2026-02-10T19:04:42.989Z,1770750282.989 [CommandExec](IMPORTANT): got command restart logs 2026-02-10T19:05:38.638Z,1770750338.638 [CommandExec](IMPORTANT): got command show variable bnt+deffrozlake+1xpogo 2026-02-10T19:07:59.725Z,1770750479.725 [DataOverHttps](IMPORTANT): SBD MTMSN=20260210T190816 2026-02-10T19:08:03.854Z,1770750483.854 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.tl 2026-02-10T19:08:20.836Z,1770750500.836 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.tl id=ballast_and_trim 2026-02-10T19:08:20.865Z,1770750500.865 [MissionManager](IMPORTANT): Started mission DefaultFrozenLake 2026-02-10T19:08:21.657Z,1770750501.657 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T19:08:26.157Z,1770750506.157 [CommandExec](IMPORTANT): got command set ballast_and_trim.SkipComms 1 bool 2026-02-10T19:08:26.158Z,1770750506.158 [CommandExec](IMPORTANT): got command run 2026-02-10T19:08:26.165Z,1770750506.165 [CommandExec](IMPORTANT): Running 2026-02-10T19:08:26.507Z,1770750506.507 [MissionManager](IMPORTANT): Started mission ballast_and_trim 2026-02-10T19:20:57.109Z,1770751257.109 [CommandExec](IMPORTANT): got command stop 2026-02-10T19:20:57.109Z,1770751257.109 [CommandExec](IMPORTANT): Scheduling is paused 2026-02-10T19:20:58.063Z,1770751258.063 [MissionManager](IMPORTANT): Started mission DefaultFrozenLake 2026-02-10T19:24:07.901Z,1770751447.901 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T19:24:42.503Z,1770751482.503 [CommandExec](IMPORTANT): got command show stack 2026-02-10T19:24:42.504Z,1770751482.504 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T19:24:42.504Z,1770751482.504 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T19:24:42.505Z,1770751482.505 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T19:24:42.505Z,1770751482.505 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T19:24:42.505Z,1770751482.505 [DefaultFrozenLake:EstablishContact:SurfaceComms](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:SurfaceComms:A.GoToSurface 2026-02-10T19:24:42.506Z,1770751482.506 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS 2026-02-10T19:26:32.302Z,1770751592.302 [CommandExec](IMPORTANT): got command show stack 2026-02-10T19:26:32.302Z,1770751592.302 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T19:26:32.303Z,1770751592.303 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T19:26:32.303Z,1770751592.303 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T19:26:32.303Z,1770751592.303 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T19:26:32.304Z,1770751592.304 [DefaultFrozenLake:EstablishContact:SurfaceComms](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:SurfaceComms:A.GoToSurface 2026-02-10T19:26:32.305Z,1770751592.305 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS 2026-02-10T19:26:53.886Z,1770751613.886 [CommandExec](IMPORTANT): got command get depth 2026-02-10T19:26:53.886Z,1770751613.886 [CommandExec](IMPORTANT): depth 0.712943 m 2026-02-10T19:29:23.009Z,1770751763.009 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2026-02-10T19:29:23.970Z,1770751763.970 [CommandExec](IMPORTANT): got command get depth 2026-02-10T19:29:23.970Z,1770751763.970 [CommandExec](IMPORTANT): depth 0.711772 m 2026-02-10T19:34:08.282Z,1770752048.282 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:A](IMPORTANT): Failed to aquire GPS. Sinking off surface and driving away from ice. 2026-02-10T19:34:09.162Z,1770752049.162 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:C](IMPORTANT): Establish Comms has run 2.000000 count times 2026-02-10T19:45:55.809Z,1770752755.809 [CommandExec](IMPORTANT): got command show stack 2026-02-10T19:45:55.809Z,1770752755.809 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T19:45:55.810Z,1770752755.810 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T19:45:55.810Z,1770752755.810 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T19:45:55.810Z,1770752755.810 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T19:45:55.811Z,1770752755.811 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:SinkOffSurface](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:SinkOffSurface:A.SetSpeed 2026-02-10T19:45:55.811Z,1770752755.811 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:SinkOffSurface](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:SinkOffSurface:B.Pitch 2026-02-10T19:47:03.430Z,1770752823.430 [CommandExec](IMPORTANT): got command get depth 2026-02-10T19:47:03.431Z,1770752823.431 [CommandExec](IMPORTANT): depth 3.144055 m 2026-02-10T19:47:42.416Z,1770752862.416 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.Depth 3 meter 2026-02-10T19:47:43.110Z,1770752863.110 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:D](IMPORTANT): Driving at fixed heading 270.000000 arcdeg for 20.000000 min 2026-02-10T19:48:11.749Z,1770752891.749 [CommandExec](IMPORTANT): got command show stack 2026-02-10T19:48:11.749Z,1770752891.749 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T19:48:11.750Z,1770752891.750 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T19:48:11.750Z,1770752891.750 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T19:48:11.751Z,1770752891.751 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T19:48:11.751Z,1770752891.751 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:A.Buoyancy 2026-02-10T19:48:11.752Z,1770752891.752 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:B.SetSpeed 2026-02-10T19:48:11.752Z,1770752891.752 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:C.Pitch 2026-02-10T19:48:11.752Z,1770752891.752 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 6: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:E.Point 2026-02-10T19:48:11.753Z,1770752891.753 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 7: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:F.Wait 2026-02-10T19:49:13.357Z,1770752953.357 [CommandExec](IMPORTANT): got command show stack 2026-02-10T19:49:13.357Z,1770752953.357 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T19:49:13.357Z,1770752953.357 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T19:49:13.358Z,1770752953.358 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T19:49:13.358Z,1770752953.358 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T19:49:13.359Z,1770752953.359 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:A.Buoyancy 2026-02-10T19:49:13.359Z,1770752953.359 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:B.SetSpeed 2026-02-10T19:49:13.359Z,1770752953.359 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:C.Pitch 2026-02-10T19:49:13.359Z,1770752953.359 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 6: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:E.Point 2026-02-10T19:49:13.360Z,1770752953.360 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 7: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:F.Wait 2026-02-10T19:50:07.742Z,1770753007.742 [CommandExec](IMPORTANT): got command get platform_orientation 2026-02-10T19:50:07.743Z,1770753007.743 [CommandExec](IMPORTANT): platform_orientation 5.976495 rad 2026-02-10T19:50:18.479Z,1770753018.479 [CommandExec](IMPORTANT): got command get platform_orientation degree 2026-02-10T19:50:18.480Z,1770753018.480 [CommandExec](IMPORTANT): platform_orientation 342.970436 arcdeg 2026-02-10T20:03:26.881Z,1770753806.881 [CommandExec](IMPORTANT): got command show stack 2026-02-10T20:03:26.881Z,1770753806.881 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T20:03:26.882Z,1770753806.882 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T20:03:26.882Z,1770753806.882 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T20:03:26.883Z,1770753806.883 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T20:03:26.883Z,1770753806.883 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:A.Buoyancy 2026-02-10T20:03:26.884Z,1770753806.884 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:B.SetSpeed 2026-02-10T20:03:26.884Z,1770753806.884 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:C.Pitch 2026-02-10T20:03:26.884Z,1770753806.884 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 6: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:E.Point 2026-02-10T20:03:26.885Z,1770753806.885 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 7: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:F.Wait 2026-02-10T20:07:44.097Z,1770754064.097 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:C](IMPORTANT): Return dive completed, switching DiveMode to Drift 2026-02-10T20:07:44.911Z,1770754064.911 [DefaultFrozenLake:EstablishContact:Drift:A](IMPORTANT): Drifting and running acomms 2026-02-10T20:11:42.713Z,1770754302.713 [CommandExec](IMPORTANT): got command show stack 2026-02-10T20:11:42.713Z,1770754302.713 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T20:11:42.714Z,1770754302.714 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T20:11:42.714Z,1770754302.714 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T20:11:42.714Z,1770754302.714 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T20:11:42.715Z,1770754302.715 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:Drift:B.SetSpeed 2026-02-10T20:11:42.716Z,1770754302.716 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:Drift:D.Pitch 2026-02-10T20:11:42.716Z,1770754302.716 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:Drift:E.Wait 2026-02-10T20:17:46.371Z,1770754666.371 [DefaultFrozenLake:EstablishContact:Drift:F](IMPORTANT): DEBUG: You have completed drift at depth - now we will attempt to gently surface for comms 2026-02-10T20:17:46.761Z,1770754666.761 [DefaultFrozenLake:EstablishContact:Drift:G](IMPORTANT): Setting DiveMode to SurfaceComms. 2026-02-10T20:20:22.026Z,1770754822.026 [CommandExec](IMPORTANT): got command report mod platform_mass_position 2026-02-10T20:20:37.653Z,1770754837.653 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T20:20:40.347Z,1770754840.347 [CommandExec](IMPORTANT): got command report mod depth 2026-02-10T20:20:50.190Z,1770754850.190 [NAL9602](FAULT): GPS failed to acquire within timeout. 2026-02-10T20:20:59.933Z,1770754859.933 [CommandExec](IMPORTANT): got command show stack 2026-02-10T20:20:59.933Z,1770754859.933 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T20:20:59.934Z,1770754859.934 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T20:20:59.935Z,1770754859.935 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T20:20:59.935Z,1770754859.935 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T20:20:59.937Z,1770754859.937 [DefaultFrozenLake:EstablishContact:SurfaceComms](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:SurfaceComms:A.GoToSurface 2026-02-10T20:20:59.938Z,1770754859.938 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS 2026-02-10T20:22:01.089Z,1770754921.089 [CommandExec](IMPORTANT): got command report clear 2026-02-10T20:22:04.729Z,1770754924.729 [CommandExec](IMPORTANT): got command show stack 2026-02-10T20:22:04.729Z,1770754924.729 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T20:22:04.730Z,1770754924.730 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T20:22:04.730Z,1770754924.730 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T20:22:04.730Z,1770754924.730 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T20:22:04.731Z,1770754924.731 [DefaultFrozenLake:EstablishContact:SurfaceComms](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:SurfaceComms:A.GoToSurface 2026-02-10T20:22:04.732Z,1770754924.732 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS 2026-02-10T20:26:35.195Z,1770755195.195 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2026-02-10T20:30:38.004Z,1770755438.004 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:A](IMPORTANT): Failed to aquire GPS. Sinking off surface and driving away from ice. 2026-02-10T20:30:38.840Z,1770755438.840 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:C](IMPORTANT): Establish Comms has run 3.000000 count times 2026-02-10T20:32:00.566Z,1770755520.566 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:D](IMPORTANT): Driving at fixed heading 270.000000 arcdeg for 20.000000 min 2026-02-10T20:33:32.893Z,1770755612.893 [CommandExec](IMPORTANT): got command get platform_orientation 2026-02-10T20:33:32.893Z,1770755612.893 [CommandExec](IMPORTANT): platform_orientation 5.993799 rad 2026-02-10T20:33:49.082Z,1770755629.082 [CommandExec](IMPORTANT): got command get platform_orientation degree 2026-02-10T20:33:49.082Z,1770755629.082 [CommandExec](IMPORTANT): platform_orientation 343.414125 arcdeg 2026-02-10T20:34:52.995Z,1770755692.995 [CommandExec](IMPORTANT): got command get platform_orientation degree 2026-02-10T20:34:52.996Z,1770755692.996 [CommandExec](IMPORTANT): platform_orientation 343.054529 arcdeg 2026-02-10T20:36:14.788Z,1770755774.788 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnHeading 343 degree 2026-02-10T20:37:25.599Z,1770755845.599 [CommandExec](IMPORTANT): got command get HorizontalControl.rudderAngleAction 2026-02-10T20:37:25.600Z,1770755845.600 [CommandExec](IMPORTANT): HorizontalControl.rudderAngleAction 0.261799 rad 2026-02-10T20:37:36.041Z,1770755856.041 [CommandExec](IMPORTANT): got command get HorizontalControl.rudderAngleAction degree 2026-02-10T20:37:36.042Z,1770755856.042 [CommandExec](IMPORTANT): HorizontalControl.rudderAngleAction 15.000000 arcdeg 2026-02-10T20:38:37.472Z,1770755917.472 [CommandExec](IMPORTANT): got command failComponent 2026-02-10T20:38:37.473Z,1770755917.473 [CommandExec](IMPORTANT): Failed components: 2026-02-10T20:38:37.473Z,1770755917.473 [CommandExec](IMPORTANT): No failed Components. 2026-02-10T20:40:33.602Z,1770756033.602 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnHeading 90 degree 2026-02-10T20:42:41.329Z,1770756161.329 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.Depth 6 meter 2026-02-10T20:43:50.029Z,1770756230.029 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.Depth 3 meter 2026-02-10T20:44:34.771Z,1770756274.771 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnDiveTime 1 minute 2026-02-10T20:45:31.785Z,1770756331.785 [CommandExec](IMPORTANT): got command show stack 2026-02-10T20:45:31.785Z,1770756331.785 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T20:45:31.786Z,1770756331.786 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T20:45:31.786Z,1770756331.786 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T20:45:31.786Z,1770756331.786 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T20:45:31.787Z,1770756331.787 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:A.Buoyancy 2026-02-10T20:45:31.788Z,1770756331.788 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:B.SetSpeed 2026-02-10T20:45:31.788Z,1770756331.788 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:C.Pitch 2026-02-10T20:45:31.788Z,1770756331.788 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 6: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:E.Point 2026-02-10T20:45:31.788Z,1770756331.788 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 7: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:F.Wait 2026-02-10T20:45:35.339Z,1770756335.339 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:C](IMPORTANT): Return dive completed, switching DiveMode to Drift 2026-02-10T20:45:36.167Z,1770756336.167 [DefaultFrozenLake:EstablishContact:Drift:A](IMPORTANT): Drifting and running acomms 2026-02-10T20:46:16.497Z,1770756376.497 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.WaitAtDepthTimeout 1 minute 2026-02-10T20:47:17.357Z,1770756437.357 [DefaultFrozenLake:EstablishContact:Drift:F](IMPORTANT): DEBUG: You have completed drift at depth - now we will attempt to gently surface for comms 2026-02-10T20:47:17.773Z,1770756437.773 [DefaultFrozenLake:EstablishContact:Drift:G](IMPORTANT): Setting DiveMode to SurfaceComms. 2026-02-10T20:47:35.993Z,1770756455.993 [BuoyancyServo](FAULT): Overload Error 2026-02-10T20:48:01.229Z,1770756481.229 [CommandExec](IMPORTANT): got command report mod platform_buoyancy_position 2026-02-10T20:48:06.196Z,1770756486.196 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2026-02-10T20:48:38.444Z,1770756518.444 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.SurfacingCommsTimeout 1 minute 2026-02-10T20:49:47.390Z,1770756587.390 [CommandExec](IMPORTANT): got command get depth 2026-02-10T20:49:47.390Z,1770756587.390 [CommandExec](IMPORTANT): depth 1.007197 m 2026-02-10T20:50:00.927Z,1770756600.927 [CommandExec](IMPORTANT): got command show stack 2026-02-10T20:50:00.927Z,1770756600.927 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T20:50:00.927Z,1770756600.927 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T20:50:00.928Z,1770756600.928 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T20:50:00.928Z,1770756600.928 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T20:50:00.929Z,1770756600.929 [DefaultFrozenLake:EstablishContact:SurfaceComms](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:SurfaceComms:A.GoToSurface 2026-02-10T20:50:04.416Z,1770756604.416 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T20:50:16.881Z,1770756616.881 [NAL9602](FAULT): GPS failed to acquire within timeout. 2026-02-10T20:51:04.592Z,1770756664.592 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:A](IMPORTANT): Failed to aquire GPS. Sinking off surface and driving away from ice. 2026-02-10T20:51:05.423Z,1770756665.423 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:C](IMPORTANT): Establish Comms has run 4.000000 count times 2026-02-10T20:51:16.753Z,1770756676.753 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2026-02-10T20:52:24.591Z,1770756744.591 [CommandExec](IMPORTANT): got command get depth 2026-02-10T20:52:24.591Z,1770756744.591 [CommandExec](IMPORTANT): depth 2.787957 m 2026-02-10T20:52:27.736Z,1770756747.736 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:D](IMPORTANT): Driving at fixed heading 90.000000 arcdeg for 1.000000 min 2026-02-10T20:53:26.196Z,1770756806.196 [CommandExec](IMPORTANT): got command get HorizontalControl.rudderAngleAction 2026-02-10T20:53:26.197Z,1770756806.197 [CommandExec](IMPORTANT): HorizontalControl.rudderAngleAction -0.261799 rad 2026-02-10T20:53:28.754Z,1770756808.754 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:C](IMPORTANT): Return dive completed, switching DiveMode to Drift 2026-02-10T20:53:29.545Z,1770756809.545 [DefaultFrozenLake:EstablishContact:Drift:A](IMPORTANT): Drifting and running acomms 2026-02-10T20:53:46.371Z,1770756826.371 [CommandExec](IMPORTANT): got command get HorizontalControl.rudderAngleAction degree 2026-02-10T20:53:46.371Z,1770756826.371 [CommandExec](IMPORTANT): HorizontalControl.rudderAngleAction 0.000000 arcdeg 2026-02-10T20:54:31.115Z,1770756871.115 [DefaultFrozenLake:EstablishContact:Drift:F](IMPORTANT): DEBUG: You have completed drift at depth - now we will attempt to gently surface for comms 2026-02-10T20:54:31.550Z,1770756871.550 [DefaultFrozenLake:EstablishContact:Drift:G](IMPORTANT): Setting DiveMode to SurfaceComms. 2026-02-10T20:54:43.924Z,1770756883.924 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnDiveTime 20 minute 2026-02-10T20:56:01.826Z,1770756961.826 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2026-02-10T20:56:55.632Z,1770757015.632 [BuoyancyServo](FAULT): Overload Error 2026-02-10T20:56:59.626Z,1770757019.626 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T20:57:14.196Z,1770757034.196 [BuoyancyServo](FAULT): Overload Error 2026-02-10T20:57:16.578Z,1770757036.578 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2026-02-10T20:57:32.784Z,1770757052.784 [BuoyancyServo](FAULT): Overload Error 2026-02-10T20:57:35.161Z,1770757055.161 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2026-02-10T20:57:51.388Z,1770757071.388 [BuoyancyServo](FAULT): Overload Error 2026-02-10T20:57:59.822Z,1770757079.822 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:A](IMPORTANT): Failed to aquire GPS. Sinking off surface and driving away from ice. 2026-02-10T20:58:04.729Z,1770757084.729 [DefaultFrozenLake:parkOnBottom:A](IMPORTANT): Failed to establish surface comms. I think it's time to park 2026-02-10T21:02:14.810Z,1770757334.810 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2026-02-10T21:06:10.876Z,1770757570.876 [CommandExec](IMPORTANT): got command run ./Missions/Default.tl 2026-02-10T21:06:11.095Z,1770757571.095 [CommandExec](IMPORTANT): Running ./Missions/Default.tl 2026-02-10T21:06:11.200Z,1770757571.200 [MissionManager](IMPORTANT): Started mission Default 2026-02-10T21:06:36.703Z,1770757596.703 [BuoyancyServo](FAULT): Overload Error 2026-02-10T21:10:06.495Z,1770757806.495 [NAL9602](FAULT): GPS failed to acquire within timeout. 2026-02-10T21:10:41.553Z,1770757841.553 [CommandExec](IMPORTANT): got command stop 2026-02-10T21:10:42.068Z,1770757842.068 [MissionManager](IMPORTANT): Started mission DefaultFrozenLake 2026-02-10T21:10:46.514Z,1770757846.514 [DefaultFrozenLake:parkOnBottom:A](IMPORTANT): Failed to establish surface comms. I think it's time to park 2026-02-10T21:12:21.093Z,1770757941.093 [CommandExec](IMPORTANT): got command run ./Missions/underIce/DefaultFrozenLake.tl 2026-02-10T21:12:22.978Z,1770757942.978 [CommandExec](IMPORTANT): Running ./Missions/underIce/DefaultFrozenLake.tl 2026-02-10T21:12:23.066Z,1770757943.066 [MissionManager](IMPORTANT): Started mission DefaultFrozenLake 2026-02-10T21:12:23.624Z,1770757943.624 [DefaultFrozenLake:EstablishContact:Drift:A](IMPORTANT): Drifting and running acomms 2026-02-10T21:12:39.732Z,1770757959.732 [CommandExec](IMPORTANT): got command stop 2026-02-10T21:12:40.412Z,1770757960.412 [MissionManager](IMPORTANT): Started mission DefaultFrozenLake 2026-02-10T21:12:40.817Z,1770757960.817 [DefaultFrozenLake:EstablishContact:Drift:A](IMPORTANT): Drifting and running acomms 2026-02-10T21:13:10.117Z,1770757990.117 [CommandExec](IMPORTANT): got command stop 2026-02-10T21:13:20.211Z,1770758000.211 [CommandExec](IMPORTANT): got command show stack 2026-02-10T21:13:20.211Z,1770758000.211 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T21:13:20.217Z,1770758000.217 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T21:13:20.220Z,1770758000.220 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T21:13:20.223Z,1770758000.223 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T21:13:20.230Z,1770758000.230 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:Drift:B.SetSpeed 2026-02-10T21:13:20.231Z,1770758000.231 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:Drift:D.Pitch 2026-02-10T21:13:20.231Z,1770758000.231 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:Drift:E.Wait 2026-02-10T21:16:46.652Z,1770758206.652 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.WaitAtDepthTimeout 1 minute 2026-02-10T21:17:38.375Z,1770758258.375 [CommandExec](IMPORTANT): got command get depth 2026-02-10T21:17:38.376Z,1770758258.376 [CommandExec](IMPORTANT): depth 3.158061 m 2026-02-10T21:17:47.423Z,1770758267.423 [DefaultFrozenLake:EstablishContact:Drift:F](IMPORTANT): DEBUG: You have completed drift at depth - now we will attempt to gently surface for comms 2026-02-10T21:17:47.848Z,1770758267.848 [DefaultFrozenLake:EstablishContact:Drift:G](IMPORTANT): Setting DiveMode to SurfaceComms. 2026-02-10T21:17:50.034Z,1770758270.034 [CommandExec](IMPORTANT): got command report list 2026-02-10T21:18:30.926Z,1770758310.926 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.SurfacingCommsTimeout 1 minute 2026-02-10T21:19:08.503Z,1770758348.503 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.Depth 3 meter 2026-02-10T21:20:41.396Z,1770758441.396 [CommandExec](IMPORTANT): got command get depth 2026-02-10T21:20:41.397Z,1770758441.397 [CommandExec](IMPORTANT): depth 1.085669 m 2026-02-10T21:20:58.786Z,1770758458.786 [CommandExec](IMPORTANT): got command get depth 2026-02-10T21:20:58.787Z,1770758458.787 [CommandExec](IMPORTANT): depth 1.078724 m 2026-02-10T21:21:05.842Z,1770758465.842 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T21:22:06.039Z,1770758526.039 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:C](IMPORTANT): Establish Comms has run 1.000000 count times 2026-02-10T21:23:30.785Z,1770758610.785 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:D](IMPORTANT): Driving at fixed heading 270.000000 arcdeg for 20.000000 min 2026-02-10T21:26:06.377Z,1770758766.377 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnHeading 90 degree 2026-02-10T21:26:21.157Z,1770758781.157 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2026-02-10T21:26:42.295Z,1770758802.295 [CommandExec](IMPORTANT): got command report mod HorizontalControl.rudderAngleCmd 2026-02-10T21:27:06.570Z,1770758826.570 [CommandExec](IMPORTANT): got command report mod HorizontalControl.rudderAngleAction 2026-02-10T21:27:37.287Z,1770758857.287 [CommandExec](IMPORTANT): got command show variable horizontalcontrol 2026-02-10T21:27:37.310Z,1770758857.310 [CommandExec](IMPORTANT): HorizontalControl.loadAtStartup (bool) 2026-02-10T21:27:37.310Z,1770758857.310 [CommandExec](IMPORTANT): HorizontalControl.kdHeading (second) 2026-02-10T21:27:37.311Z,1770758857.311 [CommandExec](IMPORTANT): HorizontalControl.kiHeading (reciprocal_second) 2026-02-10T21:27:37.311Z,1770758857.311 [CommandExec](IMPORTANT): HorizontalControl.kiwpHeading (radian_per_second_per_meter) 2026-02-10T21:27:37.321Z,1770758857.321 [CommandExec](IMPORTANT): HorizontalControl.kpHeading (none) 2026-02-10T21:27:37.321Z,1770758857.321 [CommandExec](IMPORTANT): HorizontalControl.kwpHeading (radian_per_meter) 2026-02-10T21:27:37.322Z,1770758857.322 [CommandExec](IMPORTANT): HorizontalControl.maxHdgAccel (angular_degree_per_second_squared) 2026-02-10T21:27:37.322Z,1770758857.322 [CommandExec](IMPORTANT): HorizontalControl.maxHdgInt (radian) 2026-02-10T21:27:37.323Z,1770758857.323 [CommandExec](IMPORTANT): HorizontalControl.maxHdgRate (angular_degree_per_second) 2026-02-10T21:27:37.323Z,1770758857.323 [CommandExec](IMPORTANT): HorizontalControl.maxKxte (angular_degree) 2026-02-10T21:27:37.323Z,1770758857.323 [CommandExec](IMPORTANT): HorizontalControl.rudDeadband (angular_degree) 2026-02-10T21:27:37.324Z,1770758857.324 [CommandExec](IMPORTANT): HorizontalControl.rudLimit (angular_degree) 2026-02-10T21:27:37.529Z,1770758857.529 [CommandExec](IMPORTANT): HorizontalControl.rudderAngleAction (radian) 2026-02-10T21:27:37.536Z,1770758857.536 [CommandExec](IMPORTANT): HorizontalControl.horizontalMode (enum) 2026-02-10T21:27:37.537Z,1770758857.537 [CommandExec](IMPORTANT): HorizontalControl.rudderAngleCmd (radian) 2026-02-10T21:27:37.539Z,1770758857.539 [CommandExec](IMPORTANT): HorizontalControl.enableBroadcast (bool) 2026-02-10T21:27:37.539Z,1770758857.539 [CommandExec](IMPORTANT): HorizontalControl.latitudeCmd (degree) 2026-02-10T21:27:37.540Z,1770758857.540 [CommandExec](IMPORTANT): HorizontalControl.longitudeCmd (degree) 2026-02-10T21:27:37.540Z,1770758857.540 [CommandExec](IMPORTANT): HorizontalControl.headingCmd (radian) 2026-02-10T21:27:37.541Z,1770758857.541 [CommandExec](IMPORTANT): HorizontalControl.headingRateCmd (radian_per_second) 2026-02-10T21:27:37.541Z,1770758857.541 [CommandExec](IMPORTANT): HorizontalControl.bearingCmd (radian) 2026-02-10T21:27:37.542Z,1770758857.542 [CommandExec](IMPORTANT): HorizontalControl.headingCmdInternal (radian) 2026-02-10T21:27:37.542Z,1770758857.542 [CommandExec](IMPORTANT): HorizontalControl.smoothHeadingCmdInternal (radian) 2026-02-10T21:27:37.543Z,1770758857.543 [CommandExec](IMPORTANT): HorizontalControl.headingIntegralInternal (radian) 2026-02-10T21:27:37.543Z,1770758857.543 [CommandExec](IMPORTANT): HorizontalControl.xteIntegralInternal (radian) 2026-02-10T21:27:37.544Z,1770758857.544 [CommandExec](IMPORTANT): HorizontalControl.xteInternal (meter) 2026-02-10T21:27:37.544Z,1770758857.544 [CommandExec](IMPORTANT): HorizontalControl.kxteInternal (radian) 2026-02-10T21:27:37.545Z,1770758857.545 [CommandExec](IMPORTANT): HorizontalControl.bearingInternal (radian) 2026-02-10T21:27:37.545Z,1770758857.545 [CommandExec](IMPORTANT): HorizontalControl.kpHeadingInternal (ratio) 2026-02-10T21:27:37.545Z,1770758857.545 [CommandExec](IMPORTANT): HorizontalControl.kiHeadingInternal (reciprocal_second) 2026-02-10T21:27:37.546Z,1770758857.546 [CommandExec](IMPORTANT): HorizontalControl.kdHeadingInternal (second) 2026-02-10T21:29:27.613Z,1770758967.613 [CommandExec](IMPORTANT): got command get RudderServo.deviationAngle 2026-02-10T21:29:27.614Z,1770758967.614 [CommandExec](IMPORTANT): RudderServo.deviationAngle 0.050000 arcdeg 2026-02-10T21:30:54.581Z,1770759054.581 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnHeading 270 degree 2026-02-10T21:32:01.847Z,1770759121.847 [CommandExec](IMPORTANT): got command get HorizontalControl.headingCmdInternal 2026-02-10T21:32:01.848Z,1770759121.848 [CommandExec](IMPORTANT): HorizontalControl.headingCmdInternal 4.712389 rad 2026-02-10T21:32:21.578Z,1770759141.578 [CommandExec](IMPORTANT): got command get HorizontalControl.headingCmdInternal degree 2026-02-10T21:32:21.579Z,1770759141.579 [CommandExec](IMPORTANT): HorizontalControl.headingCmdInternal 270.000001 arcdeg 2026-02-10T21:32:54.115Z,1770759174.115 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnHeading 90 degree 2026-02-10T21:33:28.669Z,1770759208.669 [CommandExec](IMPORTANT): got command get HorizontalControl.headingCmdInternal degree 2026-02-10T21:33:28.670Z,1770759208.670 [CommandExec](IMPORTANT): HorizontalControl.headingCmdInternal 270.000001 arcdeg 2026-02-10T21:34:18.020Z,1770759258.020 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnHeading 90 degree 2026-02-10T21:35:41.476Z,1770759341.476 [CommandExec](IMPORTANT): got command set HorizontalControl.headingCmdInternal 90 degree 2026-02-10T21:36:40.895Z,1770759400.895 [CommandExec](IMPORTANT): got command get HorizontalControl.headingCmdInternal degree 2026-02-10T21:36:40.896Z,1770759400.896 [CommandExec](IMPORTANT): HorizontalControl.headingCmdInternal 270.000001 arcdeg 2026-02-10T21:41:47.472Z,1770759707.472 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnDiveTime 1 minute 2026-02-10T21:42:22.881Z,1770759742.881 [CommandExec](IMPORTANT): got command show stack 2026-02-10T21:42:22.882Z,1770759742.882 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T21:42:22.882Z,1770759742.882 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T21:42:22.882Z,1770759742.882 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T21:42:22.883Z,1770759742.883 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T21:42:22.883Z,1770759742.883 [DefaultFrozenLake:doAcomms:MicromodemComms:CheckIn](IMPORTANT): Priority 3: DefaultFrozenLake:doAcomms:MicromodemComms:CheckIn:A 2026-02-10T21:42:22.884Z,1770759742.884 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:A.Buoyancy 2026-02-10T21:42:22.884Z,1770759742.884 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:B.SetSpeed 2026-02-10T21:42:22.884Z,1770759742.884 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 6: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:C.Pitch 2026-02-10T21:42:22.885Z,1770759742.885 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 7: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:E.Point 2026-02-10T21:42:22.885Z,1770759742.885 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 8: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:F.Wait 2026-02-10T21:42:48.447Z,1770759768.447 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:C](IMPORTANT): Return dive completed, switching DiveMode to Drift 2026-02-10T21:42:49.229Z,1770759769.229 [DefaultFrozenLake:EstablishContact:Drift:A](IMPORTANT): Drifting and running acomms 2026-02-10T21:43:50.805Z,1770759830.805 [DefaultFrozenLake:EstablishContact:Drift:F](IMPORTANT): DEBUG: You have completed drift at depth - now we will attempt to gently surface for comms 2026-02-10T21:43:51.262Z,1770759831.262 [DefaultFrozenLake:EstablishContact:Drift:G](IMPORTANT): Setting DiveMode to SurfaceComms. 2026-02-10T21:47:23.744Z,1770760043.744 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T21:47:36.251Z,1770760056.251 [NAL9602](FAULT): GPS failed to acquire within timeout. 2026-02-10T21:48:24.037Z,1770760104.037 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:A](IMPORTANT): Failed to aquire GPS. Sinking off surface and driving away from ice. 2026-02-10T21:48:24.843Z,1770760104.843 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:C](IMPORTANT): Establish Comms has run 2.000000 count times 2026-02-10T21:49:43.629Z,1770760183.629 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:D](IMPORTANT): Driving at fixed heading 90.000000 arcdeg for 1.000000 min 2026-02-10T21:50:33.651Z,1770760233.651 [CommandExec](IMPORTANT): got command get HorizontalControl.rudderAngleAction degree 2026-02-10T21:50:33.651Z,1770760233.651 [CommandExec](IMPORTANT): HorizontalControl.rudderAngleAction -15.000000 arcdeg 2026-02-10T21:50:44.417Z,1770760244.417 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:C](IMPORTANT): Return dive completed, switching DiveMode to Drift 2026-02-10T21:50:45.264Z,1770760245.264 [DefaultFrozenLake:EstablishContact:Drift:A](IMPORTANT): Drifting and running acomms 2026-02-10T21:51:46.630Z,1770760306.630 [DefaultFrozenLake:EstablishContact:Drift:F](IMPORTANT): DEBUG: You have completed drift at depth - now we will attempt to gently surface for comms 2026-02-10T21:51:47.045Z,1770760307.045 [DefaultFrozenLake:EstablishContact:Drift:G](IMPORTANT): Setting DiveMode to SurfaceComms. 2026-02-10T21:52:15.109Z,1770760335.109 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnDiveTime 20 minute 2026-02-10T21:53:21.579Z,1770760401.579 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2026-02-10T21:53:28.291Z,1770760408.291 [CommandExec](IMPORTANT): got command get HorizontalControl.headingCmd degree 2026-02-10T21:53:28.291Z,1770760408.291 [CommandExec](IMPORTANT): HorizontalControl.headingCmd 90.000003 arcdeg 2026-02-10T21:54:46.294Z,1770760486.294 [CommandExec](IMPORTANT): got command get platform_rudder_angle degree 2026-02-10T21:54:46.295Z,1770760486.295 [CommandExec](IMPORTANT): platform_rudder_angle -14.877587 arcdeg 2026-02-10T21:55:17.114Z,1770760517.114 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T21:56:17.381Z,1770760577.381 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:A](IMPORTANT): Failed to aquire GPS. Sinking off surface and driving away from ice. 2026-02-10T21:56:18.113Z,1770760578.113 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:C](IMPORTANT): Establish Comms has run 3.000000 count times 2026-02-10T21:56:40.450Z,1770760600.450 [CommandExec](IMPORTANT): got command show stack 2026-02-10T21:56:40.450Z,1770760600.450 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T21:56:40.451Z,1770760600.451 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T21:56:40.451Z,1770760600.451 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T21:56:40.451Z,1770760600.451 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T21:56:40.452Z,1770760600.452 [DefaultFrozenLake:doAcomms:MicromodemComms:CheckIn](IMPORTANT): Priority 3: DefaultFrozenLake:doAcomms:MicromodemComms:CheckIn:A 2026-02-10T21:56:40.452Z,1770760600.452 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:SinkOffSurface](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:SinkOffSurface:A.SetSpeed 2026-02-10T21:56:40.453Z,1770760600.453 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:SinkOffSurface](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:SinkOffSurface:B.Pitch 2026-02-10T21:57:36.380Z,1770760656.380 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:D](IMPORTANT): Driving at fixed heading 90.000000 arcdeg for 20.000000 min 2026-02-10T21:58:10.450Z,1770760690.450 [CommandExec](IMPORTANT): got command show stack 2026-02-10T21:58:10.450Z,1770760690.450 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T21:58:10.450Z,1770760690.450 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T21:58:10.451Z,1770760690.451 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T21:58:10.451Z,1770760690.451 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T21:58:10.452Z,1770760690.452 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:A.Buoyancy 2026-02-10T21:58:10.452Z,1770760690.452 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:B.SetSpeed 2026-02-10T21:58:10.452Z,1770760690.452 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:C.Pitch 2026-02-10T21:58:10.452Z,1770760690.452 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 6: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:E.Point 2026-02-10T21:58:10.453Z,1770760690.453 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 7: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:F.Wait 2026-02-10T22:00:20.865Z,1770760820.865 [CommandExec](IMPORTANT): got command get latitude 2026-02-10T22:00:20.866Z,1770760820.866 [CommandExec](IMPORTANT): latitude 41.564002 arcdeg 2026-02-10T22:00:32.392Z,1770760832.392 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2026-02-10T22:01:24.787Z,1770760884.787 [CommandExec](IMPORTANT): got command get distance_from_shore 2026-02-10T22:01:24.788Z,1770760884.788 [CommandExec](IMPORTANT): distance_from_shore 5138.784180 m 2026-02-10T22:02:47.607Z,1770760967.607 [CommandExec](IMPORTANT): got command get HorizontalControl.headingCmd degree 2026-02-10T22:02:47.608Z,1770760967.608 [CommandExec](IMPORTANT): HorizontalControl.headingCmd 90.000003 arcdeg 2026-02-10T22:03:00.212Z,1770760980.212 [CommandExec](IMPORTANT): got command get platform_rudder_angle degree 2026-02-10T22:03:00.212Z,1770760980.212 [CommandExec](IMPORTANT): platform_rudder_angle -14.877587 arcdeg 2026-02-10T22:03:43.746Z,1770761023.746 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnDiveTime 60 minute 2026-02-10T22:03:54.037Z,1770761034.037 [CommandExec](IMPORTANT): got command get platform_orientation degree 2026-02-10T22:03:54.038Z,1770761034.038 [CommandExec](IMPORTANT): platform_orientation 343.460844 arcdeg 2026-02-10T22:04:26.989Z,1770761066.989 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnHeading 343 degree 2026-02-10T22:05:01.564Z,1770761101.564 [CommandExec](IMPORTANT): got command get HorizontalControl.headingCmd 2026-02-10T22:05:01.564Z,1770761101.564 [CommandExec](IMPORTANT): HorizontalControl.headingCmd 1.570796 rad 2026-02-10T22:05:24.239Z,1770761124.239 [CommandExec](IMPORTANT): got command get HorizontalControl.headingCmd degree 2026-02-10T22:05:24.239Z,1770761124.239 [CommandExec](IMPORTANT): HorizontalControl.headingCmd 90.000003 arcdeg 2026-02-10T22:15:26.310Z,1770761726.310 [CommandExec](IMPORTANT): got command run ./Missions/underIce/DefaultFrozenLake.tl 2026-02-10T22:15:28.474Z,1770761728.474 [CommandExec](IMPORTANT): Running ./Missions/underIce/DefaultFrozenLake.tl 2026-02-10T22:15:28.503Z,1770761728.503 [MissionManager](IMPORTANT): Started mission DefaultFrozenLake 2026-02-10T22:15:28.930Z,1770761728.930 [DefaultFrozenLake:EstablishContact:Drift:A](IMPORTANT): Drifting and running acomms 2026-02-10T22:16:04.605Z,1770761764.605 [CommandExec](IMPORTANT): got command show stack 2026-02-10T22:16:04.605Z,1770761764.605 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T22:16:04.606Z,1770761764.606 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T22:16:04.606Z,1770761764.606 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T22:16:04.606Z,1770761764.606 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T22:16:04.607Z,1770761764.607 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:Drift:B.SetSpeed 2026-02-10T22:16:04.607Z,1770761764.607 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:Drift:D.Pitch 2026-02-10T22:16:04.607Z,1770761764.607 [DefaultFrozenLake:EstablishContact:Drift](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:Drift:E.Wait 2026-02-10T22:17:14.421Z,1770761834.421 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.SurfacingCommsTimeout 0 minute 2026-02-10T22:17:54.278Z,1770761874.278 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.WaitAtDepthTimeout 0 minute 2026-02-10T22:17:54.774Z,1770761874.774 [DefaultFrozenLake:EstablishContact:Drift:F](IMPORTANT): DEBUG: You have completed drift at depth - now we will attempt to gently surface for comms 2026-02-10T22:17:55.140Z,1770761875.140 [DefaultFrozenLake:EstablishContact:Drift:G](IMPORTANT): Setting DiveMode to SurfaceComms. 2026-02-10T22:21:20.814Z,1770762080.814 [DefaultFrozenLake:EstablishContact:SurfaceComms:B](IMPORTANT): DEBUG: Float to surface has been completed. Initiating surface comms 2026-02-10T22:21:21.234Z,1770762081.234 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:A](IMPORTANT): Failed to aquire GPS. Sinking off surface and driving away from ice. 2026-02-10T22:21:22.009Z,1770762082.009 [DefaultFrozenLake:EstablishContact:SurfaceComms:CheckIn:Read_GPS:A_Timeout:C](IMPORTANT): Establish Comms has run 2.000000 count times 2026-02-10T22:22:23.968Z,1770762143.968 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.Depth 3 meter 2026-02-10T22:22:24.584Z,1770762144.584 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:D](IMPORTANT): Driving at fixed heading 270.000000 arcdeg for 20.000000 min 2026-02-10T22:22:47.925Z,1770762167.925 [CommandExec](IMPORTANT): got command show stack 2026-02-10T22:22:47.926Z,1770762167.926 [CommandExec](IMPORTANT): Behavior Stack: 2026-02-10T22:22:47.926Z,1770762167.926 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 0: DefaultFrozenLake:StandardEnvelopes:A.AltitudeEnvelope 2026-02-10T22:22:47.926Z,1770762167.926 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 1: DefaultFrozenLake:StandardEnvelopes:B.DepthEnvelope 2026-02-10T22:22:47.927Z,1770762167.927 [DefaultFrozenLake:StandardEnvelopes](IMPORTANT): Priority 2: DefaultFrozenLake:StandardEnvelopes:C.OffshoreEnvelope 2026-02-10T22:22:47.928Z,1770762167.928 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 3: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:A.Buoyancy 2026-02-10T22:22:47.954Z,1770762167.954 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 4: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:B.SetSpeed 2026-02-10T22:22:47.955Z,1770762167.955 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 5: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:C.Pitch 2026-02-10T22:22:47.955Z,1770762167.955 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 6: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:E.Point 2026-02-10T22:22:47.955Z,1770762167.955 [DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive](IMPORTANT): Priority 7: DefaultFrozenLake:EstablishContact:HeadingOrWaypointDive:Drive:F.Wait 2026-02-10T22:23:16.838Z,1770762196.838 [CommandExec](IMPORTANT): got command get platform_orientation degree 2026-02-10T22:23:16.838Z,1770762196.838 [CommandExec](IMPORTANT): platform_orientation 341.857334 arcdeg 2026-02-10T22:23:39.147Z,1770762219.147 [CommandExec](IMPORTANT): got command get HorizontalControl.rudderAngleAction 2026-02-10T22:23:39.148Z,1770762219.148 [CommandExec](IMPORTANT): HorizontalControl.rudderAngleAction 0.261799 rad 2026-02-10T22:24:19.679Z,1770762259.679 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnHeading 343 degree 2026-02-10T22:28:39.102Z,1770762519.102 [CommandExec](IMPORTANT): got command set DefaultFrozenLake.ReturnDiveTime 60 minute 2026-02-10T22:40:45.138Z,1770763245.138 [CommandExec](IMPORTANT): got command run ./Missions/Default.tl 2026-02-10T22:40:45.432Z,1770763245.432 [CommandExec](IMPORTANT): Running ./Missions/Default.tl 2026-02-10T22:40:45.510Z,1770763245.510 [MissionManager](IMPORTANT): Started mission Default 2026-02-10T22:41:04.660Z,1770763264.660 [BuoyancyServo](FAULT): Overload Error 2026-02-10T22:44:26.683Z,1770763466.683 [CommandExec](IMPORTANT): got command get depth 2026-02-10T22:44:26.684Z,1770763466.684 [CommandExec](IMPORTANT): depth 1.034539 m 2026-02-10T22:44:28.510Z,1770763468.510 [NAL9602](FAULT): GPS failed to acquire within timeout. 2026-02-10T22:44:42.828Z,1770763482.828 [CommandExec](IMPORTANT): got command quit 2026-02-10T22:44:44.256Z,1770763484.256 [MissionManager](IMPORTANT): Started mission DefaultFrozenLake