-11T16:29:50.823Z,1757608190.823 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2025-09-11T16:29:52.469Z,1757608192.469 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2107 2025-09-11T16:29:54.710Z,1757608194.710 [ThrusterHE](ERROR): Zero Speed Commanded. 2025-09-11T16:29:55.169Z,1757608195.169 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit. 2025-09-11T16:30:02.311Z,1757608202.311 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004663 2025-09-11T16:30:08.651Z,1757608208.651 [SBIT](IMPORTANT): Beginning Startup BIT 2025-09-11T16:30:08.664Z,1757608208.664 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-09-11T16:30:13.215Z,1757608213.215 [GFScanner](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.003264 CHAN A1 (24V): -0.007290 CHAN A2 (12V): -0.004589 CHAN A3 (5V): -0.003484 CHAN B0 (3.3V): -0.001084 CHAN B1 (3.15aV): -0.001476 CHAN B2 (3.15bV): -0.000531 CHAN B3 (GND): -0.000474 OPEN: 0.004821 Full Scale: +/- 1 mA 2025-09-11T16:30:16.358Z,1757608216.358 [NAL9602](INFO): Powering up NAL9602 2025-09-11T16:30:27.417Z,1757608227.417 [NAL9602](INFO): NAL9602 initialized 2025-09-11T16:30:32.493Z,1757608232.493 [Waterlinked](INFO): Powering down 2025-09-11T16:30:48.119Z,1757608248.119 [DAT](FAULT): failed to initialize, no bytes available on serial interface 2025-09-11T16:30:48.119Z,1757608248.119 [DAT] Communications Fault, FailCount= 1 2025-09-11T16:30:48.119Z,1757608248.119 [DAT](ERROR): Communications Fault 2025-09-11T16:30:48.140Z,1757608248.140 [CBIT](ERROR): Communications Fault in component: DAT 2025-09-11T16:30:48.521Z,1757608248.521 [DAT](INFO): Powering down 2025-09-11T16:30:49.787Z,1757608249.787 [CBIT](INFO): Clearing failed state for component DAT 2025-09-11T16:30:49.788Z,1757608249.788 [DAT] No Fault, FailCount= 1 2025-09-11T16:30:51.577Z,1757608251.577 [DAT](INFO): Powering up 2025-09-11T16:30:51.577Z,1757608251.577 [DAT](DEBUG): Initializing DAT. 2025-09-11T16:30:59.926Z,1757608259.926 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:02.336Z,1757608262.336 [SBIT](IMPORTANT): SBIT PASSED 2025-09-11T16:31:02.336Z,1757608262.336 [SBIT](FAULT): Ignoring configuration overrides from Data/persisted.cfg 2025-09-11T16:31:02.726Z,1757608262.726 [MissionManager](IMPORTANT): Started mission Startup 2025-09-11T16:31:02.727Z,1757608262.727 [Startup] Running Loop=1 2025-09-11T16:31:02.727Z,1757608262.727 [Startup](DEBUG): Aggregate::initialize Startup 2025-09-11T16:31:02.727Z,1757608262.727 [Startup:A.GoToSurface] Running Loop=1 2025-09-11T16:31:02.727Z,1757608262.727 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-09-11T16:31:02.727Z,1757608262.727 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-09-11T16:31:02.728Z,1757608262.728 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-09-11T16:31:02.728Z,1757608262.728 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-09-11T16:31:02.728Z,1757608262.728 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-09-11T16:31:02.733Z,1757608262.733 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-09-11T16:31:02.733Z,1757608262.733 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-09-11T16:31:02.735Z,1757608262.735 [Startup:StartupSatComms] Running Loop=1 2025-09-11T16:31:02.735Z,1757608262.735 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2025-09-11T16:31:02.735Z,1757608262.735 [Startup:StartupSatComms:A] Running Loop=1 2025-09-11T16:31:03.140Z,1757608263.140 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2025-09-11T16:31:03.938Z,1757608263.938 [DAT](INFO): DAT read: 2025-09-11T16:31:03.939Z,1757608263.939 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-09-11T16:31:05.702Z,1757608265.702 [DAT](INFO): DAT read: MF Frequency Band 2025-09-11T16:31:05.703Z,1757608265.703 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-09-11T16:31:05.704Z,1757608265.704 [DAT](INFO): DAT read: Sep 11 2025 16:30:59 2025-09-11T16:31:06.710Z,1757608266.710 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-09-11T16:31:06.711Z,1757608266.711 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2025-09-11T16:31:06.712Z,1757608266.712 [DAT](INFO): commRate: 800 2025-09-11T16:31:08.777Z,1757608268.777 [DAT](INFO): entering command mode 2025-09-11T16:31:08.978Z,1757608268.978 [DAT](INFO): DAT read: 2025-09-11T16:31:08.978Z,1757608268.978 [DAT](INFO): DAT read: user:1> 2025-09-11T16:31:08.979Z,1757608268.979 [DAT](INFO): setting verbose to 3 2025-09-11T16:31:09.229Z,1757608269.229 [DAT](INFO): DAT read: user:1> 2025-09-11T16:31:09.231Z,1757608269.231 [DAT](INFO): DAT read: Verbose | 3 2025-09-11T16:31:09.231Z,1757608269.231 [DAT](INFO): set verbose to 3 2025-09-11T16:31:09.231Z,1757608269.231 [DAT](INFO): setting DatVerbose to 27440 2025-09-11T16:31:09.482Z,1757608269.482 [DAT](INFO): DAT read: user:2> 2025-09-11T16:31:09.483Z,1757608269.483 [DAT](INFO): DAT read: DatVerbose | 27440 2025-09-11T16:31:09.483Z,1757608269.483 [DAT](INFO): set DatVerbose to 27440 2025-09-11T16:31:09.483Z,1757608269.483 [DAT](INFO): setting transmit power to 8 2025-09-11T16:31:09.734Z,1757608269.734 [DAT](INFO): DAT read: user:3> 2025-09-11T16:31:09.735Z,1757608269.735 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-09-11T16:31:09.735Z,1757608269.735 [DAT](INFO): set transmit power to 8 2025-09-11T16:31:09.735Z,1757608269.735 [DAT](INFO): setting local address to 12 2025-09-11T16:31:09.988Z,1757608269.988 [DAT](INFO): DAT read: user:4> 2025-09-11T16:31:09.989Z,1757608269.989 [DAT](INFO): DAT read: LocalAddr | 12 2025-09-11T16:31:09.989Z,1757608269.989 [DAT](INFO): set local address to 12 2025-09-11T16:31:09.990Z,1757608269.990 [DAT](INFO): Setting time to: 16:31:9 And date to:9/11/2025 2025-09-11T16:31:10.242Z,1757608270.242 [DAT](INFO): DAT read: user:5> 2025-09-11T16:31:10.243Z,1757608270.243 [DAT](INFO): DAT read: Thu Sep 11, 2025 16:31:09 2025-09-11T16:31:10.243Z,1757608270.243 [DAT](INFO): Local DAT time set to Thu Sep 11, 2025 16:31:09 2025-09-11T16:31:10.874Z,1757608270.874 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:13.276Z,1757608273.276 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:21.778Z,1757608281.778 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:31.019Z,1757608291.019 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:32.691Z,1757608292.691 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:42.387Z,1757608302.387 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:43.599Z,1757608303.599 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:53.302Z,1757608313.302 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:31:54.505Z,1757608314.505 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:02.931Z,1757608322.931 [Startup:StartupSatComms:A](INFO): Timed out from 2025-09-11T16:31:02.7Z 2025-09-11T16:32:02.931Z,1757608322.931 [Startup:StartupSatComms:A] Stopped 2025-09-11T16:32:02.931Z,1757608322.931 [Startup:StartupSatComms:B] Running Loop=1 2025-09-11T16:32:03.339Z,1757608323.339 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-09-11T16:32:03.790Z,1757608323.790 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:05.410Z,1757608325.410 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:09.885Z,1757608329.885 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250909T224311/Courier0027.lzma 2025-09-11T16:32:10.975Z,1757608330.975 [DataOverHttps](INFO): Moved sent file to Logs/20250909T224311/Courier0027.lzma.bak 2025-09-11T16:32:10.975Z,1757608330.975 [DataOverHttps](INFO): SBD MOMSN=25964489 2025-09-11T16:32:14.748Z,1757608334.748 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:16.796Z,1757608336.796 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:26.015Z,1757608346.015 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:26.668Z,1757608346.668 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250911T162008/Courier0000.lzma 2025-09-11T16:32:27.671Z,1757608347.671 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162008/Courier0000.lzma.bak 2025-09-11T16:32:27.671Z,1757608347.671 [DataOverHttps](INFO): SBD MOMSN=25964491 2025-09-11T16:32:28.034Z,1757608348.034 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:36.923Z,1757608356.923 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:38.944Z,1757608358.944 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:43.246Z,1757608363.246 [DataOverHttps](INFO): Sending 242 bytes from file Logs/20250911T162936/Courier0000.lzma 2025-09-11T16:32:44.247Z,1757608364.247 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Courier0000.lzma.bak 2025-09-11T16:32:44.247Z,1757608364.247 [DataOverHttps](INFO): SBD MOMSN=25964494 2025-09-11T16:32:47.886Z,1757608367.886 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:48.206Z,1757608368.206 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1 2025-09-11T16:32:48.206Z,1757608368.206 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2025-09-11T16:32:48.277Z,1757608368.277 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2025-09-11T16:32:48.640Z,1757608368.640 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2025-09-11T16:32:48.640Z,1757608368.640 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1 2025-09-11T16:32:50.304Z,1757608370.304 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:32:58.812Z,1757608378.812 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:00.256Z,1757608380.256 [DataOverHttps](INFO): Sending 95 bytes from file Logs/20250909T224311/Express0028.lzma 2025-09-11T16:33:01.259Z,1757608381.259 [DataOverHttps](INFO): Moved sent file to Logs/20250909T224311/Express0028.lzma.bak 2025-09-11T16:33:01.259Z,1757608381.259 [DataOverHttps](INFO): SBD MOMSN=25964499 2025-09-11T16:33:01.984Z,1757608381.984 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:03.151Z,1757608383.151 [Startup:StartupSatComms:B](INFO): Timed out from 2025-09-11T16:32:02.9Z 2025-09-11T16:33:03.151Z,1757608383.151 [Startup:StartupSatComms:B] Stopped 2025-09-11T16:33:03.151Z,1757608383.151 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2025-09-11T16:33:03.151Z,1757608383.151 [Startup:StartupSatComms] Stopped 2025-09-11T16:33:03.151Z,1757608383.151 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2025-09-11T16:33:03.152Z,1757608383.152 [Startup](INFO): Completed Startup 2025-09-11T16:33:03.152Z,1757608383.152 [MissionManager](INFO): Startup is completed. 2025-09-11T16:33:03.152Z,1757608383.152 [MissionManager](INFO): Uninitializing Mission Startup 2025-09-11T16:33:03.152Z,1757608383.152 [Startup] Stopped 2025-09-11T16:33:03.152Z,1757608383.152 [Startup](DEBUG): Aggregate::uninitialize Startup 2025-09-11T16:33:03.152Z,1757608383.152 [Startup:A.GoToSurface] Stopped 2025-09-11T16:33:03.152Z,1757608383.152 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-09-11T16:33:03.567Z,1757608383.567 [MissionManager](IMPORTANT): Started mission Default 2025-09-11T16:33:03.567Z,1757608383.567 [Default] Running Loop=1 2025-09-11T16:33:03.567Z,1757608383.567 [Default](DEBUG): Aggregate::initialize Default 2025-09-11T16:33:03.567Z,1757608383.567 [Default:B.GoToSurface] Running Loop=1 2025-09-11T16:33:03.567Z,1757608383.567 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-09-11T16:33:03.568Z,1757608383.568 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-09-11T16:33:03.568Z,1757608383.568 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-09-11T16:33:03.568Z,1757608383.568 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-09-11T16:33:03.569Z,1757608383.569 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-09-11T16:33:03.569Z,1757608383.569 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-09-11T16:33:03.570Z,1757608383.570 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-09-11T16:33:03.570Z,1757608383.570 [Default:A.Wait] Running Loop=1 2025-09-11T16:33:03.570Z,1757608383.570 [Default:A.Wait](DEBUG): Initialize Wait Component. 2025-09-11T16:33:10.079Z,1757608390.079 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:13.315Z,1757608393.315 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:16.887Z,1757608396.887 [Default:A.Wait](INFO): Done Waiting. 2025-09-11T16:33:16.887Z,1757608396.887 [Default:A.Wait] Stopped 2025-09-11T16:33:16.887Z,1757608396.887 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2025-09-11T16:33:17.298Z,1757608397.298 [Default:CheckIn] Running Loop=1 2025-09-11T16:33:17.298Z,1757608397.298 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2025-09-11T16:33:17.298Z,1757608397.298 [Default:CheckIn:Read_GPS] Running Loop=1 2025-09-11T16:33:17.694Z,1757608397.694 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-09-11T16:33:21.064Z,1757608401.064 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:25.007Z,1757608405.007 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:31.888Z,1757608411.888 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:36.358Z,1757608416.358 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:42.944Z,1757608422.944 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:46.568Z,1757608426.568 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250911T162008/Express0001.lzma 2025-09-11T16:33:47.571Z,1757608427.571 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162008/Express0001.lzma.bak 2025-09-11T16:33:47.571Z,1757608427.571 [DataOverHttps](INFO): SBD MOMSN=25964506 2025-09-11T16:33:48.133Z,1757608428.133 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:53.762Z,1757608433.762 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:33:59.800Z,1757608439.800 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:04.675Z,1757608444.675 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:11.520Z,1757608451.520 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:15.579Z,1757608455.579 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:23.234Z,1757608463.234 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:26.891Z,1757608466.891 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:34.957Z,1757608474.957 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:37.800Z,1757608477.800 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:46.666Z,1757608486.666 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:48.301Z,1757608488.301 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:58.407Z,1757608498.407 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:34:59.220Z,1757608499.220 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:35:09.692Z,1757608509.692 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:35:10.534Z,1757608510.534 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:35:21.432Z,1757608521.432 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:35:22.235Z,1757608522.235 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:35:31.062Z,1757608531.062 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-09-11T16:35:32.343Z,1757608532.343 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:35:43.248Z,1757608543.248 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:35:49.270Z,1757608549.270 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2 2025-09-11T16:35:49.270Z,1757608549.270 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2025-09-11T16:35:49.308Z,1757608549.308 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2025-09-11T16:35:49.683Z,1757608549.683 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2025-09-11T16:35:49.683Z,1757608549.683 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2 2025-09-11T16:35:54.168Z,1757608554.168 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:36:05.122Z,1757608565.122 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:36:11.860Z,1757608571.860 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:36:14.011Z,1757608574.011 [CommandExec](IMPORTANT): got command load ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T16:36:14.011Z,1757608574.011 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T16:36:14.011Z,1757608574.011 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T16:36:14.018Z,1757608574.018 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T16:36:21.929Z,1757608581.929 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/circle_acoustic_contact.tl translated into: 2 60 15 0 NaN 0 36.81544 -121.82506 300 50 100 60 1 0 100 NaN 3 33 10 20 1 0.010 7 105 1.5 0.7 0.05 20 15 1 0.07 0 0 1 2 0 modem _.near bool Set _.near to Received _.terminateMission message. Stopping mission. stop;schedule resume Waiting for while pumping down to neutral. Moving to Timed out while trying to reach target depth at current depth of stop 0.0 2025-09-11T16:36:21.998Z,1757608581.998 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h 2025-09-11T16:36:22.006Z,1757608582.006 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min 2025-09-11T16:36:22.045Z,1757608582.045 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min 2025-09-11T16:36:22.048Z,1757608582.048 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count 2025-09-11T16:36:22.068Z,1757608582.068 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = nan m 2025-09-11T16:36:22.079Z,1757608582.079 [MissionManager](INFO): DefineArg circle_acoustic_contact.ListenToTerminateMissionMsg = 0 bool 2025-09-11T16:36:22.095Z,1757608582.095 [MissionManager](INFO): DefineArg circle_acoustic_contact.SendNearSignal = 0 bool 2025-09-11T16:36:22.110Z,1757608582.110 [MissionManager](INFO): DefineArg circle_acoustic_contact.ModemIDForNearSignal = 0.000000 enum 2025-09-11T16:36:22.130Z,1757608582.130 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815441 arcdeg 2025-09-11T16:36:22.140Z,1757608582.140 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825058 arcdeg 2025-09-11T16:36:22.155Z,1757608582.155 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m 2025-09-11T16:36:22.166Z,1757608582.166 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m 2025-09-11T16:36:22.182Z,1757608582.182 [MissionManager](INFO): DefineArg circle_acoustic_contact.ThreshRangeContact = 100.000000 m 2025-09-11T16:36:22.197Z,1757608582.197 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s 2025-09-11T16:36:22.200Z,1757608582.200 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count 2025-09-11T16:36:22.212Z,1757608582.212 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min 2025-09-11T16:36:22.227Z,1757608582.227 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m 2025-09-11T16:36:22.238Z,1757608582.238 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool 2025-09-11T16:36:22.250Z,1757608582.250 [MissionManager](INFO): DefineArg circle_acoustic_contact.FixedDepth = nan m 2025-09-11T16:36:22.265Z,1757608582.265 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m 2025-09-11T16:36:22.282Z,1757608582.282 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m 2025-09-11T16:36:22.286Z,1757608582.286 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m 2025-09-11T16:36:22.305Z,1757608582.305 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg 2025-09-11T16:36:22.311Z,1757608582.311 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 1.000000 m/s 2025-09-11T16:36:22.319Z,1757608582.319 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m 2025-09-11T16:36:22.324Z,1757608582.324 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m 2025-09-11T16:36:22.335Z,1757608582.335 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m 2025-09-11T16:36:22.343Z,1757608582.343 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km 2025-09-11T16:36:22.379Z,1757608582.379 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachSpeed = 0.700000 m/s 2025-09-11T16:36:22.406Z,1757608582.406 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachDepthRate = 0.050000 m/s 2025-09-11T16:36:22.414Z,1757608582.414 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachPitchLimit = 20.000000 arcdeg 2025-09-11T16:36:22.450Z,1757608582.450 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachDepthTimeout = 15.000000 min 2025-09-11T16:36:22.462Z,1757608582.462 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachSettleTimePreDive = 1.000000 min 2025-09-11T16:36:22.477Z,1757608582.477 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYokpDepth = 0.070000 rad/m 2025-09-11T16:36:22.480Z,1757608582.480 [MissionManager](INFO): DefineOutput circle_acoustic_contact.DiveMode = 0.000000 count 2025-09-11T16:36:22.492Z,1757608582.492 [MissionManager](INFO): DefineOutput circle_acoustic_contact.DoingComms = 0.000000 count 2025-09-11T16:36:22.503Z,1757608582.503 [MissionManager](INFO): DefineOutput circle_acoustic_contact.InitialDive = 1.000000 count 2025-09-11T16:36:22.518Z,1757608582.518 [MissionManager](INFO): DefineOutput circle_acoustic_contact.MaintainDepth = 2.000000 count 2025-09-11T16:36:22.522Z,1757608582.522 [MissionManager](INFO): DefineOutput circle_acoustic_contact.TrueVar = 1 bool 2025-09-11T16:36:22.537Z,1757608582.537 [MissionManager](INFO): DefineOutput circle_acoustic_contact.NearSignalSent = 0 bool 2025-09-11T16:36:22.553Z,1757608582.553 [MissionManager](INFO): DefineOutput circle_acoustic_contact.TerminateMissionMsgReceived = 0 bool 2025-09-11T16:36:22.554Z,1757608582.554 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl 2025-09-11T16:36:22.554Z,1757608582.554 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl 2025-09-11T16:36:22.555Z,1757608582.555 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl 2025-09-11T16:36:22.700Z,1757608582.700 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into: 96 Insert acoustic timeout set to . stop 2025-09-11T16:36:22.713Z,1757608582.713 [MissionManager](INFO): DefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = 96.000000 h 2025-09-11T16:36:22.715Z,1757608582.715 [circle_acoustic_contact:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift. 2025-09-11T16:36:22.722Z,1757608582.722 [circle_acoustic_contact:AbortDrift:C.Execute](DEBUG): Construct Execute. 2025-09-11T16:36:22.729Z,1757608582.729 [MissionManager](INFO): RedefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = reader:circle_acoustic_contact.AcousticContactTimeout 2025-09-11T16:36:22.970Z,1757608582.970 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-09-11T16:36:22.970Z,1757608582.970 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-09-11T16:36:22.971Z,1757608582.971 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-09-11T16:36:23.456Z,1757608583.456 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-09-11T16:36:23.475Z,1757608583.475 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 1.000000 h 2025-09-11T16:36:23.479Z,1757608583.479 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min 2025-09-11T16:36:23.490Z,1757608583.490 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-09-11T16:36:23.497Z,1757608583.497 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s 2025-09-11T16:36:23.500Z,1757608583.500 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-09-11T16:36:23.508Z,1757608583.508 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacingTimeout = 1000.000000 s 2025-09-11T16:36:23.511Z,1757608583.511 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min 2025-09-11T16:36:23.523Z,1757608583.523 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min 2025-09-11T16:36:23.538Z,1757608583.538 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-09-11T16:36:23.622Z,1757608583.622 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-09-11T16:36:23.622Z,1757608583.622 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-09-11T16:36:23.623Z,1757608583.623 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-09-11T16:36:23.759Z,1757608583.759 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-09-11T16:36:23.781Z,1757608583.781 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m 2025-09-11T16:36:23.784Z,1757608583.784 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-09-11T16:36:23.796Z,1757608583.796 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m 2025-09-11T16:36:23.812Z,1757608583.812 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-09-11T16:36:23.825Z,1757608583.825 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-11T16:36:23.845Z,1757608583.845 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-11T16:36:23.863Z,1757608583.863 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-09-11T16:36:23.892Z,1757608583.892 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-09-11T16:36:23.892Z,1757608583.892 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-09-11T16:36:23.897Z,1757608583.897 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-09-11T16:36:23.932Z,1757608583.932 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-09-11T16:36:23.940Z,1757608583.940 [MissionManager](INFO): DefineArg circle_acoustic_contact:BackseatDriver.EnableBackseat = 0 bool 2025-09-11T16:36:23.947Z,1757608583.947 [circle_acoustic_contact:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-09-11T16:36:23.951Z,1757608583.951 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-09-11T16:36:23.951Z,1757608583.951 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-09-11T16:36:23.952Z,1757608583.952 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-09-11T16:36:24.243Z,1757608584.243 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-09-11T16:36:24.255Z,1757608584.255 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleAll = 0 bool 2025-09-11T16:36:24.258Z,1757608584.258 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad1 = 0 bool 2025-09-11T16:36:24.260Z,1757608584.260 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad2 = 0 bool 2025-09-11T16:36:24.268Z,1757608584.268 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad3 = 0 bool 2025-09-11T16:36:24.272Z,1757608584.272 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.EnabledPowerOnly = 0 bool 2025-09-11T16:36:24.292Z,1757608584.292 [circle_acoustic_contact:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-09-11T16:36:24.297Z,1757608584.297 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-09-11T16:36:24.298Z,1757608584.297 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-09-11T16:36:24.307Z,1757608584.307 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-09-11T16:36:27.727Z,1757608587.727 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 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 PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , 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). 2025-09-11T16:36:27.766Z,1757608587.766 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool 2025-09-11T16:36:27.768Z,1757608587.768 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectChlActive = 0 bool 2025-09-11T16:36:27.772Z,1757608587.772 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min 2025-09-11T16:36:27.775Z,1757608587.775 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool 2025-09-11T16:36:27.778Z,1757608587.778 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestSaltPeakReportActive = 0 bool 2025-09-11T16:36:27.781Z,1757608587.781 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestOilPeakReportActive = 0 bool 2025-09-11T16:36:27.784Z,1757608587.784 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool 2025-09-11T16:36:27.787Z,1757608587.787 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count 2025-09-11T16:36:27.791Z,1757608587.791 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count 2025-09-11T16:36:27.818Z,1757608587.818 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 % 2025-09-11T16:36:27.820Z,1757608587.820 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool 2025-09-11T16:36:27.827Z,1757608587.827 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool 2025-09-11T16:36:27.834Z,1757608587.834 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool 2025-09-11T16:36:27.846Z,1757608587.846 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectSalinityActive = 0 bool 2025-09-11T16:36:27.850Z,1757608587.850 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-09-11T16:36:27.861Z,1757608587.861 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-09-11T16:36:27.864Z,1757608587.864 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-09-11T16:36:27.868Z,1757608587.868 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-09-11T16:36:27.883Z,1757608587.883 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-09-11T16:36:27.890Z,1757608587.890 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-09-11T16:36:27.901Z,1757608587.901 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-09-11T16:36:27.904Z,1757608587.904 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-09-11T16:36:27.907Z,1757608587.907 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-09-11T16:36:27.934Z,1757608587.934 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0 bool 2025-09-11T16:36:27.938Z,1757608587.938 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0 bool 2025-09-11T16:36:27.955Z,1757608587.955 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledRBRTridente = 0 bool 2025-09-11T16:36:27.958Z,1757608587.958 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1 bool 2025-09-11T16:36:27.971Z,1757608587.971 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1 bool 2025-09-11T16:36:27.979Z,1757608587.979 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-09-11T16:36:27.987Z,1757608587.987 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0 bool 2025-09-11T16:36:28.001Z,1757608588.001 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count 2025-09-11T16:36:28.004Z,1757608588.004 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count 2025-09-11T16:36:28.007Z,1757608588.007 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ShallowBound = nan m 2025-09-11T16:36:28.039Z,1757608588.039 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.DeepBound = nan m 2025-09-11T16:36:28.062Z,1757608588.062 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-09-11T16:36:28.073Z,1757608588.073 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionVerticalAscent = nan % 2025-09-11T16:36:28.085Z,1757608588.085 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionVerticalDescent = nan % 2025-09-11T16:36:28.088Z,1757608588.088 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlPeakThresh = 0.000000 ug/l 2025-09-11T16:36:28.100Z,1757608588.100 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumberOfLayers = 1.000000 count 2025-09-11T16:36:28.108Z,1757608588.108 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlThreshTriggerActive = 0 bool 2025-09-11T16:36:28.115Z,1757608588.115 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlLowerThresh = nan ug/l 2025-09-11T16:36:28.119Z,1757608588.119 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlUpperThresh = nan ug/l 2025-09-11T16:36:28.131Z,1757608588.131 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesThresh = 5.000000 count 2025-09-11T16:36:28.142Z,1757608588.142 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-09-11T16:36:28.149Z,1757608588.149 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-09-11T16:36:28.152Z,1757608588.152 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-09-11T16:36:28.164Z,1757608588.164 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-09-11T16:36:28.171Z,1757608588.171 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.GoDown = 1 bool 2025-09-11T16:36:28.183Z,1757608588.183 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = nan ug/l 2025-09-11T16:36:28.190Z,1757608588.190 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = nan m 2025-09-11T16:36:28.194Z,1757608588.194 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = nan degC 2025-09-11T16:36:28.210Z,1757608588.210 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg 2025-09-11T16:36:28.217Z,1757608588.217 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg 2025-09-11T16:36:28.233Z,1757608588.233 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChl = nan ug/l 2025-09-11T16:36:28.236Z,1757608588.236 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlDepth = nan m 2025-09-11T16:36:28.244Z,1757608588.244 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlTemperature = nan degC 2025-09-11T16:36:28.263Z,1757608588.263 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlLatitude = nan arcdeg 2025-09-11T16:36:28.272Z,1757608588.272 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlLongitude = nan arcdeg 2025-09-11T16:36:28.293Z,1757608588.293 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = nan umol/l 2025-09-11T16:36:28.296Z,1757608588.296 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = nan m 2025-09-11T16:36:28.303Z,1757608588.303 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg 2025-09-11T16:36:28.307Z,1757608588.307 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg 2025-09-11T16:36:28.323Z,1757608588.323 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = nan kg/m3 2025-09-11T16:36:28.326Z,1757608588.326 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = nan m 2025-09-11T16:36:28.342Z,1757608588.342 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg 2025-09-11T16:36:28.349Z,1757608588.349 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg 2025-09-11T16:36:28.352Z,1757608588.352 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = nan ppb 2025-09-11T16:36:28.356Z,1757608588.356 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = nan m 2025-09-11T16:36:28.376Z,1757608588.376 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMTemperature = nan degC 2025-09-11T16:36:28.384Z,1757608588.384 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg 2025-09-11T16:36:28.392Z,1757608588.392 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg 2025-09-11T16:36:28.403Z,1757608588.403 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSalt = nan psu 2025-09-11T16:36:28.407Z,1757608588.407 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltDepth = nan m 2025-09-11T16:36:28.475Z,1757608588.475 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltTemperature = nan degC 2025-09-11T16:36:28.482Z,1757608588.482 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltLatitude = nan arcdeg 2025-09-11T16:36:28.501Z,1757608588.501 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltLongitude = nan arcdeg 2025-09-11T16:36:28.513Z,1757608588.513 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-09-11T16:36:28.516Z,1757608588.516 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-09-11T16:36:28.527Z,1757608588.527 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-09-11T16:36:28.553Z,1757608588.553 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-09-11T16:36:28.561Z,1757608588.561 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-09-11T16:36:28.564Z,1757608588.564 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-09-11T16:36:28.580Z,1757608588.580 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-09-11T16:36:28.587Z,1757608588.587 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-09-11T16:36:28.595Z,1757608588.595 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-09-11T16:36:28.610Z,1757608588.610 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-09-11T16:36:28.622Z,1757608588.622 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-09-11T16:36:28.637Z,1757608588.637 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-09-11T16:36:28.646Z,1757608588.646 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-09-11T16:36:28.657Z,1757608588.657 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-09-11T16:36:28.665Z,1757608588.665 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-09-11T16:36:28.668Z,1757608588.668 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-09-11T16:36:28.680Z,1757608588.680 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-09-11T16:36:28.687Z,1757608588.687 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-09-11T16:36:28.692Z,1757608588.692 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-09-11T16:36:28.708Z,1757608588.708 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-09-11T16:36:28.712Z,1757608588.712 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-09-11T16:36:28.737Z,1757608588.737 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-09-11T16:36:28.740Z,1757608588.740 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-09-11T16:36:28.747Z,1757608588.747 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-09-11T16:36:28.751Z,1757608588.751 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-09-11T16:36:28.771Z,1757608588.771 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-09-11T16:36:28.776Z,1757608588.776 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-09-11T16:36:28.792Z,1757608588.792 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-09-11T16:36:28.800Z,1757608588.800 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-09-11T16:36:28.812Z,1757608588.812 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-09-11T16:36:28.827Z,1757608588.827 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:36:28.848Z,1757608588.848 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-09-11T16:36:28.861Z,1757608588.861 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-09-11T16:36:28.868Z,1757608588.868 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-09-11T16:36:28.875Z,1757608588.875 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-09-11T16:36:28.897Z,1757608588.897 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-09-11T16:36:28.900Z,1757608588.900 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-09-11T16:36:28.918Z,1757608588.918 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-09-11T16:36:28.922Z,1757608588.922 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-09-11T16:36:28.929Z,1757608588.929 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-09-11T16:36:28.932Z,1757608588.932 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-09-11T16:36:28.944Z,1757608588.944 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = nan ug/l 2025-09-11T16:36:28.951Z,1757608588.951 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = nan m 2025-09-11T16:36:28.956Z,1757608588.956 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg 2025-09-11T16:36:28.972Z,1757608588.972 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg 2025-09-11T16:36:28.975Z,1757608588.975 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m 2025-09-11T16:36:28.991Z,1757608588.991 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSalt = nan psu 2025-09-11T16:36:28.995Z,1757608588.995 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltDepth = nan m 2025-09-11T16:36:29.007Z,1757608589.007 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltLatitude = nan arcdeg 2025-09-11T16:36:29.014Z,1757608589.014 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltLongitude = nan arcdeg 2025-09-11T16:36:29.019Z,1757608589.019 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltDistance = nan m 2025-09-11T16:36:29.030Z,1757608589.030 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOil = nan psu 2025-09-11T16:36:29.037Z,1757608589.037 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilDepth = nan m 2025-09-11T16:36:29.045Z,1757608589.045 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilLatitude = nan arcdeg 2025-09-11T16:36:29.048Z,1757608589.048 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilLongitude = nan arcdeg 2025-09-11T16:36:29.056Z,1757608589.056 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilDistance = nan m 2025-09-11T16:36:29.060Z,1757608589.060 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.TriggeredOnChl = 0 bool 2025-09-11T16:36:29.088Z,1757608589.088 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.ChlTriggering = nan ug/l 2025-09-11T16:36:29.191Z,1757608589.191 [circle_acoustic_contact:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.208Z,1757608589.208 [circle_acoustic_contact:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T16:36:29.340Z,1757608589.340 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T16:36:29.366Z,1757608589.366 [circle_acoustic_contact:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.417Z,1757608589.417 [circle_acoustic_contact:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.436Z,1757608589.436 [circle_acoustic_contact:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T16:36:29.479Z,1757608589.479 [circle_acoustic_contact:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.508Z,1757608589.508 [circle_acoustic_contact:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.563Z,1757608589.563 [circle_acoustic_contact:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T16:36:29.598Z,1757608589.598 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.623Z,1757608589.623 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T16:36:29.735Z,1757608589.735 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.786Z,1757608589.786 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T16:36:29.844Z,1757608589.844 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.886Z,1757608589.886 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T16:36:29.947Z,1757608589.947 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T16:36:29.988Z,1757608589.988 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T16:36:30.072Z,1757608590.072 [circle_acoustic_contact:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-09-11T16:36:30.126Z,1757608590.126 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool 2025-09-11T16:36:30.157Z,1757608590.157 [circle_acoustic_contact:TerminateMissionByMsg:B.Execute](DEBUG): Construct Execute. 2025-09-11T16:36:30.195Z,1757608590.195 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:C.Mass](DEBUG): Construct. 2025-09-11T16:36:30.218Z,1757608590.218 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:D.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T16:36:30.226Z,1757608590.226 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:F.Wait](DEBUG): Construct Wait. 2025-09-11T16:36:30.234Z,1757608590.234 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct. 2025-09-11T16:36:30.243Z,1757608590.243 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct. 2025-09-11T16:36:30.260Z,1757608590.260 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute. 2025-09-11T16:36:30.280Z,1757608590.280 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct. 2025-09-11T16:36:30.299Z,1757608590.299 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T16:36:30.307Z,1757608590.307 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:B.SetSpeed](DEBUG): Construct. 2025-09-11T16:36:30.314Z,1757608590.314 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:C.Pitch](DEBUG): Construct. 2025-09-11T16:36:30.337Z,1757608590.337 [circle_acoustic_contact:DiveCmd:YoYo:A.Pitch](DEBUG): Construct. 2025-09-11T16:36:30.344Z,1757608590.344 [circle_acoustic_contact:DiveCmd:YoYo:B.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T16:36:30.367Z,1757608590.367 [circle_acoustic_contact:DiveCmd:YoYo:C.SetSpeed](DEBUG): Construct. 2025-09-11T16:36:30.382Z,1757608590.382 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-11T16:36:30.407Z,1757608590.407 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-11T16:36:30.419Z,1757608590.419 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:C.YoYo](DEBUG): Construct YoYo. 2025-09-11T16:36:30.545Z,1757608590.545 [circle_acoustic_contact:DiveAndCircle:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct. 2025-09-11T16:36:30.577Z,1757608590.577 [circle_acoustic_contact:DiveAndCircle:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct. 2025-09-11T16:36:30.770Z,1757608590.770 [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 { """ This mission runs a circle around a specified acoustic contact. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact. The tracking component then calculates the position of the contact to update the center of the circle. When the vehicle surfaces and updates its own position with GPS, it queries the contact again, then sends the contact position to shore. """ arguments { # Mission-wide settings MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """ AcousticContactTimeout = 15 minute """ If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. """ # You probably need to change these. ContactLabel = 0 count """ The acoustic address of the asset to be tracked """ ContactDepth = NaN meter """ The depth of the asset to be tracked, if known. """ ListenToTerminateMissionMsg = false """ Whether to listen to the _.terminateMission acoustic message. """ SendNearSignal = false """ Whether to send the _.near acoustic message to the contact. """ ModemIDForNearSignal = 0 enum """ ID of modem to send _.near acoustic message. Defaults to the same as ContactLabel but doesn't have to be the same modem as that being tracked. """ CenterLatitude = 36.81544 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. """ CenterLongitude = -121.82506 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. """ OuterCircleRadius = 300 meter """ Radius of circle around acoustic contact during wait time """ InnerCircleRadius = 50 meter """ Radius of circle around acoustic contact during wait time """ ThreshRangeContact = 100 meter """ Send _.near acoustic message to the contact when the range is closer than this threshold. """ # You probably do not need to change these. TrackingUpdatePeriod = 60 second """ How long to wait between acoustic queries """ NumberOfPings = 1 count """ Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) """ InnerCircleTime = 0 minute """ Time before each normal communication cycle to move to the inner circle. Default value of 0 means vehicle will stay at OuterCircleRadius the whole time. """ CircleMaxError = 100 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. """ FixedDepth = NaN meter """ If non-nan, vehicle flies a flat-and-level circle at the specified depth instead of yo-yos. See noyo settings below. """ YoYoMinDepth = 3 meter """ Minimum depth during yo-yo's. """ YoYoMaxDepth = 33 meter """ Maximum depth during yo-yo's. """ YoYoMinAltitude = 10 meter """ Min altitude while in yo-yo mode. """ YoYoPitch = 20 degree """ Pitch (plus and minus) for yo-yo behavior. """ Speed = 1 meter_per_second """ Vehicle speed. """ # 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.) """ MinAltitude = 7 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 105 meter """ Maximum depth for the entire mission. """ MinOffshore = 1.5 kilometer """ Minimum offshore distance for the entire mission. """ NoYoApproachSpeed = 0.7 meter_per_second """ Speed while descending to target depth for flat-and-level circle Not used for yoyos """ NoYoApproachDepthRate = 0.05 meter_per_second """ Descent depth rate (Positive depth rate means going down) for flat-and-level circle Not used for yoyos """ NoYoApproachPitchLimit = 20 degree """ Max vehicle pitch (+/-) when decending from the surface for flat-and-level circle Not used for yoyos """ NoYoApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth for flat-and-level circle Not used for yoyos """ NoYoApproachSettleTimePreDive = 1 minute """ Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface for flat-and-level circle Not used for yoyos """ NoYokpDepth = 0.07 radian_per_meter """ Dive loop proportional gain (applied only while the vehicle is descending to target depth). """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ InitialDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to dive the vehicle to the approach depth. """ MaintainDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ TrueVar = true NearSignalSent = false """ Have sent the _.near message to the contact. """ TerminateMissionMsgReceived = false """ Whether this vehicle has received the _.terminateMission message from the other vehicle. """ } # 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 } aggregate UpdateCenter { run when ( elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < AcousticContactTimeout and ( CenterLatitude != Estimation:TrackAcousticContact.contact_latitude or CenterLongitude != Estimation:TrackAcousticContact.contact_longitude ) ) assign in sequence CenterLatitude = Estimation:TrackAcousticContact.contact_latitude assign in sequence CenterLongitude = Estimation:TrackAcousticContact.contact_longitude } # Most missions have the NeedComms aggregate at high priority. insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute # 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 insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # insert Insert/TerminateMissionByMsg.tl { # redefineArg ListenToMsgTerminateMission = ListenToTerminateMissionMsg # } insert id="Science" Insert/Science.tl { """ Get science data, including PeakDetectChl """ redefineArg PeakDetectChlActive = true } aggregate SendNearSignal { run when ( ( ( SendNearSignal ) and ( Universal:acoustic_contact_range < ThreshRangeContact ) and not ( NearSignalSent ) ) ) aggregate NearSignal { run in sequence break if ( NearSignalSent ) behavior Sensor:SendDirect { run in sequence set destType = "modem" set destId = ModemIDForNearSignal set destName = "_.near" set value = TrueVar set unit = "bool" } syslog important "Set _.near to " + TrueVar~bool assign in sequence NearSignalSent = true } } aggregate TerminateMissionByMsg { run when ( ListenToTerminateMissionMsg and ( elapsed ( customUri "_.terminateMission" ) < ( elapsed ( TerminateMissionMsgReceived ) ) ) ) syslog info "Received _.terminateMission message. Stopping mission." behavior Guidance:Execute { run in sequence set command = "stop;schedule resume" } assign in sequence TerminateMissionMsgReceived = true } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms call priorityHere=false refId="NeedComms" assign in sequence DiveMode = InitialDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between 3 dive modes: 1) descend from the surface to initial depth. 2) settle at target depth using the VB. 3) cruise at target depth. """ run when ( called ) aggregate NoYoInitialDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == InitialDive and not isNaN ( FixedDepth ) ) aggregate dive { run in sequence assign in parallel Control:VerticalControl.pitchLimit = NoYoApproachPitchLimit assign in parallel Control:VerticalControl.kpDepth = NoYokpDepth behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } syslog info "Waiting for " + NoYoApproachSettleTimePreDive~minute + "while pumping down to neutral." behavior Guidance:Wait { """ Take a few moments to ensure the VBS reaches neutral. """ run in sequence set duration = NoYoApproachSettleTimePreDive } syslog "Moving to " + FixedDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = NoYoApproachSpeed } behavior Guidance:Pitch { run in sequence timeout duration=NoYoApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = FixedDepth set depthRate = NoYoApproachDepthRate } } assign in sequence DiveMode = MaintainDepth } } aggregate NoYoMaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and not isNaN ( FixedDepth ) ) aggregate dive { run in parallel aggregate ThrusterDive { run while ( Speed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } } behavior Guidance:SetSpeed { run in parallel set speed = Speed } behavior Guidance:Pitch { run in parallel set depth = FixedDepth } } } aggregate YoYo { run while ( DiveMode != DoingComms and isNaN ( FixedDepth ) ) behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:SetSpeed { run in parallel set speed = Speed } aggregate YoYos { run in parallel behavior Guidance:DepthEnvelope { run in parallel set minDepth = YoYoMinDepth set maxDepth = YoYoMaxDepth set pitch = YoYoPitch } behavior Guidance:AltitudeEnvelope { run in parallel set minAltitude = YoYoMinAltitude set pitch = YoYoPitch } behavior Guidance:YoYo { run in parallel set pitch = YoYoPitch } } } } # Start mission sequence call id="StartingMission" priorityHere=false refId="SurfaceComms" aggregate DiveAndCircle { run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } aggregate CircleWrapper { run in sequence aggregate CircleContact { """ Circle the contact while updating its position using the tracking behavior. """ run when ( elapsed ( Universal:time_fix ) < ( NeedCommsTime - InnerCircleTime ) ) assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading behavior Guidance:Circle { run in sequence set latitude = CenterLatitude set longitude = CenterLongitude set radius = OuterCircleRadius set maxError = CircleMaxError set turnToPort = CircleTurnToPort } } aggregate CircleContactClose { """ Circle the contact closely while updating its position using the tracking behavior. """ run when ( elapsed ( Universal:time_fix ) >= ( NeedCommsTime - InnerCircleTime ) ) assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading behavior Guidance:Circle { run in sequence set latitude = CenterLatitude set longitude = CenterLongitude set radius = InnerCircleRadius set maxError = CircleMaxError set turnToPort = CircleTurnToPort } } } } } 2025-09-11T16:36:30.771Z,1757608590.771 [CommandExec](IMPORTANT): Loaded ./Missions/Science/circle_acoustic_contact.tl id=circle_acoustic_contact 2025-09-11T16:36:45.795Z,1757608605.795 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:37:02.771Z,1757608622.771 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:37:19.731Z,1757608639.731 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:37:37.104Z,1757608657.104 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:37:50.852Z,1757608670.852 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:37:54.071Z,1757608674.071 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:38:01.876Z,1757608681.876 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:38:09.793Z,1757608689.793 [CommandExec](IMPORTANT): got command set circle_acoustic_contact.ContactDepth 1 meter 2025-09-11T16:38:09.794Z,1757608689.794 [CommandExec](IMPORTANT): got command set circle_acoustic_contact.Speed 0 meter_per_second 2025-09-11T16:38:11.039Z,1757608691.039 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:38:12.774Z,1757608692.774 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:38:17.530Z,1757608697.530 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-09-11T16:33:17.3Z 2025-09-11T16:38:17.530Z,1757608697.530 [Default:CheckIn:Read_GPS] Stopped 2025-09-11T16:38:17.530Z,1757608697.530 [Default:CheckIn:Read_Iridium] Running Loop=1 2025-09-11T16:38:17.943Z,1757608697.943 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-09-11T16:38:23.851Z,1757608703.851 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:38:28.016Z,1757608708.016 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250911T162936/Courier0004.lzma 2025-09-11T16:38:28.123Z,1757608708.123 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:38:29.019Z,1757608709.019 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Courier0004.lzma.bak 2025-09-11T16:38:29.019Z,1757608709.019 [DataOverHttps](INFO): SBD MOMSN=25964532 2025-09-11T16:38:34.740Z,1757608714.740 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:38:46.100Z,1757608726.100 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:38:50.374Z,1757608730.374 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3 2025-09-11T16:38:50.374Z,1757608730.374 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2025-09-11T16:38:50.428Z,1757608730.428 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2025-09-11T16:38:50.687Z,1757608730.687 [DataOverHttps](INFO): Sending 804 bytes from file Logs/20250911T162936/Express0001.lzma 2025-09-11T16:38:50.814Z,1757608730.814 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2025-09-11T16:38:50.814Z,1757608730.814 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3 2025-09-11T16:38:51.687Z,1757608731.687 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Express0001.lzma.bak 2025-09-11T16:38:51.687Z,1757608731.687 [DataOverHttps](INFO): SBD MOMSN=25964547 2025-09-11T16:38:56.978Z,1757608736.978 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:39:08.302Z,1757608748.302 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:39:14.321Z,1757608754.321 [DataOverHttps](INFO): Sending 315 bytes from file Logs/20250911T162936/Express0005.lzma 2025-09-11T16:39:15.323Z,1757608755.323 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Express0005.lzma.bak 2025-09-11T16:39:15.323Z,1757608755.323 [DataOverHttps](INFO): SBD MOMSN=25964563 2025-09-11T16:39:16.655Z,1757608756.655 [Default:CheckIn:Read_Iridium] Stopped 2025-09-11T16:39:16.655Z,1757608756.655 [Default:CheckIn:C.Wait] Running Loop=1 2025-09-11T16:39:16.655Z,1757608756.655 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-09-11T16:39:19.203Z,1757608759.203 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:39:21.874Z,1757608761.874 [CommandExec](IMPORTANT): got command set circle_acoustic_contact.YoYoMinDepth 0.1 meter 2025-09-11T16:39:21.875Z,1757608761.875 [CommandExec](IMPORTANT): got command set circle_acoustic_contact.YoYoMaxDepth 0.2 meter 2025-09-11T16:39:30.015Z,1757608770.015 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:39:41.020Z,1757608781.020 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.8 degree 2025-09-11T16:39:41.024Z,1757608781.024 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread. 2025-09-11T16:39:41.025Z,1757608781.025 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.8 degree 2025-09-11T16:39:41.029Z,1757608781.029 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread. 2025-09-11T16:39:41.319Z,1757608781.319 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:39:41.389Z,1757608781.389 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BioacousticsDataBridge,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,Waterlinked,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter, 2025-09-11T16:39:52.639Z,1757608792.639 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:40:03.946Z,1757608803.946 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:40:13.172Z,1757608813.172 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-11T16:40:14.938Z,1757608814.938 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:40:15.873Z,1757608815.873 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1757608730 second 2025-09-11T16:40:19.733Z,1757608819.733 [CommandExec](IMPORTANT): got command run 2025-09-11T16:40:19.739Z,1757608819.739 [CommandExec](IMPORTANT): Running 2025-09-11T16:40:20.049Z,1757608820.049 [Default] Stopped 2025-09-11T16:40:20.050Z,1757608820.050 [Default](DEBUG): Aggregate::uninitialize Default 2025-09-11T16:40:20.050Z,1757608820.050 [Default:B.GoToSurface] Stopped 2025-09-11T16:40:20.050Z,1757608820.050 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-09-11T16:40:20.050Z,1757608820.050 [Default:CheckIn] Stopped 2025-09-11T16:40:20.050Z,1757608820.050 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2025-09-11T16:40:20.050Z,1757608820.050 [Default:CheckIn:C.Wait] Stopped 2025-09-11T16:40:20.050Z,1757608820.050 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-09-11T16:40:20.050Z,1757608820.050 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact 2025-09-11T16:40:20.050Z,1757608820.050 [circle_acoustic_contact] Running Loop=1 2025-09-11T16:40:20.051Z,1757608820.051 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact 2025-09-11T16:40:20.051Z,1757608820.051 [circle_acoustic_contact:AbortDrift] Running Loop=1 2025-09-11T16:40:20.051Z,1757608820.051 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::initialize circle_acoustic_contact:AbortDrift 2025-09-11T16:40:20.051Z,1757608820.051 [circle_acoustic_contact:AbortDrift:A] Running Loop=1 2025-09-11T16:40:20.051Z,1757608820.051 [circle_acoustic_contact:B.] Running Loop=1 2025-09-11T16:40:20.051Z,1757608820.051 [circle_acoustic_contact:B.](INFO): Initializing TrackAcousticContact. 2025-09-11T16:40:20.051Z,1757608820.051 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1 2025-09-11T16:40:20.052Z,1757608820.052 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes 2025-09-11T16:40:20.052Z,1757608820.052 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-09-11T16:40:20.052Z,1757608820.052 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-09-11T16:40:20.052Z,1757608820.052 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-09-11T16:40:20.052Z,1757608820.052 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-09-11T16:40:20.052Z,1757608820.052 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-09-11T16:40:20.052Z,1757608820.052 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-09-11T16:40:20.052Z,1757608820.052 [circle_acoustic_contact:BackseatDriver] Running Loop=1 2025-09-11T16:40:20.065Z,1757608820.065 [circle_acoustic_contact:BackseatDriver](DEBUG): Aggregate::initialize circle_acoustic_contact:BackseatDriver 2025-09-11T16:40:20.065Z,1757608820.065 [circle_acoustic_contact:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-09-11T16:40:20.065Z,1757608820.065 [circle_acoustic_contact:PowerOnly] Running Loop=1 2025-09-11T16:40:20.065Z,1757608820.065 [circle_acoustic_contact:PowerOnly](DEBUG): Aggregate::initialize circle_acoustic_contact:PowerOnly 2025-09-11T16:40:20.065Z,1757608820.065 [circle_acoustic_contact:PowerOnly:A] Running Loop=1 2025-09-11T16:40:20.065Z,1757608820.065 [circle_acoustic_contact:PowerOnly:B] Running Loop=1 2025-09-11T16:40:20.065Z,1757608820.065 [circle_acoustic_contact:PowerOnly:C] Running Loop=1 2025-09-11T16:40:20.065Z,1757608820.065 [circle_acoustic_contact:PowerOnly:D] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:PowerOnly:E.Wait] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science:A] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science:B] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science:C] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science:D] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science:E] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science:F] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1 2025-09-11T16:40:20.066Z,1757608820.066 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:PeakDetectChl:A] Running Loop=1 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:EdgeDetectChl] Running Loop=1 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:EdgeDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:EdgeDetectChl 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:EdgeDetectChl:A] Running Loop=1 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-09-11T16:40:20.067Z,1757608820.067 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-09-11T16:40:20.068Z,1757608820.068 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1 2025-09-11T16:40:20.068Z,1757608820.068 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3 2025-09-11T16:40:20.068Z,1757608820.068 [circle_acoustic_contact:Science:PeakDetectNO3:A] Running Loop=1 2025-09-11T16:40:20.068Z,1757608820.068 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1 2025-09-11T16:40:20.068Z,1757608820.068 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil 2025-09-11T16:40:20.073Z,1757608820.073 [circle_acoustic_contact:Science:PeakDetectOil:A] Running Loop=1 2025-09-11T16:40:20.073Z,1757608820.073 [circle_acoustic_contact:Science:HighestOilPeakReport] Running Loop=1 2025-09-11T16:40:20.073Z,1757608820.073 [circle_acoustic_contact:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestOilPeakReport 2025-09-11T16:40:20.074Z,1757608820.074 [circle_acoustic_contact:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-09-11T16:40:20.074Z,1757608820.074 [circle_acoustic_contact:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-09-11T16:40:20.074Z,1757608820.074 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1 2025-09-11T16:40:20.074Z,1757608820.074 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM 2025-09-11T16:40:20.074Z,1757608820.074 [circle_acoustic_contact:Science:PeakDetectFDOM:A] Running Loop=1 2025-09-11T16:40:20.075Z,1757608820.075 [circle_acoustic_contact:Science:PeakDetectSalinity] Running Loop=1 2025-09-11T16:40:20.075Z,1757608820.075 [circle_acoustic_contact:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectSalinity 2025-09-11T16:40:20.075Z,1757608820.075 [circle_acoustic_contact:Science:PeakDetectSalinity:A] Running Loop=1 2025-09-11T16:40:20.075Z,1757608820.075 [circle_acoustic_contact:Science:HighestSaltPeakReport] Running Loop=1 2025-09-11T16:40:20.075Z,1757608820.075 [circle_acoustic_contact:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestSaltPeakReport 2025-09-11T16:40:20.075Z,1757608820.075 [circle_acoustic_contact:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-09-11T16:40:20.075Z,1757608820.075 [circle_acoustic_contact:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-09-11T16:40:20.076Z,1757608820.076 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-09-11T16:40:20.081Z,1757608820.081 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI 2025-09-11T16:40:20.081Z,1757608820.081 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-09-11T16:40:20.081Z,1757608820.081 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-09-11T16:40:20.081Z,1757608820.081 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms 2025-09-11T16:40:20.081Z,1757608820.081 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-09-11T16:40:20.081Z,1757608820.081 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:ChlThreshTrigger] Running Loop=1 2025-09-11T16:40:20.082Z,1757608820.082 [circle_acoustic_contact:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:ChlThreshTrigger 2025-09-11T16:40:20.083Z,1757608820.083 [circle_acoustic_contact:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-09-11T16:40:20.083Z,1757608820.083 [circle_acoustic_contact:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-09-11T16:40:20.083Z,1757608820.083 [circle_acoustic_contact:Science:OceanCurrent] Running Loop=1 2025-09-11T16:40:20.083Z,1757608820.083 [circle_acoustic_contact:Science:OceanCurrent](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:OceanCurrent 2025-09-11T16:40:20.083Z,1757608820.083 [circle_acoustic_contact:Science:OceanCurrent:A.] Running Loop=1 2025-09-11T16:40:20.084Z,1757608820.084 [circle_acoustic_contact:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-09-11T16:40:20.084Z,1757608820.084 [circle_acoustic_contact:E] Running Loop=1 2025-09-11T16:40:20.089Z,1757608820.089 [circle_acoustic_contact:Science] Running Loop=1 2025-09-11T16:40:20.091Z,1757608820.091 [circle_acoustic_contact:Science:ChlThreshTrigger] Stopped 2025-09-11T16:40:20.091Z,1757608820.091 [circle_acoustic_contact:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:ChlThreshTrigger 2025-09-11T16:40:20.091Z,1757608820.091 [circle_acoustic_contact:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-09-11T16:40:20.091Z,1757608820.091 [circle_acoustic_contact:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-09-11T16:40:20.091Z,1757608820.091 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-09-11T16:40:20.091Z,1757608820.091 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates 2025-09-11T16:40:20.091Z,1757608820.091 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-09-11T16:40:20.091Z,1757608820.091 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-09-11T16:40:20.092Z,1757608820.092 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:HighestSaltPeakReport] Stopped 2025-09-11T16:40:20.097Z,1757608820.097 [circle_acoustic_contact:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestSaltPeakReport 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:PeakDetectSalinity] Stopped 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectSalinity 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:PeakDetectSalinity:A] Stopped 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:PeakDetectFDOM:A] Stopped 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:HighestOilPeakReport] Stopped 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestOilPeakReport 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-09-11T16:40:20.098Z,1757608820.098 [circle_acoustic_contact:Science:PeakDetectOil] Stopped 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:PeakDetectOil:A] Stopped 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:PeakDetectNO3:A] Stopped 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:EdgeDetectChl] Stopped 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:EdgeDetectChl 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:EdgeDetectChl:A] Stopped 2025-09-11T16:40:20.099Z,1757608820.099 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1 2025-09-11T16:40:20.100Z,1757608820.100 [circle_acoustic_contact:Science:PeakDetectChl:A](DEBUG): PeakDetectVsDepth 2025-09-11T16:40:20.100Z,1757608820.100 [circle_acoustic_contact:Science:PeakDetectChl:A] Stopped 2025-09-11T16:40:20.100Z,1757608820.100 [circle_acoustic_contact:Science:PeakDetectChl:B.PeakDetectVsDepth] Running Loop=1 2025-09-11T16:40:20.100Z,1757608820.100 [circle_acoustic_contact:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Initialize. 2025-09-11T16:40:20.102Z,1757608820.102 [circle_acoustic_contact:Science:OceanCurrent:A.] Running Loop=1 2025-09-11T16:40:20.102Z,1757608820.102 [circle_acoustic_contact:Science:Read_Oil] Stopped 2025-09-11T16:40:20.102Z,1757608820.102 [circle_acoustic_contact:Science:F] Stopped 2025-09-11T16:40:20.102Z,1757608820.102 [circle_acoustic_contact:Science:E] Running Loop=1 2025-09-11T16:40:20.103Z,1757608820.103 [circle_acoustic_contact:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2025-09-11T16:40:20.103Z,1757608820.103 [circle_acoustic_contact:Science:D] Stopped 2025-09-11T16:40:20.103Z,1757608820.103 [circle_acoustic_contact:Science:C] Running Loop=1 2025-09-11T16:40:20.104Z,1757608820.104 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2025-09-11T16:40:20.121Z,1757608820.121 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2025-09-11T16:40:20.121Z,1757608820.121 [circle_acoustic_contact:Science:B] Running Loop=1 2025-09-11T16:40:20.122Z,1757608820.122 [circle_acoustic_contact:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2025-09-11T16:40:20.122Z,1757608820.122 [circle_acoustic_contact:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2025-09-11T16:40:20.123Z,1757608820.123 [circle_acoustic_contact:Science:A] Stopped 2025-09-11T16:40:20.123Z,1757608820.123 [circle_acoustic_contact:PowerOnly] Running Loop=1 2025-09-11T16:40:20.123Z,1757608820.123 [circle_acoustic_contact:PowerOnly:D] Stopped 2025-09-11T16:40:20.123Z,1757608820.123 [circle_acoustic_contact:PowerOnly:C] Stopped 2025-09-11T16:40:20.123Z,1757608820.123 [circle_acoustic_contact:PowerOnly:B] Stopped 2025-09-11T16:40:20.123Z,1757608820.123 [circle_acoustic_contact:PowerOnly:A] Stopped 2025-09-11T16:40:20.123Z,1757608820.123 [circle_acoustic_contact:BackseatDriver] Running Loop=1 2025-09-11T16:40:20.124Z,1757608820.124 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1 2025-09-11T16:40:20.124Z,1757608820.124 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-09-11T16:40:20.124Z,1757608820.124 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-09-11T16:40:20.129Z,1757608820.129 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-09-11T16:40:20.130Z,1757608820.130 [circle_acoustic_contact:E] Stopped 2025-09-11T16:40:20.130Z,1757608820.130 [circle_acoustic_contact:F] Running Loop=1 2025-09-11T16:40:20.130Z,1757608820.130 [circle_acoustic_contact:B.] Running Loop=1 2025-09-11T16:40:20.131Z,1757608820.131 [circle_acoustic_contact:AbortDrift] Running Loop=1 2025-09-11T16:40:20.131Z,1757608820.131 [circle_acoustic_contact:AbortDrift:A](INFO): Insert acoustic timeout set to 0.250000 h . 2025-09-11T16:40:20.132Z,1757608820.132 [circle_acoustic_contact:AbortDrift:A] Stopped 2025-09-11T16:40:20.132Z,1757608820.132 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Running Loop=1 2025-09-11T16:40:20.132Z,1757608820.132 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift. 2025-09-11T16:40:20.141Z,1757608820.141 [circle_acoustic_contact:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.25 hours. 2025-09-11T16:40:20.486Z,1757608820.486 [circle_acoustic_contact:F] Stopped 2025-09-11T16:40:20.487Z,1757608820.487 [circle_acoustic_contact:H] Running Loop=1 2025-09-11T16:40:20.487Z,1757608820.487 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1757608704.00. Resetting abort timer. 2025-09-11T16:40:20.870Z,1757608820.870 [circle_acoustic_contact:H] Stopped 2025-09-11T16:40:20.870Z,1757608820.870 [circle_acoustic_contact:I] Running Loop=1 2025-09-11T16:40:20.906Z,1757608820.906 [WetLabsBB2FL](INFO): Powering up 2025-09-11T16:40:21.284Z,1757608821.284 [circle_acoustic_contact:I] Stopped 2025-09-11T16:40:21.284Z,1757608821.284 [circle_acoustic_contact:J] Running Loop=1 2025-09-11T16:40:21.668Z,1757608821.668 [circle_acoustic_contact:J] Stopped 2025-09-11T16:40:21.669Z,1757608821.669 [circle_acoustic_contact:StartingMission] Running Loop=1 2025-09-11T16:40:21.669Z,1757608821.669 [circle_acoustic_contact:StartingMission](DEBUG): Aggregate::initialize circle_acoustic_contact:StartingMission 2025-09-11T16:40:22.073Z,1757608822.073 [circle_acoustic_contact:SurfaceComms] Running Loop=1 2025-09-11T16:40:22.073Z,1757608822.073 [circle_acoustic_contact:SurfaceComms](DEBUG): Aggregate::initialize circle_acoustic_contact:SurfaceComms 2025-09-11T16:40:22.073Z,1757608822.073 [circle_acoustic_contact:SurfaceComms:A] Running Loop=1 2025-09-11T16:40:22.073Z,1757608822.073 [circle_acoustic_contact:SurfaceComms:A] Stopped 2025-09-11T16:40:22.073Z,1757608822.073 [circle_acoustic_contact:SurfaceComms:B] Running Loop=1 2025-09-11T16:40:22.074Z,1757608822.074 [circle_acoustic_contact:SurfaceComms:B](DEBUG): Aggregate::initialize circle_acoustic_contact:SurfaceComms:B 2025-09-11T16:40:22.486Z,1757608822.486 [circle_acoustic_contact:NeedComms] Running Loop=1 2025-09-11T16:40:22.486Z,1757608822.486 [circle_acoustic_contact:NeedComms](DEBUG): Aggregate::initialize circle_acoustic_contact:NeedComms 2025-09-11T16:40:22.486Z,1757608822.486 [circle_acoustic_contact:NeedComms:B.GoToSurface] Running Loop=1 2025-09-11T16:40:22.487Z,1757608822.487 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-09-11T16:40:22.487Z,1757608822.487 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-09-11T16:40:22.487Z,1757608822.487 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-09-11T16:40:22.488Z,1757608822.488 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-09-11T16:40:22.488Z,1757608822.488 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2025-09-11T16:40:22.488Z,1757608822.488 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-09-11T16:40:22.489Z,1757608822.489 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-09-11T16:40:22.489Z,1757608822.489 [circle_acoustic_contact:NeedComms:A] Running Loop=1 2025-09-11T16:40:22.491Z,1757608822.491 [circle_acoustic_contact:NeedComms:A](INFO): last time_fix was: 1757608704.000000 second since 1970/01/01T00:00:00Z 2025-09-11T16:40:22.491Z,1757608822.491 [circle_acoustic_contact:NeedComms:A] Stopped 2025-09-11T16:40:22.900Z,1757608822.900 [circle_acoustic_contact:NeedComms:C] Running Loop=1 2025-09-11T16:40:23.294Z,1757608823.294 [circle_acoustic_contact:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-09-11T16:40:23.766Z,1757608823.766 [CTD_Seabird](ERROR): Failed to parse device response: 2025-09-11T16:40:25.765Z,1757608825.765 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:40:25.776Z,1757608825.776 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133063 psu 2025-09-11T16:40:25.779Z,1757608825.779 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:26.779Z,1757608826.779 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133012 psu 2025-09-11T16:40:26.783Z,1757608826.783 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:27.783Z,1757608827.783 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133012 psu 2025-09-11T16:40:27.784Z,1757608827.784 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:28.788Z,1757608828.788 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133012 psu 2025-09-11T16:40:28.789Z,1757608828.789 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:29.792Z,1757608829.792 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133013 psu 2025-09-11T16:40:29.794Z,1757608829.794 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:30.796Z,1757608830.796 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132961 psu 2025-09-11T16:40:30.797Z,1757608830.797 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:31.799Z,1757608831.799 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133010 psu 2025-09-11T16:40:31.800Z,1757608831.800 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:32.804Z,1757608832.804 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133014 psu 2025-09-11T16:40:32.805Z,1757608832.805 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:33.807Z,1757608833.807 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133010 psu 2025-09-11T16:40:33.808Z,1757608833.808 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:34.811Z,1757608834.811 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133012 psu 2025-09-11T16:40:34.812Z,1757608834.812 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:35.815Z,1757608835.815 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132961 psu 2025-09-11T16:40:35.817Z,1757608835.817 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:36.820Z,1757608836.820 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132961 psu 2025-09-11T16:40:36.822Z,1757608836.822 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:37.160Z,1757608837.160 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:40:37.823Z,1757608837.823 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132962 psu 2025-09-11T16:40:37.824Z,1757608837.824 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:38.827Z,1757608838.827 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132963 psu 2025-09-11T16:40:38.828Z,1757608838.828 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:39.831Z,1757608839.831 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132963 psu 2025-09-11T16:40:39.832Z,1757608839.832 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:40.835Z,1757608840.835 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133012 psu 2025-09-11T16:40:40.836Z,1757608840.836 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:41.839Z,1757608841.839 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133012 psu 2025-09-11T16:40:41.840Z,1757608841.840 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:42.151Z,1757608842.151 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1757608828 2025-09-11T16:40:42.151Z,1757608842.151 [CommandExec](FAULT): Incomplete syntax. Try: help set 2025-09-11T16:40:42.843Z,1757608842.843 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133012 psu 2025-09-11T16:40:42.844Z,1757608842.844 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:43.847Z,1757608843.847 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132961 psu 2025-09-11T16:40:43.848Z,1757608843.848 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:44.851Z,1757608844.851 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132962 psu 2025-09-11T16:40:44.852Z,1757608844.852 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:45.855Z,1757608845.855 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132960 psu 2025-09-11T16:40:45.856Z,1757608845.856 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:46.859Z,1757608846.859 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132961 psu 2025-09-11T16:40:46.860Z,1757608846.860 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:47.863Z,1757608847.863 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133010 psu 2025-09-11T16:40:47.864Z,1757608847.864 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:48.051Z,1757608848.051 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:40:48.869Z,1757608848.869 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133010 psu 2025-09-11T16:40:48.870Z,1757608848.870 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:49.792Z,1757608849.792 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1757608828 second 2025-09-11T16:40:49.871Z,1757608849.871 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133010 psu 2025-09-11T16:40:49.872Z,1757608849.872 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:49.965Z,1757608849.965 [circle_acoustic_contact:NeedComms:C] Stopped 2025-09-11T16:40:49.965Z,1757608849.965 [circle_acoustic_contact:NeedComms:D] Running Loop=1 2025-09-11T16:40:49.967Z,1757608849.967 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1757608832.00. Resetting abort timer. 2025-09-11T16:40:50.375Z,1757608850.375 [circle_acoustic_contact:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-09-11T16:40:50.876Z,1757608850.876 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132959 psu 2025-09-11T16:40:50.877Z,1757608850.877 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:51.879Z,1757608851.879 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132961 psu 2025-09-11T16:40:51.880Z,1757608851.880 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:52.883Z,1757608852.883 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132958 psu 2025-09-11T16:40:52.885Z,1757608852.885 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:53.887Z,1757608853.887 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133009 psu 2025-09-11T16:40:53.888Z,1757608853.888 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:54.891Z,1757608854.891 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133010 psu 2025-09-11T16:40:54.892Z,1757608854.892 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:55.598Z,1757608855.598 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check. 2025-09-11T16:40:55.681Z,1757608855.681 [NAL9602](ERROR): received: +CSQ:0 OK 2025-09-11T16:40:55.895Z,1757608855.895 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133009 psu 2025-09-11T16:40:55.896Z,1757608855.896 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:56.899Z,1757608856.899 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132958 psu 2025-09-11T16:40:56.900Z,1757608856.900 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:57.229Z,1757608857.229 [DataOverHttps](INFO): Sending 156 bytes from file Logs/20250911T162936/Courier0007.lzma 2025-09-11T16:40:57.239Z,1757608857.239 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:40:57.903Z,1757608857.903 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132957 psu 2025-09-11T16:40:57.904Z,1757608857.904 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:58.231Z,1757608858.231 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Courier0007.lzma.bak 2025-09-11T16:40:58.231Z,1757608858.231 [DataOverHttps](INFO): SBD MOMSN=25964571 2025-09-11T16:40:58.907Z,1757608858.907 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132958 psu 2025-09-11T16:40:58.908Z,1757608858.908 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:40:59.415Z,1757608859.415 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:40:59.911Z,1757608859.911 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133007 psu 2025-09-11T16:40:59.912Z,1757608859.912 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:41:00.915Z,1757608860.915 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133008 psu 2025-09-11T16:41:00.916Z,1757608860.916 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:41:01.919Z,1757608861.919 [CTD_Seabird](ERROR): Salinity reading out of range: 0.133008 psu 2025-09-11T16:41:01.920Z,1757608861.920 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:41:02.923Z,1757608862.923 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132956 psu 2025-09-11T16:41:02.924Z,1757608862.924 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:41:03.910Z,1757608863.910 [CommandExec](IMPORTANT): got command stop 2025-09-11T16:41:03.910Z,1757608863.910 [CommandExec](IMPORTANT): Scheduling is paused 2025-09-11T16:41:03.910Z,1757608863.910 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2025-09-11T16:41:03.949Z,1757608863.949 [CTD_Seabird](ERROR): Salinity reading out of range: 0.132958 psu 2025-09-11T16:41:03.951Z,1757608863.951 [CTD_Seabird](INFO): some bad data, not updating bins 2025-09-11T16:41:04.129Z,1757608864.129 [MissionManager](INFO): MissionManager is completed. 2025-09-11T16:41:04.130Z,1757608864.130 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact] Stopped 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact:AbortDrift] Stopped 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::uninitialize circle_acoustic_contact:AbortDrift 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Stopped 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift. 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact:B.] Stopped 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact:B.](DEBUG): Uninitializing TrackAcousticContact. 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact:NeedComms] Stopped 2025-09-11T16:41:04.130Z,1757608864.130 [circle_acoustic_contact:NeedComms](DEBUG): Aggregate::uninitialize circle_acoustic_contact:NeedComms 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:NeedComms:B.GoToSurface] Stopped 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:NeedComms:D] Stopped 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:StandardEnvelopes] Stopped 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:BackseatDriver] Stopped 2025-09-11T16:41:04.131Z,1757608864.131 [circle_acoustic_contact:BackseatDriver](DEBUG): Aggregate::uninitialize circle_acoustic_contact:BackseatDriver 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:BackseatDriver:A.BackseatDriver] Stopped 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:PowerOnly] Stopped 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:PowerOnly](DEBUG): Aggregate::uninitialize circle_acoustic_contact:PowerOnly 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:PowerOnly:E.Wait] Stopped 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:Science] Stopped 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:Science:B] Stopped 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:Science:C] Stopped 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:Science:E] Stopped 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:Science:OceanCurrent] Stopped 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:Science:OceanCurrent](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:OceanCurrent 2025-09-11T16:41:04.132Z,1757608864.132 [circle_acoustic_contact:Science:OceanCurrent:A.] Stopped 2025-09-11T16:41:04.165Z,1757608864.165 [circle_acoustic_contact:Science:PeakDetectChl] Stopped 2025-09-11T16:41:04.165Z,1757608864.165 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl 2025-09-11T16:41:04.165Z,1757608864.165 [circle_acoustic_contact:Science:PeakDetectChl:B.PeakDetectVsDepth] Stopped 2025-09-11T16:41:04.165Z,1757608864.165 [circle_acoustic_contact:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Uninitialize. 2025-09-11T16:41:04.165Z,1757608864.165 [circle_acoustic_contact:SurfaceComms] Stopped 2025-09-11T16:41:04.165Z,1757608864.165 [circle_acoustic_contact:SurfaceComms](DEBUG): Aggregate::uninitialize circle_acoustic_contact:SurfaceComms 2025-09-11T16:41:04.165Z,1757608864.165 [circle_acoustic_contact:SurfaceComms:B] Stopped 2025-09-11T16:41:04.165Z,1757608864.165 [circle_acoustic_contact:SurfaceComms:B](DEBUG): Aggregate::uninitialize circle_acoustic_contact:SurfaceComms:B 2025-09-11T16:41:04.166Z,1757608864.166 [circle_acoustic_contact:StartingMission] Stopped 2025-09-11T16:41:04.166Z,1757608864.166 [circle_acoustic_contact:StartingMission](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StartingMission 2025-09-11T16:41:04.381Z,1757608864.381 [WetLabsBB2FL](INFO): Powering down 2025-09-11T16:41:04.646Z,1757608864.646 [MissionManager](IMPORTANT): Started mission Default 2025-09-11T16:41:04.646Z,1757608864.646 [Default] Running Loop=1 2025-09-11T16:41:04.646Z,1757608864.646 [Default](DEBUG): Aggregate::initialize Default 2025-09-11T16:41:04.647Z,1757608864.647 [Default:B.GoToSurface] Running Loop=1 2025-09-11T16:41:04.647Z,1757608864.647 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-09-11T16:41:04.647Z,1757608864.647 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-09-11T16:41:04.647Z,1757608864.647 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-09-11T16:41:04.647Z,1757608864.647 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-09-11T16:41:04.648Z,1757608864.648 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-09-11T16:41:04.648Z,1757608864.648 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-09-11T16:41:04.648Z,1757608864.648 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-09-11T16:41:04.657Z,1757608864.657 [Default:A.Wait] Running Loop=1 2025-09-11T16:41:04.657Z,1757608864.657 [Default:A.Wait](DEBUG): Initialize Wait Component. 2025-09-11T16:41:07.869Z,1757608867.869 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:10.292Z,1757608870.292 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:14.982Z,1757608874.982 [DataOverHttps](INFO): Sending 667 bytes from file Logs/20250911T162936/Express0008.lzma 2025-09-11T16:41:15.983Z,1757608875.983 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Express0008.lzma.bak 2025-09-11T16:41:15.983Z,1757608875.983 [DataOverHttps](INFO): SBD MOMSN=25964573 2025-09-11T16:41:17.925Z,1757608877.925 [Default:A.Wait](INFO): Done Waiting. 2025-09-11T16:41:17.925Z,1757608877.925 [Default:A.Wait] Stopped 2025-09-11T16:41:17.926Z,1757608877.926 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2025-09-11T16:41:18.314Z,1757608878.314 [Default:CheckIn] Running Loop=1 2025-09-11T16:41:18.314Z,1757608878.314 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2025-09-11T16:41:18.314Z,1757608878.314 [Default:CheckIn:Read_GPS] Running Loop=1 2025-09-11T16:41:18.797Z,1757608878.797 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:21.602Z,1757608881.602 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:29.678Z,1757608889.678 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:32.505Z,1757608892.505 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:40.592Z,1757608900.592 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:43.416Z,1757608903.416 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:51.896Z,1757608911.896 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:41:54.323Z,1757608914.323 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:03.209Z,1757608923.209 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:04.826Z,1757608924.826 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:14.116Z,1757608934.116 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:15.735Z,1757608935.735 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:25.071Z,1757608945.071 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:26.639Z,1757608946.639 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:31.831Z,1757608951.831 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:35.938Z,1757608955.938 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:43.186Z,1757608963.186 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:47.246Z,1757608967.246 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:54.495Z,1757608974.495 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:42:58.217Z,1757608978.217 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:06.220Z,1757608986.220 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:09.060Z,1757608989.060 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:17.523Z,1757608997.523 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:19.969Z,1757608999.969 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:29.243Z,1757609009.243 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:30.472Z,1757609010.472 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:41.014Z,1757609021.014 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:41.462Z,1757609021.462 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:52.322Z,1757609032.322 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:43:52.706Z,1757609032.706 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:03.236Z,1757609043.236 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:04.424Z,1757609044.424 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:14.136Z,1757609054.136 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:15.906Z,1757609055.906 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:25.041Z,1757609065.041 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:27.035Z,1757609067.035 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:35.943Z,1757609075.943 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:38.759Z,1757609078.759 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:46.912Z,1757609086.912 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:49.641Z,1757609089.641 [CBIT](INFO): Clearing failed state for component DropWeight 2025-09-11T16:44:49.642Z,1757609089.642 [DropWeight] No Fault, FailCount= 1 2025-09-11T16:44:50.470Z,1757609090.470 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:44:58.184Z,1757609098.184 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:45:09.133Z,1757609109.133 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:45:20.037Z,1757609120.037 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:45:27.194Z,1757609127.194 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-09-11T16:45:27.997Z,1757609127.997 [NAL9602](FAULT): GPS failed to acquire within timeout. 2025-09-11T16:45:27.997Z,1757609127.997 [NAL9602] Data Fault, FailCount= 1 2025-09-11T16:45:27.997Z,1757609127.997 [NAL9602](ERROR): Data Fault 2025-09-11T16:45:28.017Z,1757609128.017 [CBIT](ERROR): Data Fault in component: NAL9602 2025-09-11T16:45:28.407Z,1757609128.407 [NAL9602](INFO): Powering down 2025-09-11T16:45:29.258Z,1757609129.258 [CBIT](INFO): Clearing failed state for component NAL9602 2025-09-11T16:45:29.258Z,1757609129.258 [NAL9602] No Fault, FailCount= 1 2025-09-11T16:45:30.896Z,1757609130.896 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:45:54.255Z,1757609154.255 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:45:58.806Z,1757609158.806 [NAL9602](INFO): Powering up NAL9602 2025-09-11T16:46:10.012Z,1757609170.012 [NAL9602](INFO): NAL9602 initialized 2025-09-11T16:46:11.281Z,1757609171.281 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:46:18.514Z,1757609178.514 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-09-11T16:41:18.3Z 2025-09-11T16:46:18.514Z,1757609178.514 [Default:CheckIn:Read_GPS] Stopped 2025-09-11T16:46:18.514Z,1757609178.514 [Default:CheckIn:Read_Iridium] Running Loop=1 2025-09-11T16:46:25.437Z,1757609185.437 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250911T162936/Courier0010.lzma 2025-09-11T16:46:26.439Z,1757609186.439 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Courier0010.lzma.bak 2025-09-11T16:46:26.439Z,1757609186.439 [DataOverHttps](INFO): SBD MOMSN=25964604 2025-09-11T16:46:28.225Z,1757609188.225 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:46:42.414Z,1757609202.414 [DataOverHttps](INFO): Sending 248 bytes from file Logs/20250911T162936/Express0011.lzma 2025-09-11T16:46:43.415Z,1757609203.415 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Express0011.lzma.bak 2025-09-11T16:46:43.415Z,1757609203.415 [DataOverHttps](INFO): SBD MOMSN=25964606 2025-09-11T16:46:44.844Z,1757609204.844 [Default:CheckIn:Read_Iridium] Stopped 2025-09-11T16:46:44.860Z,1757609204.860 [Default:CheckIn:C.Wait] Running Loop=1 2025-09-11T16:46:44.861Z,1757609204.861 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-09-11T16:46:45.190Z,1757609205.190 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:46:48.914Z,1757609208.914 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-11T16:47:02.169Z,1757609222.169 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:47:18.318Z,1757609238.318 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:47:19.141Z,1757609239.141 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:47:30.103Z,1757609250.103 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:47:34.920Z,1757609254.920 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:47:41.419Z,1757609261.419 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:47:52.733Z,1757609272.733 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:47:52.734Z,1757609272.734 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:48:03.639Z,1757609283.639 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:48:14.542Z,1757609294.542 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:48:25.456Z,1757609305.456 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:48:36.421Z,1757609316.421 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:48:47.272Z,1757609327.272 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:48:58.175Z,1757609338.175 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:49:09.172Z,1757609349.172 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:49:19.592Z,1757609359.592 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:49:30.904Z,1757609370.904 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:49:41.807Z,1757609381.807 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:49:52.723Z,1757609392.723 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:03.220Z,1757609403.220 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:14.132Z,1757609414.132 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:22.555Z,1757609422.555 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:25.439Z,1757609425.439 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:33.521Z,1757609433.521 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:36.755Z,1757609436.755 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:44.836Z,1757609444.836 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:47.262Z,1757609447.262 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:55.740Z,1757609455.740 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:50:57.835Z,1757609457.835 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:06.647Z,1757609466.647 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:08.266Z,1757609468.266 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:17.559Z,1757609477.559 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:19.584Z,1757609479.584 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:28.466Z,1757609488.466 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:30.487Z,1757609490.487 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:39.379Z,1757609499.379 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:41.797Z,1757609501.797 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:45.373Z,1757609505.373 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2025-09-11T16:51:45.373Z,1757609505.373 [Default:CheckIn:C.Wait] Stopped 2025-09-11T16:51:45.373Z,1757609505.373 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-09-11T16:51:45.374Z,1757609505.374 [Default:CheckIn:D] Running Loop=1 2025-09-11T16:51:45.779Z,1757609505.779 [Default:CheckIn:D] Stopped 2025-09-11T16:51:45.779Z,1757609505.779 [Default:CheckIn:E] Running Loop=1 2025-09-11T16:51:46.199Z,1757609506.199 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.685541 min 2025-09-11T16:51:46.200Z,1757609506.200 [Default:CheckIn:E] Stopped 2025-09-11T16:51:46.200Z,1757609506.200 [Default:CheckIn](INFO): Completed Default:CheckIn 2025-09-11T16:51:46.200Z,1757609506.200 [Default:CheckIn] Stopped 2025-09-11T16:51:46.200Z,1757609506.200 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2025-09-11T16:51:46.200Z,1757609506.200 [Default:CheckIn](INFO): Running loop #2 2025-09-11T16:51:46.200Z,1757609506.200 [Default:CheckIn] Running Loop=2 2025-09-11T16:51:46.200Z,1757609506.200 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2025-09-11T16:51:46.200Z,1757609506.200 [Default:CheckIn:Read_GPS] Running Loop=1 2025-09-11T16:51:50.281Z,1757609510.281 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:51:52.303Z,1757609512.303 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:01.188Z,1757609521.188 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:04.413Z,1757609524.413 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:12.099Z,1757609532.099 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:16.120Z,1757609536.120 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:23.005Z,1757609543.005 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:27.431Z,1757609547.431 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:33.910Z,1757609553.910 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:38.738Z,1757609558.738 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:44.882Z,1757609564.882 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:50.458Z,1757609570.458 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:52:56.133Z,1757609576.133 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:01.767Z,1757609581.767 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:06.637Z,1757609586.637 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:13.492Z,1757609593.492 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:17.546Z,1757609597.546 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:24.821Z,1757609604.821 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:28.495Z,1757609608.495 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:36.920Z,1757609616.920 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:39.390Z,1757609619.390 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:48.631Z,1757609628.631 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:53:50.270Z,1757609630.270 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:00.353Z,1757609640.353 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:01.190Z,1757609641.190 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:12.067Z,1757609652.067 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:12.145Z,1757609652.145 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:22.991Z,1757609662.991 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:24.201Z,1757609664.201 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:30.207Z,1757609670.207 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:34.305Z,1757609674.305 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:45.214Z,1757609685.214 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:54:55.736Z,1757609695.736 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:55:07.103Z,1757609707.103 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:55:13.427Z,1757609713.427 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:55:30.390Z,1757609730.390 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:55:47.357Z,1757609747.357 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:56:03.922Z,1757609763.922 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:56:20.081Z,1757609780.081 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:56:37.050Z,1757609797.050 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:56:46.412Z,1757609806.412 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-09-11T16:51:46.2Z 2025-09-11T16:56:46.412Z,1757609806.412 [Default:CheckIn:Read_GPS] Stopped 2025-09-11T16:56:46.412Z,1757609806.412 [Default:CheckIn:Read_Iridium] Running Loop=1 2025-09-11T16:56:49.982Z,1757609809.982 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-09-11T16:56:52.015Z,1757609812.015 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:56:53.712Z,1757609813.712 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250911T162936/Courier0013.lzma 2025-09-11T16:56:54.420Z,1757609814.420 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:56:54.715Z,1757609814.715 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Courier0013.lzma.bak 2025-09-11T16:56:54.715Z,1757609814.715 [DataOverHttps](INFO): SBD MOMSN=25964622 2025-09-11T16:57:02.981Z,1757609822.981 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:57:10.557Z,1757609830.557 [DataOverHttps](INFO): Sending 161 bytes from file Logs/20250911T162936/Express0014.lzma 2025-09-11T16:57:10.985Z,1757609830.985 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-09-11T16:57:11.559Z,1757609831.559 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Express0014.lzma.bak 2025-09-11T16:57:11.559Z,1757609831.559 [DataOverHttps](INFO): SBD MOMSN=25964624 2025-09-11T16:57:13.034Z,1757609833.034 [Default:CheckIn:Read_Iridium] Stopped 2025-09-11T16:57:13.034Z,1757609833.034 [Default:CheckIn:C.Wait] Running Loop=1 2025-09-11T16:57:13.034Z,1757609833.034 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-09-11T16:57:13.883Z,1757609833.883 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:57:20.695Z,1757609840.695 [NAL9602](INFO): Not Powering down - fast GPS 2025-09-11T16:57:25.202Z,1757609845.202 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:57:36.108Z,1757609856.108 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:57:47.014Z,1757609867.014 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:57:57.919Z,1757609877.919 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:58:08.835Z,1757609888.835 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:58:19.738Z,1757609899.738 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:58:30.648Z,1757609910.648 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:58:41.550Z,1757609921.550 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:58:41.953Z,1757609921.953 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:58:52.867Z,1757609932.867 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:58:53.662Z,1757609933.662 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:59:03.828Z,1757609943.828 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:59:14.713Z,1757609954.713 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:59:25.588Z,1757609965.588 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:59:36.502Z,1757609976.502 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:59:47.404Z,1757609987.404 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T16:59:48.964Z,1757609988.964 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T16:59:58.316Z,1757609998.316 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:00.336Z,1757610000.336 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:09.223Z,1757610009.223 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:11.242Z,1757610011.242 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:20.140Z,1757610020.140 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:22.147Z,1757610022.147 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:31.041Z,1757610031.041 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:33.465Z,1757610033.465 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:41.949Z,1757610041.949 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:44.368Z,1757610044.368 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-09-11T17:00:49.146Z,1757610049.146 [BPC1](INFO): Calculating totals. Valid battery stick count: 34. Valid reserve battery stick count: 0. 2025-09-11T17:00:49.149Z,1757610049.149 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle. 2025-09-11T17:02:13.596Z,1757610133.596 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2025-09-11T17:02:13.615Z,1757610133.615 [Default:CheckIn:C.Wait] Stopped 2025-09-11T17:02:13.616Z,1757610133.616 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-09-11T17:02:13.616Z,1757610133.616 [Default:CheckIn:D] Running Loop=1 2025-09-11T17:02:13.996Z,1757610133.996 [Default:CheckIn:D] Stopped 2025-09-11T17:02:13.996Z,1757610133.996 [Default:CheckIn:E] Running Loop=1 2025-09-11T17:02:14.402Z,1757610134.402 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 21.155829 min 2025-09-11T17:02:14.402Z,1757610134.402 [Default:CheckIn:E] Stopped 2025-09-11T17:02:14.402Z,1757610134.402 [Default:CheckIn](INFO): Completed Default:CheckIn 2025-09-11T17:02:14.402Z,1757610134.402 [Default:CheckIn] Stopped 2025-09-11T17:02:14.402Z,1757610134.402 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2025-09-11T17:02:14.402Z,1757610134.402 [Default:CheckIn](INFO): Running loop #3 2025-09-11T17:02:14.403Z,1757610134.403 [Default:CheckIn] Running Loop=3 2025-09-11T17:02:14.403Z,1757610134.403 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2025-09-11T17:02:14.403Z,1757610134.403 [Default:CheckIn:Read_GPS] Running Loop=1 2025-09-11T17:02:16.008Z,1757610136.008 [NAL9602](FAULT): GPS failed to acquire within timeout. 2025-09-11T17:02:16.008Z,1757610136.008 [NAL9602] Data Fault, FailCount= 2 2025-09-11T17:02:16.008Z,1757610136.008 [NAL9602](ERROR): Data Fault 2025-09-11T17:02:16.029Z,1757610136.029 [CBIT](ERROR): Data Fault in component: NAL9602 2025-09-11T17:02:16.419Z,1757610136.419 [NAL9602](INFO): Powering down 2025-09-11T17:02:17.238Z,1757610137.238 [CBIT](INFO): Clearing failed state for component NAL9602 2025-09-11T17:02:17.238Z,1757610137.238 [NAL9602] No Fault, FailCount= 2 2025-09-11T17:02:46.710Z,1757610166.710 [NAL9602](INFO): Powering up NAL9602 2025-09-11T17:02:57.618Z,1757610177.618 [NAL9602](INFO): NAL9602 initialized 2025-09-11T17:04:13.270Z,1757610253.270 [CommandExec](IMPORTANT): got command load ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T17:04:13.272Z,1757610253.272 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T17:04:13.272Z,1757610253.272 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T17:04:13.275Z,1757610253.275 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T17:04:23.117Z,1757610263.117 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/circle_acoustic_contact.tl translated into: 2 60 15 0 NaN 0 36.81544 -121.82506 300 50 100 60 1 0 100 NaN 3 33 10 20 1 0.010 7 105 1.5 0.7 0.05 20 15 1 0.07 0 0 1 2 0 modem _.near bool Set _.near to Received _.terminateMission message. Stopping mission. stop;schedule resume Waiting for while pumping down to neutral. Moving to Timed out while trying to reach target depth at current depth of stop 0.0 2025-09-11T17:04:23.157Z,1757610263.157 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h 2025-09-11T17:04:23.159Z,1757610263.159 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min 2025-09-11T17:04:23.166Z,1757610263.166 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min 2025-09-11T17:04:23.168Z,1757610263.168 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count 2025-09-11T17:04:23.219Z,1757610263.219 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = nan m 2025-09-11T17:04:23.220Z,1757610263.220 [MissionManager](INFO): DefineArg circle_acoustic_contact.ListenToTerminateMissionMsg = 0 bool 2025-09-11T17:04:23.239Z,1757610263.239 [MissionManager](INFO): DefineArg circle_acoustic_contact.SendNearSignal = 0 bool 2025-09-11T17:04:23.269Z,1757610263.269 [MissionManager](INFO): DefineArg circle_acoustic_contact.ModemIDForNearSignal = 0.000000 enum 2025-09-11T17:04:23.271Z,1757610263.271 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815441 arcdeg 2025-09-11T17:04:23.274Z,1757610263.274 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825058 arcdeg 2025-09-11T17:04:23.276Z,1757610263.276 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m 2025-09-11T17:04:23.315Z,1757610263.315 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m 2025-09-11T17:04:23.342Z,1757610263.342 [MissionManager](INFO): DefineArg circle_acoustic_contact.ThreshRangeContact = 100.000000 m 2025-09-11T17:04:23.344Z,1757610263.344 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s 2025-09-11T17:04:23.367Z,1757610263.367 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count 2025-09-11T17:04:23.389Z,1757610263.389 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min 2025-09-11T17:04:23.410Z,1757610263.410 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m 2025-09-11T17:04:23.412Z,1757610263.412 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool 2025-09-11T17:04:23.422Z,1757610263.422 [MissionManager](INFO): DefineArg circle_acoustic_contact.FixedDepth = nan m 2025-09-11T17:04:23.441Z,1757610263.441 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m 2025-09-11T17:04:23.443Z,1757610263.443 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m 2025-09-11T17:04:23.464Z,1757610263.464 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m 2025-09-11T17:04:23.466Z,1757610263.466 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg 2025-09-11T17:04:23.468Z,1757610263.468 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 1.000000 m/s 2025-09-11T17:04:23.499Z,1757610263.499 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m 2025-09-11T17:04:23.510Z,1757610263.510 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m 2025-09-11T17:04:23.512Z,1757610263.512 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m 2025-09-11T17:04:23.527Z,1757610263.527 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km 2025-09-11T17:04:23.541Z,1757610263.541 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachSpeed = 0.700000 m/s 2025-09-11T17:04:23.544Z,1757610263.544 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachDepthRate = 0.050000 m/s 2025-09-11T17:04:23.578Z,1757610263.578 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachPitchLimit = 20.000000 arcdeg 2025-09-11T17:04:23.597Z,1757610263.597 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachDepthTimeout = 15.000000 min 2025-09-11T17:04:23.599Z,1757610263.599 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachSettleTimePreDive = 1.000000 min 2025-09-11T17:04:23.618Z,1757610263.618 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYokpDepth = 0.070000 rad/m 2025-09-11T17:04:23.620Z,1757610263.620 [MissionManager](INFO): DefineOutput circle_acoustic_contact.DiveMode = 0.000000 count 2025-09-11T17:04:23.639Z,1757610263.639 [MissionManager](INFO): DefineOutput circle_acoustic_contact.DoingComms = 0.000000 count 2025-09-11T17:04:23.681Z,1757610263.681 [MissionManager](INFO): DefineOutput circle_acoustic_contact.InitialDive = 1.000000 count 2025-09-11T17:04:23.683Z,1757610263.683 [MissionManager](INFO): DefineOutput circle_acoustic_contact.MaintainDepth = 2.000000 count 2025-09-11T17:04:23.702Z,1757610263.702 [MissionManager](INFO): DefineOutput circle_acoustic_contact.TrueVar = 1 bool 2025-09-11T17:04:23.704Z,1757610263.704 [MissionManager](INFO): DefineOutput circle_acoustic_contact.NearSignalSent = 0 bool 2025-09-11T17:04:23.742Z,1757610263.742 [MissionManager](INFO): DefineOutput circle_acoustic_contact.TerminateMissionMsgReceived = 0 bool 2025-09-11T17:04:23.743Z,1757610263.743 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl 2025-09-11T17:04:23.743Z,1757610263.743 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl 2025-09-11T17:04:23.761Z,1757610263.761 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl 2025-09-11T17:04:23.927Z,1757610263.927 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into: 96 Insert acoustic timeout set to . stop 2025-09-11T17:04:23.939Z,1757610263.939 [MissionManager](INFO): DefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = 96.000000 h 2025-09-11T17:04:23.950Z,1757610263.950 [circle_acoustic_contact:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift. 2025-09-11T17:04:23.951Z,1757610263.951 [circle_acoustic_contact:AbortDrift:C.Execute](DEBUG): Construct Execute. 2025-09-11T17:04:23.962Z,1757610263.962 [MissionManager](INFO): RedefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = reader:circle_acoustic_contact.AcousticContactTimeout 2025-09-11T17:04:24.029Z,1757610264.029 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-09-11T17:04:24.030Z,1757610264.030 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-09-11T17:04:24.031Z,1757610264.031 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-09-11T17:04:24.834Z,1757610264.834 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-09-11T17:04:24.843Z,1757610264.843 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 1.000000 h 2025-09-11T17:04:24.850Z,1757610264.850 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min 2025-09-11T17:04:24.852Z,1757610264.852 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-09-11T17:04:24.858Z,1757610264.858 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s 2025-09-11T17:04:24.897Z,1757610264.897 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-09-11T17:04:24.922Z,1757610264.922 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacingTimeout = 1000.000000 s 2025-09-11T17:04:24.924Z,1757610264.924 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min 2025-09-11T17:04:24.935Z,1757610264.935 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min 2025-09-11T17:04:24.957Z,1757610264.957 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-09-11T17:04:25.005Z,1757610265.005 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-09-11T17:04:25.005Z,1757610265.005 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-09-11T17:04:25.006Z,1757610265.006 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-09-11T17:04:25.438Z,1757610265.438 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-09-11T17:04:25.462Z,1757610265.462 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m 2025-09-11T17:04:25.464Z,1757610265.464 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-09-11T17:04:25.482Z,1757610265.482 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m 2025-09-11T17:04:25.484Z,1757610265.484 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-09-11T17:04:25.503Z,1757610265.503 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-11T17:04:25.516Z,1757610265.516 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-11T17:04:25.563Z,1757610265.563 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-09-11T17:04:25.604Z,1757610265.604 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-09-11T17:04:25.604Z,1757610265.604 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-09-11T17:04:25.622Z,1757610265.622 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-09-11T17:04:25.729Z,1757610265.729 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-09-11T17:04:25.732Z,1757610265.732 [MissionManager](INFO): DefineArg circle_acoustic_contact:BackseatDriver.EnableBackseat = 0 bool 2025-09-11T17:04:25.752Z,1757610265.752 [circle_acoustic_contact:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-09-11T17:04:25.771Z,1757610265.771 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-09-11T17:04:25.771Z,1757610265.771 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-09-11T17:04:25.772Z,1757610265.772 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-09-11T17:04:26.226Z,1757610266.226 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-09-11T17:04:26.242Z,1757610266.242 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleAll = 0 bool 2025-09-11T17:04:26.244Z,1757610266.244 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad1 = 0 bool 2025-09-11T17:04:26.254Z,1757610266.254 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad2 = 0 bool 2025-09-11T17:04:26.256Z,1757610266.256 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad3 = 0 bool 2025-09-11T17:04:26.291Z,1757610266.291 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.EnabledPowerOnly = 0 bool 2025-09-11T17:04:26.326Z,1757610266.326 [circle_acoustic_contact:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-09-11T17:04:26.327Z,1757610266.327 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-09-11T17:04:26.327Z,1757610266.327 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-09-11T17:04:26.348Z,1757610266.348 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-09-11T17:04:35.293Z,1757610275.293 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 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 PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , 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). 2025-09-11T17:04:35.356Z,1757610275.356 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool 2025-09-11T17:04:35.423Z,1757610275.423 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectChlActive = 0 bool 2025-09-11T17:04:35.434Z,1757610275.434 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min 2025-09-11T17:04:35.436Z,1757610275.436 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool 2025-09-11T17:04:35.450Z,1757610275.450 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestSaltPeakReportActive = 0 bool 2025-09-11T17:04:35.452Z,1757610275.452 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestOilPeakReportActive = 0 bool 2025-09-11T17:04:35.462Z,1757610275.462 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool 2025-09-11T17:04:35.464Z,1757610275.464 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count 2025-09-11T17:04:35.505Z,1757610275.505 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count 2025-09-11T17:04:35.507Z,1757610275.507 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 % 2025-09-11T17:04:35.517Z,1757610275.517 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool 2025-09-11T17:04:35.519Z,1757610275.519 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool 2025-09-11T17:04:35.529Z,1757610275.529 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool 2025-09-11T17:04:35.531Z,1757610275.531 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectSalinityActive = 0 bool 2025-09-11T17:04:35.541Z,1757610275.541 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-09-11T17:04:35.554Z,1757610275.554 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-09-11T17:04:35.556Z,1757610275.556 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-09-11T17:04:35.578Z,1757610275.578 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-09-11T17:04:35.580Z,1757610275.580 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-09-11T17:04:35.582Z,1757610275.582 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-09-11T17:04:35.584Z,1757610275.584 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-09-11T17:04:35.606Z,1757610275.606 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-09-11T17:04:35.608Z,1757610275.608 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-09-11T17:04:35.622Z,1757610275.622 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0 bool 2025-09-11T17:04:35.633Z,1757610275.633 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0 bool 2025-09-11T17:04:35.635Z,1757610275.635 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledRBRTridente = 0 bool 2025-09-11T17:04:35.647Z,1757610275.647 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1 bool 2025-09-11T17:04:35.656Z,1757610275.656 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1 bool 2025-09-11T17:04:35.690Z,1757610275.690 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-09-11T17:04:35.692Z,1757610275.692 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0 bool 2025-09-11T17:04:35.706Z,1757610275.706 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count 2025-09-11T17:04:35.708Z,1757610275.708 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count 2025-09-11T17:04:35.715Z,1757610275.715 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ShallowBound = nan m 2025-09-11T17:04:35.721Z,1757610275.721 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.DeepBound = nan m 2025-09-11T17:04:35.727Z,1757610275.727 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-09-11T17:04:35.729Z,1757610275.729 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionVerticalAscent = nan % 2025-09-11T17:04:35.731Z,1757610275.731 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionVerticalDescent = nan % 2025-09-11T17:04:35.734Z,1757610275.734 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlPeakThresh = 0.000000 ug/l 2025-09-11T17:04:35.736Z,1757610275.736 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumberOfLayers = 1.000000 count 2025-09-11T17:04:35.748Z,1757610275.748 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlThreshTriggerActive = 0 bool 2025-09-11T17:04:35.755Z,1757610275.755 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlLowerThresh = nan ug/l 2025-09-11T17:04:35.761Z,1757610275.761 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlUpperThresh = nan ug/l 2025-09-11T17:04:35.763Z,1757610275.763 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesThresh = 5.000000 count 2025-09-11T17:04:35.766Z,1757610275.766 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-09-11T17:04:35.768Z,1757610275.768 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-09-11T17:04:35.843Z,1757610275.843 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-09-11T17:04:35.857Z,1757610275.857 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-09-11T17:04:35.859Z,1757610275.859 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.GoDown = 1 bool 2025-09-11T17:04:35.878Z,1757610275.878 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = nan ug/l 2025-09-11T17:04:35.880Z,1757610275.880 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = nan m 2025-09-11T17:04:35.899Z,1757610275.899 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = nan degC 2025-09-11T17:04:35.936Z,1757610275.936 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg 2025-09-11T17:04:35.947Z,1757610275.947 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg 2025-09-11T17:04:35.956Z,1757610275.956 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChl = nan ug/l 2025-09-11T17:04:35.970Z,1757610275.970 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlDepth = nan m 2025-09-11T17:04:35.977Z,1757610275.977 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlTemperature = nan degC 2025-09-11T17:04:35.980Z,1757610275.980 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlLatitude = nan arcdeg 2025-09-11T17:04:35.987Z,1757610275.987 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlLongitude = nan arcdeg 2025-09-11T17:04:35.994Z,1757610275.994 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = nan umol/l 2025-09-11T17:04:35.996Z,1757610275.996 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = nan m 2025-09-11T17:04:36.002Z,1757610276.002 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg 2025-09-11T17:04:36.009Z,1757610276.009 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg 2025-09-11T17:04:36.011Z,1757610276.011 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = nan kg/m3 2025-09-11T17:04:36.018Z,1757610276.018 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = nan m 2025-09-11T17:04:36.020Z,1757610276.020 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg 2025-09-11T17:04:36.027Z,1757610276.027 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg 2025-09-11T17:04:36.034Z,1757610276.034 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = nan ppb 2025-09-11T17:04:36.036Z,1757610276.036 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = nan m 2025-09-11T17:04:36.042Z,1757610276.042 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMTemperature = nan degC 2025-09-11T17:04:36.050Z,1757610276.050 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg 2025-09-11T17:04:36.052Z,1757610276.052 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg 2025-09-11T17:04:36.059Z,1757610276.059 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSalt = nan psu 2025-09-11T17:04:36.065Z,1757610276.065 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltDepth = nan m 2025-09-11T17:04:36.074Z,1757610276.074 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltTemperature = nan degC 2025-09-11T17:04:36.076Z,1757610276.076 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltLatitude = nan arcdeg 2025-09-11T17:04:36.082Z,1757610276.082 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltLongitude = nan arcdeg 2025-09-11T17:04:36.090Z,1757610276.090 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-09-11T17:04:36.092Z,1757610276.092 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-09-11T17:04:36.099Z,1757610276.099 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-09-11T17:04:36.106Z,1757610276.106 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-09-11T17:04:36.108Z,1757610276.108 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-09-11T17:04:36.115Z,1757610276.115 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-09-11T17:04:36.121Z,1757610276.121 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-09-11T17:04:36.124Z,1757610276.124 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-09-11T17:04:36.130Z,1757610276.130 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-09-11T17:04:36.132Z,1757610276.132 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-09-11T17:04:36.139Z,1757610276.139 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-09-11T17:04:36.145Z,1757610276.145 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-09-11T17:04:36.148Z,1757610276.148 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-09-11T17:04:36.150Z,1757610276.150 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-09-11T17:04:36.152Z,1757610276.152 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-09-11T17:04:36.155Z,1757610276.155 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-09-11T17:04:36.158Z,1757610276.158 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-09-11T17:04:36.160Z,1757610276.160 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-09-11T17:04:36.163Z,1757610276.163 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-09-11T17:04:36.165Z,1757610276.165 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-09-11T17:04:36.167Z,1757610276.167 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-09-11T17:04:36.170Z,1757610276.170 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-09-11T17:04:36.172Z,1757610276.172 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-09-11T17:04:36.174Z,1757610276.174 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-09-11T17:04:36.205Z,1757610276.205 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-09-11T17:04:36.207Z,1757610276.207 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-09-11T17:04:36.214Z,1757610276.214 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-09-11T17:04:36.216Z,1757610276.216 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-09-11T17:04:36.227Z,1757610276.227 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-09-11T17:04:36.234Z,1757610276.234 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-09-11T17:04:36.236Z,1757610276.236 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-09-11T17:04:36.241Z,1757610276.241 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-09-11T17:04:36.243Z,1757610276.243 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-09-11T17:04:36.246Z,1757610276.246 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-09-11T17:04:36.248Z,1757610276.248 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-09-11T17:04:36.250Z,1757610276.250 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-09-11T17:04:36.253Z,1757610276.253 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-09-11T17:04:36.255Z,1757610276.255 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-09-11T17:04:36.258Z,1757610276.258 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-09-11T17:04:36.260Z,1757610276.260 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-09-11T17:04:36.262Z,1757610276.262 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = nan ug/l 2025-09-11T17:04:36.264Z,1757610276.264 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = nan m 2025-09-11T17:04:36.267Z,1757610276.267 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg 2025-09-11T17:04:36.269Z,1757610276.269 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg 2025-09-11T17:04:36.271Z,1757610276.271 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m 2025-09-11T17:04:36.274Z,1757610276.274 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSalt = nan psu 2025-09-11T17:04:36.276Z,1757610276.276 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltDepth = nan m 2025-09-11T17:04:36.279Z,1757610276.279 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltLatitude = nan arcdeg 2025-09-11T17:04:36.281Z,1757610276.281 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltLongitude = nan arcdeg 2025-09-11T17:04:36.283Z,1757610276.283 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltDistance = nan m 2025-09-11T17:04:36.286Z,1757610276.286 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOil = nan psu 2025-09-11T17:04:36.288Z,1757610276.288 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilDepth = nan m 2025-09-11T17:04:36.290Z,1757610276.290 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilLatitude = nan arcdeg 2025-09-11T17:04:36.293Z,1757610276.293 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilLongitude = nan arcdeg 2025-09-11T17:04:36.295Z,1757610276.295 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilDistance = nan m 2025-09-11T17:04:36.297Z,1757610276.297 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.TriggeredOnChl = 0 bool 2025-09-11T17:04:36.299Z,1757610276.299 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.ChlTriggering = nan ug/l 2025-09-11T17:04:36.317Z,1757610276.317 [circle_acoustic_contact:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.329Z,1757610276.329 [circle_acoustic_contact:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:04:36.352Z,1757610276.352 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T17:04:36.368Z,1757610276.368 [circle_acoustic_contact:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.378Z,1757610276.378 [circle_acoustic_contact:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.389Z,1757610276.389 [circle_acoustic_contact:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T17:04:36.402Z,1757610276.402 [circle_acoustic_contact:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.414Z,1757610276.414 [circle_acoustic_contact:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.427Z,1757610276.427 [circle_acoustic_contact:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T17:04:36.440Z,1757610276.440 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.454Z,1757610276.454 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:04:36.481Z,1757610276.481 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.495Z,1757610276.495 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:04:36.517Z,1757610276.517 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.530Z,1757610276.530 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:04:36.552Z,1757610276.552 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:04:36.566Z,1757610276.566 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:04:36.610Z,1757610276.610 [circle_acoustic_contact:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-09-11T17:04:36.626Z,1757610276.626 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool 2025-09-11T17:04:36.708Z,1757610276.708 [circle_acoustic_contact:TerminateMissionByMsg:B.Execute](DEBUG): Construct Execute. 2025-09-11T17:04:36.782Z,1757610276.782 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:C.Mass](DEBUG): Construct. 2025-09-11T17:04:36.791Z,1757610276.791 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:D.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T17:04:36.807Z,1757610276.807 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:F.Wait](DEBUG): Construct Wait. 2025-09-11T17:04:36.818Z,1757610276.818 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct. 2025-09-11T17:04:36.829Z,1757610276.829 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct. 2025-09-11T17:04:36.843Z,1757610276.843 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute. 2025-09-11T17:04:36.881Z,1757610276.881 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct. 2025-09-11T17:04:36.884Z,1757610276.884 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T17:04:36.891Z,1757610276.891 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:B.SetSpeed](DEBUG): Construct. 2025-09-11T17:04:36.906Z,1757610276.906 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:C.Pitch](DEBUG): Construct. 2025-09-11T17:04:36.916Z,1757610276.916 [circle_acoustic_contact:DiveCmd:YoYo:A.Pitch](DEBUG): Construct. 2025-09-11T17:04:36.932Z,1757610276.932 [circle_acoustic_contact:DiveCmd:YoYo:B.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T17:04:36.943Z,1757610276.943 [circle_acoustic_contact:DiveCmd:YoYo:C.SetSpeed](DEBUG): Construct. 2025-09-11T17:04:36.955Z,1757610276.955 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-11T17:04:36.978Z,1757610276.978 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-11T17:04:37.026Z,1757610277.026 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:C.YoYo](DEBUG): Construct YoYo. 2025-09-11T17:04:37.075Z,1757610277.075 [circle_acoustic_contact:DiveAndCircle:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct. 2025-09-11T17:04:37.117Z,1757610277.117 [circle_acoustic_contact:DiveAndCircle:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct. 2025-09-11T17:04:37.272Z,1757610277.272 [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 { """ This mission runs a circle around a specified acoustic contact. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact. The tracking component then calculates the position of the contact to update the center of the circle. When the vehicle surfaces and updates its own position with GPS, it queries the contact again, then sends the contact position to shore. """ arguments { # Mission-wide settings MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """ AcousticContactTimeout = 15 minute """ If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. """ # You probably need to change these. ContactLabel = 0 count """ The acoustic address of the asset to be tracked """ ContactDepth = NaN meter """ The depth of the asset to be tracked, if known. """ ListenToTerminateMissionMsg = false """ Whether to listen to the _.terminateMission acoustic message. """ SendNearSignal = false """ Whether to send the _.near acoustic message to the contact. """ ModemIDForNearSignal = 0 enum """ ID of modem to send _.near acoustic message. Defaults to the same as ContactLabel but doesn't have to be the same modem as that being tracked. """ CenterLatitude = 36.81544 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. """ CenterLongitude = -121.82506 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. """ OuterCircleRadius = 300 meter """ Radius of circle around acoustic contact during wait time """ InnerCircleRadius = 50 meter """ Radius of circle around acoustic contact during wait time """ ThreshRangeContact = 100 meter """ Send _.near acoustic message to the contact when the range is closer than this threshold. """ # You probably do not need to change these. TrackingUpdatePeriod = 60 second """ How long to wait between acoustic queries """ NumberOfPings = 1 count """ Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) """ InnerCircleTime = 0 minute """ Time before each normal communication cycle to move to the inner circle. Default value of 0 means vehicle will stay at OuterCircleRadius the whole time. """ CircleMaxError = 100 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. """ FixedDepth = NaN meter """ If non-nan, vehicle flies a flat-and-level circle at the specified depth instead of yo-yos. See noyo settings below. """ YoYoMinDepth = 3 meter """ Minimum depth during yo-yo's. """ YoYoMaxDepth = 33 meter """ Maximum depth during yo-yo's. """ YoYoMinAltitude = 10 meter """ Min altitude while in yo-yo mode. """ YoYoPitch = 20 degree """ Pitch (plus and minus) for yo-yo behavior. """ Speed = 1 meter_per_second """ Vehicle speed. """ # 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.) """ MinAltitude = 7 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 105 meter """ Maximum depth for the entire mission. """ MinOffshore = 1.5 kilometer """ Minimum offshore distance for the entire mission. """ NoYoApproachSpeed = 0.7 meter_per_second """ Speed while descending to target depth for flat-and-level circle Not used for yoyos """ NoYoApproachDepthRate = 0.05 meter_per_second """ Descent depth rate (Positive depth rate means going down) for flat-and-level circle Not used for yoyos """ NoYoApproachPitchLimit = 20 degree """ Max vehicle pitch (+/-) when decending from the surface for flat-and-level circle Not used for yoyos """ NoYoApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth for flat-and-level circle Not used for yoyos """ NoYoApproachSettleTimePreDive = 1 minute """ Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface for flat-and-level circle Not used for yoyos """ NoYokpDepth = 0.07 radian_per_meter """ Dive loop proportional gain (applied only while the vehicle is descending to target depth). """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ InitialDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to dive the vehicle to the approach depth. """ MaintainDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ TrueVar = true NearSignalSent = false """ Have sent the _.near message to the contact. """ TerminateMissionMsgReceived = false """ Whether this vehicle has received the _.terminateMission message from the other vehicle. """ } # 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 } aggregate UpdateCenter { run when ( elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < AcousticContactTimeout and ( CenterLatitude != Estimation:TrackAcousticContact.contact_latitude or CenterLongitude != Estimation:TrackAcousticContact.contact_longitude ) ) assign in sequence CenterLatitude = Estimation:TrackAcousticContact.contact_latitude assign in sequence CenterLongitude = Estimation:TrackAcousticContact.contact_longitude } # Most missions have the NeedComms aggregate at high priority. insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute # 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 insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # insert Insert/TerminateMissionByMsg.tl { # redefineArg ListenToMsgTerminateMission = ListenToTerminateMissionMsg # } insert id="Science" Insert/Science.tl { """ Get science data, including PeakDetectChl """ redefineArg PeakDetectChlActive = true } aggregate SendNearSignal { run when ( ( ( SendNearSignal ) and ( Universal:acoustic_contact_range < ThreshRangeContact ) and not ( NearSignalSent ) ) ) aggregate NearSignal { run in sequence break if ( NearSignalSent ) behavior Sensor:SendDirect { run in sequence set destType = "modem" set destId = ModemIDForNearSignal set destName = "_.near" set value = TrueVar set unit = "bool" } syslog important "Set _.near to " + TrueVar~bool assign in sequence NearSignalSent = true } } aggregate TerminateMissionByMsg { run when ( ListenToTerminateMissionMsg and ( elapsed ( customUri "_.terminateMission" ) < ( elapsed ( TerminateMissionMsgReceived ) ) ) ) syslog info "Received _.terminateMission message. Stopping mission." behavior Guidance:Execute { run in sequence set command = "stop;schedule resume" } assign in sequence TerminateMissionMsgReceived = true } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms call priorityHere=false refId="NeedComms" assign in sequence DiveMode = InitialDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between 3 dive modes: 1) descend from the surface to initial depth. 2) settle at target depth using the VB. 3) cruise at target depth. """ run when ( called ) aggregate NoYoInitialDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == InitialDive and not isNaN ( FixedDepth ) ) aggregate dive { run in sequence assign in parallel Control:VerticalControl.pitchLimit = NoYoApproachPitchLimit assign in parallel Control:VerticalControl.kpDepth = NoYokpDepth behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } syslog info "Waiting for " + NoYoApproachSettleTimePreDive~minute + "while pumping down to neutral." behavior Guidance:Wait { """ Take a few moments to ensure the VBS reaches neutral. """ run in sequence set duration = NoYoApproachSettleTimePreDive } syslog "Moving to " + FixedDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = NoYoApproachSpeed } behavior Guidance:Pitch { run in sequence timeout duration=NoYoApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = FixedDepth set depthRate = NoYoApproachDepthRate } } assign in sequence DiveMode = MaintainDepth } } aggregate NoYoMaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and not isNaN ( FixedDepth ) ) aggregate dive { run in parallel aggregate ThrusterDive { run while ( Speed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } } behavior Guidance:SetSpeed { run in parallel set speed = Speed } behavior Guidance:Pitch { run in parallel set depth = FixedDepth } } } aggregate YoYo { run while ( DiveMode != DoingComms and isNaN ( FixedDepth ) ) behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:SetSpeed { run in parallel set speed = Speed } aggregate YoYos { run in parallel behavior Guidance:DepthEnvelope { run in parallel set minDepth = YoYoMinDepth set maxDepth = YoYoMaxDepth set pitch = YoYoPitch } behavior Guidance:AltitudeEnvelope { run in parallel set minAltitude = YoYoMinAltitude set pitch = YoYoPitch } behavior Guidance:YoYo { run in parallel set pitch = YoYoPitch } } } } # Start mission sequence call id="StartingMission" priorityHere=false refId="SurfaceComms" aggregate DiveAndCircle { run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } aggregate CircleWrapper { run in sequence aggregate CircleContact { """ Circle the contact while updating its position using the tracking behavior. """ run when ( elapsed ( Universal:time_fix ) < ( NeedCommsTime - InnerCircleTime ) ) assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading behavior Guidance:Circle { run in sequence set latitude = CenterLatitude set longitude = CenterLongitude set radius = OuterCircleRadius set maxError = CircleMaxError set turnToPort = CircleTurnToPort } } aggregate CircleContactClose { """ Circle the contact closely while updating its position using the tracking behavior. """ run when ( elapsed ( Universal:time_fix ) >= ( NeedCommsTime - InnerCircleTime ) ) assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading behavior Guidance:Circle { run in sequence set latitude = CenterLatitude set longitude = CenterLongitude set radius = InnerCircleRadius set maxError = CircleMaxError set turnToPort = CircleTurnToPort } } } } } 2025-09-11T17:04:37.272Z,1757610277.272 [CommandExec](IMPORTANT): Loaded ./Missions/Science/circle_acoustic_contact.tl id=circle_acoustic_contact 2025-09-11T17:04:37.377Z,1757610277.377 [CommandExec](IMPORTANT): got command load ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T17:04:37.378Z,1757610277.378 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact 2025-09-11T17:04:37.730Z,1757610277.730 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T17:04:37.730Z,1757610277.730 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T17:04:37.744Z,1757610277.744 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/circle_acoustic_contact.tl 2025-09-11T17:04:48.831Z,1757610288.831 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/circle_acoustic_contact.tl translated into: 2 60 15 0 NaN 0 36.81544 -121.82506 300 50 100 60 1 0 100 NaN 3 33 10 20 1 0.010 7 105 1.5 0.7 0.05 20 15 1 0.07 0 0 1 2 0 modem _.near bool Set _.near to Received _.terminateMission message. Stopping mission. stop;schedule resume Waiting for while pumping down to neutral. Moving to Timed out while trying to reach target depth at current depth of stop 0.0 2025-09-11T17:04:48.867Z,1757610288.867 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h 2025-09-11T17:04:48.870Z,1757610288.870 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min 2025-09-11T17:04:48.883Z,1757610288.883 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min 2025-09-11T17:04:48.894Z,1757610288.894 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count 2025-09-11T17:04:48.896Z,1757610288.896 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = nan m 2025-09-11T17:04:48.906Z,1757610288.906 [MissionManager](INFO): DefineArg circle_acoustic_contact.ListenToTerminateMissionMsg = 0 bool 2025-09-11T17:04:48.908Z,1757610288.908 [MissionManager](INFO): DefineArg circle_acoustic_contact.SendNearSignal = 0 bool 2025-09-11T17:04:48.918Z,1757610288.918 [MissionManager](INFO): DefineArg circle_acoustic_contact.ModemIDForNearSignal = 0.000000 enum 2025-09-11T17:04:48.920Z,1757610288.920 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815441 arcdeg 2025-09-11T17:04:48.931Z,1757610288.931 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825058 arcdeg 2025-09-11T17:04:48.945Z,1757610288.945 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m 2025-09-11T17:04:48.948Z,1757610288.948 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m 2025-09-11T17:04:48.962Z,1757610288.962 [MissionManager](INFO): DefineArg circle_acoustic_contact.ThreshRangeContact = 100.000000 m 2025-09-11T17:04:48.964Z,1757610288.964 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s 2025-09-11T17:04:48.971Z,1757610288.971 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count 2025-09-11T17:04:48.981Z,1757610288.981 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min 2025-09-11T17:04:48.984Z,1757610288.984 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m 2025-09-11T17:04:48.994Z,1757610288.994 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool 2025-09-11T17:04:48.996Z,1757610288.996 [MissionManager](INFO): DefineArg circle_acoustic_contact.FixedDepth = nan m 2025-09-11T17:04:49.019Z,1757610289.019 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m 2025-09-11T17:04:49.029Z,1757610289.029 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m 2025-09-11T17:04:49.031Z,1757610289.031 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m 2025-09-11T17:04:49.042Z,1757610289.042 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg 2025-09-11T17:04:49.044Z,1757610289.044 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 1.000000 m/s 2025-09-11T17:04:49.058Z,1757610289.058 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m 2025-09-11T17:04:49.060Z,1757610289.060 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m 2025-09-11T17:04:49.072Z,1757610289.072 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m 2025-09-11T17:04:49.083Z,1757610289.083 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km 2025-09-11T17:04:49.093Z,1757610289.093 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachSpeed = 0.700000 m/s 2025-09-11T17:04:49.096Z,1757610289.096 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachDepthRate = 0.050000 m/s 2025-09-11T17:04:49.130Z,1757610289.130 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachPitchLimit = 20.000000 arcdeg 2025-09-11T17:04:49.132Z,1757610289.132 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachDepthTimeout = 15.000000 min 2025-09-11T17:04:49.139Z,1757610289.139 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYoApproachSettleTimePreDive = 1.000000 min 2025-09-11T17:04:49.157Z,1757610289.157 [MissionManager](INFO): DefineArg circle_acoustic_contact.NoYokpDepth = 0.070000 rad/m 2025-09-11T17:04:49.160Z,1757610289.160 [MissionManager](INFO): DefineOutput circle_acoustic_contact.DiveMode = 0.000000 count 2025-09-11T17:04:49.174Z,1757610289.174 [MissionManager](INFO): DefineOutput circle_acoustic_contact.DoingComms = 0.000000 count 2025-09-11T17:04:49.176Z,1757610289.176 [MissionManager](INFO): DefineOutput circle_acoustic_contact.InitialDive = 1.000000 count 2025-09-11T17:04:49.191Z,1757610289.191 [MissionManager](INFO): DefineOutput circle_acoustic_contact.MaintainDepth = 2.000000 count 2025-09-11T17:04:49.205Z,1757610289.205 [MissionManager](INFO): DefineOutput circle_acoustic_contact.TrueVar = 1 bool 2025-09-11T17:04:49.207Z,1757610289.207 [MissionManager](INFO): DefineOutput circle_acoustic_contact.NearSignalSent = 0 bool 2025-09-11T17:04:49.229Z,1757610289.229 [MissionManager](INFO): DefineOutput circle_acoustic_contact.TerminateMissionMsgReceived = 0 bool 2025-09-11T17:04:49.229Z,1757610289.229 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl 2025-09-11T17:04:49.230Z,1757610289.230 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl 2025-09-11T17:04:49.231Z,1757610289.231 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl 2025-09-11T17:04:49.352Z,1757610289.352 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into: 96 Insert acoustic timeout set to . stop 2025-09-11T17:04:49.362Z,1757610289.362 [MissionManager](INFO): DefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = 96.000000 h 2025-09-11T17:04:49.364Z,1757610289.364 [circle_acoustic_contact:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift. 2025-09-11T17:04:49.374Z,1757610289.374 [circle_acoustic_contact:AbortDrift:C.Execute](DEBUG): Construct Execute. 2025-09-11T17:04:49.376Z,1757610289.376 [MissionManager](INFO): RedefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = reader:circle_acoustic_contact.AcousticContactTimeout 2025-09-11T17:04:49.451Z,1757610289.451 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-09-11T17:04:49.451Z,1757610289.451 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-09-11T17:04:49.452Z,1757610289.452 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-09-11T17:04:50.117Z,1757610290.117 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2025-09-11T17:04:50.130Z,1757610290.130 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 1.000000 h 2025-09-11T17:04:50.132Z,1757610290.132 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min 2025-09-11T17:04:50.143Z,1757610290.143 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-09-11T17:04:50.161Z,1757610290.161 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s 2025-09-11T17:04:50.163Z,1757610290.163 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-09-11T17:04:50.165Z,1757610290.165 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacingTimeout = 1000.000000 s 2025-09-11T17:04:50.167Z,1757610290.167 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min 2025-09-11T17:04:50.183Z,1757610290.183 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min 2025-09-11T17:04:50.206Z,1757610290.206 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-09-11T17:04:50.259Z,1757610290.259 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-09-11T17:04:50.259Z,1757610290.259 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-09-11T17:04:50.260Z,1757610290.260 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-09-11T17:04:50.500Z,1757610290.500 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-09-11T17:04:50.512Z,1757610290.512 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m 2025-09-11T17:04:50.523Z,1757610290.523 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-09-11T17:04:50.533Z,1757610290.533 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m 2025-09-11T17:04:50.536Z,1757610290.536 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-09-11T17:04:50.545Z,1757610290.545 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-11T17:04:50.558Z,1757610290.558 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-11T17:04:50.581Z,1757610290.581 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-09-11T17:04:50.609Z,1757610290.609 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-09-11T17:04:50.609Z,1757610290.609 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-09-11T17:04:50.610Z,1757610290.610 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-09-11T17:04:50.670Z,1757610290.670 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-09-11T17:04:50.681Z,1757610290.681 [MissionManager](INFO): DefineArg circle_acoustic_contact:BackseatDriver.EnableBackseat = 0 bool 2025-09-11T17:04:50.684Z,1757610290.684 [circle_acoustic_contact:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-09-11T17:04:50.695Z,1757610290.695 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-09-11T17:04:50.695Z,1757610290.695 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-09-11T17:04:50.696Z,1757610290.696 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-09-11T17:04:51.116Z,1757610291.116 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-09-11T17:04:51.168Z,1757610291.168 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleAll = 0 bool 2025-09-11T17:04:51.182Z,1757610291.182 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad1 = 0 bool 2025-09-11T17:04:51.184Z,1757610291.184 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad2 = 0 bool 2025-09-11T17:04:51.206Z,1757610291.206 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.SampleLoad3 = 0 bool 2025-09-11T17:04:51.223Z,1757610291.223 [MissionManager](INFO): DefineArg circle_acoustic_contact:PowerOnly.EnabledPowerOnly = 0 bool 2025-09-11T17:04:51.250Z,1757610291.250 [circle_acoustic_contact:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-09-11T17:04:51.251Z,1757610291.251 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-09-11T17:04:51.252Z,1757610291.252 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-09-11T17:04:51.273Z,1757610291.273 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-09-11T17:04:59.406Z,1757610299.406 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 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 PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , 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). 2025-09-11T17:04:59.501Z,1757610299.501 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool 2025-09-11T17:04:59.503Z,1757610299.503 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectChlActive = 0 bool 2025-09-11T17:04:59.513Z,1757610299.513 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min 2025-09-11T17:04:59.515Z,1757610299.515 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool 2025-09-11T17:04:59.567Z,1757610299.567 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestSaltPeakReportActive = 0 bool 2025-09-11T17:04:59.579Z,1757610299.579 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestOilPeakReportActive = 0 bool 2025-09-11T17:04:59.602Z,1757610299.602 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool 2025-09-11T17:04:59.649Z,1757610299.649 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count 2025-09-11T17:04:59.651Z,1757610299.651 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count 2025-09-11T17:04:59.674Z,1757610299.674 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 % 2025-09-11T17:04:59.686Z,1757610299.686 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool 2025-09-11T17:04:59.688Z,1757610299.688 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool 2025-09-11T17:04:59.721Z,1757610299.721 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool 2025-09-11T17:04:59.723Z,1757610299.723 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectSalinityActive = 0 bool 2025-09-11T17:04:59.745Z,1757610299.745 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-09-11T17:04:59.750Z,1757610299.750 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-09-11T17:04:59.752Z,1757610299.752 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-09-11T17:04:59.762Z,1757610299.762 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-09-11T17:04:59.764Z,1757610299.764 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-09-11T17:04:59.782Z,1757610299.782 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-09-11T17:04:59.784Z,1757610299.784 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-09-11T17:04:59.799Z,1757610299.799 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-09-11T17:04:59.813Z,1757610299.813 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-09-11T17:04:59.815Z,1757610299.815 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0 bool 2025-09-11T17:04:59.830Z,1757610299.830 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0 bool 2025-09-11T17:04:59.861Z,1757610299.861 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledRBRTridente = 0 bool 2025-09-11T17:04:59.863Z,1757610299.863 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1 bool 2025-09-11T17:04:59.887Z,1757610299.887 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1 bool 2025-09-11T17:04:59.929Z,1757610299.929 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-09-11T17:04:59.932Z,1757610299.932 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0 bool 2025-09-11T17:04:59.942Z,1757610299.942 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count 2025-09-11T17:04:59.944Z,1757610299.944 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count 2025-09-11T17:04:59.970Z,1757610299.970 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ShallowBound = nan m 2025-09-11T17:04:59.972Z,1757610299.972 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.DeepBound = nan m 2025-09-11T17:04:59.991Z,1757610299.991 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-09-11T17:05:00.009Z,1757610300.009 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionVerticalAscent = nan % 2025-09-11T17:05:00.011Z,1757610300.011 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionVerticalDescent = nan % 2025-09-11T17:05:00.055Z,1757610300.055 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlPeakThresh = 0.000000 ug/l 2025-09-11T17:05:00.077Z,1757610300.077 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumberOfLayers = 1.000000 count 2025-09-11T17:05:00.079Z,1757610300.079 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlThreshTriggerActive = 0 bool 2025-09-11T17:05:00.106Z,1757610300.106 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlLowerThresh = nan ug/l 2025-09-11T17:05:00.108Z,1757610300.108 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.ChlUpperThresh = nan ug/l 2025-09-11T17:05:00.146Z,1757610300.146 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesThresh = 5.000000 count 2025-09-11T17:05:00.148Z,1757610300.148 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-09-11T17:05:00.151Z,1757610300.151 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-09-11T17:05:00.162Z,1757610300.162 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-09-11T17:05:00.164Z,1757610300.164 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-09-11T17:05:00.182Z,1757610300.182 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.GoDown = 1 bool 2025-09-11T17:05:00.197Z,1757610300.197 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = nan ug/l 2025-09-11T17:05:00.199Z,1757610300.199 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = nan m 2025-09-11T17:05:00.214Z,1757610300.214 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = nan degC 2025-09-11T17:05:00.216Z,1757610300.216 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg 2025-09-11T17:05:00.231Z,1757610300.231 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg 2025-09-11T17:05:00.245Z,1757610300.245 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChl = nan ug/l 2025-09-11T17:05:00.247Z,1757610300.247 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlDepth = nan m 2025-09-11T17:05:00.258Z,1757610300.258 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlTemperature = nan degC 2025-09-11T17:05:00.260Z,1757610300.260 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlLatitude = nan arcdeg 2025-09-11T17:05:00.286Z,1757610300.286 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgeChlLongitude = nan arcdeg 2025-09-11T17:05:00.288Z,1757610300.288 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = nan umol/l 2025-09-11T17:05:00.291Z,1757610300.291 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = nan m 2025-09-11T17:05:00.298Z,1757610300.298 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg 2025-09-11T17:05:00.300Z,1757610300.300 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg 2025-09-11T17:05:00.311Z,1757610300.311 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = nan kg/m3 2025-09-11T17:05:00.321Z,1757610300.321 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = nan m 2025-09-11T17:05:00.324Z,1757610300.324 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg 2025-09-11T17:05:00.334Z,1757610300.334 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg 2025-09-11T17:05:00.336Z,1757610300.336 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = nan ppb 2025-09-11T17:05:00.350Z,1757610300.350 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = nan m 2025-09-11T17:05:00.352Z,1757610300.352 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMTemperature = nan degC 2025-09-11T17:05:00.359Z,1757610300.359 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg 2025-09-11T17:05:00.369Z,1757610300.369 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg 2025-09-11T17:05:00.372Z,1757610300.372 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSalt = nan psu 2025-09-11T17:05:00.382Z,1757610300.382 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltDepth = nan m 2025-09-11T17:05:00.393Z,1757610300.393 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltTemperature = nan degC 2025-09-11T17:05:00.395Z,1757610300.395 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltLatitude = nan arcdeg 2025-09-11T17:05:00.402Z,1757610300.402 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakSaltLongitude = nan arcdeg 2025-09-11T17:05:00.404Z,1757610300.404 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-09-11T17:05:00.439Z,1757610300.439 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-09-11T17:05:00.454Z,1757610300.454 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-09-11T17:05:00.462Z,1757610300.462 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-09-11T17:05:00.464Z,1757610300.464 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-09-11T17:05:00.471Z,1757610300.471 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-09-11T17:05:00.490Z,1757610300.490 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-09-11T17:05:00.492Z,1757610300.492 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-09-11T17:05:00.508Z,1757610300.508 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-09-11T17:05:00.518Z,1757610300.518 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-09-11T17:05:00.526Z,1757610300.526 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-09-11T17:05:00.528Z,1757610300.528 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-09-11T17:05:00.543Z,1757610300.543 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-09-11T17:05:00.550Z,1757610300.550 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-09-11T17:05:00.552Z,1757610300.552 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-09-11T17:05:00.567Z,1757610300.567 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-09-11T17:05:00.577Z,1757610300.577 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-09-11T17:05:00.580Z,1757610300.580 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-09-11T17:05:00.590Z,1757610300.590 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-09-11T17:05:00.601Z,1757610300.601 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-09-11T17:05:00.642Z,1757610300.642 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-09-11T17:05:00.657Z,1757610300.657 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-09-11T17:05:00.659Z,1757610300.659 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-09-11T17:05:00.670Z,1757610300.670 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-09-11T17:05:00.672Z,1757610300.672 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-09-11T17:05:00.699Z,1757610300.699 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-09-11T17:05:00.718Z,1757610300.718 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-09-11T17:05:00.720Z,1757610300.720 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-09-11T17:05:00.739Z,1757610300.739 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-09-11T17:05:00.755Z,1757610300.755 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-09-11T17:05:00.770Z,1757610300.770 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-09-11T17:05:00.772Z,1757610300.772 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-09-11T17:05:00.788Z,1757610300.788 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-09-11T17:05:00.803Z,1757610300.803 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-09-11T17:05:00.817Z,1757610300.817 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-09-11T17:05:00.820Z,1757610300.820 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-09-11T17:05:00.862Z,1757610300.862 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-09-11T17:05:00.881Z,1757610300.881 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-09-11T17:05:00.894Z,1757610300.894 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-09-11T17:05:00.896Z,1757610300.896 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-09-11T17:05:00.903Z,1757610300.903 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = nan ug/l 2025-09-11T17:05:00.918Z,1757610300.918 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = nan m 2025-09-11T17:05:00.920Z,1757610300.920 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg 2025-09-11T17:05:00.950Z,1757610300.950 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg 2025-09-11T17:05:00.952Z,1757610300.952 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m 2025-09-11T17:05:00.959Z,1757610300.959 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSalt = nan psu 2025-09-11T17:05:00.970Z,1757610300.970 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltDepth = nan m 2025-09-11T17:05:00.972Z,1757610300.972 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltLatitude = nan arcdeg 2025-09-11T17:05:00.991Z,1757610300.991 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltLongitude = nan arcdeg 2025-09-11T17:05:01.005Z,1757610301.005 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchSaltDistance = nan m 2025-09-11T17:05:01.007Z,1757610301.007 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOil = nan psu 2025-09-11T17:05:01.018Z,1757610301.018 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilDepth = nan m 2025-09-11T17:05:01.020Z,1757610301.020 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilLatitude = nan arcdeg 2025-09-11T17:05:01.040Z,1757610301.040 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilLongitude = nan arcdeg 2025-09-11T17:05:01.062Z,1757610301.062 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchOilDistance = nan m 2025-09-11T17:05:01.064Z,1757610301.064 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.TriggeredOnChl = 0 bool 2025-09-11T17:05:01.075Z,1757610301.075 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.ChlTriggering = nan ug/l 2025-09-11T17:05:01.153Z,1757610301.153 [circle_acoustic_contact:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.205Z,1757610301.205 [circle_acoustic_contact:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:05:01.302Z,1757610301.302 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T17:05:01.330Z,1757610301.330 [circle_acoustic_contact:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.353Z,1757610301.353 [circle_acoustic_contact:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.371Z,1757610301.371 [circle_acoustic_contact:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T17:05:01.396Z,1757610301.396 [circle_acoustic_contact:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.419Z,1757610301.419 [circle_acoustic_contact:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.443Z,1757610301.443 [circle_acoustic_contact:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-09-11T17:05:01.470Z,1757610301.470 [circle_acoustic_contact:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.495Z,1757610301.495 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:05:01.545Z,1757610301.545 [circle_acoustic_contact:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.576Z,1757610301.576 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:05:01.623Z,1757610301.623 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.691Z,1757610301.691 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:05:01.846Z,1757610301.846 [circle_acoustic_contact:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-09-11T17:05:01.904Z,1757610301.904 [circle_acoustic_contact:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-09-11T17:05:02.002Z,1757610302.002 [circle_acoustic_contact:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-09-11T17:05:02.058Z,1757610302.058 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool 2025-09-11T17:05:02.115Z,1757610302.115 [circle_acoustic_contact:TerminateMissionByMsg:B.Execute](DEBUG): Construct Execute. 2025-09-11T17:05:02.186Z,1757610302.186 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:C.Mass](DEBUG): Construct. 2025-09-11T17:05:02.201Z,1757610302.201 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:D.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T17:05:02.217Z,1757610302.217 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:F.Wait](DEBUG): Construct Wait. 2025-09-11T17:05:02.220Z,1757610302.220 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct. 2025-09-11T17:05:02.231Z,1757610302.231 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct. 2025-09-11T17:05:02.258Z,1757610302.258 [circle_acoustic_contact:DiveCmd:NoYoInitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute. 2025-09-11T17:05:02.290Z,1757610302.290 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:ThrusterDive:A.Mass](DEBUG): Construct. 2025-09-11T17:05:02.292Z,1757610302.292 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:ThrusterDive:B.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T17:05:02.295Z,1757610302.295 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:B.SetSpeed](DEBUG): Construct. 2025-09-11T17:05:02.310Z,1757610302.310 [circle_acoustic_contact:DiveCmd:NoYoMaintainDepth:dive:C.Pitch](DEBUG): Construct. 2025-09-11T17:05:02.316Z,1757610302.316 [circle_acoustic_contact:DiveCmd:YoYo:A.Pitch](DEBUG): Construct. 2025-09-11T17:05:02.329Z,1757610302.329 [circle_acoustic_contact:DiveCmd:YoYo:B.Buoyancy](DEBUG): Construct Buoyancy. 2025-09-11T17:05:02.332Z,1757610302.332 [circle_acoustic_contact:DiveCmd:YoYo:C.SetSpeed](DEBUG): Construct. 2025-09-11T17:05:02.339Z,1757610302.339 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-09-11T17:05:02.355Z,1757610302.355 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-09-11T17:05:02.364Z,1757610302.364 [circle_acoustic_contact:DiveCmd:YoYo:YoYos:C.YoYo](DEBUG): Construct YoYo. 2025-09-11T17:05:02.401Z,1757610302.401 [circle_acoustic_contact:DiveAndCircle:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct. 2025-09-11T17:05:02.419Z,1757610302.419 [circle_acoustic_contact:DiveAndCircle:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct. 2025-09-11T17:05:02.611Z,1757610302.611 [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 { """ This mission runs a circle around a specified acoustic contact. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact. The tracking component then calculates the position of the contact to update the center of the circle. When the vehicle surfaces and updates its own position with GPS, it queries the contact again, then sends the contact position to shore. """ arguments { # Mission-wide settings MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """ AcousticContactTimeout = 15 minute """ If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. """ # You probably need to change these. ContactLabel = 0 count """ The acoustic address of the asset to be tracked """ ContactDepth = NaN meter """ The depth of the asset to be tracked, if known. """ ListenToTerminateMissionMsg = false """ Whether to listen to the _.terminateMission acoustic message. """ SendNearSignal = false """ Whether to send the _.near acoustic message to the contact. """ ModemIDForNearSignal = 0 enum """ ID of modem to send _.near acoustic message. Defaults to the same as ContactLabel but doesn't have to be the same modem as that being tracked. """ CenterLatitude = 36.81544 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. """ CenterLongitude = -121.82506 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. """ OuterCircleRadius = 300 meter """ Radius of circle around acoustic contact during wait time """ InnerCircleRadius = 50 meter """ Radius of circle around acoustic contact during wait time """ ThreshRangeContact = 100 meter """ Send _.near acoustic message to the contact when the range is closer than this threshold. """ # You probably do not need to change these. TrackingUpdatePeriod = 60 second """ How long to wait between acoustic queries """ NumberOfPings = 1 count """ Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) """ InnerCircleTime = 0 minute """ Time before each normal communication cycle to move to the inner circle. Default value of 0 means vehicle will stay at OuterCircleRadius the whole time. """ CircleMaxError = 100 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. """ FixedDepth = NaN meter """ If non-nan, vehicle flies a flat-and-level circle at the specified depth instead of yo-yos. See noyo settings below. """ YoYoMinDepth = 3 meter """ Minimum depth during yo-yo's. """ YoYoMaxDepth = 33 meter """ Maximum depth during yo-yo's. """ YoYoMinAltitude = 10 meter """ Min altitude while in yo-yo mode. """ YoYoPitch = 20 degree """ Pitch (plus and minus) for yo-yo behavior. """ Speed = 1 meter_per_second """ Vehicle speed. """ # 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.) """ MinAltitude = 7 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 105 meter """ Maximum depth for the entire mission. """ MinOffshore = 1.5 kilometer """ Minimum offshore distance for the entire mission. """ NoYoApproachSpeed = 0.7 meter_per_second """ Speed while descending to target depth for flat-and-level circle Not used for yoyos """ NoYoApproachDepthRate = 0.05 meter_per_second """ Descent depth rate (Positive depth rate means going down) for flat-and-level circle Not used for yoyos """ NoYoApproachPitchLimit = 20 degree """ Max vehicle pitch (+/-) when decending from the surface for flat-and-level circle Not used for yoyos """ NoYoApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth for flat-and-level circle Not used for yoyos """ NoYoApproachSettleTimePreDive = 1 minute """ Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface for flat-and-level circle Not used for yoyos """ NoYokpDepth = 0.07 radian_per_meter """ Dive loop proportional gain (applied only while the vehicle is descending to target depth). """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ InitialDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to dive the vehicle to the approach depth. """ MaintainDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ TrueVar = true NearSignalSent = false """ Have sent the _.near message to the contact. """ TerminateMissionMsgReceived = false """ Whether this vehicle has received the _.terminateMission message from the other vehicle. """ } # 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 } aggregate UpdateCenter { run when ( elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < AcousticContactTimeout and ( CenterLatitude != Estimation:TrackAcousticContact.contact_latitude or CenterLongitude != Estimation:TrackAcousticContact.contact_longitude ) ) assign in sequence CenterLatitude = Estimation:TrackAcousticContact.contact_latitude assign in sequence CenterLongitude = Estimation:TrackAcousticContact.contact_longitude } # Most missions have the NeedComms aggregate at high priority. insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute # 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 insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # insert Insert/TerminateMissionByMsg.tl { # redefineArg ListenToMsgTerminateMission = ListenToTerminateMissionMsg # } insert id="Science" Insert/Science.tl { """ Get science data, including PeakDetectChl """ redefineArg PeakDetectChlActive = true } aggregate SendNearSignal { run when ( ( ( SendNearSignal ) and ( Universal:acoustic_contact_range < ThreshRangeContact ) and not ( NearSignalSent ) ) ) aggregate NearSignal { run in sequence break if ( NearSignalSent ) behavior Sensor:SendDirect { run in sequence set destType = "modem" set destId = ModemIDForNearSignal set destName = "_.near" set value = TrueVar set unit = "bool" } syslog important "Set _.near to " + TrueVar~bool assign in sequence NearSignalSent = true } } aggregate TerminateMissionByMsg { run when ( ListenToTerminateMissionMsg and ( elapsed ( customUri "_.terminateMission" ) < ( elapsed ( TerminateMissionMsgReceived ) ) ) ) syslog info "Received _.terminateMission message. Stopping mission." behavior Guidance:Execute { run in sequence set command = "stop;schedule resume" } assign in sequence TerminateMissionMsgReceived = true } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms call priorityHere=false refId="NeedComms" assign in sequence DiveMode = InitialDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between 3 dive modes: 1) descend from the surface to initial depth. 2) settle at target depth using the VB. 3) cruise at target depth. """ run when ( called ) aggregate NoYoInitialDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == InitialDive and not isNaN ( FixedDepth ) ) aggregate dive { run in sequence assign in parallel Control:VerticalControl.pitchLimit = NoYoApproachPitchLimit assign in parallel Control:VerticalControl.kpDepth = NoYokpDepth behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } syslog info "Waiting for " + NoYoApproachSettleTimePreDive~minute + "while pumping down to neutral." behavior Guidance:Wait { """ Take a few moments to ensure the VBS reaches neutral. """ run in sequence set duration = NoYoApproachSettleTimePreDive } syslog "Moving to " + FixedDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = NoYoApproachSpeed } behavior Guidance:Pitch { run in sequence timeout duration=NoYoApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = FixedDepth set depthRate = NoYoApproachDepthRate } } assign in sequence DiveMode = MaintainDepth } } aggregate NoYoMaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and not isNaN ( FixedDepth ) ) aggregate dive { run in parallel aggregate ThrusterDive { run while ( Speed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } } behavior Guidance:SetSpeed { run in parallel set speed = Speed } behavior Guidance:Pitch { run in parallel set depth = FixedDepth } } } aggregate YoYo { run while ( DiveMode != DoingComms and isNaN ( FixedDepth ) ) behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:SetSpeed { run in parallel set speed = Speed } aggregate YoYos { run in parallel behavior Guidance:DepthEnvelope { run in parallel set minDepth = YoYoMinDepth set maxDepth = YoYoMaxDepth set pitch = YoYoPitch } behavior Guidance:AltitudeEnvelope { run in parallel set minAltitude = YoYoMinAltitude set pitch = YoYoPitch } behavior Guidance:YoYo { run in parallel set pitch = YoYoPitch } } } } # Start mission sequence call id="StartingMission" priorityHere=false refId="SurfaceComms" aggregate DiveAndCircle { run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } aggregate CircleWrapper { run in sequence aggregate CircleContact { """ Circle the contact while updating its position using the tracking behavior. """ run when ( elapsed ( Universal:time_fix ) < ( NeedCommsTime - InnerCircleTime ) ) assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading behavior Guidance:Circle { run in sequence set latitude = CenterLatitude set longitude = CenterLongitude set radius = OuterCircleRadius set maxError = CircleMaxError set turnToPort = CircleTurnToPort } } aggregate CircleContactClose { """ Circle the contact closely while updating its position using the tracking behavior. """ run when ( elapsed ( Universal:time_fix ) >= ( NeedCommsTime - InnerCircleTime ) ) assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading behavior Guidance:Circle { run in sequence set latitude = CenterLatitude set longitude = CenterLongitude set radius = InnerCircleRadius set maxError = CircleMaxError set turnToPort = CircleTurnToPort } } } } } 2025-09-11T17:05:02.612Z,1757610302.612 [CommandExec](IMPORTANT): Loaded ./Missions/Science/circle_acoustic_contact.tl id=circle_acoustic_contact 2025-09-11T17:07:14.602Z,1757610434.602 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-09-11T17:02:14.4Z 2025-09-11T17:07:14.602Z,1757610434.602 [Default:CheckIn:Read_GPS] Stopped 2025-09-11T17:07:14.602Z,1757610434.602 [Default:CheckIn:Read_Iridium] Running Loop=1 2025-09-11T17:07:25.657Z,1757610445.657 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20250911T162936/Courier0016.lzma 2025-09-11T17:07:26.659Z,1757610446.659 [DataOverHttps](INFO): Moved sent file to Logs/20250911T162936/Courier0016.lzma.bak 2025-09-11T17:07:26.659Z,1757610446.659 [DataOverHttps](INFO): SBD MOMSN=25964645 2025-09-11T17:07:30.596Z,1757610450.596 [CommandExec](IMPORTANT): got command set circle_acoustic_contact.ContactDepth 1 meter 2025-09-11T17:07:30.596Z,1757610450.596 [CommandExec](IMPORTANT): got command set circle_acoustic_contact:NeedComms.CommsTimeout 10 second 2025-09-11T17:07:30.602Z,1757610450.602 [CommandExec](IMPORTANT): got command set circle_acoustic_contact:NeedComms.GPSTimeout 10 second 2025-09-11T17:07:30.602Z,1757610450.602 [CommandExec](IMPORTANT): got command set circle_acoustic_contact:NeedComms.SurfaceSpeed 0 2025-09-11T17:07:30.602Z,1757610450.602 [CommandExec](FAULT): Incomplete syntax. Try: help set 2025-09-11T17:07:30.610Z,1757610450.610 [CommandExec](IMPORTANT): got command restart system 2025-09-11T17:07:32.769Z,1757610452.769 [Supervisor](INFO): Stop Mission called by Supervisor::terminate 2025-09-11T17:07:32.770Z,1757610452.770 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:32.770Z,1757610452.770 [CommandExec](INFO): Uninitializing the command executive. 2025-09-11T17:07:32.770Z,1757610452.770 [CommandExec](INFO): Uninitializing the command scheduler. 2025-09-11T17:07:32.770Z,1757610452.770 [CommandExec ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:32.933Z,1757610452.933 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup. Bye! 2025-09-11T17:07:32.933Z,1757610452.933 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler 2025-09-11T17:07:32.933Z,1757610452.933 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:32.934Z,1757610452.934 [NavChartDb](INFO): Join timeout helper Thread ID is 1409 2025-09-11T17:07:33.321Z,1757610453.321 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:33.321Z,1757610453.321 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:33.341Z,1757610453.341 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler 2025-09-11T17:07:33.341Z,1757610453.341 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:33.342Z,1757610453.342 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1410 2025-09-11T17:07:33.473Z,1757610453.473 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:33.473Z,1757610453.473 [WetLabsBB2FL](INFO): Powering down 2025-09-11T17:07:33.474Z,1757610453.474 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:33.485Z,1757610453.485 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler 2025-09-11T17:07:33.485Z,1757610453.485 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:33.486Z,1757610453.486 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1411 2025-09-11T17:07:33.581Z,1757610453.581 [CTD_Seabird](INFO): Powering down 2025-09-11T17:07:33.593Z,1757610453.593 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:33.593Z,1757610453.593 [CTD_Seabird](INFO): Powering down 2025-09-11T17:07:33.605Z,1757610453.605 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:33.621Z,1757610453.621 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler 2025-09-11T17:07:33.621Z,1757610453.621 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:33.622Z,1757610453.622 [Radio_Surface](INFO): Join timeout helper Thread ID is 1412 2025-09-11T17:07:33.809Z,1757610453.809 [Radio_Surface](INFO): Powering down 2025-09-11T17:07:33.810Z,1757610453.810 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:33.810Z,1757610453.810 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:33.821Z,1757610453.821 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler 2025-09-11T17:07:33.821Z,1757610453.821 [Onboard ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:33.822Z,1757610453.822 [Onboard](INFO): Join timeout helper Thread ID is 1413 2025-09-11T17:07:35.017Z,1757610455.017 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:35.017Z,1757610455.017 [Onboard ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:35.038Z,1757610455.038 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler 2025-09-11T17:07:35.038Z,1757610455.038 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:35.038Z,1757610455.038 [DataOverHttps](INFO): Join timeout helper Thread ID is 1414 2025-09-11T17:07:35.637Z,1757610455.637 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:35.642Z,1757610455.642 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:35.662Z,1757610455.662 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler 2025-09-11T17:07:35.662Z,1757610455.662 [DAT ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:35.662Z,1757610455.662 [DAT](INFO): Join timeout helper Thread ID is 1415 2025-09-11T17:07:35.893Z,1757610455.893 [DAT](INFO): Powering down 2025-09-11T17:07:35.966Z,1757610455.966 [DAT ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:35.966Z,1757610455.966 [DAT](INFO): Powering down 2025-09-11T17:07:35.967Z,1757610455.967 [DAT ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:35.978Z,1757610455.978 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler 2025-09-11T17:07:35.978Z,1757610455.978 [BackseatComponent ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:35.978Z,1757610455.978 [BackseatComponent](INFO): Join timeout helper Thread ID is 1416 2025-09-11T17:07:36.089Z,1757610456.089 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:36.089Z,1757610456.089 [BackseatComponent ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.094Z,1757610456.094 [ComponentRegistry](INFO): Shutting down logger ThreadHandler 2025-09-11T17:07:36.094Z,1757610456.094 [logger ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.094Z,1757610456.094 [logger](INFO): Join timeout helper Thread ID is 1417 2025-09-11T17:07:36.101Z,1757610456.101 [logger ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:36.101Z,1757610456.101 [logger ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.106Z,1757610456.106 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler 2025-09-11T17:07:36.106Z,1757610456.106 [CommandLine ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.106Z,1757610456.106 [CommandLine](INFO): Join timeout helper Thread ID is 1418 2025-09-11T17:07:36.197Z,1757610456.197 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:36.197Z,1757610456.197 [CommandLine ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.209Z,1757610456.209 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler 2025-09-11T17:07:36.210Z,1757610456.210 [CommandExec ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.210Z,1757610456.210 [CommandExec](INFO): Join timeout helper Thread ID is 1419 2025-09-11T17:07:36.211Z,1757610456.211 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler 2025-09-11T17:07:36.211Z,1757610456.211 [controlThread ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.212Z,1757610456.212 [controlThread](INFO): Join timeout helper Thread ID is 1420 2025-09-11T17:07:36.453Z,1757610456.453 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread. 2025-09-11T17:07:36.453Z,1757610456.453 [controlThread](DEBUG): Uninitializing ControlThread 2025-09-11T17:07:36.454Z,1757610456.454 [AHRS_M2](INFO): Powering down 2025-09-11T17:07:36.533Z,1757610456.533 [NAL9602](INFO): Powering down 2025-09-11T17:07:36.535Z,1757610456.535 [Sonardyne_Nano](INFO): Powering down 2025-09-11T17:07:36.653Z,1757610456.653 [Waterlinked](INFO): Powering down 2025-09-11T17:07:36.738Z,1757610456.738 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator. 2025-09-11T17:07:36.738Z,1757610456.738 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator. 2025-09-11T17:07:36.739Z,1757610456.739 [NavChart](DEBUG): Uninitialize NavChart Navigation. 2025-09-11T17:07:36.739Z,1757610456.739 [MissionManager](INFO): Uninitializing Mission Default 2025-09-11T17:07:36.739Z,1757610456.739 [Default] Stopped 2025-09-11T17:07:36.740Z,1757610456.740 [Default](DEBUG): Aggregate::uninitialize Default 2025-09-11T17:07:36.740Z,1757610456.740 [Default:B.GoToSurface] Stopped 2025-09-11T17:07:36.740Z,1757610456.740 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-09-11T17:07:36.740Z,1757610456.740 [Default:CheckIn] Stopped 2025-09-11T17:07:36.740Z,1757610456.740 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2025-09-11T17:07:36.740Z,1757610456.740 [Default:CheckIn:Read_Iridium] Stopped 2025-09-11T17:07:36.743Z,1757610456.743 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact 2025-09-11T17:07:36.847Z,1757610456.847 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent. 2025-09-11T17:07:36.847Z,1757610456.847 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent. 2025-09-11T17:07:36.848Z,1757610456.848 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent. 2025-09-11T17:07:36.848Z,1757610456.848 [LoopControl](DEBUG): Uninitialize LoopControlComponent. 2025-09-11T17:07:36.848Z,1757610456.848 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2025-09-11T17:07:36.848Z,1757610456.848 [BuoyancyServo](INFO): Powering down 2025-09-11T17:07:36.861Z,1757610456.861 [ElevatorServo](DEBUG): Uninitialize Elevator Servo. 2025-09-11T17:07:36.861Z,1757610456.861 [ElevatorServo](INFO): Powering down 2025-09-11T17:07:36.862Z,1757610456.862 [MassServo](DEBUG): Uninitialize Mass Servo. 2025-09-11T17:07:36.862Z,1757610456.862 [MassServo](INFO): Powering down 2025-09-11T17:07:36.863Z,1757610456.863 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-09-11T17:07:36.863Z,1757610456.863 [RudderServo](INFO): Powering down 2025-09-11T17:07:36.864Z,1757610456.864 [ThrusterHE](DEBUG): Uninitialize Thruster Servo. 2025-09-11T17:07:36.864Z,1757610456.864 [ThrusterHE](INFO): Powering down 2025-09-11T17:07:36.865Z,1757610456.865 [SBIT](DEBUG): Uninitialize SBIT Component. 2025-09-11T17:07:36.865Z,1757610456.865 [IBIT](DEBUG): Uninitialize IBIT Component. 2025-09-11T17:07:36.866Z,1757610456.866 [CBIT](DEBUG): Uninitialize CBIT Component. 2025-09-11T17:07:36.866Z,1757610456.866 [CBIT](DEBUG): Powering off loads. 2025-09-11T17:07:36.877Z,1757610456.877 [CBIT](DEBUG): Disabling WDT. 2025-09-11T17:07:36.889Z,1757610456.889 [GFScanner](DEBUG): Uninitialize GFScanner component. 2025-09-11T17:07:36.889Z,1757610456.889 [GFScanner](DEBUG): Opening all GF detection circuits. 2025-09-11T17:07:36.890Z,1757610456.890 [controlThread ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.940Z,1757610456.940 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.943Z,1757610456.943 [Onboard ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.949Z,1757610456.949 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:36.956Z,1757610456.956 [DAT ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:37.002Z,1757610457.002 [BackseatComponent ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:37.053Z,1757610457.053 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:37.058Z,1757610457.058 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:37.079Z,1757610457.079 [GFScanner](DEBUG): Uninitialize GFScanner component. 2025-09-11T17:07:37.079Z,1757610457.079 [GFScanner](DEBUG): Opening all GF detection circuits. 2025-09-11T17:07:37.097Z,1757610457.097 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2025-09-11T17:07:37.147Z,1757610457.147 [logger ThreadHandler](INFO): Thread cancelled.