2025-02-04T15:34:20.509Z,1738683260.509 [Supervisor](DEBUG): Initializing supervisor. 2025-02-04T15:34:20.513Z,1738683260.513 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2025-02-04T15:34:20.513Z,1738683260.513 [SyncHandler](INFO): Protected caller Thread ID is 1330 2025-02-04T15:34:20.514Z,1738683260.514 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2025-02-04T15:34:20.515Z,1738683260.515 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2025-02-04T15:34:20.515Z,1738683260.515 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1331 2025-02-04T15:34:20.519Z,1738683260.519 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2025-02-04T15:34:20.536Z,1738683260.536 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2025-02-04T15:34:20.537Z,1738683260.537 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2025-02-04T15:34:20.538Z,1738683260.538 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1332 2025-02-04T15:34:20.542Z,1738683260.542 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2025-02-04T15:34:20.543Z,1738683260.543 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2025-02-04T15:34:20.543Z,1738683260.543 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1333 2025-02-04T15:34:20.545Z,1738683260.545 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2025-02-04T15:34:20.546Z,1738683260.546 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2025-02-04T15:34:20.547Z,1738683260.547 [logger ThreadHandler](INFO): Protected caller Thread ID is 1334 2025-02-04T15:34:20.550Z,1738683260.550 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2025-02-04T15:34:20.550Z,1738683260.550 [Supervisor](INFO): Looking for Config files in directory: Config/ 2025-02-04T15:34:20.552Z,1738683260.552 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2025-02-04T15:34:20.950Z,1738683260.950 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2025-02-04T15:34:20.950Z,1738683260.950 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2025-02-04T15:34:21.039Z,1738683261.039 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2025-02-04T15:34:21.154Z,1738683261.154 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2025-02-04T15:34:21.155Z,1738683261.155 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2025-02-04T15:34:21.292Z,1738683261.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2025-02-04T15:34:21.292Z,1738683261.292 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2025-02-04T15:34:21.640Z,1738683261.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2025-02-04T15:34:21.640Z,1738683261.640 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2025-02-04T15:34:21.745Z,1738683261.745 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2025-02-04T15:34:21.746Z,1738683261.746 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2025-02-04T15:34:22.160Z,1738683262.160 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2025-02-04T15:34:22.161Z,1738683262.161 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2025-02-04T15:34:22.378Z,1738683262.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2025-02-04T15:34:22.378Z,1738683262.378 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2025-02-04T15:34:22.466Z,1738683262.466 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2025-02-04T15:34:22.716Z,1738683262.716 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2025-02-04T15:34:22.716Z,1738683262.716 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2025-02-04T15:34:22.954Z,1738683262.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2025-02-04T15:34:22.955Z,1738683262.955 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2025-02-04T15:34:23.479Z,1738683263.479 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2025-02-04T15:34:23.479Z,1738683263.479 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2025-02-04T15:34:23.670Z,1738683263.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2025-02-04T15:34:23.671Z,1738683263.671 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2025-02-04T15:34:23.960Z,1738683263.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2025-02-04T15:34:23.961Z,1738683263.961 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2025-02-04T15:34:24.801Z,1738683264.801 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2025-02-04T15:34:24.802Z,1738683264.802 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2025-02-04T15:34:25.367Z,1738683265.367 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2025-02-04T15:34:25.369Z,1738683265.369 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-ahi/ 2025-02-04T15:34:25.370Z,1738683265.370 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Control.cfg 2025-02-04T15:34:25.474Z,1738683265.474 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Science.cfg 2025-02-04T15:34:25.599Z,1738683265.599 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/secure.cfg 2025-02-04T15:34:25.691Z,1738683265.691 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Servo.cfg 2025-02-04T15:34:25.806Z,1738683265.806 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/BIT.cfg 2025-02-04T15:34:25.901Z,1738683265.901 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Battery.cfg 2025-02-04T15:34:26.168Z,1738683266.168 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2025-02-04T15:34:26.169Z,1738683266.169 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/vehicle.cfg 2025-02-04T15:34:26.287Z,1738683266.287 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/logger.cfg 2025-02-04T15:34:26.392Z,1738683266.392 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Sensor.cfg 2025-02-04T15:34:26.539Z,1738683266.539 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Simulator.cfg 2025-02-04T15:34:26.633Z,1738683266.633 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2025-02-04T15:34:26.651Z,1738683266.651 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2025-02-04T15:34:26.790Z,1738683266.790 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2025-02-04T15:34:26.791Z,1738683266.791 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2025-02-04T15:34:26.844Z,1738683266.844 [VerticalControl](DEBUG): Construct VerticalControl. 2025-02-04T15:34:26.904Z,1738683266.904 [VerticalControl] Loaded 2025-02-04T15:34:26.904Z,1738683266.904 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2025-02-04T15:34:26.907Z,1738683266.907 [HorizontalControl](DEBUG): Construct HorizontalControl. 2025-02-04T15:34:26.955Z,1738683266.955 [HorizontalControl] Loaded 2025-02-04T15:34:26.955Z,1738683266.955 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2025-02-04T15:34:26.957Z,1738683266.957 [SpeedControl](DEBUG): Construct SpeedControl. 2025-02-04T15:34:26.960Z,1738683266.960 [SpeedControl] Loaded 2025-02-04T15:34:26.960Z,1738683266.960 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2025-02-04T15:34:26.963Z,1738683266.963 [LoopControl](DEBUG): Construct LoopControl. 2025-02-04T15:34:26.963Z,1738683266.963 [LoopControl] Loaded 2025-02-04T15:34:26.964Z,1738683266.964 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2025-02-04T15:34:26.964Z,1738683266.964 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2025-02-04T15:34:26.965Z,1738683266.965 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2025-02-04T15:34:27.024Z,1738683267.024 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2025-02-04T15:34:27.025Z,1738683267.025 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2025-02-04T15:34:27.512Z,1738683267.512 [AHRS_M2] Loaded 2025-02-04T15:34:27.512Z,1738683267.512 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2025-02-04T15:34:27.550Z,1738683267.550 [BackseatComponent](INFO): Found secondary power supply at: /dev/loadC4 2025-02-04T15:34:27.551Z,1738683267.551 [BackseatComponent] Loaded 2025-02-04T15:34:27.551Z,1738683267.551 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2025-02-04T15:34:27.552Z,1738683267.552 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408B64E0 2025-02-04T15:34:27.553Z,1738683267.553 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1413 2025-02-04T15:34:27.555Z,1738683267.555 [LcmUniversalReporter] Loaded 2025-02-04T15:34:27.556Z,1738683267.556 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2025-02-04T15:34:28.386Z,1738683268.386 [BPC1] Loaded 2025-02-04T15:34:28.386Z,1738683268.386 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2025-02-04T15:34:28.460Z,1738683268.460 [DataOverHttps] Loaded 2025-02-04T15:34:28.461Z,1738683268.461 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2025-02-04T15:34:28.462Z,1738683268.462 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408E64E0 2025-02-04T15:34:28.462Z,1738683268.462 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1414 2025-02-04T15:34:28.485Z,1738683268.485 [Depth_Keller] Loaded 2025-02-04T15:34:28.485Z,1738683268.485 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2025-02-04T15:34:28.490Z,1738683268.490 [DropWeight] Loaded 2025-02-04T15:34:28.491Z,1738683268.491 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2025-02-04T15:34:28.554Z,1738683268.554 [NAL9602] Loaded 2025-02-04T15:34:28.555Z,1738683268.555 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2025-02-04T15:34:28.584Z,1738683268.584 [Onboard] Loaded 2025-02-04T15:34:28.584Z,1738683268.584 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2025-02-04T15:34:28.585Z,1738683268.585 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409164E0 2025-02-04T15:34:28.586Z,1738683268.586 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1415 2025-02-04T15:34:28.599Z,1738683268.599 [Power24vConverter] Loaded 2025-02-04T15:34:28.600Z,1738683268.600 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2025-02-04T15:34:28.615Z,1738683268.615 [Radio_Surface] Loaded 2025-02-04T15:34:28.616Z,1738683268.616 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2025-02-04T15:34:28.617Z,1738683268.617 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409464E0 2025-02-04T15:34:28.617Z,1738683268.617 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1416 2025-02-04T15:34:28.632Z,1738683268.632 [Sonardyne_Nano] Loaded 2025-02-04T15:34:28.632Z,1738683268.632 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2025-02-04T15:34:28.656Z,1738683268.656 [Waterlinked] Loaded 2025-02-04T15:34:28.656Z,1738683268.656 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread. 2025-02-04T15:34:28.656Z,1738683268.656 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2025-02-04T15:34:28.657Z,1738683268.657 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2025-02-04T15:34:28.667Z,1738683268.667 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2025-02-04T15:34:28.668Z,1738683268.668 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2025-02-04T15:34:28.695Z,1738683268.695 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2025-02-04T15:34:28.695Z,1738683268.695 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2025-02-04T15:34:28.839Z,1738683268.839 [SBIT](DEBUG): Construct Startup Built In Test. 2025-02-04T15:34:28.848Z,1738683268.848 [SBIT] Loaded 2025-02-04T15:34:28.848Z,1738683268.848 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2025-02-04T15:34:28.851Z,1738683268.851 [IBIT](DEBUG): Construct Initiated Built In Test. 2025-02-04T15:34:28.863Z,1738683268.863 [IBIT] Loaded 2025-02-04T15:34:28.864Z,1738683268.864 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2025-02-04T15:34:28.869Z,1738683268.869 [CBIT](DEBUG): Construct Continuous Built In Test. 2025-02-04T15:34:28.972Z,1738683268.972 [CBIT] Loaded 2025-02-04T15:34:28.972Z,1738683268.972 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2025-02-04T15:34:28.972Z,1738683268.972 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2025-02-04T15:34:28.973Z,1738683268.973 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2025-02-04T15:34:29.326Z,1738683269.326 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2025-02-04T15:34:29.327Z,1738683269.327 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2025-02-04T15:34:29.379Z,1738683269.379 [DepthRateCalculator] Loaded 2025-02-04T15:34:29.379Z,1738683269.379 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2025-02-04T15:34:29.384Z,1738683269.384 [PitchRateCalculator] Loaded 2025-02-04T15:34:29.385Z,1738683269.385 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2025-02-04T15:34:29.395Z,1738683269.395 [SpeedCalculator] Loaded 2025-02-04T15:34:29.395Z,1738683269.395 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2025-02-04T15:34:29.399Z,1738683269.399 [YawRateCalculator] Loaded 2025-02-04T15:34:29.400Z,1738683269.400 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2025-02-04T15:34:29.419Z,1738683269.419 [ElevatorOffsetCalculator] Loaded 2025-02-04T15:34:29.419Z,1738683269.419 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2025-02-04T15:34:29.419Z,1738683269.419 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2025-02-04T15:34:29.420Z,1738683269.420 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2025-02-04T15:34:29.599Z,1738683269.599 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2025-02-04T15:34:29.599Z,1738683269.599 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2025-02-04T15:34:29.712Z,1738683269.712 [DeadReckonUsingMultipleVelocitySources] Loaded 2025-02-04T15:34:29.712Z,1738683269.712 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2025-02-04T15:34:29.725Z,1738683269.725 [NavChart] Loaded 2025-02-04T15:34:29.726Z,1738683269.726 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2025-02-04T15:34:29.731Z,1738683269.731 [UniversalFixResidualReporter] Loaded 2025-02-04T15:34:29.732Z,1738683269.732 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2025-02-04T15:34:29.732Z,1738683269.732 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2025-02-04T15:34:29.733Z,1738683269.733 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2025-02-04T15:34:29.868Z,1738683269.868 [BuoyancyServo] Loaded 2025-02-04T15:34:29.868Z,1738683269.868 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2025-02-04T15:34:29.892Z,1738683269.892 [ElevatorServo] Loaded 2025-02-04T15:34:29.892Z,1738683269.892 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2025-02-04T15:34:29.913Z,1738683269.913 [MassServo] Loaded 2025-02-04T15:34:29.914Z,1738683269.914 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2025-02-04T15:34:29.934Z,1738683269.934 [RudderServo] Loaded 2025-02-04T15:34:29.934Z,1738683269.934 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2025-02-04T15:34:29.951Z,1738683269.951 [ThrusterHE] Loaded 2025-02-04T15:34:29.951Z,1738683269.951 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2025-02-04T15:34:29.952Z,1738683269.952 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2025-02-04T15:34:29.952Z,1738683269.952 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2025-02-04T15:34:30.128Z,1738683270.128 [CTD_Seabird] Loaded 2025-02-04T15:34:30.129Z,1738683270.129 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2025-02-04T15:34:30.130Z,1738683270.130 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BBF4E0 2025-02-04T15:34:30.130Z,1738683270.130 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1417 2025-02-04T15:34:30.166Z,1738683270.166 [ESPComponent] Loaded 2025-02-04T15:34:30.167Z,1738683270.167 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2025-02-04T15:34:30.189Z,1738683270.189 [PAR_Licor] Loaded 2025-02-04T15:34:30.189Z,1738683270.189 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2025-02-04T15:34:30.234Z,1738683270.234 [WetLabsBB2FL] Loaded 2025-02-04T15:34:30.234Z,1738683270.234 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2025-02-04T15:34:30.235Z,1738683270.235 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BEF4E0 2025-02-04T15:34:30.235Z,1738683270.235 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1418 2025-02-04T15:34:30.236Z,1738683270.236 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2025-02-04T15:34:30.243Z,1738683270.243 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2025-02-04T15:34:30.245Z,1738683270.245 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2025-02-04T15:34:30.257Z,1738683270.257 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2025-02-04T15:34:30.258Z,1738683270.258 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C1F4E0 2025-02-04T15:34:30.258Z,1738683270.258 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1419 2025-02-04T15:34:30.262Z,1738683270.262 [Supervisor](INFO): Main Thread ID is 828 2025-02-04T15:34:30.262Z,1738683270.262 [Supervisor](DEBUG): Running supervisor. 2025-02-04T15:34:30.263Z,1738683270.263 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1420 2025-02-04T15:34:30.264Z,1738683270.264 [CommandExec](INFO): Initializing the command executive. 2025-02-04T15:34:30.265Z,1738683270.265 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1421 2025-02-04T15:34:30.267Z,1738683270.267 [controlThread ThreadHandler](INFO): Handler Thread ID is 1422 2025-02-04T15:34:30.267Z,1738683270.267 [controlThread](DEBUG): Initializing ControlThread 2025-02-04T15:34:30.268Z,1738683270.268 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2025-02-04T15:34:30.270Z,1738683270.270 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2025-02-04T15:34:30.271Z,1738683270.271 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2025-02-04T15:34:30.271Z,1738683270.271 [LoopControl](DEBUG): Initialize LoopControlComponent. 2025-02-04T15:34:30.276Z,1738683270.276 [SBIT](INFO): Initialize SBIT Component. 2025-02-04T15:34:30.276Z,1738683270.276 [SBIT](IMPORTANT): git: 2025-02-03 2025-02-04T15:34:30.277Z,1738683270.277 [SBIT](INFO): git hash: 53755eb7ef5be6243977895b16b430e94c56a7b6 2025-02-04T15:34:30.277Z,1738683270.277 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-02-04T15:34:30.278Z,1738683270.278 [SBIT](INFO): Kernel Reporting Different Version From Configuration. Kernel Expected: #639 PREEMPT Wed Mar 12 12:53:33 PDT 2014 Kernel Reported: #1 PREEMPT Tue Nov 28 15:04:22 PST 2023 2025-02-04T15:34:30.279Z,1738683270.279 [SBIT](INFO): Beginning SBIT in 73.000000 seconds. 2025-02-04T15:34:30.280Z,1738683270.280 [IBIT](INFO): Initialize IBIT Component. 2025-02-04T15:34:30.281Z,1738683270.281 [CBIT](DEBUG): Initialize CBIT Component. 2025-02-04T15:34:30.282Z,1738683270.282 [logger ThreadHandler](INFO): Handler Thread ID is 1423 2025-02-04T15:34:30.294Z,1738683270.294 [CBIT](DEBUG): Initialized mux pins. 2025-02-04T15:34:30.294Z,1738683270.294 [CBIT](DEBUG): Initializing the watchdog timer. 2025-02-04T15:34:30.302Z,1738683270.302 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1424 2025-02-04T15:34:30.314Z,1738683270.314 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1425 2025-02-04T15:34:30.316Z,1738683270.316 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2025-02-04T15:34:30.318Z,1738683270.318 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2025-02-04T15:34:30.318Z,1738683270.318 [CBIT](DEBUG): Initializing heartbeat. 2025-02-04T15:34:30.326Z,1738683270.326 [Onboard ThreadHandler](INFO): Handler Thread ID is 1426 2025-02-04T15:34:30.343Z,1738683270.343 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1427 2025-02-04T15:34:30.367Z,1738683270.367 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1428 2025-02-04T15:34:30.367Z,1738683270.367 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2025-02-04T15:34:30.371Z,1738683270.371 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1430 2025-02-04T15:34:30.374Z,1738683270.374 [WetLabsBB2FL](INFO): Powering up 2025-02-04T15:34:30.375Z,1738683270.375 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1432 2025-02-04T15:34:30.378Z,1738683270.378 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2025-02-04T15:34:30.378Z,1738683270.378 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2025-02-04T15:34:30.378Z,1738683270.378 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2025-02-04T15:34:30.378Z,1738683270.378 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2025-02-04T15:34:30.379Z,1738683270.379 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2025-02-04T15:34:30.379Z,1738683270.379 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2025-02-04T15:34:30.379Z,1738683270.379 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2025-02-04T15:34:30.379Z,1738683270.379 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2025-02-04T15:34:30.390Z,1738683270.390 [CBIT](DEBUG): Deactivating GF circuits. 2025-02-04T15:34:30.390Z,1738683270.390 [CBIT](DEBUG): Deactivating emergency mode. 2025-02-04T15:34:30.430Z,1738683270.430 [CBIT](DEBUG): Backplane powered. 2025-02-04T15:34:30.430Z,1738683270.430 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2025-02-04T15:34:30.431Z,1738683270.431 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2025-02-04T15:34:30.431Z,1738683270.431 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2025-02-04T15:34:30.431Z,1738683270.431 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2025-02-04T15:34:30.432Z,1738683270.432 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2025-02-04T15:34:30.433Z,1738683270.433 [NavChart](DEBUG): Initialize NavChart Navigation. 2025-02-04T15:34:30.433Z,1738683270.433 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2025-02-04T15:34:30.438Z,1738683270.438 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-02-04T15:34:30.439Z,1738683270.439 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2025-02-04T15:34:30.439Z,1738683270.439 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2025-02-04T15:34:30.441Z,1738683270.441 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2025-02-04T15:34:30.514Z,1738683270.514 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2025-02-04T15:34:30.519Z,1738683270.519 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2025-02-04T15:34:30.563Z,1738683270.563 [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 } } } 2025-02-04T15:34:30.564Z,1738683270.564 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2025-02-04T15:34:30.564Z,1738683270.564 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2025-02-04T15:34:30.565Z,1738683270.565 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2025-02-04T15:34:30.750Z,1738683270.750 [Radio_Surface](INFO): Powering up 2025-02-04T15:34:30.875Z,1738683270.875 [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 2025-02-04T15:34:30.901Z,1738683270.901 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2025-02-04T15:34:30.902Z,1738683270.902 [Default:A.Wait](DEBUG): Construct Wait. 2025-02-04T15:34:30.904Z,1738683270.904 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-02-04T15:34:30.949Z,1738683270.949 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2025-02-04T15:34:30.952Z,1738683270.952 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2025-02-04T15:34:30.967Z,1738683270.967 [Default:E.Execute](DEBUG): Construct Execute. 2025-02-04T15:34:30.998Z,1738683270.998 [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" } } 2025-02-04T15:34:31.003Z,1738683271.003 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,Waterlinked,ESPComponent,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,LcmUniversalReporter,Reporter,LogSplitter, 2025-02-04T15:34:31.014Z,1738683271.014 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2025-02-04T15:34:31.087Z,1738683271.087 [Depth_Keller](ERROR): Pressure or depth reading out of range: -1.140412 decibar, -1.132002 m 2025-02-04T15:34:31.088Z,1738683271.088 [Power24vConverter](INFO): Powering up. 2025-02-04T15:34:31.089Z,1738683271.089 [Sonardyne_Nano](INFO): Initializing. 2025-02-04T15:34:31.162Z,1738683271.162 [DepthRateCalculator](ERROR): Depth measurement is not active 2025-02-04T15:34:31.179Z,1738683271.179 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2025-02-04T15:34:31.186Z,1738683271.186 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2025-02-04T15:34:31.187Z,1738683271.187 [ElevatorServo](DEBUG): Initializing EZServoServo. 2025-02-04T15:34:31.194Z,1738683271.194 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2025-02-04T15:34:31.195Z,1738683271.195 [MassServo](DEBUG): Initializing EZServoServo. 2025-02-04T15:34:31.202Z,1738683271.202 [MassServo](DEBUG): Initializing MassServo. 2025-02-04T15:34:31.203Z,1738683271.203 [RudderServo](DEBUG): Initializing EZServoServo. 2025-02-04T15:34:31.210Z,1738683271.210 [RudderServo](DEBUG): Initializing RudderServo. 2025-02-04T15:34:31.211Z,1738683271.211 [ThrusterHE](DEBUG): Initializing EZServoServo. 2025-02-04T15:34:31.218Z,1738683271.218 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2025-02-04T15:34:32.482Z,1738683272.482 [WetLabsBB2FL](INFO): Powering down 2025-02-04T15:34:33.032Z,1738683273.032 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2025-02-04T15:34:34.318Z,1738683274.318 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2311 2025-02-04T15:34:36.919Z,1738683276.919 [ThrusterHE](ERROR): Zero Speed Commanded. 2025-02-04T15:34:58.896Z,1738683298.896 [NAL9602](INFO): Powering up NAL9602 2025-02-04T15:35:05.442Z,1738683305.442 [Waterlinked](INFO): Powering down 2025-02-04T15:35:09.804Z,1738683309.804 [NAL9602](INFO): NAL9602 initialized 2025-02-04T15:35:27.581Z,1738683327.581 [NAL9602](INFO): SBD MO Status=0, MOMSN=21857, MT Status=0, MTMSN=0 2025-02-04T15:35:27.581Z,1738683327.581 [NAL9602](INFO): No messages in MT queue 2025-02-04T15:35:34.043Z,1738683334.043 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-02-04T15:35:43.773Z,1738683343.773 [SBIT](IMPORTANT): Beginning Startup BIT 2025-02-04T15:35:43.778Z,1738683343.778 [CBIT](IMPORTANT): Beginning ground fault scan 2025-02-04T15:35:46.983Z,1738683346.983 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-02-04T15:35:49.813Z,1738683349.813 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153548.00,A,3648.34810,N,12147.12115,W,4.529,0.64,040225,,,A*7B 2025-02-04T15:35:49.816Z,1738683349.816 [NAL9602](INFO): GPS fix at 20250204T153548: (36.805802, -121.785353) 2025-02-04T15:35:54.723Z,1738683354.723 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.002598 CHAN A1 (24V): 0.005941 CHAN A2 (12V): 0.002152 CHAN A3 (5V): -0.000713 CHAN B0 (3.3V): 0.000305 CHAN B1 (3.15aV): -0.000357 CHAN B2 (3.15bV): 0.000040 CHAN B3 (GND): -0.000854 OPEN: 0.005455 Full Scale: +/- 1 mA 2025-02-04T15:35:59.961Z,1738683359.961 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-02-04T15:36:17.316Z,1738683377.316 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:36:22.567Z,1738683382.567 [NAL9602](INFO): Not Powering down - fast GPS 2025-02-04T15:36:37.535Z,1738683397.535 [SBIT](IMPORTANT): SBIT PASSED 2025-02-04T15:36:37.535Z,1738683397.535 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2025-02-04T15:36:37.536Z,1738683397.536 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=12 count; 2025-02-04T15:36:37.536Z,1738683397.536 [SBIT](IMPORTANT): CBIT.abortDepth=305 meter; 2025-02-04T15:36:37.536Z,1738683397.536 [SBIT](IMPORTANT): CBIT.stopDepth=295 meter; 2025-02-04T15:36:37.536Z,1738683397.536 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool; 2025-02-04T15:36:37.536Z,1738683397.536 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute; 2025-02-04T15:36:37.536Z,1738683397.536 [SBIT](IMPORTANT): Express linearApproximation TrackAcousticContact.range_to_contact 15.000000 meter; 2025-02-04T15:36:37.536Z,1738683397.536 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_HM_AvgRois 0.100000 count_per_second; 2025-02-04T15:36:37.537Z,1738683397.537 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_LM_AvgRois 25.000000 count_per_second; 2025-02-04T15:36:37.537Z,1738683397.537 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_caseHumidity 10.000000 percent; 2025-02-04T15:36:37.537Z,1738683397.537 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_diatoms 30.000000 count_per_milliliter; 2025-02-04T15:36:37.537Z,1738683397.537 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_dinoflagellates 30.000000 count_per_milliliter; 2025-02-04T15:36:37.537Z,1738683397.537 [SBIT](IMPORTANT): Express linearApproximation _.predict_plankton_data_pct_dinos_sqerr 0.100000 none; 2025-02-04T15:36:37.537Z,1738683397.537 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 10.000000 meter; 2025-02-04T15:36:37.537Z,1738683397.537 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2025-02-04T15:36:37.537Z,1738683397.537 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2025-02-04T15:36:37.538Z,1738683397.538 [SBIT](IMPORTANT): Normal all _.predict_plankton_data_pct_dinos_sqerr; 2025-02-04T15:36:37.538Z,1738683397.538 [SBIT](IMPORTANT): ThrusterHE.bestEffortMode=0 bool; 2025-02-04T15:36:37.538Z,1738683397.538 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=265.680234 cubic_centimeter; 2025-02-04T15:36:37.538Z,1738683397.538 [SBIT](IMPORTANT): VerticalControl.massDefault=13.329591 millimeter; 2025-02-04T15:36:37.995Z,1738683397.995 [MissionManager](IMPORTANT): Started mission Startup 2025-02-04T15:36:37.995Z,1738683397.995 [Startup] Running Loop=1 2025-02-04T15:36:37.995Z,1738683397.995 [Startup](DEBUG): Aggregate::initialize Startup 2025-02-04T15:36:37.996Z,1738683397.996 [Startup:A.GoToSurface] Running Loop=1 2025-02-04T15:36:37.996Z,1738683397.996 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-02-04T15:36:37.996Z,1738683397.996 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-02-04T15:36:37.997Z,1738683397.997 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-02-04T15:36:37.997Z,1738683397.997 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-02-04T15:36:37.997Z,1738683397.997 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-02-04T15:36:37.998Z,1738683397.998 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-02-04T15:36:37.998Z,1738683397.998 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-02-04T15:36:37.000Z,1738683398.000 [Startup:StartupSatComms] Running Loop=1 2025-02-04T15:36:37.000Z,1738683398.000 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2025-02-04T15:36:37.000Z,1738683398.000 [Startup:StartupSatComms:A] Running Loop=1 2025-02-04T15:36:38.340Z,1738683398.340 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2025-02-04T15:36:39.941Z,1738683399.941 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153638.00,A,3648.42195,N,12147.11400,W,5.870,2.59,040225,,,A*74 2025-02-04T15:36:39.943Z,1738683399.943 [NAL9602](INFO): GPS fix at 20250204T153638: (36.807032, -121.785233) 2025-02-04T15:36:39.979Z,1738683399.979 [Startup:StartupSatComms:A] Stopped 2025-02-04T15:36:39.979Z,1738683399.979 [Startup:StartupSatComms:B] Running Loop=1 2025-02-04T15:36:40.391Z,1738683400.391 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-02-04T15:36:58.997Z,1738683418.997 [NAL9602](INFO): SBD MO Status=1, MOMSN=21858, MT Status=0, MTMSN=0 2025-02-04T15:36:59.058Z,1738683419.058 [NAL9602](INFO): Sent 39 bytes from file Logs/20250203T194621/Courier0589.lzma 2025-02-04T15:36:59.058Z,1738683419.058 [NAL9602](INFO): Packets left to send: 0 2025-02-04T15:37:07.930Z,1738683427.930 [NAL9602](INFO): SBD MO Status=1, MOMSN=21859, MT Status=0, MTMSN=0 2025-02-04T15:37:08.002Z,1738683428.002 [NAL9602](INFO): Sent 267 bytes from file Logs/20250204T153420/Courier0000.lzma 2025-02-04T15:37:08.002Z,1738683428.002 [NAL9602](INFO): Packets left to send: 0 2025-02-04T15:37:16.873Z,1738683436.873 [NAL9602](INFO): SBD MO Status=1, MOMSN=21860, MT Status=0, MTMSN=0 2025-02-04T15:37:16.928Z,1738683436.928 [NAL9602](INFO): Sent 142 bytes from file Logs/20250203T194621/Express0590.lzma 2025-02-04T15:37:16.929Z,1738683436.929 [NAL9602](INFO): Packets left to send: 0 2025-02-04T15:37:29.845Z,1738683449.845 [NAL9602](INFO): SBD MO Status=1, MOMSN=21861, MT Status=0, MTMSN=0 2025-02-04T15:37:29.894Z,1738683449.894 [NAL9602](INFO): Sent 332 bytes from file Logs/20250204T153420/Express0001.lzma 2025-02-04T15:37:29.894Z,1738683449.894 [NAL9602](INFO): Packets left to send: 3 2025-02-04T15:37:40.386Z,1738683460.386 [Startup:StartupSatComms:B](INFO): Timed out from 2025-02-04T15:36:39.0Z 2025-02-04T15:37:40.386Z,1738683460.386 [Startup:StartupSatComms:B] Stopped 2025-02-04T15:37:40.386Z,1738683460.386 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2025-02-04T15:37:40.386Z,1738683460.386 [Startup:StartupSatComms] Stopped 2025-02-04T15:37:40.387Z,1738683460.387 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2025-02-04T15:37:40.388Z,1738683460.388 [Startup](INFO): Completed Startup 2025-02-04T15:37:40.388Z,1738683460.388 [MissionManager](INFO): Startup is completed. 2025-02-04T15:37:40.388Z,1738683460.388 [MissionManager](INFO): Uninitializing Mission Startup 2025-02-04T15:37:40.388Z,1738683460.388 [Startup] Stopped 2025-02-04T15:37:40.388Z,1738683460.388 [Startup](DEBUG): Aggregate::uninitialize Startup 2025-02-04T15:37:40.388Z,1738683460.388 [Startup:A.GoToSurface] Stopped 2025-02-04T15:37:40.388Z,1738683460.388 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-02-04T15:37:40.795Z,1738683460.795 [MissionManager](IMPORTANT): Started mission Default 2025-02-04T15:37:40.795Z,1738683460.795 [Default] Running Loop=1 2025-02-04T15:37:40.795Z,1738683460.795 [Default](DEBUG): Aggregate::initialize Default 2025-02-04T15:37:40.795Z,1738683460.795 [Default:B.GoToSurface] Running Loop=1 2025-02-04T15:37:40.795Z,1738683460.795 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-02-04T15:37:40.795Z,1738683460.795 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-02-04T15:37:40.796Z,1738683460.796 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-02-04T15:37:40.796Z,1738683460.796 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-02-04T15:37:40.796Z,1738683460.796 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-02-04T15:37:40.797Z,1738683460.797 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-02-04T15:37:40.797Z,1738683460.797 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-02-04T15:37:40.797Z,1738683460.797 [Default:A.Wait] Running Loop=1 2025-02-04T15:37:40.797Z,1738683460.797 [Default:A.Wait](DEBUG): Initialize Wait Component. 2025-02-04T15:37:43.613Z,1738683463.613 [NAL9602](INFO): SBD MO Status=1, MOMSN=21862, MT Status=0, MTMSN=0 2025-02-04T15:37:43.666Z,1738683463.666 [NAL9602](INFO): Sent 332 bytes from file Logs/20250204T153420/Express0001.lzma 2025-02-04T15:37:43.666Z,1738683463.666 [NAL9602](INFO): Packets left to send: 2 2025-02-04T15:37:54.122Z,1738683474.122 [Default:A.Wait](INFO): Done Waiting. 2025-02-04T15:37:54.122Z,1738683474.122 [Default:A.Wait] Stopped 2025-02-04T15:37:54.123Z,1738683474.123 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2025-02-04T15:37:54.526Z,1738683474.526 [Default:CheckIn] Running Loop=1 2025-02-04T15:37:54.527Z,1738683474.527 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2025-02-04T15:37:54.527Z,1738683474.527 [Default:CheckIn:Read_GPS] Running Loop=1 2025-02-04T15:37:54.927Z,1738683474.927 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-02-04T15:37:56.533Z,1738683476.533 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153754.00,A,3648.51952,N,12147.19134,W,7.873,257.55,040225,,,A*7B 2025-02-04T15:37:56.536Z,1738683476.536 [NAL9602](INFO): GPS fix at 20250204T153754: (36.808659, -121.786522) 2025-02-04T15:37:56.547Z,1738683476.547 [Default:CheckIn:Read_GPS] Stopped 2025-02-04T15:37:56.547Z,1738683476.547 [Default:CheckIn:Read_Iridium] Running Loop=1 2025-02-04T15:37:56.975Z,1738683476.975 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-02-04T15:38:24.748Z,1738683504.748 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004348 2025-02-04T15:38:32.121Z,1738683512.121 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250204T153420/Courier0004.lzma 2025-02-04T15:38:33.124Z,1738683513.124 [DataOverHttps](INFO): Moved sent file to Logs/20250204T153420/Courier0004.lzma.bak 2025-02-04T15:38:33.124Z,1738683513.124 [DataOverHttps](INFO): SBD MOMSN=23955972 2025-02-04T15:38:38.192Z,1738683518.192 [NAL9602](INFO): SBD MO Status=2, MOMSN=21863, MT Status=2, MTMSN=0 2025-02-04T15:38:38.193Z,1738683518.193 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-02-04T15:38:49.929Z,1738683529.929 [DataOverHttps](INFO): Sending 1222 bytes from file Logs/20250204T153420/Express0001.lzma 2025-02-04T15:38:50.928Z,1738683530.928 [DataOverHttps](INFO): Moved sent file to Logs/20250204T153420/Express0001.lzma.bak 2025-02-04T15:38:50.928Z,1738683530.928 [DataOverHttps](INFO): SBD MOMSN=23956002 2025-02-04T15:38:53.136Z,1738683533.136 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:39:07.292Z,1738683547.292 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:39:08.915Z,1738683548.915 [NAL9602](INFO): Not Powering down - fast GPS 2025-02-04T15:39:09.333Z,1738683549.333 [DataOverHttps](INFO): Sending 117 bytes from file Logs/20250204T153420/Express0005.lzma 2025-02-04T15:39:10.336Z,1738683550.336 [DataOverHttps](INFO): Moved sent file to Logs/20250204T153420/Express0005.lzma.bak 2025-02-04T15:39:10.336Z,1738683550.336 [DataOverHttps](INFO): SBD MOMSN=23956037 2025-02-04T15:39:11.446Z,1738683551.446 [Default:CheckIn:Read_Iridium] Stopped 2025-02-04T15:39:11.446Z,1738683551.446 [Default:CheckIn:C.Wait] Running Loop=1 2025-02-04T15:39:11.446Z,1738683551.446 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-02-04T15:39:20.626Z,1738683560.626 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:39:34.360Z,1738683574.360 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:39:48.502Z,1738683588.502 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:40:02.237Z,1738683602.237 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:40:16.377Z,1738683616.377 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:40:30.931Z,1738683630.931 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:40:44.656Z,1738683644.656 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:40:58.053Z,1738683658.053 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:41:12.193Z,1738683672.193 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-02-04T15:41:55.832Z,1738683715.832 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-02-04T15:41:55.833Z,1738683715.833 [BPC1](INFO): Calculating totals. Valid battery stick count: 45. Valid reserve battery stick count: 5. 2025-02-04T15:41:55.836Z,1738683715.836 [BPC1](INFO): Received data from all battery sticks. 2025-02-04T15:44:12.044Z,1738683852.044 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2025-02-04T15:44:12.044Z,1738683852.044 [Default:CheckIn:C.Wait] Stopped 2025-02-04T15:44:12.044Z,1738683852.044 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-02-04T15:44:12.044Z,1738683852.044 [Default:CheckIn:D] Running Loop=1 2025-02-04T15:44:12.441Z,1738683852.441 [Default:CheckIn:D] Stopped 2025-02-04T15:44:12.442Z,1738683852.442 [Default:CheckIn:E] Running Loop=1 2025-02-04T15:44:12.841Z,1738683852.841 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 6.527442 min 2025-02-04T15:44:12.841Z,1738683852.841 [Default:CheckIn:E] Stopped 2025-02-04T15:44:12.842Z,1738683852.842 [Default:CheckIn](INFO): Completed Default:CheckIn 2025-02-04T15:44:12.842Z,1738683852.842 [Default:CheckIn] Stopped 2025-02-04T15:44:12.842Z,1738683852.842 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2025-02-04T15:44:12.842Z,1738683852.842 [Default:CheckIn](INFO): Running loop #2 2025-02-04T15:44:12.842Z,1738683852.842 [Default:CheckIn] Running Loop=2 2025-02-04T15:44:12.842Z,1738683852.842 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2025-02-04T15:44:12.842Z,1738683852.842 [Default:CheckIn:Read_GPS] Running Loop=1 2025-02-04T15:44:14.861Z,1738683854.861 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,154414.00,A,3648.23498,N,12148.13195,W,1.672,339.03,040225,,,A*78 2025-02-04T15:44:14.863Z,1738683854.863 [NAL9602](INFO): GPS fix at 20250204T154414: (36.803916, -121.802199) 2025-02-04T15:44:14.874Z,1738683854.874 [Default:CheckIn:Read_GPS] Stopped 2025-02-04T15:44:14.874Z,1738683854.874 [Default:CheckIn:Read_Iridium] Running Loop=1 2025-02-04T15:44:22.013Z,1738683862.013 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20250204T153420/Courier0007.lzma 2025-02-04T15:44:23.016Z,1738683863.016 [DataOverHttps](INFO): Moved sent file to Logs/20250204T153420/Courier0007.lzma.bak 2025-02-04T15:44:23.016Z,1738683863.016 [DataOverHttps](INFO): SBD MOMSN=23956045 2025-02-04T15:44:37.073Z,1738683877.073 [NAL9602](INFO): SBD MO Status=1, MOMSN=21863, MT Status=0, MTMSN=0 2025-02-04T15:44:37.073Z,1738683877.073 [NAL9602](INFO): No messages in MT queue 2025-02-04T15:44:38.726Z,1738683878.726 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20250204T153420/Express0008.lzma 2025-02-04T15:44:39.728Z,1738683879.728 [DataOverHttps](INFO): Moved sent file to Logs/20250204T153420/Express0008.lzma.bak 2025-02-04T15:44:39.728Z,1738683879.728 [DataOverHttps](INFO): SBD MOMSN=23956051 2025-02-04T15:44:41.128Z,1738683881.128 [Default:CheckIn:Read_Iridium] Stopped 2025-02-04T15:44:41.128Z,1738683881.128 [Default:CheckIn:C.Wait] Running Loop=1 2025-02-04T15:44:41.128Z,1738683881.128 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-02-04T15:45:06.563Z,1738683906.563 [Power24vConverter](INFO): Powering down. 2025-02-04T15:45:07.779Z,1738683907.779 [NAL9602](INFO): Not Powering down - fast GPS 2025-02-04T15:47:20.815Z,1738684040.815 [DataOverHttps](IMPORTANT): SBD MTMSN=20250204T154719 2025-02-04T15:47:28.302Z,1738684048.302 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.MinOffshore 0.25 km;run 2025-02-04T15:47:28.384Z,1738684048.384 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2025-02-04T15:47:28.384Z,1738684048.384 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2025-02-04T15:47:28.384Z,1738684048.384 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl 2025-02-04T15:47:28.387Z,1738684048.387 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl 2025-02-04T15:47:29.047Z,1738684049.047 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into: 60 30 NaN NaN 0 0 10 1 20 1 7 1 2025-02-04T15:47:29.052Z,1738684049.052 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2025-02-04T15:47:29.055Z,1738684049.055 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2025-02-04T15:47:29.058Z,1738684049.058 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2025-02-04T15:47:29.060Z,1738684049.060 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2025-02-04T15:47:29.063Z,1738684049.063 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2025-02-04T15:47:29.066Z,1738684049.066 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2025-02-04T15:47:29.069Z,1738684049.069 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2025-02-04T15:47:29.071Z,1738684049.071 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2025-02-04T15:47:29.074Z,1738684049.074 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2025-02-04T15:47:29.077Z,1738684049.077 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2025-02-04T15:47:29.079Z,1738684049.079 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2025-02-04T15:47:29.082Z,1738684049.082 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2025-02-04T15:47:29.084Z,1738684049.084 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2025-02-04T15:47:29.085Z,1738684049.085 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-02-04T15:47:29.085Z,1738684049.085 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-02-04T15:47:29.086Z,1738684049.086 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-02-04T15:47:29.303Z,1738684049.303 [DataOverHttps](IMPORTANT): SBD MTMSN=20250204T154728 2025-02-04T15:47:29.448Z,1738684049.448 [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 2025-02-04T15:47:29.454Z,1738684049.454 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h 2025-02-04T15:47:29.456Z,1738684049.456 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2025-02-04T15:47:29.459Z,1738684049.459 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-02-04T15:47:29.462Z,1738684049.462 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2025-02-04T15:47:29.465Z,1738684049.465 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-02-04T15:47:29.513Z,1738684049.513 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2025-02-04T15:47:29.516Z,1738684049.516 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2025-02-04T15:47:29.535Z,1738684049.535 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2025-02-04T15:47:29.541Z,1738684049.541 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-02-04T15:47:29.594Z,1738684049.594 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-02-04T15:47:29.594Z,1738684049.594 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-02-04T15:47:29.595Z,1738684049.595 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-02-04T15:47:29.758Z,1738684049.758 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2025-02-04T15:47:29.763Z,1738684049.763 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2025-02-04T15:47:29.774Z,1738684049.774 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2025-02-04T15:47:29.777Z,1738684049.777 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2025-02-04T15:47:29.780Z,1738684049.780 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-02-04T15:47:29.781Z,1738684049.781 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-02-04T15:47:29.821Z,1738684049.821 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-02-04T15:47:29.847Z,1738684049.847 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-02-04T15:47:29.879Z,1738684049.879 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-02-04T15:47:29.879Z,1738684049.879 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-02-04T15:47:29.880Z,1738684049.880 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-02-04T15:47:29.913Z,1738684049.913 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-02-04T15:47:29.921Z,1738684049.921 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool 2025-02-04T15:47:29.928Z,1738684049.928 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-02-04T15:47:29.932Z,1738684049.932 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-02-04T15:47:29.932Z,1738684049.932 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-02-04T15:47:29.933Z,1738684049.933 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-02-04T15:47:30.182Z,1738684050.182 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-02-04T15:47:30.189Z,1738684050.189 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool 2025-02-04T15:47:30.191Z,1738684050.191 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool 2025-02-04T15:47:30.194Z,1738684050.194 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool 2025-02-04T15:47:30.196Z,1738684050.196 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool 2025-02-04T15:47:30.199Z,1738684050.199 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool 2025-02-04T15:47:30.206Z,1738684050.206 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-02-04T15:47:30.208Z,1738684050.208 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2025-02-04T15:47:30.212Z,1738684050.212 [transit:MassHold.Pitch](DEBUG): Construct. 2025-02-04T15:47:30.253Z,1738684050.253 [transit:Transit:A.Pitch](DEBUG): Construct. 2025-02-04T15:47:30.263Z,1738684050.263 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2025-02-04T15:47:30.266Z,1738684050.266 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2025-02-04T15:47:30.297Z,1738684050.297 [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 transit { """ Vehicle transits to desired waypoint and can be commanded to use/hold mass or buoyancy. """ arguments { MissionTimeout = 60 minute """ Maximum duration of mission """ NeedCommsTime = 30 minute """ How often to surface for commumications """ Latitude = NaN degree """ Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. """ Longitude = NaN degree """ Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. """ Northings = 0 meter """ Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Eastings = 0 meter """ Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Depth = 10 meter """ Depth of flat and level flight during the mission. """ Speed = 1 meter_per_second """ Speed of vehicle (relative to water) during the mission. """ MaxDepth = 20 meter """ Maximum depth for the entire mission. """ MinOffshore = 1 kilometer """ Minimum distance offshore for the entire mission. """ MinAltitude = 7 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ } timeout duration=MissionTimeout insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl behavior Guidance:Buoyancy id="BuoyancyHold" { run while ( BuoyancyHold ) set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch id="MassHold" { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } aggregate Transit { run in sequence behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } behavior Guidance:Waypoint id="Wpt1" { run in sequence set latitude = Latitude set longitude = Longitude set northingsDelta = Northings set eastingsDelta = Eastings } call id="PhoneHome" refId="NeedComms" } } 2025-02-04T15:47:30.297Z,1738684050.297 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2025-02-04T15:47:36.604Z,1738684056.604 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree 2025-02-04T15:47:36.605Z,1738684056.605 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree 2025-02-04T15:47:36.605Z,1738684056.605 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.25 kilometer 2025-02-04T15:47:36.610Z,1738684056.610 [CommandExec](IMPORTANT): got command run 2025-02-04T15:47:36.612Z,1738684056.612 [CommandExec](IMPORTANT): Running 2025-02-04T15:47:36.921Z,1738684056.921 [Default] Stopped 2025-02-04T15:47:36.921Z,1738684056.921 [Default](DEBUG): Aggregate::uninitialize Default 2025-02-04T15:47:36.921Z,1738684056.921 [Default:B.GoToSurface] Stopped 2025-02-04T15:47:36.922Z,1738684056.922 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-02-04T15:47:36.922Z,1738684056.922 [Default:CheckIn] Stopped 2025-02-04T15:47:36.922Z,1738684056.922 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2025-02-04T15:47:36.923Z,1738684056.923 [Default:CheckIn:C.Wait] Stopped 2025-02-04T15:47:36.923Z,1738684056.923 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-02-04T15:47:36.923Z,1738684056.923 [MissionManager](IMPORTANT): Started mission transit 2025-02-04T15:47:36.923Z,1738684056.923 [transit] Running Loop=1 2025-02-04T15:47:36.923Z,1738684056.923 [transit](DEBUG): Aggregate::initialize transit 2025-02-04T15:47:36.923Z,1738684056.923 [transit:StandardEnvelopes] Running Loop=1 2025-02-04T15:47:36.923Z,1738684056.923 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2025-02-04T15:47:36.923Z,1738684056.923 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-02-04T15:47:36.923Z,1738684056.923 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-02-04T15:47:36.924Z,1738684056.924 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-02-04T15:47:36.924Z,1738684056.924 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-02-04T15:47:36.924Z,1738684056.924 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-02-04T15:47:36.924Z,1738684056.924 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-02-04T15:47:36.924Z,1738684056.924 [transit:BackseatDriver] Running Loop=1 2025-02-04T15:47:36.924Z,1738684056.924 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver 2025-02-04T15:47:36.924Z,1738684056.924 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-02-04T15:47:36.924Z,1738684056.924 [transit:PowerOnly] Running Loop=1 2025-02-04T15:47:36.925Z,1738684056.925 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly 2025-02-04T15:47:36.925Z,1738684056.925 [transit:PowerOnly:A] Running Loop=1 2025-02-04T15:47:36.925Z,1738684056.925 [transit:PowerOnly:B] Running Loop=1 2025-02-04T15:47:36.925Z,1738684056.925 [transit:PowerOnly:C] Running Loop=1 2025-02-04T15:47:36.925Z,1738684056.925 [transit:PowerOnly:D] Running Loop=1 2025-02-04T15:47:36.925Z,1738684056.925 [transit:PowerOnly:E.Wait] Running Loop=1 2025-02-04T15:47:36.925Z,1738684056.925 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-02-04T15:47:36.925Z,1738684056.925 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2025-02-04T15:47:36.925Z,1738684056.925 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-02-04T15:47:36.925Z,1738684056.925 [transit:MassHold.Pitch] Running Loop=1 2025-02-04T15:47:36.925Z,1738684056.925 [transit:MassHold.Pitch](DEBUG): Initialize. 2025-02-04T15:47:36.930Z,1738684056.930 [transit:B] Running Loop=1 2025-02-04T15:47:36.930Z,1738684056.930 [transit:MassHold.Pitch] Running Loop=1 2025-02-04T15:47:36.931Z,1738684056.931 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2025-02-04T15:47:36.931Z,1738684056.931 [transit:PowerOnly] Running Loop=1 2025-02-04T15:47:36.932Z,1738684056.932 [transit:PowerOnly:D] Stopped 2025-02-04T15:47:36.932Z,1738684056.932 [transit:PowerOnly:C] Stopped 2025-02-04T15:47:36.932Z,1738684056.932 [transit:PowerOnly:B] Stopped 2025-02-04T15:47:36.932Z,1738684056.932 [transit:PowerOnly:A] Stopped 2025-02-04T15:47:36.932Z,1738684056.932 [transit:BackseatDriver] Running Loop=1 2025-02-04T15:47:36.932Z,1738684056.932 [transit:StandardEnvelopes] Running Loop=1 2025-02-04T15:47:36.932Z,1738684056.932 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-02-04T15:47:36.933Z,1738684056.933 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE 2025-02-04T15:47:36.973Z,1738684056.973 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-02-04T15:47:36.982Z,1738684056.982 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-02-04T15:47:36.983Z,1738684056.983 [transit:B] Stopped 2025-02-04T15:47:36.983Z,1738684056.983 [transit:C] Running Loop=1 2025-02-04T15:47:36.995Z,1738684056.995 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-02-04T15:47:36.995Z,1738684056.995 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-02-04T15:47:36.996Z,1738684056.996 [HorizontalControl](DEBUG): kdHeading = 0.050000 2025-02-04T15:47:37.364Z,1738684057.364 [transit:C] Stopped 2025-02-04T15:47:37.365Z,1738684057.365 [transit:E] Running Loop=1 2025-02-04T15:47:37.763Z,1738684057.763 [transit:E] Stopped 2025-02-04T15:47:37.763Z,1738684057.763 [transit:F] Running Loop=1 2025-02-04T15:47:38.140Z,1738684058.140 [transit:F] Stopped 2025-02-04T15:47:38.140Z,1738684058.140 [transit:G] Running Loop=1 2025-02-04T15:47:38.547Z,1738684058.547 [transit:G] Stopped 2025-02-04T15:47:38.547Z,1738684058.547 [transit:Transit] Running Loop=1 2025-02-04T15:47:38.547Z,1738684058.547 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2025-02-04T15:47:38.547Z,1738684058.547 [transit:Transit:A.Pitch] Running Loop=1 2025-02-04T15:47:38.547Z,1738684058.547 [transit:Transit:A.Pitch](DEBUG): Initialize. 2025-02-04T15:47:38.548Z,1738684058.548 [transit:Transit:B.SetSpeed] Running Loop=1 2025-02-04T15:47:38.548Z,1738684058.548 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2025-02-04T15:47:38.548Z,1738684058.548 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2025-02-04T15:47:38.548Z,1738684058.548 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2025-02-04T15:47:38.550Z,1738684058.550 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2025-02-04T15:47:38.551Z,1738684058.551 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2025-02-04T15:47:38.953Z,1738684058.953 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000 2025-02-04T15:47:38.954Z,1738684058.954 [transit:Transit:B.SetSpeed] Running Loop=1 2025-02-04T15:47:38.955Z,1738684058.955 [transit:Transit:A.Pitch] Running Loop=1 2025-02-04T15:47:39.018Z,1738684059.018 [DataOverHttps](INFO): Received command: restart logs