2025-03-31T21:08:51.836Z,1743455331.836 [Supervisor](DEBUG): Initializing supervisor.
2025-03-31T21:08:51.840Z,1743455331.840 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-03-31T21:08:51.841Z,1743455331.841 [SyncHandler](INFO): Protected caller Thread ID is 6806
2025-03-31T21:08:51.841Z,1743455331.841 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-03-31T21:08:51.842Z,1743455331.842 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-03-31T21:08:51.842Z,1743455331.842 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6807
2025-03-31T21:08:51.846Z,1743455331.846 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-03-31T21:08:51.868Z,1743455331.868 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-03-31T21:08:51.869Z,1743455331.869 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-03-31T21:08:51.869Z,1743455331.869 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 6808
2025-03-31T21:08:51.873Z,1743455331.873 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-03-31T21:08:51.874Z,1743455331.874 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-03-31T21:08:51.875Z,1743455331.875 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6809
2025-03-31T21:08:51.877Z,1743455331.877 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-03-31T21:08:51.878Z,1743455331.878 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-03-31T21:08:51.879Z,1743455331.879 [logger ThreadHandler](INFO): Protected caller Thread ID is 6810
2025-03-31T21:08:51.883Z,1743455331.883 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-03-31T21:08:51.883Z,1743455331.883 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-03-31T21:08:51.885Z,1743455331.885 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-03-31T21:08:52.252Z,1743455332.252 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-03-31T21:08:52.253Z,1743455332.253 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-03-31T21:08:52.346Z,1743455332.346 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-03-31T21:08:52.468Z,1743455332.468 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-03-31T21:08:52.469Z,1743455332.469 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-03-31T21:08:52.613Z,1743455332.613 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-03-31T21:08:52.614Z,1743455332.614 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-03-31T21:08:52.985Z,1743455332.985 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-03-31T21:08:52.986Z,1743455332.986 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-03-31T21:08:53.096Z,1743455333.096 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-03-31T21:08:53.097Z,1743455333.097 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-03-31T21:08:53.546Z,1743455333.546 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-03-31T21:08:53.547Z,1743455333.547 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-03-31T21:08:53.793Z,1743455333.793 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-03-31T21:08:53.794Z,1743455333.794 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-03-31T21:08:53.887Z,1743455333.887 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-03-31T21:08:54.151Z,1743455334.151 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-03-31T21:08:54.152Z,1743455334.152 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-03-31T21:08:54.392Z,1743455334.392 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-03-31T21:08:54.392Z,1743455334.392 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-03-31T21:08:54.950Z,1743455334.950 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-03-31T21:08:54.951Z,1743455334.951 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-03-31T21:08:55.186Z,1743455335.186 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-03-31T21:08:55.186Z,1743455335.186 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-03-31T21:08:55.496Z,1743455335.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-03-31T21:08:55.497Z,1743455335.497 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-03-31T21:08:56.409Z,1743455336.409 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-03-31T21:08:56.410Z,1743455336.410 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-03-31T21:08:57.012Z,1743455337.012 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-03-31T21:08:57.014Z,1743455337.014 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-ahi/
2025-03-31T21:08:57.015Z,1743455337.015 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Control.cfg
2025-03-31T21:08:57.127Z,1743455337.127 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Science.cfg
2025-03-31T21:08:57.277Z,1743455337.277 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/secure.cfg
2025-03-31T21:08:57.375Z,1743455337.375 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Servo.cfg
2025-03-31T21:08:57.498Z,1743455337.498 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/BIT.cfg
2025-03-31T21:08:57.600Z,1743455337.600 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Battery.cfg
2025-03-31T21:08:57.874Z,1743455337.874 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-03-31T21:08:57.875Z,1743455337.875 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/vehicle.cfg
2025-03-31T21:08:58.000Z,1743455338.000 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/logger.cfg
2025-03-31T21:08:58.115Z,1743455338.115 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Sensor.cfg
2025-03-31T21:08:58.277Z,1743455338.277 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Simulator.cfg
2025-03-31T21:08:58.376Z,1743455338.376 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-03-31T21:08:58.390Z,1743455338.390 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-03-31T21:08:58.524Z,1743455338.524 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-03-31T21:08:58.525Z,1743455338.525 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-03-31T21:08:58.579Z,1743455338.579 [VerticalControl](DEBUG): Construct VerticalControl.
2025-03-31T21:08:58.643Z,1743455338.643 [VerticalControl] Loaded
2025-03-31T21:08:58.643Z,1743455338.643 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-03-31T21:08:58.646Z,1743455338.646 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-03-31T21:08:58.694Z,1743455338.694 [HorizontalControl] Loaded
2025-03-31T21:08:58.694Z,1743455338.694 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-03-31T21:08:58.697Z,1743455338.697 [SpeedControl](DEBUG): Construct SpeedControl.
2025-03-31T21:08:58.700Z,1743455338.700 [SpeedControl] Loaded
2025-03-31T21:08:58.700Z,1743455338.700 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-03-31T21:08:58.703Z,1743455338.703 [LoopControl](DEBUG): Construct LoopControl.
2025-03-31T21:08:58.704Z,1743455338.704 [LoopControl] Loaded
2025-03-31T21:08:58.704Z,1743455338.704 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-03-31T21:08:58.704Z,1743455338.704 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-03-31T21:08:58.705Z,1743455338.705 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-03-31T21:08:58.764Z,1743455338.764 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-03-31T21:08:58.764Z,1743455338.764 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-03-31T21:08:59.279Z,1743455339.279 [AHRS_M2] Loaded
2025-03-31T21:08:59.280Z,1743455339.280 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-03-31T21:08:59.318Z,1743455339.318 [BackseatComponent](INFO): Found secondary power supply at: /dev/loadC4
2025-03-31T21:08:59.319Z,1743455339.319 [BackseatComponent] Loaded
2025-03-31T21:08:59.319Z,1743455339.319 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-03-31T21:08:59.320Z,1743455339.320 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408BA4E0
2025-03-31T21:08:59.320Z,1743455339.320 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 6889
2025-03-31T21:08:59.323Z,1743455339.323 [LcmUniversalReporter] Loaded
2025-03-31T21:08:59.324Z,1743455339.324 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-03-31T21:09:00.123Z,1743455340.123 [BPC1] Loaded
2025-03-31T21:09:00.123Z,1743455340.123 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-03-31T21:09:00.221Z,1743455340.221 [DAT] Loaded
2025-03-31T21:09:00.221Z,1743455340.221 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-03-31T21:09:00.222Z,1743455340.222 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408EA4E0
2025-03-31T21:09:00.222Z,1743455340.222 [DAT ThreadHandler](INFO): Protected caller Thread ID is 6890
2025-03-31T21:09:00.300Z,1743455340.300 [DataOverHttps] Loaded
2025-03-31T21:09:00.300Z,1743455340.300 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-03-31T21:09:00.301Z,1743455340.301 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4091A4E0
2025-03-31T21:09:00.302Z,1743455340.302 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6891
2025-03-31T21:09:00.325Z,1743455340.325 [Depth_Keller] Loaded
2025-03-31T21:09:00.325Z,1743455340.325 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-03-31T21:09:00.330Z,1743455340.330 [DropWeight] Loaded
2025-03-31T21:09:00.330Z,1743455340.330 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-03-31T21:09:00.396Z,1743455340.396 [NAL9602] Loaded
2025-03-31T21:09:00.396Z,1743455340.396 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-03-31T21:09:00.426Z,1743455340.426 [Onboard] Loaded
2025-03-31T21:09:00.427Z,1743455340.427 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-03-31T21:09:00.430Z,1743455340.430 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4094A4E0
2025-03-31T21:09:00.430Z,1743455340.430 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 6892
2025-03-31T21:09:00.457Z,1743455340.457 [Power24vConverter] Loaded
2025-03-31T21:09:00.458Z,1743455340.458 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-03-31T21:09:00.476Z,1743455340.476 [Radio_Surface] Loaded
2025-03-31T21:09:00.476Z,1743455340.476 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-03-31T21:09:00.477Z,1743455340.477 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4097A4E0
2025-03-31T21:09:00.478Z,1743455340.478 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6893
2025-03-31T21:09:00.493Z,1743455340.493 [Sonardyne_Nano] Loaded
2025-03-31T21:09:00.493Z,1743455340.493 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-03-31T21:09:00.494Z,1743455340.494 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-03-31T21:09:00.494Z,1743455340.494 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-03-31T21:09:00.505Z,1743455340.505 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-03-31T21:09:00.505Z,1743455340.505 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-03-31T21:09:00.535Z,1743455340.535 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-03-31T21:09:00.536Z,1743455340.536 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-03-31T21:09:00.696Z,1743455340.696 [SBIT](DEBUG): Construct Startup Built In Test.
2025-03-31T21:09:00.706Z,1743455340.706 [SBIT] Loaded
2025-03-31T21:09:00.706Z,1743455340.706 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-03-31T21:09:00.709Z,1743455340.709 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-03-31T21:09:00.722Z,1743455340.722 [IBIT] Loaded
2025-03-31T21:09:00.722Z,1743455340.722 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-03-31T21:09:00.727Z,1743455340.727 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-03-31T21:09:00.810Z,1743455340.810 [CBIT] Loaded
2025-03-31T21:09:00.810Z,1743455340.810 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-03-31T21:09:00.844Z,1743455340.844 [GFScanner] Loaded
2025-03-31T21:09:00.844Z,1743455340.844 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-03-31T21:09:00.844Z,1743455340.844 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-03-31T21:09:00.845Z,1743455340.845 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-03-31T21:09:01.193Z,1743455341.193 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-03-31T21:09:01.194Z,1743455341.194 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-03-31T21:09:01.244Z,1743455341.244 [DepthRateCalculator] Loaded
2025-03-31T21:09:01.244Z,1743455341.244 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-03-31T21:09:01.249Z,1743455341.249 [PitchRateCalculator] Loaded
2025-03-31T21:09:01.250Z,1743455341.250 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-03-31T21:09:01.260Z,1743455341.260 [SpeedCalculator] Loaded
2025-03-31T21:09:01.261Z,1743455341.261 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-03-31T21:09:01.265Z,1743455341.265 [YawRateCalculator] Loaded
2025-03-31T21:09:01.265Z,1743455341.265 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-03-31T21:09:01.285Z,1743455341.285 [ElevatorOffsetCalculator] Loaded
2025-03-31T21:09:01.285Z,1743455341.285 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-03-31T21:09:01.286Z,1743455341.286 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-03-31T21:09:01.286Z,1743455341.286 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-03-31T21:09:01.463Z,1743455341.463 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-03-31T21:09:01.464Z,1743455341.464 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-03-31T21:09:01.581Z,1743455341.581 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-03-31T21:09:01.581Z,1743455341.581 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-03-31T21:09:01.596Z,1743455341.596 [NavChart] Loaded
2025-03-31T21:09:01.596Z,1743455341.596 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-03-31T21:09:01.602Z,1743455341.602 [UniversalFixResidualReporter] Loaded
2025-03-31T21:09:01.602Z,1743455341.602 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-03-31T21:09:01.603Z,1743455341.603 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-03-31T21:09:01.603Z,1743455341.603 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-03-31T21:09:01.743Z,1743455341.743 [BuoyancyServo] Loaded
2025-03-31T21:09:01.744Z,1743455341.744 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-03-31T21:09:01.767Z,1743455341.767 [ElevatorServo] Loaded
2025-03-31T21:09:01.767Z,1743455341.767 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-03-31T21:09:01.790Z,1743455341.790 [MassServo] Loaded
2025-03-31T21:09:01.790Z,1743455341.790 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-03-31T21:09:01.811Z,1743455341.811 [RudderServo] Loaded
2025-03-31T21:09:01.811Z,1743455341.811 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-03-31T21:09:01.829Z,1743455341.829 [ThrusterHE] Loaded
2025-03-31T21:09:01.829Z,1743455341.829 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-03-31T21:09:01.829Z,1743455341.829 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-03-31T21:09:01.830Z,1743455341.830 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-03-31T21:09:02.002Z,1743455342.002 [CTD_Seabird] Loaded
2025-03-31T21:09:02.003Z,1743455342.003 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-03-31T21:09:02.004Z,1743455342.004 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C054E0
2025-03-31T21:09:02.004Z,1743455342.004 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 6894
2025-03-31T21:09:02.042Z,1743455342.042 [ESPComponent] Loaded
2025-03-31T21:09:02.042Z,1743455342.042 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-03-31T21:09:02.065Z,1743455342.065 [PAR_Licor] Loaded
2025-03-31T21:09:02.065Z,1743455342.065 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-03-31T21:09:02.112Z,1743455342.112 [WetLabsBB2FL] Loaded
2025-03-31T21:09:02.112Z,1743455342.112 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-03-31T21:09:02.113Z,1743455342.113 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C354E0
2025-03-31T21:09:02.114Z,1743455342.114 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 6895
2025-03-31T21:09:02.114Z,1743455342.114 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-03-31T21:09:02.121Z,1743455342.121 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-03-31T21:09:02.124Z,1743455342.124 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-03-31T21:09:02.136Z,1743455342.136 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-03-31T21:09:02.137Z,1743455342.137 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-03-31T21:09:02.137Z,1743455342.137 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6896
2025-03-31T21:09:02.142Z,1743455342.142 [Supervisor](INFO): Main Thread ID is 6139
2025-03-31T21:09:02.142Z,1743455342.142 [Supervisor](DEBUG): Running supervisor.
2025-03-31T21:09:02.142Z,1743455342.142 [CommandExec ThreadHandler](INFO): Handler Thread ID is 6897
2025-03-31T21:09:02.143Z,1743455342.143 [CommandExec](INFO): Initializing the command executive.
2025-03-31T21:09:02.145Z,1743455342.145 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6898
2025-03-31T21:09:02.147Z,1743455342.147 [controlThread ThreadHandler](INFO): Handler Thread ID is 6899
2025-03-31T21:09:02.147Z,1743455342.147 [controlThread](DEBUG): Initializing ControlThread
2025-03-31T21:09:02.148Z,1743455342.148 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-03-31T21:09:02.149Z,1743455342.149 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-03-31T21:09:02.150Z,1743455342.150 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-03-31T21:09:02.151Z,1743455342.151 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-03-31T21:09:02.154Z,1743455342.154 [SBIT](INFO): Initialize SBIT Component.
2025-03-31T21:09:02.154Z,1743455342.154 [SBIT](IMPORTANT): git: 2025-03-31
2025-03-31T21:09:02.154Z,1743455342.154 [SBIT](INFO): git hash: fa5a0d22cc02557daa9f4ab77c7f518dfe223d1b
2025-03-31T21:09:02.155Z,1743455342.155 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-03-31T21:09:02.156Z,1743455342.156 [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
2025-03-31T21:09:02.157Z,1743455342.157 [SBIT](INFO): Beginning SBIT in 79.000000 seconds.
2025-03-31T21:09:02.157Z,1743455342.157 [IBIT](INFO): Initialize IBIT Component.
2025-03-31T21:09:02.158Z,1743455342.158 [CBIT](DEBUG): Initialize CBIT Component.
2025-03-31T21:09:02.159Z,1743455342.159 [logger ThreadHandler](INFO): Handler Thread ID is 6900
2025-03-31T21:09:02.171Z,1743455342.171 [CBIT](DEBUG): Initialized mux pins.
2025-03-31T21:09:02.171Z,1743455342.171 [CBIT](DEBUG): Initializing the watchdog timer.
2025-03-31T21:09:02.180Z,1743455342.180 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 6901
2025-03-31T21:09:02.195Z,1743455342.195 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-03-31T21:09:02.196Z,1743455342.196 [CBIT](DEBUG): Initializing heartbeat.
2025-03-31T21:09:02.196Z,1743455342.196 [DAT ThreadHandler](INFO): Handler Thread ID is 6902
2025-03-31T21:09:02.197Z,1743455342.197 [DAT](INFO): Powering up
2025-03-31T21:09:02.197Z,1743455342.197 [DAT](DEBUG): Initializing DAT.
2025-03-31T21:09:02.201Z,1743455342.201 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6904
2025-03-31T21:09:02.202Z,1743455342.202 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-03-31T21:09:02.224Z,1743455342.224 [Onboard ThreadHandler](INFO): Handler Thread ID is 6905
2025-03-31T21:09:02.241Z,1743455342.241 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6906
2025-03-31T21:09:02.260Z,1743455342.260 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 6907
2025-03-31T21:09:02.260Z,1743455342.260 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-03-31T21:09:02.265Z,1743455342.265 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 6909
2025-03-31T21:09:02.267Z,1743455342.267 [CBIT](DEBUG): Deactivating emergency mode.
2025-03-31T21:09:02.268Z,1743455342.268 [WetLabsBB2FL](INFO): Powering up
2025-03-31T21:09:02.269Z,1743455342.269 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6911
2025-03-31T21:09:02.272Z,1743455342.272 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-03-31T21:09:02.272Z,1743455342.272 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-03-31T21:09:02.272Z,1743455342.272 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-03-31T21:09:02.272Z,1743455342.272 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-03-31T21:09:02.272Z,1743455342.272 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-03-31T21:09:02.273Z,1743455342.273 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-03-31T21:09:02.273Z,1743455342.273 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-03-31T21:09:02.273Z,1743455342.273 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-03-31T21:09:02.307Z,1743455342.307 [CBIT](DEBUG): Backplane powered.
2025-03-31T21:09:02.308Z,1743455342.308 [GFScanner](DEBUG): Initializing GFScanner
2025-03-31T21:09:02.308Z,1743455342.308 [GFScanner](DEBUG): Deactivating GF circuits.
2025-03-31T21:09:02.312Z,1743455342.312 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-03-31T21:09:02.312Z,1743455342.312 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-03-31T21:09:02.313Z,1743455342.313 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-03-31T21:09:02.313Z,1743455342.313 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-03-31T21:09:02.313Z,1743455342.313 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-03-31T21:09:02.315Z,1743455342.315 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-03-31T21:09:02.315Z,1743455342.315 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-03-31T21:09:02.320Z,1743455342.320 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-03-31T21:09:02.321Z,1743455342.321 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-03-31T21:09:02.321Z,1743455342.321 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-03-31T21:09:02.322Z,1743455342.322 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-03-31T21:09:02.396Z,1743455342.396 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
2025-03-31T21:09:02.417Z,1743455342.417 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-31T21:09:02.434Z,1743455342.434 [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
}
}
}
2025-03-31T21:09:02.434Z,1743455342.434 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-03-31T21:09:02.435Z,1743455342.435 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-03-31T21:09:02.464Z,1743455342.464 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-03-31T21:09:02.647Z,1743455342.647 [Radio_Surface](INFO): Powering up
2025-03-31T21:09:02.757Z,1743455342.757 [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
2025-03-31T21:09:02.779Z,1743455342.779 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-03-31T21:09:02.800Z,1743455342.800 [Default:A.Wait](DEBUG): Construct Wait.
2025-03-31T21:09:02.802Z,1743455342.802 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-31T21:09:02.844Z,1743455342.844 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-03-31T21:09:02.846Z,1743455342.846 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-03-31T21:09:02.868Z,1743455342.868 [Default:E.Execute](DEBUG): Construct Execute.
2025-03-31T21:09:02.888Z,1743455342.888 [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"
}
}
2025-03-31T21:09:02.892Z,1743455342.892 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,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,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-03-31T21:09:02.912Z,1743455342.912 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-03-31T21:09:02.972Z,1743455342.972 [Depth_Keller](INFO): Initializing.
2025-03-31T21:09:02.973Z,1743455342.973 [Power24vConverter](INFO): Powering up.
2025-03-31T21:09:02.974Z,1743455342.974 [Sonardyne_Nano](INFO): Initializing.
2025-03-31T21:09:03.016Z,1743455343.016 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-03-31T21:09:03.042Z,1743455343.042 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-03-31T21:09:03.048Z,1743455343.048 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-03-31T21:09:03.049Z,1743455343.049 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-31T21:09:03.056Z,1743455343.056 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-31T21:09:03.056Z,1743455343.056 [MassServo](DEBUG): Initializing EZServoServo.
2025-03-31T21:09:03.064Z,1743455343.064 [MassServo](DEBUG): Initializing MassServo.
2025-03-31T21:09:03.064Z,1743455343.064 [RudderServo](DEBUG): Initializing EZServoServo.
2025-03-31T21:09:03.072Z,1743455343.072 [RudderServo](DEBUG): Initializing RudderServo.
2025-03-31T21:09:03.072Z,1743455343.072 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-31T21:09:03.080Z,1743455343.080 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-31T21:09:04.375Z,1743455344.375 [WetLabsBB2FL](INFO): Powering down
2025-03-31T21:09:04.922Z,1743455344.922 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-03-31T21:09:06.208Z,1743455346.208 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2311
2025-03-31T21:09:09.292Z,1743455349.292 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-03-31T21:09:14.292Z,1743455354.292 [DAT](INFO): DAT read:
2025-03-31T21:09:14.293Z,1743455354.293 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series
2025-03-31T21:09:16.056Z,1743455356.056 [DAT](INFO): DAT read: MF Frequency Band
2025-03-31T21:09:16.058Z,1743455356.058 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0
2025-03-31T21:09:16.058Z,1743455356.058 [DAT](INFO): DAT read: Mar 31 2025 21:09:10
2025-03-31T21:09:17.064Z,1743455357.065 [DAT](INFO): DAT read: Features enabled [Bearing]
2025-03-31T21:09:17.066Z,1743455357.066 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP
2025-03-31T21:09:17.066Z,1743455357.066 [DAT](INFO): commRate: 800
2025-03-31T21:09:19.131Z,1743455359.131 [DAT](INFO): entering command mode
2025-03-31T21:09:19.332Z,1743455359.332 [DAT](INFO): DAT read:
2025-03-31T21:09:19.333Z,1743455359.333 [DAT](INFO): DAT read: user:1>
2025-03-31T21:09:19.333Z,1743455359.333 [DAT](INFO): setting verbose to 3
2025-03-31T21:09:19.584Z,1743455359.584 [DAT](INFO): DAT read: user:1>
2025-03-31T21:09:19.586Z,1743455359.586 [DAT](INFO): DAT read: Verbose | 3
2025-03-31T21:09:19.586Z,1743455359.586 [DAT](INFO): set verbose to 3
2025-03-31T21:09:19.587Z,1743455359.587 [DAT](INFO): setting DatVerbose to 27440
2025-03-31T21:09:19.836Z,1743455359.836 [DAT](INFO): DAT read: user:2>
2025-03-31T21:09:19.837Z,1743455359.837 [DAT](INFO): DAT read: DatVerbose | 27440
2025-03-31T21:09:19.837Z,1743455359.837 [DAT](INFO): set DatVerbose to 27440
2025-03-31T21:09:19.838Z,1743455359.838 [DAT](INFO): setting transmit power to 8
2025-03-31T21:09:20.088Z,1743455360.088 [DAT](INFO): DAT read: user:3>
2025-03-31T21:09:20.089Z,1743455360.089 [DAT](INFO): DAT read: TxPower | 8 (Max)
2025-03-31T21:09:20.089Z,1743455360.089 [DAT](INFO): set transmit power to 8
2025-03-31T21:09:20.090Z,1743455360.090 [DAT](INFO): setting local address to 1
2025-03-31T21:09:20.340Z,1743455360.340 [DAT](INFO): DAT read: user:4>
2025-03-31T21:09:20.341Z,1743455360.341 [DAT](INFO): DAT read: LocalAddr | 1
2025-03-31T21:09:20.341Z,1743455360.341 [DAT](INFO): set local address to 1
2025-03-31T21:09:20.342Z,1743455360.342 [DAT](INFO): Setting time to: 21:9:20 And date to:3/31/2025
2025-03-31T21:09:20.592Z,1743455360.592 [DAT](INFO): DAT read: user:5>
2025-03-31T21:09:20.593Z,1743455360.593 [DAT](INFO): DAT read: Mon Mar 31, 2025 21:09:20
2025-03-31T21:09:20.593Z,1743455360.593 [DAT](INFO): Local DAT time set to Mon Mar 31, 2025 21:09:20
2025-03-31T21:09:30.425Z,1743455370.425 [NAL9602](INFO): Powering up NAL9602
2025-03-31T21:09:41.345Z,1743455381.345 [NAL9602](INFO): NAL9602 initialized
2025-03-31T21:10:18.497Z,1743455418.497 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:10:21.779Z,1743455421.779 [SBIT](IMPORTANT): Beginning Startup BIT
2025-03-31T21:10:21.784Z,1743455421.784 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-31T21:10:26.268Z,1743455426.268 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.001342
CHAN A1 (24V): 0.000357
CHAN A2 (12V): -0.000320
CHAN A3 (5V): -0.001295
CHAN B0 (3.3V): 0.000238
CHAN B1 (3.15aV): -0.000320
CHAN B2 (3.15bV): -0.000116
CHAN B3 (GND): -0.000562
OPEN: 0.007028
Full Scale: +/- 1 mA
2025-03-31T21:10:33.446Z,1743455433.446 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:10:48.395Z,1743455448.395 [BPC1](ERROR): BPC1B got IPBS message with 5 sticks (min is 7).
2025-03-31T21:11:15.537Z,1743455475.537 [SBIT](IMPORTANT): SBIT PASSED
2025-03-31T21:11:15.537Z,1743455475.537 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-03-31T21:11:15.538Z,1743455475.538 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=12 count;
2025-03-31T21:11:15.538Z,1743455475.538 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute;
2025-03-31T21:11:15.538Z,1743455475.538 [SBIT](IMPORTANT): Express linearApproximation TrackAcousticContact.range_to_contact 15.000000 meter;
2025-03-31T21:11:15.538Z,1743455475.538 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_HM_AvgRois 1.000000 count_per_second;
2025-03-31T21:11:15.538Z,1743455475.538 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_LM_AvgRois 25.000000 count_per_second;
2025-03-31T21:11:15.539Z,1743455475.539 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_caseHumidity 10.000000 percent;
2025-03-31T21:11:15.539Z,1743455475.539 [SBIT](IMPORTANT): Express none _.planktivore_diatoms;
2025-03-31T21:11:15.539Z,1743455475.539 [SBIT](IMPORTANT): Express none _.planktivore_dinoflagellates;
2025-03-31T21:11:15.539Z,1743455475.539 [SBIT](IMPORTANT): Express none _.predict_plankton_data_pct_dinos_sqerr;
2025-03-31T21:11:15.539Z,1743455475.539 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 10.000000 meter;
2025-03-31T21:11:15.539Z,1743455475.539 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool;
2025-03-31T21:11:15.539Z,1743455475.539 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool;
2025-03-31T21:11:15.540Z,1743455475.540 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=196 cubic_centimeter;
2025-03-31T21:11:15.540Z,1743455475.540 [SBIT](IMPORTANT): VerticalControl.massDefault=14.870359 millimeter;
2025-03-31T21:11:15.540Z,1743455475.540 [SBIT](IMPORTANT): Waterlinked.loadAtStartup=0 bool;
2025-03-31T21:11:15.933Z,1743455475.933 [MissionManager](IMPORTANT): Started mission Startup
2025-03-31T21:11:15.934Z,1743455475.934 [Startup] Running Loop=1
2025-03-31T21:11:15.934Z,1743455475.934 [Startup](DEBUG): Aggregate::initialize Startup
2025-03-31T21:11:15.934Z,1743455475.934 [Startup:A.GoToSurface] Running Loop=1
2025-03-31T21:11:15.934Z,1743455475.934 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T21:11:15.934Z,1743455475.934 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-31T21:11:15.935Z,1743455475.935 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-31T21:11:15.935Z,1743455475.935 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-31T21:11:15.936Z,1743455475.936 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-31T21:11:15.936Z,1743455475.936 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T21:11:15.936Z,1743455475.936 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T21:11:15.938Z,1743455475.938 [Startup:StartupSatComms] Running Loop=1
2025-03-31T21:11:15.938Z,1743455475.938 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-03-31T21:11:15.938Z,1743455475.938 [Startup:StartupSatComms:A] Running Loop=1
2025-03-31T21:11:16.334Z,1743455476.334 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-03-31T21:12:02.420Z,1743455522.420 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-03-31T21:12:02.420Z,1743455522.420 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-31T21:12:02.431Z,1743455522.431 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-31T21:12:02.801Z,1743455522.801 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-31T21:12:02.801Z,1743455522.801 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-03-31T21:12:16.142Z,1743455536.142 [Startup:StartupSatComms:A](INFO): Timed out from 2025-03-31T21:11:15.9Z
2025-03-31T21:12:16.142Z,1743455536.142 [Startup:StartupSatComms:A] Stopped
2025-03-31T21:12:16.142Z,1743455536.142 [Startup:StartupSatComms:B] Running Loop=1
2025-03-31T21:12:16.544Z,1743455536.544 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-31T21:12:47.493Z,1743455567.493 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T211246
2025-03-31T21:12:47.498Z,1743455567.498 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004934
2025-03-31T21:12:57.359Z,1743455577.359 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250331T161259/Courier0088.lzma
2025-03-31T21:12:57.362Z,1743455577.362 [DataOverHttps](INFO): Received command: strobe off
2025-03-31T21:12:57.429Z,1743455577.429 [CommandExec](IMPORTANT): got command strobe off
2025-03-31T21:12:57.429Z,1743455577.429 [CommandExec](IMPORTANT): Deactivating strobe
2025-03-31T21:12:58.664Z,1743455578.664 [DataOverHttps](INFO): Moved sent file to Logs/20250331T161259/Courier0088.lzma.bak
2025-03-31T21:12:58.664Z,1743455578.664 [DataOverHttps](INFO): SBD MOMSN=24503977
2025-03-31T21:13:14.143Z,1743455594.143 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250331T210851/Courier0000.lzma
2025-03-31T21:13:15.145Z,1743455595.145 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0000.lzma.bak
2025-03-31T21:13:15.145Z,1743455595.145 [DataOverHttps](INFO): SBD MOMSN=24503980
2025-03-31T21:13:16.361Z,1743455596.361 [Startup:StartupSatComms:B](INFO): Timed out from 2025-03-31T21:12:16.1Z
2025-03-31T21:13:16.361Z,1743455596.361 [Startup:StartupSatComms:B] Stopped
2025-03-31T21:13:16.361Z,1743455596.361 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-03-31T21:13:16.361Z,1743455596.361 [Startup:StartupSatComms] Stopped
2025-03-31T21:13:16.362Z,1743455596.362 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-03-31T21:13:16.362Z,1743455596.362 [Startup](INFO): Completed Startup
2025-03-31T21:13:16.363Z,1743455596.363 [MissionManager](INFO): Startup is completed.
2025-03-31T21:13:16.363Z,1743455596.363 [MissionManager](INFO): Uninitializing Mission Startup
2025-03-31T21:13:16.363Z,1743455596.363 [Startup] Stopped
2025-03-31T21:13:16.363Z,1743455596.363 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-03-31T21:13:16.363Z,1743455596.363 [Startup:A.GoToSurface] Stopped
2025-03-31T21:13:16.363Z,1743455596.363 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T21:13:16.769Z,1743455596.769 [MissionManager](IMPORTANT): Started mission Default
2025-03-31T21:13:16.769Z,1743455596.769 [Default] Running Loop=1
2025-03-31T21:13:16.769Z,1743455596.769 [Default](DEBUG): Aggregate::initialize Default
2025-03-31T21:13:16.769Z,1743455596.769 [Default:B.GoToSurface] Running Loop=1
2025-03-31T21:13:16.769Z,1743455596.769 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T21:13:16.770Z,1743455596.770 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-31T21:13:16.770Z,1743455596.770 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-31T21:13:16.770Z,1743455596.770 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-31T21:13:16.770Z,1743455596.770 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-31T21:13:16.771Z,1743455596.771 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T21:13:16.771Z,1743455596.771 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T21:13:16.772Z,1743455596.772 [Default:A.Wait] Running Loop=1
2025-03-31T21:13:16.772Z,1743455596.772 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:13:22.002Z,1743455602.002 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:13:30.108Z,1743455610.108 [Default:A.Wait](INFO): Done Waiting.
2025-03-31T21:13:30.108Z,1743455610.108 [Default:A.Wait] Stopped
2025-03-31T21:13:30.108Z,1743455610.108 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:13:30.533Z,1743455610.533 [Default:CheckIn] Running Loop=1
2025-03-31T21:13:30.533Z,1743455610.533 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-31T21:13:30.533Z,1743455610.533 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-31T21:13:30.922Z,1743455610.922 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-31T21:13:34.527Z,1743455614.527 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:13:46.645Z,1743455626.645 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:13:51.506Z,1743455631.506 [NAL9602](INFO): SBD MO Status=2, MOMSN=22223, MT Status=2, MTMSN=0
2025-03-31T21:13:51.506Z,1743455631.506 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T21:13:52.983Z,1743455632.983 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250331T210851/Courier0004.lzma
2025-03-31T21:13:53.985Z,1743455633.985 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0004.lzma.bak
2025-03-31T21:13:53.985Z,1743455633.985 [DataOverHttps](INFO): SBD MOMSN=24503983
2025-03-31T21:13:59.169Z,1743455639.169 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:14:11.696Z,1743455651.696 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:14:24.217Z,1743455664.217 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:14:30.702Z,1743455670.702 [NAL9602](INFO): SBD MO Status=2, MOMSN=22223, MT Status=2, MTMSN=0
2025-03-31T21:14:30.702Z,1743455670.702 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T21:14:36.337Z,1743455676.337 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:14:48.060Z,1743455688.060 [NAL9602](INFO): SBD MO Status=2, MOMSN=22223, MT Status=2, MTMSN=0
2025-03-31T21:14:48.060Z,1743455688.060 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T21:14:48.465Z,1743455688.465 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-31T21:14:49.267Z,1743455689.267 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:15:01.430Z,1743455701.430 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:15:03.465Z,1743455703.465 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-03-31T21:15:03.465Z,1743455703.465 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-31T21:15:03.476Z,1743455703.476 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-31T21:15:03.886Z,1743455703.886 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-31T21:15:03.886Z,1743455703.886 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-03-31T21:15:13.953Z,1743455713.953 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:15:26.477Z,1743455726.477 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:15:39.420Z,1743455739.420 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T21:15:46.282Z,1743455746.282 [BPC1](ERROR): Battery stick #21 (s/n: 01C7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.
2025-03-31T21:15:46.282Z,1743455746.282 [BPC1](ERROR): Battery stick #22 (s/n: 00C0) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.
2025-03-31T21:15:46.283Z,1743455746.283 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-03-31T21:15:46.284Z,1743455746.284 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.
2025-03-31T21:15:46.285Z,1743455746.285 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-03-31T21:15:46.285Z,1743455746.285 [BPC1](INFO): Calculating totals. Valid battery stick count: 40. Valid reserve battery stick count: 5.
2025-03-31T21:15:46.288Z,1743455746.288 [BPC1](INFO): Received data from all battery sticks.
2025-03-31T21:18:04.520Z,1743455884.520 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2025-03-31T21:18:04.520Z,1743455884.520 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-31T21:18:04.559Z,1743455884.559 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-31T21:18:04.938Z,1743455884.938 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-31T21:18:04.938Z,1743455884.938 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2025-03-31T21:18:30.774Z,1743455910.774 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-31T21:13:30.5Z
2025-03-31T21:18:30.774Z,1743455910.774 [Default:CheckIn:Read_GPS] Stopped
2025-03-31T21:18:30.774Z,1743455910.774 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-31T21:18:31.177Z,1743455911.177 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-31T21:18:38.435Z,1743455918.435 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20250331T210851/Courier0007.lzma
2025-03-31T21:18:39.437Z,1743455919.437 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0007.lzma.bak
2025-03-31T21:18:39.437Z,1743455919.437 [DataOverHttps](INFO): SBD MOMSN=24504032
2025-03-31T21:18:57.780Z,1743455937.780 [DataOverHttps](INFO): Sending 230 bytes from file Logs/20250331T161259/Express0089.lzma
2025-03-31T21:18:58.781Z,1743455938.781 [DataOverHttps](INFO): Moved sent file to Logs/20250331T161259/Express0089.lzma.bak
2025-03-31T21:18:58.782Z,1743455938.782 [DataOverHttps](INFO): SBD MOMSN=24504034
2025-03-31T21:19:14.449Z,1743455954.449 [DataOverHttps](INFO): Sending 1050 bytes from file Logs/20250331T210851/Express0001.lzma
2025-03-31T21:19:15.453Z,1743455955.453 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0001.lzma.bak
2025-03-31T21:19:15.453Z,1743455955.453 [DataOverHttps](INFO): SBD MOMSN=24504040
2025-03-31T21:19:31.131Z,1743455971.131 [DataOverHttps](INFO): Sending 174 bytes from file Logs/20250331T210851/Express0005.lzma
2025-03-31T21:19:32.133Z,1743455972.133 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0005.lzma.bak
2025-03-31T21:19:32.133Z,1743455972.133 [DataOverHttps](INFO): SBD MOMSN=24504068
2025-03-31T21:19:43.529Z,1743455983.529 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-31T21:19:43.529Z,1743455983.529 [NAL9602] Data Fault, FailCount= 1
2025-03-31T21:19:43.529Z,1743455983.529 [NAL9602](ERROR): Data Fault
2025-03-31T21:19:43.576Z,1743455983.576 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-31T21:19:43.933Z,1743455983.933 [NAL9602](INFO): Powering down
2025-03-31T21:19:44.783Z,1743455984.783 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-31T21:19:44.783Z,1743455984.783 [NAL9602] No Fault, FailCount= 1
2025-03-31T21:19:47.779Z,1743455987.779 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20250331T210851/Express0008.lzma
2025-03-31T21:19:48.781Z,1743455988.781 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0008.lzma.bak
2025-03-31T21:19:48.781Z,1743455988.781 [DataOverHttps](INFO): SBD MOMSN=24504073
2025-03-31T21:19:50.004Z,1743455990.004 [Default:CheckIn:Read_Iridium] Stopped
2025-03-31T21:19:50.005Z,1743455990.005 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-31T21:19:50.005Z,1743455990.005 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:20:14.237Z,1743456014.237 [NAL9602](INFO): Powering up NAL9602
2025-03-31T21:20:25.155Z,1743456025.155 [NAL9602](INFO): NAL9602 initialized
2025-03-31T21:21:05.616Z,1743456065.616 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2025-03-31T21:21:05.616Z,1743456065.616 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-31T21:21:05.627Z,1743456065.627 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-31T21:21:06.034Z,1743456066.034 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-31T21:21:06.034Z,1743456066.034 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2025-03-31T21:22:32.035Z,1743456152.035 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212231.00,A,3648.17713,N,12147.27981,W,0.058,0.00,310325,,,A*78
2025-03-31T21:22:32.039Z,1743456152.039 [NAL9602](INFO): GPS fix at 20250331T212231: (36.802952, -121.787997)
2025-03-31T21:23:04.361Z,1743456184.361 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:24:31.345Z,1743456271.345 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T212430
2025-03-31T21:24:38.803Z,1743456278.803 [DataOverHttps](INFO): Received command: ibit
2025-03-31T21:24:38.856Z,1743456278.856 [CommandExec](IMPORTANT): got command ibit
2025-03-31T21:24:38.938Z,1743456278.938 [IBIT](IMPORTANT): Beginning Initiated BIT
2025-03-31T21:24:38.938Z,1743456278.938 [IBIT](IMPORTANT): Beginning control surface checks.
2025-03-31T21:24:38.946Z,1743456278.946 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-31T21:24:40.514Z,1743456280.514 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212439.00,A,3648.16049,N,12147.24909,W,1.283,150.92,310325,,,A*76
2025-03-31T21:24:40.516Z,1743456280.516 [NAL9602](INFO): GPS fix at 20250331T212439: (36.802675, -121.787485)
2025-03-31T21:24:43.540Z,1743456283.540 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.000536
CHAN A1 (24V): 0.000079
CHAN A2 (12V): -0.000678
CHAN A3 (5V): -0.001778
CHAN B0 (3.3V): 0.000314
CHAN B1 (3.15aV): 0.000260
CHAN B2 (3.15bV): -0.000098
CHAN B3 (GND): -0.000018
OPEN: 0.006842
Full Scale: +/- 1 mA
2025-03-31T21:24:46.174Z,1743456286.174 [NAL9602](INFO): SBD MO Status=0, MOMSN=22223, MT Status=0, MTMSN=0
2025-03-31T21:24:46.174Z,1743456286.174 [NAL9602](INFO): No messages in MT queue
2025-03-31T21:24:47.397Z,1743456287.397 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212446.00,A,3648.15922,N,12147.24879,W,0.058,150.92,310325,,,A*7A
2025-03-31T21:24:47.399Z,1743456287.399 [NAL9602](INFO): GPS fix at 20250331T212446: (36.802654, -121.787480)
2025-03-31T21:24:49.807Z,1743456289.807 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212449.00,A,3648.15908,N,12147.24870,W,0.311,150.92,310325,,,A*7A
2025-03-31T21:24:49.809Z,1743456289.809 [NAL9602](INFO): GPS fix at 20250331T212449: (36.802651, -121.787478)
2025-03-31T21:24:53.087Z,1743456293.087 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212452.00,A,3648.15860,N,12147.24866,W,1.030,150.92,310325,,,A*79
2025-03-31T21:24:53.089Z,1743456293.089 [NAL9602](INFO): GPS fix at 20250331T212452: (36.802643, -121.787478)
2025-03-31T21:24:55.871Z,1743456295.871 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212455.00,A,3648.15770,N,12147.24873,W,0.952,150.92,310325,,,A*78
2025-03-31T21:24:55.874Z,1743456295.874 [NAL9602](INFO): GPS fix at 20250331T212455: (36.802628, -121.787479)
2025-03-31T21:24:59.101Z,1743456299.101 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212458.00,A,3648.15679,N,12147.24905,W,1.166,150.92,310325,,,A*73
2025-03-31T21:24:59.103Z,1743456299.103 [NAL9602](INFO): GPS fix at 20250331T212458: (36.802613, -121.787484)
2025-03-31T21:25:01.931Z,1743456301.931 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212501.00,A,3648.15593,N,12147.24981,W,1.147,177.04,310325,,,A*7C
2025-03-31T21:25:01.933Z,1743456301.933 [NAL9602](INFO): GPS fix at 20250331T212501: (36.802599, -121.787497)
2025-03-31T21:25:05.162Z,1743456305.162 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212504.00,A,3648.15519,N,12147.25040,W,0.603,202.87,310325,,,A*72
2025-03-31T21:25:05.164Z,1743456305.164 [NAL9602](INFO): GPS fix at 20250331T212504: (36.802586, -121.787507)
2025-03-31T21:25:07.990Z,1743456307.990 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212507.00,A,3648.15419,N,12147.25087,W,1.497,204.27,310325,,,A*79
2025-03-31T21:25:07.992Z,1743456307.992 [NAL9602](INFO): GPS fix at 20250331T212507: (36.802570, -121.787515)
2025-03-31T21:25:10.818Z,1743456310.818 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212510.00,A,3648.15309,N,12147.25152,W,1.652,199.68,310325,,,A*77
2025-03-31T21:25:10.821Z,1743456310.821 [NAL9602](INFO): GPS fix at 20250331T212510: (36.802551, -121.787525)
2025-03-31T21:25:14.047Z,1743456314.047 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212513.00,A,3648.15186,N,12147.25190,W,1.438,199.68,310325,,,A*71
2025-03-31T21:25:14.057Z,1743456314.057 [NAL9602](INFO): GPS fix at 20250331T212513: (36.802531, -121.787532)
2025-03-31T21:25:16.876Z,1743456316.876 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212516.00,A,3648.15074,N,12147.25257,W,1.438,195.78,310325,,,A*7D
2025-03-31T21:25:16.878Z,1743456316.878 [NAL9602](INFO): GPS fix at 20250331T212516: (36.802512, -121.787543)
2025-03-31T21:25:20.108Z,1743456320.108 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212519.00,A,3648.14966,N,12147.25285,W,1.361,197.30,310325,,,A*73
2025-03-31T21:25:20.110Z,1743456320.110 [NAL9602](INFO): GPS fix at 20250331T212519: (36.802494, -121.787548)
2025-03-31T21:25:22.942Z,1743456322.942 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212522.00,A,3648.14870,N,12147.25313,W,1.244,197.08,310325,,,A*7E
2025-03-31T21:25:22.945Z,1743456322.945 [NAL9602](INFO): GPS fix at 20250331T212522: (36.802478, -121.787552)
2025-03-31T21:25:24.979Z,1743456324.979 [IBIT](IMPORTANT): Communications Status:
Fix Status: 1
Iridium Signal Strength: 5
Latitude: 36.802479 Longitude: -121.787552
2025-03-31T21:25:25.397Z,1743456325.397 [IBIT](IMPORTANT): Battery Status:
Battery Charge (AH): 0.000000
Voltage: 16.413000
2025-03-31T21:25:25.397Z,1743456325.397 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah
2025-03-31T21:25:25.397Z,1743456325.397 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V
2025-03-31T21:25:25.766Z,1743456325.766 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212525.00,A,3648.14772,N,12147.25322,W,1.225,197.08,310325,,,A*71
2025-03-31T21:25:25.768Z,1743456325.768 [NAL9602](INFO): GPS fix at 20250331T212525: (36.802462, -121.787554)
2025-03-31T21:25:25.784Z,1743456325.784 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2025-03-31T21:25:25.785Z,1743456325.785 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi
2025-03-31T21:25:25.785Z,1743456325.785 [IBIT](IMPORTANT): Pressure:10.336559 PSI
2025-03-31T21:25:25.785Z,1743456325.785 [IBIT](IMPORTANT): Humidity:23.995850 %
2025-03-31T21:25:26.205Z,1743456326.205 [IBIT](IMPORTANT): Vehicle Pitch:-7.357170 degrees
2025-03-31T21:25:26.206Z,1743456326.206 [IBIT](IMPORTANT): Vehicle Roll:3.336468 degrees
2025-03-31T21:25:26.206Z,1743456326.206 [IBIT](IMPORTANT): Vehicle Heading:14.026386 degrees
2025-03-31T21:25:26.596Z,1743456326.596 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m
2025-03-31T21:25:26.597Z,1743456326.597 [IBIT](IMPORTANT): buoyancyNeutral: 196.000000 cc
2025-03-31T21:25:26.597Z,1743456326.597 [IBIT](IMPORTANT): massDefault: 1.487036 cm
2025-03-31T21:25:26.597Z,1743456326.597 [IBIT](IMPORTANT): stopDepth: 275.000000 m
2025-03-31T21:25:26.597Z,1743456326.597 [IBIT](IMPORTANT): abortDepth: 300.000000 m
2025-03-31T21:25:26.597Z,1743456326.597 [IBIT](IMPORTANT): IBIT PASSED
2025-03-31T21:25:26.992Z,1743456326.992 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-31T21:25:26.992Z,1743456326.992 [Default:CheckIn:C.Wait] Stopped
2025-03-31T21:25:26.992Z,1743456326.992 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:25:26.992Z,1743456326.992 [Default:CheckIn:D] Running Loop=1
2025-03-31T21:25:27.395Z,1743456327.395 [Default:CheckIn:D] Stopped
2025-03-31T21:25:27.395Z,1743456327.395 [Default:CheckIn:E] Running Loop=1
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 12.177101 min
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn:E] Stopped
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn] Stopped
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn](INFO): Running loop #2
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn] Running Loop=2
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-31T21:25:27.800Z,1743456327.800 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-31T21:25:30.210Z,1743456330.210 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212529.00,A,3648.14629,N,12147.25318,W,1.361,197.08,310325,,,A*7A
2025-03-31T21:25:30.212Z,1743456330.212 [NAL9602](INFO): GPS fix at 20250331T212529: (36.802438, -121.787553)
2025-03-31T21:25:30.224Z,1743456330.224 [Default:CheckIn:Read_GPS] Stopped
2025-03-31T21:25:30.224Z,1743456330.224 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-31T21:25:38.031Z,1743456338.031 [DataOverHttps](INFO): Sending 226 bytes from file Logs/20250331T210851/Courier0010.lzma
2025-03-31T21:25:39.033Z,1743456339.033 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0010.lzma.bak
2025-03-31T21:25:39.033Z,1743456339.033 [DataOverHttps](INFO): SBD MOMSN=24504086
2025-03-31T21:25:54.914Z,1743456354.914 [DataOverHttps](INFO): Sending 1303 bytes from file Logs/20250331T210851/Express0011.lzma
2025-03-31T21:25:55.914Z,1743456355.914 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0011.lzma.bak
2025-03-31T21:25:55.914Z,1743456355.914 [DataOverHttps](INFO): SBD MOMSN=24504089
2025-03-31T21:26:02.528Z,1743456362.528 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:26:11.847Z,1743456371.847 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250331T210851/Express0014.lzma
2025-03-31T21:26:12.850Z,1743456372.850 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0014.lzma.bak
2025-03-31T21:26:12.850Z,1743456372.850 [DataOverHttps](INFO): SBD MOMSN=24504132
2025-03-31T21:26:14.258Z,1743456374.258 [Default:CheckIn:Read_Iridium] Stopped
2025-03-31T21:26:14.258Z,1743456374.258 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-31T21:26:14.258Z,1743456374.258 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:31:15.006Z,1743456675.006 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-03-31T21:31:15.006Z,1743456675.006 [Default:CheckIn:C.Wait] Stopped
2025-03-31T21:31:15.006Z,1743456675.006 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:31:15.007Z,1743456675.007 [Default:CheckIn:D] Running Loop=1
2025-03-31T21:31:15.400Z,1743456675.400 [Default:CheckIn:D] Stopped
2025-03-31T21:31:15.400Z,1743456675.400 [Default:CheckIn:E] Running Loop=1
2025-03-31T21:31:15.807Z,1743456675.807 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 17.977181 min
2025-03-31T21:31:15.807Z,1743456675.807 [Default:CheckIn:E] Stopped
2025-03-31T21:31:15.807Z,1743456675.807 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-03-31T21:31:15.807Z,1743456675.807 [Default:CheckIn] Stopped
2025-03-31T21:31:15.807Z,1743456675.807 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-31T21:31:15.808Z,1743456675.808 [Default:CheckIn](INFO): Running loop #3
2025-03-31T21:31:15.808Z,1743456675.808 [Default:CheckIn] Running Loop=3
2025-03-31T21:31:15.808Z,1743456675.808 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-31T21:31:15.808Z,1743456675.808 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-31T21:31:17.810Z,1743456677.810 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213117.00,A,3648.08644,N,12147.33008,W,0.097,39.27,310325,,,D*47
2025-03-31T21:31:17.822Z,1743456677.822 [NAL9602](INFO): GPS fix at 20250331T213117: (36.801441, -121.788835)
2025-03-31T21:31:17.834Z,1743456677.834 [Default:CheckIn:Read_GPS] Stopped
2025-03-31T21:31:17.834Z,1743456677.834 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-31T21:31:25.791Z,1743456685.791 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250331T210851/Courier0016.lzma
2025-03-31T21:31:27.797Z,1743456687.797 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0016.lzma.bak
2025-03-31T21:31:27.797Z,1743456687.797 [DataOverHttps](INFO): SBD MOMSN=24504178
2025-03-31T21:31:30.338Z,1743456690.338 [NAL9602](INFO): SBD MO Status=0, MOMSN=22224, MT Status=0, MTMSN=0
2025-03-31T21:31:30.338Z,1743456690.338 [NAL9602](INFO): No messages in MT queue
2025-03-31T21:31:43.651Z,1743456703.651 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20250331T210851/Express0017.lzma
2025-03-31T21:31:44.653Z,1743456704.653 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0017.lzma.bak
2025-03-31T21:31:44.653Z,1743456704.653 [DataOverHttps](INFO): SBD MOMSN=24504181
2025-03-31T21:31:45.707Z,1743456705.707 [Default:CheckIn:Read_Iridium] Stopped
2025-03-31T21:31:45.707Z,1743456705.707 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-31T21:31:45.707Z,1743456705.707 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:32:01.048Z,1743456721.048 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:32:57.405Z,1743456777.405 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T213256
2025-03-31T21:33:04.879Z,1743456784.879 [DataOverHttps](INFO): Received command: run Transport/transit_surface.tl
2025-03-31T21:33:04.951Z,1743456784.951 [CommandExec](IMPORTANT): got command run ./Missions/Transport/transit_surface.tl
2025-03-31T21:33:04.951Z,1743456784.951 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit_surface.tl
2025-03-31T21:33:04.952Z,1743456784.952 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit_surface.tl
2025-03-31T21:33:04.953Z,1743456784.953 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit_surface.tl
2025-03-31T21:33:05.626Z,1743456785.626 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit_surface.tl translated into:
60
30
36.797
-121.847
0
0
0.1
1.2
2
7
-7
0.5
1
GPS Underway - last time_fix was:
2025-03-31T21:33:05.657Z,1743456785.657 [MissionManager](INFO): DefineArg transit_surface.MissionTimeout = 60.000000 min
2025-03-31T21:33:05.665Z,1743456785.665 [MissionManager](INFO): DefineArg transit_surface.NeedCommsTime = 30.000000 min
2025-03-31T21:33:05.670Z,1743456785.670 [MissionManager](INFO): DefineArg transit_surface.Latitude = 36.797001 arcdeg
2025-03-31T21:33:05.673Z,1743456785.673 [MissionManager](INFO): DefineArg transit_surface.Longitude = -121.847000 arcdeg
2025-03-31T21:33:05.675Z,1743456785.675 [MissionManager](INFO): DefineArg transit_surface.Northings = 0.000000 m
2025-03-31T21:33:05.678Z,1743456785.678 [MissionManager](INFO): DefineArg transit_surface.Eastings = 0.000000 m
2025-03-31T21:33:05.681Z,1743456785.681 [MissionManager](INFO): DefineArg transit_surface.Depth = 0.100000 m
2025-03-31T21:33:05.684Z,1743456785.684 [MissionManager](INFO): DefineArg transit_surface.Speed = 1.200000 m/s
2025-03-31T21:33:05.687Z,1743456785.687 [MissionManager](INFO): DefineArg transit_surface.MaxDepth = 2.000000 m
2025-03-31T21:33:05.690Z,1743456785.690 [MissionManager](INFO): DefineArg transit_surface.MinAltitude = 7.000000 m
2025-03-31T21:33:05.693Z,1743456785.693 [MissionManager](INFO): DefineArg transit_surface.ElevatorAngle = -7.000000 arcdeg
2025-03-31T21:33:05.696Z,1743456785.696 [MissionManager](INFO): DefineArg transit_surface.NeedGPSTime = 0.500000 min
2025-03-31T21:33:05.698Z,1743456785.698 [MissionManager](INFO): DefineArg transit_surface.MassHold = 1 bool
2025-03-31T21:33:05.753Z,1743456785.753 [MissionManager](INFO): DefineArg transit_surface.BuoyancyHold = 1 bool
2025-03-31T21:33:05.753Z,1743456785.753 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-31T21:33:05.754Z,1743456785.754 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-31T21:33:05.755Z,1743456785.755 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-31T21:33:06.086Z,1743456786.086 [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
2025-03-31T21:33:06.092Z,1743456786.092 [MissionManager](INFO): DefineArg transit_surface:NeedComms.DiveInterval = 1.000000 h
2025-03-31T21:33:06.095Z,1743456786.095 [MissionManager](INFO): DefineArg transit_surface:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-31T21:33:06.118Z,1743456786.118 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-31T21:33:06.121Z,1743456786.121 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceDepthRate = nan m/s
2025-03-31T21:33:06.123Z,1743456786.123 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-31T21:33:06.126Z,1743456786.126 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-31T21:33:06.170Z,1743456786.170 [MissionManager](INFO): DefineArg transit_surface:NeedComms.GPSTimeout = 7.000000 min
2025-03-31T21:33:06.185Z,1743456786.185 [MissionManager](INFO): DefineArg transit_surface:NeedComms.CommsTimeout = 30.000000 min
2025-03-31T21:33:06.203Z,1743456786.203 [transit_surface:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-31T21:33:06.249Z,1743456786.249 [transit_surface:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-31T21:33:06.267Z,1743456786.267 [transit_surface:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-31T21:33:06.288Z,1743456786.288 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-31T21:33:06.289Z,1743456786.289 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-31T21:33:06.296Z,1743456786.296 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-31T21:33:06.343Z,1743456786.343 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-03-31T21:33:06.353Z,1743456786.353 [MissionManager](INFO): DefineArg transit_surface:BackseatDriver.EnableBackseat = 0 bool
2025-03-31T21:33:06.360Z,1743456786.360 [transit_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-31T21:33:06.363Z,1743456786.363 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-31T21:33:06.367Z,1743456786.367 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-31T21:33:06.368Z,1743456786.368 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-31T21:33:06.616Z,1743456786.616 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-03-31T21:33:06.636Z,1743456786.636 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleAll = 0 bool
2025-03-31T21:33:06.639Z,1743456786.639 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad1 = 0 bool
2025-03-31T21:33:06.645Z,1743456786.645 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad2 = 0 bool
2025-03-31T21:33:06.660Z,1743456786.660 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad3 = 0 bool
2025-03-31T21:33:06.668Z,1743456786.668 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-31T21:33:06.688Z,1743456786.688 [transit_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-31T21:33:06.690Z,1743456786.690 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-31T21:33:06.694Z,1743456786.694 [transit_surface:MassHold.Pitch](DEBUG): Construct.
2025-03-31T21:33:06.713Z,1743456786.713 [transit_surface:J.Pitch](DEBUG): Construct.
2025-03-31T21:33:06.728Z,1743456786.728 [transit_surface:Transit:A.Pitch](DEBUG): Construct.
2025-03-31T21:33:06.734Z,1743456786.734 [transit_surface:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-31T21:33:06.762Z,1743456786.762 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-31T21:33:06.798Z,1743456786.798 [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_surface {
"""
Vehicle transits to desired waypoint on the surface and can be commanded to use/hold
mass or buoyancy. Useful for shore launch/recovery.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = 36.797 degree
"""
Latitude of waypoint to seek.
"""
Longitude = -121.847 degree
"""
Longitude of waypoint to seek.
"""
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 = 0.1 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1.2 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 2 meter
"""
Maximum depth for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
ElevatorAngle = -7 degree
"""
Holds elevator angle to keep vehicle pitched up on the surface.
"""
NeedGPSTime = 0.5 minute
"""
After this time elapses grab a fix underway
"""
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 default (note: note 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
behavior Guidance:AltitudeEnvelope {
run in parallel
set minAltitude = MinAltitude
}
behavior Guidance:DepthEnvelope {
run in parallel
set maxDepth = MaxDepth
}
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyDefault
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
behavior Guidance:Pitch {
run in parallel
set elevatorAngle = ElevatorAngle
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
aggregate UpdateShore {
run when (
elapsed ( Universal:time_fix ) > NeedGPSTime
)
syslog info "GPS Underway - last time_fix was: " + Universal:time_fix~epoch_second
readDatum id="Read_GPS" {
timeout duration=P1M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P1M
Universal:platform_communications
}
}
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"
}
}
2025-03-31T21:33:06.805Z,1743456786.805 [CommandExec](IMPORTANT): Running ./Missions/Transport/transit_surface.tl
2025-03-31T21:33:06.980Z,1743456786.980 [Default] Stopped
2025-03-31T21:33:06.980Z,1743456786.980 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-31T21:33:06.980Z,1743456786.980 [Default:B.GoToSurface] Stopped
2025-03-31T21:33:06.980Z,1743456786.980 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T21:33:06.980Z,1743456786.980 [Default:CheckIn] Stopped
2025-03-31T21:33:06.980Z,1743456786.980 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-31T21:33:06.980Z,1743456786.980 [Default:CheckIn:C.Wait] Stopped
2025-03-31T21:33:06.980Z,1743456786.980 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:33:06.980Z,1743456786.980 [MissionManager](IMPORTANT): Started mission transit_surface
2025-03-31T21:33:06.981Z,1743456786.981 [transit_surface] Running Loop=1
2025-03-31T21:33:06.981Z,1743456786.981 [transit_surface](DEBUG): Aggregate::initialize transit_surface
2025-03-31T21:33:06.981Z,1743456786.981 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-03-31T21:33:06.981Z,1743456786.981 [transit_surface:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-31T21:33:06.981Z,1743456786.981 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-03-31T21:33:06.981Z,1743456786.981 [transit_surface:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:BackseatDriver] Running Loop=1
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:BackseatDriver](DEBUG): Aggregate::initialize transit_surface:BackseatDriver
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:PowerOnly] Running Loop=1
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:PowerOnly](DEBUG): Aggregate::initialize transit_surface:PowerOnly
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:PowerOnly:A] Running Loop=1
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:PowerOnly:B] Running Loop=1
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:PowerOnly:C] Running Loop=1
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:PowerOnly:D] Running Loop=1
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:PowerOnly:E.Wait] Running Loop=1
2025-03-31T21:33:06.982Z,1743456786.982 [transit_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:33:06.983Z,1743456786.983 [transit_surface:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-31T21:33:06.983Z,1743456786.983 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-31T21:33:06.983Z,1743456786.983 [transit_surface:MassHold.Pitch] Running Loop=1
2025-03-31T21:33:06.983Z,1743456786.983 [transit_surface:MassHold.Pitch](DEBUG): Initialize.
2025-03-31T21:33:06.983Z,1743456786.983 [transit_surface:J.Pitch] Running Loop=1
2025-03-31T21:33:06.983Z,1743456786.983 [transit_surface:J.Pitch](DEBUG): Initialize.
2025-03-31T21:33:06.984Z,1743456786.984 [transit_surface:B] Running Loop=1
2025-03-31T21:33:06.984Z,1743456786.984 [transit_surface:J.Pitch] Running Loop=1
2025-03-31T21:33:06.985Z,1743456786.985 [transit_surface:MassHold.Pitch] Running Loop=1
2025-03-31T21:33:06.985Z,1743456786.985 [transit_surface:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-31T21:33:06.985Z,1743456786.985 [transit_surface:PowerOnly] Running Loop=1
2025-03-31T21:33:06.985Z,1743456786.985 [transit_surface:PowerOnly:D] Stopped
2025-03-31T21:33:06.985Z,1743456786.985 [transit_surface:PowerOnly:C] Stopped
2025-03-31T21:33:06.986Z,1743456786.986 [transit_surface:PowerOnly:B] Stopped
2025-03-31T21:33:06.986Z,1743456786.986 [transit_surface:PowerOnly:A] Stopped
2025-03-31T21:33:06.986Z,1743456786.986 [transit_surface:BackseatDriver] Running Loop=1
2025-03-31T21:33:06.986Z,1743456786.986 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-03-31T21:33:06.987Z,1743456786.987 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-03-31T21:33:06.988Z,1743456786.988 [transit_surface:B] Stopped
2025-03-31T21:33:06.988Z,1743456786.988 [transit_surface:C] Running Loop=1
2025-03-31T21:33:07.390Z,1743456787.390 [transit_surface:C] Stopped
2025-03-31T21:33:07.391Z,1743456787.391 [transit_surface:Transit] Running Loop=1
2025-03-31T21:33:07.391Z,1743456787.391 [transit_surface:Transit](DEBUG): Aggregate::initialize transit_surface:Transit
2025-03-31T21:33:07.391Z,1743456787.391 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-03-31T21:33:07.391Z,1743456787.391 [transit_surface:Transit:A.Pitch](DEBUG): Initialize.
2025-03-31T21:33:07.391Z,1743456787.391 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-03-31T21:33:07.391Z,1743456787.391 [transit_surface:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-31T21:33:07.392Z,1743456787.392 [transit_surface:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-31T21:33:07.392Z,1743456787.392 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-31T21:33:07.422Z,1743456787.422 [transit_surface:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-31T21:33:07.776Z,1743456787.776 [transit_surface:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-31T21:33:07.777Z,1743456787.777 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:33:07.777Z,1743456787.777 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:33:07.777Z,1743456787.777 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:33:07.777Z,1743456787.777 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743456677.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:33:07.778Z,1743456787.778 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:33:07.778Z,1743456787.778 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:33:07.778Z,1743456787.778 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-03-31T21:33:07.778Z,1743456787.778 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-03-31T21:33:07.786Z,1743456787.786 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-03-31T21:33:07.787Z,1743456787.787 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-03-31T21:33:07.803Z,1743456787.803 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-03-31T21:33:08.181Z,1743456788.181 [transit_surface:Transit:UpdateShore:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-31T21:33:08.593Z,1743456788.593 [transit_surface:D.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-03-31T21:33:09.794Z,1743456789.794 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213309.00,A,3648.07776,N,12147.34718,W,0.058,176.71,310325,,,D*7E
2025-03-31T21:33:09.797Z,1743456789.797 [NAL9602](INFO): GPS fix at 20250331T213309: (36.801296, -121.789120)
2025-03-31T21:33:09.809Z,1743456789.809 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:33:09.809Z,1743456789.809 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:33:10.218Z,1743456790.218 [transit_surface:Transit:UpdateShore:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-31T21:33:17.971Z,1743456797.971 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250331T210851/Courier0019.lzma
2025-03-31T21:33:18.973Z,1743456798.973 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0019.lzma.bak
2025-03-31T21:33:18.973Z,1743456798.973 [DataOverHttps](INFO): SBD MOMSN=24504187
2025-03-31T21:33:23.946Z,1743456803.946 [NAL9602](INFO): SBD MO Status=0, MOMSN=22225, MT Status=0, MTMSN=0
2025-03-31T21:33:23.946Z,1743456803.946 [NAL9602](INFO): No messages in MT queue
2025-03-31T21:33:35.754Z,1743456815.754 [DataOverHttps](INFO): Sending 317 bytes from file Logs/20250331T210851/Express0020.lzma
2025-03-31T21:33:36.749Z,1743456816.749 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0020.lzma.bak
2025-03-31T21:33:36.749Z,1743456816.749 [DataOverHttps](INFO): SBD MOMSN=24504195
2025-03-31T21:33:53.799Z,1743456833.799 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250331T210851/Express0023.lzma
2025-03-31T21:33:54.649Z,1743456834.649 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:33:54.802Z,1743456834.802 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0023.lzma.bak
2025-03-31T21:33:54.802Z,1743456834.802 [DataOverHttps](INFO): SBD MOMSN=24504206
2025-03-31T21:33:55.880Z,1743456835.880 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:33:55.881Z,1743456835.881 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:33:55.881Z,1743456835.881 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:33:55.881Z,1743456835.881 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:33:56.281Z,1743456836.281 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:33:56.281Z,1743456836.281 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:33:56.281Z,1743456836.281 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:33:56.282Z,1743456836.282 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743456789.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:33:56.282Z,1743456836.282 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:33:56.282Z,1743456836.282 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:33:58.286Z,1743456838.286 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213357.00,A,3648.07814,N,12147.34726,W,0.097,77.31,310325,,,D*44
2025-03-31T21:33:58.288Z,1743456838.288 [NAL9602](INFO): GPS fix at 20250331T213357: (36.801302, -121.789121)
2025-03-31T21:33:58.329Z,1743456838.329 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:33:58.330Z,1743456838.330 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:34:08.114Z,1743456848.114 [NAL9602](INFO): SBD MO Status=0, MOMSN=22226, MT Status=0, MTMSN=0
2025-03-31T21:34:08.114Z,1743456848.114 [NAL9602](INFO): No messages in MT queue
2025-03-31T21:34:11.695Z,1743456851.695 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250331T210851/Courier0025.lzma
2025-03-31T21:34:12.697Z,1743456852.697 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0025.lzma.bak
2025-03-31T21:34:12.697Z,1743456852.697 [DataOverHttps](INFO): SBD MOMSN=24504208
2025-03-31T21:34:29.291Z,1743456869.291 [DataOverHttps](INFO): Sending 116 bytes from file Logs/20250331T210851/Express0026.lzma
2025-03-31T21:34:30.293Z,1743456870.293 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0026.lzma.bak
2025-03-31T21:34:30.293Z,1743456870.293 [DataOverHttps](INFO): SBD MOMSN=24504211
2025-03-31T21:34:31.561Z,1743456871.561 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:34:31.562Z,1743456871.562 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:34:31.562Z,1743456871.562 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:34:31.562Z,1743456871.562 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:34:31.968Z,1743456871.968 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:34:31.968Z,1743456871.968 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:34:31.968Z,1743456871.968 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:34:31.969Z,1743456871.969 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743456837.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:34:31.969Z,1743456871.969 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:34:31.969Z,1743456871.969 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:34:33.984Z,1743456873.984 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213433.00,A,3648.07843,N,12147.34724,W,0.039,77.31,310325,,,D*45
2025-03-31T21:34:33.986Z,1743456873.986 [NAL9602](INFO): GPS fix at 20250331T213433: (36.801307, -121.789121)
2025-03-31T21:34:34.011Z,1743456874.011 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:34:34.015Z,1743456874.015 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:34:47.071Z,1743456887.071 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250331T210851/Courier0028.lzma
2025-03-31T21:34:48.074Z,1743456888.074 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0028.lzma.bak
2025-03-31T21:34:48.074Z,1743456888.074 [DataOverHttps](INFO): SBD MOMSN=24504214
2025-03-31T21:35:06.500Z,1743456906.500 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:35:08.667Z,1743456908.667 [DataOverHttps](INFO): Sending 106 bytes from file Logs/20250331T210851/Express0029.lzma
2025-03-31T21:35:09.669Z,1743456909.669 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0029.lzma.bak
2025-03-31T21:35:09.669Z,1743456909.669 [DataOverHttps](INFO): SBD MOMSN=24504217
2025-03-31T21:35:10.960Z,1743456910.960 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:35:10.961Z,1743456910.961 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:35:10.961Z,1743456910.961 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:35:10.961Z,1743456910.961 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:35:11.357Z,1743456911.357 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:35:11.357Z,1743456911.357 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:35:11.357Z,1743456911.357 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:35:11.357Z,1743456911.357 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743456873.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:35:11.357Z,1743456911.357 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:35:11.357Z,1743456911.357 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:35:13.366Z,1743456913.366 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213512.00,A,3648.07781,N,12147.34764,W,0.039,77.31,310325,,,D*42
2025-03-31T21:35:13.369Z,1743456913.369 [NAL9602](INFO): GPS fix at 20250331T213512: (36.801297, -121.789127)
2025-03-31T21:35:13.424Z,1743456913.424 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:35:13.425Z,1743456913.425 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:35:18.745Z,1743456918.745 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T213517
2025-03-31T21:35:25.254Z,1743456925.254 [NAL9602](INFO): SBD MO Status=0, MOMSN=22227, MT Status=0, MTMSN=0
2025-03-31T21:35:25.254Z,1743456925.254 [NAL9602](INFO): No messages in MT queue
2025-03-31T21:35:26.495Z,1743456926.495 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250331T210851/Courier0031.lzma
2025-03-31T21:35:26.497Z,1743456926.497 [DataOverHttps](INFO): Received command: stop
2025-03-31T21:35:26.560Z,1743456926.560 [CommandExec](IMPORTANT): got command stop
2025-03-31T21:35:26.560Z,1743456926.560 [CommandExec](IMPORTANT): Scheduling is paused
2025-03-31T21:35:26.560Z,1743456926.560 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-03-31T21:35:26.881Z,1743456926.881 [MissionManager](INFO): MissionManager is completed.
2025-03-31T21:35:26.881Z,1743456926.881 [MissionManager](INFO): Uninitializing Mission transit_surface
2025-03-31T21:35:26.881Z,1743456926.881 [transit_surface] Stopped
2025-03-31T21:35:26.881Z,1743456926.881 [transit_surface](DEBUG): Aggregate::uninitialize transit_surface
2025-03-31T21:35:26.881Z,1743456926.881 [transit_surface:D.AltitudeEnvelope] Stopped
2025-03-31T21:35:26.881Z,1743456926.881 [transit_surface:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-31T21:35:26.881Z,1743456926.881 [transit_surface:E.DepthEnvelope] Stopped
2025-03-31T21:35:26.881Z,1743456926.881 [transit_surface:E.DepthEnvelope](DEBUG): Uninitialize.
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:BackseatDriver] Stopped
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:BackseatDriver](DEBUG): Aggregate::uninitialize transit_surface:BackseatDriver
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:PowerOnly] Stopped
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:PowerOnly](DEBUG): Aggregate::uninitialize transit_surface:PowerOnly
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:PowerOnly:E.Wait] Stopped
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:BuoyancyHold.Buoyancy] Stopped
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:MassHold.Pitch] Stopped
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:J.Pitch] Stopped
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:Transit] Stopped
2025-03-31T21:35:26.882Z,1743456926.882 [transit_surface:Transit](DEBUG): Aggregate::uninitialize transit_surface:Transit
2025-03-31T21:35:26.883Z,1743456926.883 [transit_surface:Transit:A.Pitch] Stopped
2025-03-31T21:35:26.883Z,1743456926.883 [transit_surface:Transit:B.SetSpeed] Stopped
2025-03-31T21:35:26.883Z,1743456926.883 [transit_surface:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-31T21:35:26.883Z,1743456926.883 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:35:26.883Z,1743456926.883 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:35:26.883Z,1743456926.883 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:35:26.883Z,1743456926.883 [transit_surface:Transit:Wpt1.Waypoint] Stopped
2025-03-31T21:35:26.883Z,1743456926.883 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-31T21:35:27.291Z,1743456927.291 [MissionManager](IMPORTANT): Started mission Default
2025-03-31T21:35:27.291Z,1743456927.291 [Default] Running Loop=1
2025-03-31T21:35:27.292Z,1743456927.292 [Default](DEBUG): Aggregate::initialize Default
2025-03-31T21:35:27.292Z,1743456927.292 [Default:B.GoToSurface] Running Loop=1
2025-03-31T21:35:27.292Z,1743456927.292 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T21:35:27.292Z,1743456927.292 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-31T21:35:27.292Z,1743456927.292 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-31T21:35:27.293Z,1743456927.293 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-31T21:35:27.293Z,1743456927.293 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-31T21:35:27.293Z,1743456927.293 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T21:35:27.294Z,1743456927.294 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T21:35:27.294Z,1743456927.294 [Default:A.Wait] Running Loop=1
2025-03-31T21:35:27.294Z,1743456927.294 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:35:27.497Z,1743456927.497 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0031.lzma.bak
2025-03-31T21:35:27.497Z,1743456927.497 [DataOverHttps](INFO): SBD MOMSN=24504220
2025-03-31T21:35:40.627Z,1743456940.627 [Default:A.Wait](INFO): Done Waiting.
2025-03-31T21:35:40.627Z,1743456940.627 [Default:A.Wait] Stopped
2025-03-31T21:35:40.628Z,1743456940.628 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:35:41.019Z,1743456941.019 [Default:CheckIn] Running Loop=1
2025-03-31T21:35:41.020Z,1743456941.020 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-31T21:35:41.020Z,1743456941.020 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-31T21:35:43.025Z,1743456943.025 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213542.00,A,3648.07784,N,12147.34754,W,0.019,77.31,310325,,,D*43
2025-03-31T21:35:43.028Z,1743456943.028 [NAL9602](INFO): GPS fix at 20250331T213542: (36.801297, -121.789126)
2025-03-31T21:35:43.039Z,1743456943.039 [Default:CheckIn:Read_GPS] Stopped
2025-03-31T21:35:43.039Z,1743456943.039 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-31T21:35:50.847Z,1743456950.847 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250331T210851/Courier0034.lzma
2025-03-31T21:35:52.853Z,1743456952.853 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0034.lzma.bak
2025-03-31T21:35:52.853Z,1743456952.853 [DataOverHttps](INFO): SBD MOMSN=24504225
2025-03-31T21:36:13.939Z,1743456973.939 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250331T210851/Courier0037.lzma
2025-03-31T21:36:14.941Z,1743456974.941 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0037.lzma.bak
2025-03-31T21:36:14.941Z,1743456974.941 [DataOverHttps](INFO): SBD MOMSN=24504228
2025-03-31T21:36:15.344Z,1743456975.344 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:36:33.019Z,1743456993.019 [DataOverHttps](INFO): Sending 116 bytes from file Logs/20250331T210851/Express0032.lzma
2025-03-31T21:36:34.021Z,1743456994.021 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0032.lzma.bak
2025-03-31T21:36:34.021Z,1743456994.021 [DataOverHttps](INFO): SBD MOMSN=24504230
2025-03-31T21:36:54.999Z,1743457014.999 [DataOverHttps](INFO): Sending 195 bytes from file Logs/20250331T210851/Express0035.lzma
2025-03-31T21:36:56.002Z,1743457016.002 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0035.lzma.bak
2025-03-31T21:36:56.002Z,1743457016.002 [DataOverHttps](INFO): SBD MOMSN=24504232
2025-03-31T21:37:22.379Z,1743457042.379 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250331T210851/Express0038.lzma
2025-03-31T21:37:24.385Z,1743457044.385 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0038.lzma.bak
2025-03-31T21:37:24.386Z,1743457044.386 [DataOverHttps](IMPORTANT): SBD MOMSN=24504239, MTMSN=20250331T213722
2025-03-31T21:37:25.732Z,1743457045.732 [Default:CheckIn:Read_Iridium] Stopped
2025-03-31T21:37:25.732Z,1743457045.732 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-31T21:37:25.733Z,1743457045.733 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:37:31.831Z,1743457051.831 [DataOverHttps](INFO): Received command: run Transport/transit_surface.tl
2025-03-31T21:37:31.855Z,1743457051.855 [CommandExec](IMPORTANT): got command run ./Missions/Transport/transit_surface.tl
2025-03-31T21:37:31.859Z,1743457051.859 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit_surface.tl
2025-03-31T21:37:31.860Z,1743457051.860 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit_surface.tl
2025-03-31T21:37:31.861Z,1743457051.861 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit_surface.tl
2025-03-31T21:37:32.519Z,1743457052.519 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit_surface.tl translated into:
60
30
36.797
-121.847
0
0
0.1
1.2
2
7
-7
0.5
1
GPS Underway - last time_fix was:
2025-03-31T21:37:32.525Z,1743457052.525 [MissionManager](INFO): DefineArg transit_surface.MissionTimeout = 60.000000 min
2025-03-31T21:37:32.528Z,1743457052.528 [MissionManager](INFO): DefineArg transit_surface.NeedCommsTime = 30.000000 min
2025-03-31T21:37:32.530Z,1743457052.530 [MissionManager](INFO): DefineArg transit_surface.Latitude = 36.797001 arcdeg
2025-03-31T21:37:32.532Z,1743457052.532 [MissionManager](INFO): DefineArg transit_surface.Longitude = -121.847000 arcdeg
2025-03-31T21:37:32.534Z,1743457052.534 [MissionManager](INFO): DefineArg transit_surface.Northings = 0.000000 m
2025-03-31T21:37:32.537Z,1743457052.537 [MissionManager](INFO): DefineArg transit_surface.Eastings = 0.000000 m
2025-03-31T21:37:32.539Z,1743457052.539 [MissionManager](INFO): DefineArg transit_surface.Depth = 0.100000 m
2025-03-31T21:37:32.565Z,1743457052.565 [MissionManager](INFO): DefineArg transit_surface.Speed = 1.200000 m/s
2025-03-31T21:37:32.604Z,1743457052.604 [MissionManager](INFO): DefineArg transit_surface.MaxDepth = 2.000000 m
2025-03-31T21:37:32.606Z,1743457052.606 [MissionManager](INFO): DefineArg transit_surface.MinAltitude = 7.000000 m
2025-03-31T21:37:32.616Z,1743457052.616 [MissionManager](INFO): DefineArg transit_surface.ElevatorAngle = -7.000000 arcdeg
2025-03-31T21:37:32.618Z,1743457052.618 [MissionManager](INFO): DefineArg transit_surface.NeedGPSTime = 0.500000 min
2025-03-31T21:37:32.628Z,1743457052.628 [MissionManager](INFO): DefineArg transit_surface.MassHold = 1 bool
2025-03-31T21:37:32.630Z,1743457052.630 [MissionManager](INFO): DefineArg transit_surface.BuoyancyHold = 1 bool
2025-03-31T21:37:32.631Z,1743457052.631 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-31T21:37:32.631Z,1743457052.631 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-31T21:37:32.645Z,1743457052.645 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-31T21:37:32.908Z,1743457052.908 [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
2025-03-31T21:37:32.913Z,1743457052.913 [MissionManager](INFO): DefineArg transit_surface:NeedComms.DiveInterval = 1.000000 h
2025-03-31T21:37:32.915Z,1743457052.915 [MissionManager](INFO): DefineArg transit_surface:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-31T21:37:32.917Z,1743457052.917 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-31T21:37:32.919Z,1743457052.919 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceDepthRate = nan m/s
2025-03-31T21:37:32.921Z,1743457052.921 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-31T21:37:32.924Z,1743457052.924 [MissionManager](INFO): DefineArg transit_surface:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-31T21:37:32.926Z,1743457052.926 [MissionManager](INFO): DefineArg transit_surface:NeedComms.GPSTimeout = 7.000000 min
2025-03-31T21:37:32.952Z,1743457052.952 [MissionManager](INFO): DefineArg transit_surface:NeedComms.CommsTimeout = 30.000000 min
2025-03-31T21:37:32.966Z,1743457052.966 [transit_surface:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-31T21:37:33.046Z,1743457053.046 [transit_surface:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-31T21:37:33.065Z,1743457053.065 [transit_surface:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-31T21:37:33.076Z,1743457053.076 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-31T21:37:33.076Z,1743457053.076 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-31T21:37:33.077Z,1743457053.077 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-31T21:37:33.113Z,1743457053.113 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-03-31T21:37:33.116Z,1743457053.116 [MissionManager](INFO): DefineArg transit_surface:BackseatDriver.EnableBackseat = 0 bool
2025-03-31T21:37:33.118Z,1743457053.118 [transit_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-31T21:37:33.120Z,1743457053.120 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-31T21:37:33.121Z,1743457053.121 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-31T21:37:33.122Z,1743457053.122 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-31T21:37:33.235Z,1743457053.235 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-03-31T21:37:33.239Z,1743457053.239 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleAll = 0 bool
2025-03-31T21:37:33.241Z,1743457053.241 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad1 = 0 bool
2025-03-31T21:37:33.242Z,1743457053.242 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad2 = 0 bool
2025-03-31T21:37:33.244Z,1743457053.244 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.SampleLoad3 = 0 bool
2025-03-31T21:37:33.247Z,1743457053.247 [MissionManager](INFO): DefineArg transit_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-31T21:37:33.253Z,1743457053.253 [transit_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-31T21:37:33.255Z,1743457053.255 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-31T21:37:33.258Z,1743457053.258 [transit_surface:MassHold.Pitch](DEBUG): Construct.
2025-03-31T21:37:33.263Z,1743457053.263 [transit_surface:J.Pitch](DEBUG): Construct.
2025-03-31T21:37:33.304Z,1743457053.304 [transit_surface:Transit:A.Pitch](DEBUG): Construct.
2025-03-31T21:37:33.312Z,1743457053.312 [transit_surface:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-31T21:37:33.324Z,1743457053.324 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-31T21:37:33.339Z,1743457053.339 [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_surface {
"""
Vehicle transits to desired waypoint on the surface and can be commanded to use/hold
mass or buoyancy. Useful for shore launch/recovery.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = 36.797 degree
"""
Latitude of waypoint to seek.
"""
Longitude = -121.847 degree
"""
Longitude of waypoint to seek.
"""
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 = 0.1 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1.2 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 2 meter
"""
Maximum depth for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
ElevatorAngle = -7 degree
"""
Holds elevator angle to keep vehicle pitched up on the surface.
"""
NeedGPSTime = 0.5 minute
"""
After this time elapses grab a fix underway
"""
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 default (note: note 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
behavior Guidance:AltitudeEnvelope {
run in parallel
set minAltitude = MinAltitude
}
behavior Guidance:DepthEnvelope {
run in parallel
set maxDepth = MaxDepth
}
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyDefault
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
behavior Guidance:Pitch {
run in parallel
set elevatorAngle = ElevatorAngle
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
aggregate UpdateShore {
run when (
elapsed ( Universal:time_fix ) > NeedGPSTime
)
syslog info "GPS Underway - last time_fix was: " + Universal:time_fix~epoch_second
readDatum id="Read_GPS" {
timeout duration=P1M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P1M
Universal:platform_communications
}
}
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"
}
}
2025-03-31T21:37:33.341Z,1743457053.341 [CommandExec](IMPORTANT): Running ./Missions/Transport/transit_surface.tl
2025-03-31T21:37:33.447Z,1743457053.447 [Default] Stopped
2025-03-31T21:37:33.447Z,1743457053.447 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-31T21:37:33.447Z,1743457053.447 [Default:B.GoToSurface] Stopped
2025-03-31T21:37:33.447Z,1743457053.447 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T21:37:33.447Z,1743457053.447 [Default:CheckIn] Stopped
2025-03-31T21:37:33.447Z,1743457053.447 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-31T21:37:33.447Z,1743457053.447 [Default:CheckIn:C.Wait] Stopped
2025-03-31T21:37:33.447Z,1743457053.447 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:37:33.448Z,1743457053.448 [MissionManager](IMPORTANT): Started mission transit_surface
2025-03-31T21:37:33.448Z,1743457053.448 [transit_surface] Running Loop=1
2025-03-31T21:37:33.448Z,1743457053.448 [transit_surface](DEBUG): Aggregate::initialize transit_surface
2025-03-31T21:37:33.448Z,1743457053.448 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-03-31T21:37:33.448Z,1743457053.448 [transit_surface:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-31T21:37:33.448Z,1743457053.448 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-03-31T21:37:33.448Z,1743457053.448 [transit_surface:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:BackseatDriver] Running Loop=1
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:BackseatDriver](DEBUG): Aggregate::initialize transit_surface:BackseatDriver
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:PowerOnly] Running Loop=1
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:PowerOnly](DEBUG): Aggregate::initialize transit_surface:PowerOnly
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:PowerOnly:A] Running Loop=1
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:PowerOnly:B] Running Loop=1
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:PowerOnly:C] Running Loop=1
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:PowerOnly:D] Running Loop=1
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:PowerOnly:E.Wait] Running Loop=1
2025-03-31T21:37:33.449Z,1743457053.449 [transit_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:37:33.450Z,1743457053.450 [transit_surface:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-31T21:37:33.450Z,1743457053.450 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-31T21:37:33.450Z,1743457053.450 [transit_surface:MassHold.Pitch] Running Loop=1
2025-03-31T21:37:33.450Z,1743457053.450 [transit_surface:MassHold.Pitch](DEBUG): Initialize.
2025-03-31T21:37:33.450Z,1743457053.450 [transit_surface:J.Pitch] Running Loop=1
2025-03-31T21:37:33.450Z,1743457053.450 [transit_surface:J.Pitch](DEBUG): Initialize.
2025-03-31T21:37:33.450Z,1743457053.450 [transit_surface:B] Running Loop=1
2025-03-31T21:37:33.451Z,1743457053.451 [transit_surface:J.Pitch] Running Loop=1
2025-03-31T21:37:33.451Z,1743457053.451 [transit_surface:MassHold.Pitch] Running Loop=1
2025-03-31T21:37:33.452Z,1743457053.452 [transit_surface:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-31T21:37:33.452Z,1743457053.452 [transit_surface:PowerOnly] Running Loop=1
2025-03-31T21:37:33.452Z,1743457053.452 [transit_surface:PowerOnly:D] Stopped
2025-03-31T21:37:33.452Z,1743457053.452 [transit_surface:PowerOnly:C] Stopped
2025-03-31T21:37:33.452Z,1743457053.452 [transit_surface:PowerOnly:B] Stopped
2025-03-31T21:37:33.452Z,1743457053.452 [transit_surface:PowerOnly:A] Stopped
2025-03-31T21:37:33.452Z,1743457053.452 [transit_surface:BackseatDriver] Running Loop=1
2025-03-31T21:37:33.453Z,1743457053.453 [transit_surface:E.DepthEnvelope] Running Loop=1
2025-03-31T21:37:33.453Z,1743457053.453 [transit_surface:D.AltitudeEnvelope] Running Loop=1
2025-03-31T21:37:33.453Z,1743457053.453 [transit_surface:B] Stopped
2025-03-31T21:37:33.453Z,1743457053.453 [transit_surface:C] Running Loop=1
2025-03-31T21:37:33.816Z,1743457053.816 [transit_surface:C] Stopped
2025-03-31T21:37:33.816Z,1743457053.816 [transit_surface:Transit] Running Loop=1
2025-03-31T21:37:33.816Z,1743457053.816 [transit_surface:Transit](DEBUG): Aggregate::initialize transit_surface:Transit
2025-03-31T21:37:33.816Z,1743457053.816 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-03-31T21:37:33.816Z,1743457053.816 [transit_surface:Transit:A.Pitch](DEBUG): Initialize.
2025-03-31T21:37:33.817Z,1743457053.817 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-03-31T21:37:33.817Z,1743457053.817 [transit_surface:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-31T21:37:33.817Z,1743457053.817 [transit_surface:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-31T21:37:33.817Z,1743457053.817 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-31T21:37:33.818Z,1743457053.818 [transit_surface:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-31T21:37:34.228Z,1743457054.228 [transit_surface:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-31T21:37:34.228Z,1743457054.228 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:37:34.228Z,1743457054.228 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:37:34.229Z,1743457054.229 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:37:34.229Z,1743457054.229 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743456942.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:37:34.229Z,1743457054.229 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:37:34.229Z,1743457054.229 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:37:34.229Z,1743457054.229 [transit_surface:Transit:B.SetSpeed] Running Loop=1
2025-03-31T21:37:34.230Z,1743457054.230 [transit_surface:Transit:A.Pitch] Running Loop=1
2025-03-31T21:37:34.644Z,1743457054.644 [transit_surface:Transit:UpdateShore:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-31T21:37:35.027Z,1743457055.027 [transit_surface:D.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-03-31T21:37:36.226Z,1743457056.226 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213735.00,A,3648.08491,N,12147.36566,W,1.380,311.77,310325,,,D*7B
2025-03-31T21:37:36.228Z,1743457056.228 [NAL9602](INFO): GPS fix at 20250331T213735: (36.801415, -121.789428)
2025-03-31T21:37:36.241Z,1743457056.241 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:37:36.241Z,1743457056.241 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:37:36.662Z,1743457056.662 [transit_surface:Transit:UpdateShore:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-31T21:37:41.539Z,1743457061.539 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-03-31T21:37:41.629Z,1743457061.629 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-03-31T21:37:41.629Z,1743457061.629 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-03-31T21:37:41.629Z,1743457061.629 [ThrusterHE] Communications Fault, FailCount= 1
2025-03-31T21:37:41.629Z,1743457061.629 [ThrusterHE](ERROR): Communications Fault
2025-03-31T21:37:41.634Z,1743457061.634 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-03-31T21:37:41.740Z,1743457061.740 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-31T21:37:41.740Z,1743457061.740 [ThrusterHE](INFO): Powering down
2025-03-31T21:37:42.528Z,1743457062.528 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-31T21:37:42.648Z,1743457062.648 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-31T21:37:42.652Z,1743457062.652 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-03-31T21:37:42.652Z,1743457062.652 [ThrusterHE] No Fault, FailCount= 1
2025-03-31T21:37:53.582Z,1743457073.582 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250331T210851/Courier0040.lzma
2025-03-31T21:37:54.582Z,1743457074.582 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0040.lzma.bak
2025-03-31T21:37:54.582Z,1743457074.582 [DataOverHttps](INFO): SBD MOMSN=24504242
2025-03-31T21:37:57.007Z,1743457077.007 [NAL9602](INFO): SBD MO Status=2, MOMSN=22228, MT Status=2, MTMSN=0
2025-03-31T21:37:57.007Z,1743457077.007 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T21:38:12.352Z,1743457092.352 [DataOverHttps](INFO): Sending 294 bytes from file Logs/20250331T210851/Express0041.lzma
2025-03-31T21:38:13.353Z,1743457093.353 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0041.lzma.bak
2025-03-31T21:38:13.353Z,1743457093.353 [DataOverHttps](INFO): SBD MOMSN=24504245
2025-03-31T21:38:14.426Z,1743457094.426 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:38:14.427Z,1743457094.427 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:38:14.427Z,1743457094.427 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:38:14.427Z,1743457094.427 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:38:14.794Z,1743457094.794 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:38:14.794Z,1743457094.794 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:38:14.794Z,1743457094.794 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:38:14.795Z,1743457094.795 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743457055.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:38:14.795Z,1743457094.795 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:38:14.795Z,1743457094.795 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:39:00.550Z,1743457140.550 [NAL9602](INFO): SBD MO Status=2, MOMSN=22228, MT Status=2, MTMSN=0
2025-03-31T21:39:00.550Z,1743457140.550 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T21:39:11.042Z,1743457151.042 [NAL9602](INFO): SBD MO Status=0, MOMSN=22228, MT Status=0, MTMSN=0
2025-03-31T21:39:11.042Z,1743457151.042 [NAL9602](INFO): No messages in MT queue
2025-03-31T21:39:12.258Z,1743457152.258 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213911.00,A,3648.09289,N,12147.39921,W,1.808,291.10,310325,,,D*7E
2025-03-31T21:39:12.260Z,1743457152.260 [NAL9602](INFO): GPS fix at 20250331T213911: (36.801548, -121.789987)
2025-03-31T21:39:12.272Z,1743457152.272 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:39:12.272Z,1743457152.272 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:39:20.023Z,1743457160.023 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250331T210851/Courier0043.lzma
2025-03-31T21:39:21.026Z,1743457161.026 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0043.lzma.bak
2025-03-31T21:39:21.026Z,1743457161.026 [DataOverHttps](INFO): SBD MOMSN=24504258
2025-03-31T21:39:43.816Z,1743457183.816 [DataOverHttps](INFO): Sending 234 bytes from file Logs/20250331T210851/Express0045.lzma
2025-03-31T21:39:44.576Z,1743457184.576 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:39:44.817Z,1743457184.817 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0045.lzma.bak
2025-03-31T21:39:44.817Z,1743457184.817 [DataOverHttps](INFO): SBD MOMSN=24504267
2025-03-31T21:39:46.213Z,1743457186.213 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:39:46.213Z,1743457186.213 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:39:46.213Z,1743457186.213 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:39:46.213Z,1743457186.213 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:39:46.609Z,1743457186.609 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:39:46.609Z,1743457186.609 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:39:46.609Z,1743457186.609 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:39:46.610Z,1743457186.610 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743457151.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:39:46.610Z,1743457186.610 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:39:46.610Z,1743457186.610 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:39:48.622Z,1743457188.622 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213947.00,A,3648.09470,N,12147.41342,W,1.127,278.09,310325,,,D*76
2025-03-31T21:39:48.624Z,1743457188.624 [NAL9602](INFO): GPS fix at 20250331T213947: (36.801578, -121.790224)
2025-03-31T21:39:48.649Z,1743457188.649 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:39:48.649Z,1743457188.649 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:40:01.818Z,1743457201.818 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250331T210851/Courier0049.lzma
2025-03-31T21:40:02.817Z,1743457202.817 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0049.lzma.bak
2025-03-31T21:40:02.817Z,1743457202.817 [DataOverHttps](INFO): SBD MOMSN=24504274
2025-03-31T21:40:19.875Z,1743457219.875 [DataOverHttps](INFO): Sending 104 bytes from file Logs/20250331T210851/Express0050.lzma
2025-03-31T21:40:20.877Z,1743457220.877 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0050.lzma.bak
2025-03-31T21:40:20.877Z,1743457220.877 [DataOverHttps](INFO): SBD MOMSN=24504315
2025-03-31T21:40:21.934Z,1743457221.934 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:40:21.935Z,1743457221.935 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:40:21.935Z,1743457221.935 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:40:21.935Z,1743457221.935 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:40:22.266Z,1743457222.266 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:40:22.266Z,1743457222.266 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:40:22.266Z,1743457222.266 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:40:22.267Z,1743457222.267 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743457187.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:40:22.267Z,1743457222.267 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:40:22.268Z,1743457222.268 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:41:19.238Z,1743457279.238 [NAL9602](INFO): SBD MO Status=0, MOMSN=22229, MT Status=0, MTMSN=0
2025-03-31T21:41:19.238Z,1743457279.238 [NAL9602](INFO): No messages in MT queue
2025-03-31T21:41:20.444Z,1743457280.444 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214119.00,A,3648.08800,N,12147.44882,W,2.819,306.33,310325,,,D*7C
2025-03-31T21:41:20.446Z,1743457280.446 [NAL9602](INFO): GPS fix at 20250331T214119: (36.801467, -121.790814)
2025-03-31T21:41:20.459Z,1743457280.459 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:41:20.460Z,1743457280.460 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:41:21.340Z,1743457281.340 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:41:21.340Z,1743457281.340 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:41:21.340Z,1743457281.340 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:41:21.340Z,1743457281.340 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:41:50.829Z,1743457310.829 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:41:50.829Z,1743457310.829 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:41:50.829Z,1743457310.829 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:41:50.830Z,1743457310.830 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743457279.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:41:50.830Z,1743457310.830 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:41:50.830Z,1743457310.830 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:41:52.846Z,1743457312.846 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214152.00,A,3648.08806,N,12147.46295,W,1.769,243.73,310325,,,A*71
2025-03-31T21:41:52.848Z,1743457312.848 [NAL9602](INFO): GPS fix at 20250331T214152: (36.801468, -121.791049)
2025-03-31T21:41:52.861Z,1743457312.861 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:41:52.861Z,1743457312.861 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:41:59.041Z,1743457319.041 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250331T210851/Courier0052.lzma
2025-03-31T21:42:00.046Z,1743457320.046 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0052.lzma.bak
2025-03-31T21:42:00.046Z,1743457320.046 [DataOverHttps](INFO): SBD MOMSN=24504318
2025-03-31T21:42:16.789Z,1743457336.789 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250331T210851/Courier0055.lzma
2025-03-31T21:42:17.789Z,1743457337.789 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0055.lzma.bak
2025-03-31T21:42:17.789Z,1743457337.789 [DataOverHttps](INFO): SBD MOMSN=24504321
2025-03-31T21:42:25.556Z,1743457345.556 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:42:53.125Z,1743457373.125 [transit_surface:Transit:UpdateShore:Read_Iridium](INFO): Timed out from 2025-03-31T21:41:52.9Z
2025-03-31T21:42:53.125Z,1743457373.125 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:42:53.126Z,1743457373.126 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:42:53.126Z,1743457373.126 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:42:53.127Z,1743457373.127 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:42:53.521Z,1743457373.521 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:42:53.521Z,1743457373.521 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:42:53.521Z,1743457373.521 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:42:53.522Z,1743457373.522 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743457312.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:42:53.522Z,1743457373.522 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:42:53.522Z,1743457373.522 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:43:30.976Z,1743457410.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T21:43:53.774Z,1743457433.774 [transit_surface:Transit:UpdateShore:Read_GPS](INFO): Timed out from 2025-03-31T21:42:53.5Z
2025-03-31T21:43:53.774Z,1743457433.774 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:43:53.774Z,1743457433.774 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:44:02.101Z,1743457442.101 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T21:44:44.992Z,1743457484.992 [DataOverHttps](INFO): Sending 121 bytes from file Logs/20250331T210851/Express0053.lzma
2025-03-31T21:44:45.993Z,1743457485.993 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0053.lzma.bak
2025-03-31T21:44:45.994Z,1743457485.994 [DataOverHttps](INFO): SBD MOMSN=24504330
2025-03-31T21:44:54.001Z,1743457494.001 [transit_surface:Transit:UpdateShore:Read_Iridium](INFO): Timed out from 2025-03-31T21:43:53.8Z
2025-03-31T21:44:54.001Z,1743457494.001 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:44:54.001Z,1743457494.001 [transit_surface:Transit:UpdateShore](INFO): Completed transit_surface:Transit:UpdateShore
2025-03-31T21:44:54.001Z,1743457494.001 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:44:54.002Z,1743457494.002 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:44:54.413Z,1743457494.413 [transit_surface:Transit:UpdateShore] Running Loop=1
2025-03-31T21:44:54.413Z,1743457494.413 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::initialize transit_surface:Transit:UpdateShore
2025-03-31T21:44:54.413Z,1743457494.413 [transit_surface:Transit:UpdateShore:A] Running Loop=1
2025-03-31T21:44:54.414Z,1743457494.414 [transit_surface:Transit:UpdateShore:A](INFO): GPS Underway - last time_fix was: 1743457312.000000 second since 1970/01/01T00:00:00Z
2025-03-31T21:44:54.414Z,1743457494.414 [transit_surface:Transit:UpdateShore:A] Stopped
2025-03-31T21:44:54.414Z,1743457494.414 [transit_surface:Transit:UpdateShore:Read_GPS] Running Loop=1
2025-03-31T21:45:17.136Z,1743457517.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T21:45:48.264Z,1743457548.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T21:45:54.417Z,1743457554.417 [transit_surface:Transit:UpdateShore:Read_GPS](INFO): Timed out from 2025-03-31T21:44:54.4Z
2025-03-31T21:45:54.417Z,1743457554.417 [transit_surface:Transit:UpdateShore:Read_GPS] Stopped
2025-03-31T21:45:54.418Z,1743457554.418 [transit_surface:Transit:UpdateShore:Read_Iridium] Running Loop=1
2025-03-31T21:46:19.059Z,1743457579.059 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250331T210851/Courier0058.lzma
2025-03-31T21:46:20.062Z,1743457580.062 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0058.lzma.bak
2025-03-31T21:46:20.063Z,1743457580.063 [DataOverHttps](IMPORTANT): SBD MOMSN=24504333, MTMSN=20250331T214619
2025-03-31T21:46:34.112Z,1743457594.112 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 20 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 3 m;set transit.MaxDepth 5 m;set transit.MinOffshore 0.001 km;run
2025-03-31T21:46:34.145Z,1743457594.145 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-31T21:46:34.146Z,1743457594.146 [MissionManager](INFO): Uninitializing Mission transit_surface
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface] Stopped
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface](DEBUG): Aggregate::uninitialize transit_surface
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface:D.AltitudeEnvelope] Stopped
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface:E.DepthEnvelope] Stopped
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface:E.DepthEnvelope](DEBUG): Uninitialize.
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface:BackseatDriver] Stopped
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface:BackseatDriver](DEBUG): Aggregate::uninitialize transit_surface:BackseatDriver
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-03-31T21:46:34.146Z,1743457594.146 [transit_surface:PowerOnly] Stopped
2025-03-31T21:46:34.147Z,1743457594.147 [transit_surface:PowerOnly](DEBUG): Aggregate::uninitialize transit_surface:PowerOnly
2025-03-31T21:46:34.147Z,1743457594.147 [transit_surface:PowerOnly:E.Wait] Stopped
2025-03-31T21:46:34.147Z,1743457594.147 [transit_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:46:34.147Z,1743457594.147 [transit_surface:BuoyancyHold.Buoyancy] Stopped
2025-03-31T21:46:34.147Z,1743457594.147 [transit_surface:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-31T21:46:34.147Z,1743457594.147 [transit_surface:MassHold.Pitch] Stopped
2025-03-31T21:46:34.147Z,1743457594.147 [transit_surface:J.Pitch] Stopped
2025-03-31T21:46:34.151Z,1743457594.151 [transit_surface:Transit] Stopped
2025-03-31T21:46:34.151Z,1743457594.151 [transit_surface:Transit](DEBUG): Aggregate::uninitialize transit_surface:Transit
2025-03-31T21:46:34.151Z,1743457594.151 [transit_surface:Transit:A.Pitch] Stopped
2025-03-31T21:46:34.152Z,1743457594.152 [transit_surface:Transit:B.SetSpeed] Stopped
2025-03-31T21:46:34.152Z,1743457594.152 [transit_surface:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-31T21:46:34.152Z,1743457594.152 [transit_surface:Transit:UpdateShore] Stopped
2025-03-31T21:46:34.152Z,1743457594.152 [transit_surface:Transit:UpdateShore](DEBUG): Aggregate::uninitialize transit_surface:Transit:UpdateShore
2025-03-31T21:46:34.152Z,1743457594.152 [transit_surface:Transit:UpdateShore:Read_Iridium] Stopped
2025-03-31T21:46:34.152Z,1743457594.152 [transit_surface:Transit:Wpt1.Waypoint] Stopped
2025-03-31T21:46:34.152Z,1743457594.152 [transit_surface:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-31T21:46:34.185Z,1743457594.185 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-31T21:46:34.185Z,1743457594.185 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-31T21:46:34.189Z,1743457594.189 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-31T21:46:35.040Z,1743457595.040 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
60
30
NaN
NaN
0
0
10
1
20
1
7
1
2025-03-31T21:46:35.046Z,1743457595.046 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-31T21:46:35.049Z,1743457595.049 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-31T21:46:35.052Z,1743457595.052 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-31T21:46:35.055Z,1743457595.055 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-31T21:46:35.082Z,1743457595.082 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-31T21:46:35.097Z,1743457595.097 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-31T21:46:35.105Z,1743457595.105 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-31T21:46:35.117Z,1743457595.117 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-31T21:46:35.120Z,1743457595.120 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-31T21:46:35.132Z,1743457595.132 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-31T21:46:35.134Z,1743457595.134 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-31T21:46:35.142Z,1743457595.142 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-31T21:46:35.148Z,1743457595.148 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-31T21:46:35.149Z,1743457595.149 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-31T21:46:35.149Z,1743457595.149 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-31T21:46:35.150Z,1743457595.150 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-31T21:46:35.497Z,1743457595.497 [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
2025-03-31T21:46:35.503Z,1743457595.503 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-31T21:46:35.506Z,1743457595.506 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-31T21:46:35.509Z,1743457595.509 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-31T21:46:35.512Z,1743457595.512 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-31T21:46:35.515Z,1743457595.515 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-31T21:46:35.518Z,1743457595.518 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-31T21:46:35.521Z,1743457595.521 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-31T21:46:35.524Z,1743457595.524 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-31T21:46:35.531Z,1743457595.531 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-31T21:46:35.585Z,1743457595.585 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-31T21:46:35.586Z,1743457595.586 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-31T21:46:35.587Z,1743457595.587 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-31T21:46:35.787Z,1743457595.787 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2025-03-31T21:46:35.796Z,1743457595.796 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-31T21:46:35.799Z,1743457595.799 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-31T21:46:35.806Z,1743457595.806 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-31T21:46:35.810Z,1743457595.810 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-31T21:46:35.823Z,1743457595.823 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-31T21:46:35.840Z,1743457595.840 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-31T21:46:35.853Z,1743457595.853 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-31T21:46:35.885Z,1743457595.885 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-31T21:46:35.885Z,1743457595.885 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-31T21:46:35.887Z,1743457595.887 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-31T21:46:35.926Z,1743457595.926 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-03-31T21:46:35.934Z,1743457595.934 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-31T21:46:35.941Z,1743457595.941 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-31T21:46:35.948Z,1743457595.948 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-31T21:46:35.948Z,1743457595.948 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-31T21:46:35.949Z,1743457595.949 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-31T21:46:36.206Z,1743457596.206 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-03-31T21:46:36.215Z,1743457596.215 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-31T21:46:36.237Z,1743457596.237 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-31T21:46:36.244Z,1743457596.244 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-31T21:46:36.247Z,1743457596.247 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-31T21:46:36.269Z,1743457596.269 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-31T21:46:36.285Z,1743457596.285 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-31T21:46:36.287Z,1743457596.287 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-31T21:46:36.291Z,1743457596.291 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-31T21:46:36.320Z,1743457596.320 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-31T21:46:36.327Z,1743457596.327 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-31T21:46:36.338Z,1743457596.338 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-31T21:46:36.379Z,1743457596.379 [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"
}
}
2025-03-31T21:46:36.384Z,1743457596.384 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-31T21:46:36.504Z,1743457596.504 [MissionManager](IMPORTANT): Started mission Default
2025-03-31T21:46:36.504Z,1743457596.504 [Default] Running Loop=1
2025-03-31T21:46:36.504Z,1743457596.504 [Default](DEBUG): Aggregate::initialize Default
2025-03-31T21:46:36.505Z,1743457596.505 [Default:B.GoToSurface] Running Loop=1
2025-03-31T21:46:36.505Z,1743457596.505 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T21:46:36.505Z,1743457596.505 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-31T21:46:36.505Z,1743457596.505 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-31T21:46:36.505Z,1743457596.505 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-31T21:46:36.506Z,1743457596.506 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-31T21:46:36.506Z,1743457596.506 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T21:46:36.506Z,1743457596.506 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T21:46:36.507Z,1743457596.507 [Default:A.Wait] Running Loop=1
2025-03-31T21:46:36.507Z,1743457596.507 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:46:47.169Z,1743457607.169 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250331T210851/Courier0061.lzma
2025-03-31T21:46:48.173Z,1743457608.173 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0061.lzma.bak
2025-03-31T21:46:48.173Z,1743457608.173 [DataOverHttps](INFO): SBD MOMSN=24504336
2025-03-31T21:46:49.884Z,1743457609.884 [Default:A.Wait](INFO): Done Waiting.
2025-03-31T21:46:49.884Z,1743457609.884 [Default:A.Wait] Stopped
2025-03-31T21:46:49.884Z,1743457609.884 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T21:46:50.269Z,1743457610.269 [Default:CheckIn] Running Loop=1
2025-03-31T21:46:50.269Z,1743457610.269 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-31T21:46:50.269Z,1743457610.269 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-31T21:47:00.181Z,1743457620.181 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 20 minute
2025-03-31T21:47:00.182Z,1743457620.182 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-31T21:47:00.193Z,1743457620.193 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-31T21:47:00.201Z,1743457620.201 [CommandExec](IMPORTANT): got command set transit.Depth 3 meter
2025-03-31T21:47:00.202Z,1743457620.202 [CommandExec](IMPORTANT): got command set transit.MaxDepth 5 meter
2025-03-31T21:47:00.203Z,1743457620.203 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.001 kilometer
2025-03-31T21:47:00.203Z,1743457620.203 [CommandExec](IMPORTANT): got command run
2025-03-31T21:47:00.205Z,1743457620.205 [CommandExec](IMPORTANT): Running
2025-03-31T21:47:00.426Z,1743457620.426 [Default] Stopped
2025-03-31T21:47:00.426Z,1743457620.426 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-31T21:47:00.426Z,1743457620.426 [Default:B.GoToSurface] Stopped
2025-03-31T21:47:00.426Z,1743457620.426 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T21:47:00.426Z,1743457620.426 [Default:CheckIn] Stopped
2025-03-31T21:47:00.426Z,1743457620.426 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-31T21:47:00.426Z,1743457620.426 [Default:CheckIn:Read_GPS] Stopped
2025-03-31T21:47:00.427Z,1743457620.427 [MissionManager](IMPORTANT): Started mission transit
2025-03-31T21:47:00.427Z,1743457620.427 [transit] Running Loop=1
2025-03-31T21:47:00.427Z,1743457620.427 [transit](DEBUG): Aggregate::initialize transit
2025-03-31T21:47:00.428Z,1743457620.428 [transit:StandardEnvelopes] Running Loop=1
2025-03-31T21:47:00.428Z,1743457620.428 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-31T21:47:00.428Z,1743457620.428 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-31T21:47:00.428Z,1743457620.428 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-31T21:47:00.428Z,1743457620.428 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-31T21:47:00.428Z,1743457620.428 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-31T21:47:00.428Z,1743457620.428 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-31T21:47:00.428Z,1743457620.428 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-31T21:47:00.429Z,1743457620.429 [transit:BackseatDriver] Running Loop=1
2025-03-31T21:47:00.429Z,1743457620.429 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-31T21:47:00.429Z,1743457620.429 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-31T21:47:00.429Z,1743457620.429 [transit:PowerOnly] Running Loop=1
2025-03-31T21:47:00.429Z,1743457620.429 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-31T21:47:00.429Z,1743457620.429 [transit:PowerOnly:A] Running Loop=1
2025-03-31T21:47:00.429Z,1743457620.429 [transit:PowerOnly:B] Running Loop=1
2025-03-31T21:47:00.429Z,1743457620.429 [transit:PowerOnly:C] Running Loop=1
2025-03-31T21:47:00.429Z,1743457620.429 [transit:PowerOnly:D] Running Loop=1
2025-03-31T21:47:00.429Z,1743457620.429 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-31T21:47:00.429Z,1743457620.429 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-31T21:47:00.429Z,1743457620.429 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-31T21:47:00.430Z,1743457620.430 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-31T21:47:00.430Z,1743457620.430 [transit:MassHold.Pitch] Running Loop=1
2025-03-31T21:47:00.430Z,1743457620.430 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-31T21:47:00.430Z,1743457620.430 [transit:B] Running Loop=1
2025-03-31T21:47:00.430Z,1743457620.430 [transit:MassHold.Pitch] Running Loop=1
2025-03-31T21:47:00.431Z,1743457620.431 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-31T21:47:00.431Z,1743457620.431 [transit:PowerOnly] Running Loop=1
2025-03-31T21:47:00.452Z,1743457620.452 [transit:PowerOnly:D] Stopped
2025-03-31T21:47:00.452Z,1743457620.452 [transit:PowerOnly:C] Stopped
2025-03-31T21:47:00.452Z,1743457620.452 [transit:PowerOnly:B] Stopped
2025-03-31T21:47:00.452Z,1743457620.452 [transit:PowerOnly:A] Stopped
2025-03-31T21:47:00.452Z,1743457620.452 [transit:BackseatDriver] Running Loop=1
2025-03-31T21:47:00.452Z,1743457620.452 [transit:StandardEnvelopes] Running Loop=1
2025-03-31T21:47:00.452Z,1743457620.452 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-31T21:47:00.453Z,1743457620.453 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-03-31T21:47:00.477Z,1743457620.477 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-31T21:47:00.477Z,1743457620.477 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-31T21:47:00.478Z,1743457620.478 [transit:B] Stopped
2025-03-31T21:47:00.478Z,1743457620.478 [transit:C] Running Loop=1
2025-03-31T21:47:00.880Z,1743457620.880 [transit:C] Stopped
2025-03-31T21:47:00.880Z,1743457620.880 [transit:E] Running Loop=1
2025-03-31T21:47:01.229Z,1743457621.229 [transit:E] Stopped
2025-03-31T21:47:01.230Z,1743457621.230 [transit:F] Running Loop=1
2025-03-31T21:47:01.634Z,1743457621.634 [transit:F] Stopped
2025-03-31T21:47:01.634Z,1743457621.634 [transit:G] Running Loop=1
2025-03-31T21:47:02.056Z,1743457622.056 [transit:G] Stopped
2025-03-31T21:47:02.056Z,1743457622.056 [transit:Transit] Running Loop=1
2025-03-31T21:47:02.056Z,1743457622.056 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-31T21:47:02.056Z,1743457622.056 [transit:Transit:A.Pitch] Running Loop=1
2025-03-31T21:47:02.056Z,1743457622.056 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-31T21:47:02.056Z,1743457622.056 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-31T21:47:02.057Z,1743457622.057 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-31T21:47:02.058Z,1743457622.058 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-31T21:47:02.058Z,1743457622.058 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-31T21:47:02.064Z,1743457622.064 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-31T21:47:02.065Z,1743457622.065 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-03-31T21:47:02.477Z,1743457622.477 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-31T21:47:02.477Z,1743457622.477 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-31T21:47:02.478Z,1743457622.478 [transit:Transit:A.Pitch] Running Loop=1
2025-03-31T21:47:57.421Z,1743457677.421 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-31T21:48:06.628Z,1743457686.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T21:48:27.872Z,1743457707.872 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T21:48:37.752Z,1743457717.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T21:49:08.876Z,1743457748.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T21:49:24.524Z,1743457764.523 [Radio_Surface](INFO): Powering down
2025-03-31T21:49:39.000Z,1743457780.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T21:49:41.004Z,1743457781.004 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-31T21:50:15.140Z,1743457815.140 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.739197
2025-03-31T22:01:53.917Z,1743458513.917 [transit:NeedComms] Running Loop=1
2025-03-31T22:01:53.917Z,1743458513.917 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-03-31T22:01:53.917Z,1743458513.917 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-03-31T22:01:53.918Z,1743458513.918 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T22:01:53.918Z,1743458513.918 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-31T22:01:53.918Z,1743458513.918 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-31T22:01:53.919Z,1743458513.919 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-31T22:01:53.920Z,1743458513.920 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-31T22:01:53.921Z,1743458513.921 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T22:01:53.921Z,1743458513.921 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T22:01:53.921Z,1743458513.921 [transit:NeedComms:A] Running Loop=1
2025-03-31T22:01:53.923Z,1743458513.923 [transit:NeedComms:A](INFO): last time_fix was: 1743457312.000000 second since 1970/01/01T00:00:00Z
2025-03-31T22:01:53.923Z,1743458513.923 [transit:NeedComms:A] Stopped
2025-03-31T22:02:10.240Z,1743458530.240 [transit:NeedComms:C] Running Loop=1
2025-03-31T22:02:10.636Z,1743458530.636 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-31T22:02:10.967Z,1743458530.967 [Radio_Surface](INFO): Powering up
2025-03-31T22:02:11.834Z,1743458531.834 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-31T22:02:11.834Z,1743458531.834 [NAL9602] Data Fault, FailCount= 1
2025-03-31T22:02:11.834Z,1743458531.834 [NAL9602](ERROR): Data Fault
2025-03-31T22:02:12.056Z,1743458532.056 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-31T22:02:12.244Z,1743458532.244 [NAL9602](INFO): Powering down
2025-03-31T22:02:13.144Z,1743458533.144 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-31T22:02:13.144Z,1743458533.144 [NAL9602] No Fault, FailCount= 1
2025-03-31T22:02:17.095Z,1743458537.095 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-31T22:02:42.545Z,1743458562.545 [NAL9602](INFO): Powering up NAL9602
2025-03-31T22:02:47.216Z,1743458567.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:02:53.450Z,1743458573.450 [NAL9602](INFO): NAL9602 initialized
2025-03-31T22:03:18.340Z,1743458598.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:03:26.173Z,1743458606.173 [NAL9602](INFO): SBD MO Status=2, MOMSN=22230, MT Status=2, MTMSN=0
2025-03-31T22:03:26.174Z,1743458606.174 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T22:03:43.546Z,1743458623.546 [NAL9602](INFO): SBD MO Status=2, MOMSN=22230, MT Status=2, MTMSN=0
2025-03-31T22:03:43.546Z,1743458623.546 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T22:03:49.472Z,1743458629.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:04:20.608Z,1743458660.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:04:51.732Z,1743458691.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:05:22.857Z,1743458722.857 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:05:53.996Z,1743458753.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:06:02.613Z,1743458762.613 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T220601
2025-03-31T22:06:02.617Z,1743458762.617 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003770
2025-03-31T22:06:10.163Z,1743458770.163 [DataOverHttps](INFO): Received command: configSet Waterlinked.loadAtStartup 1 bool persist
2025-03-31T22:06:10.570Z,1743458770.570 [CommandExec](IMPORTANT): got command configSet Waterlinked.loadAtStartup 1 bool persist
2025-03-31T22:06:10.571Z,1743458770.571 [CommandExec](IMPORTANT): configSet Waterlinked.loadAtStartup requires a restart to take effect.
2025-03-31T22:06:11.165Z,1743458771.165 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T220610
2025-03-31T22:06:18.827Z,1743458778.827 [DataOverHttps](INFO): Received command: gfscan
2025-03-31T22:06:18.921Z,1743458778.921 [CommandExec](IMPORTANT): got command gfscan
2025-03-31T22:06:19.132Z,1743458779.132 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-31T22:06:23.583Z,1743458783.583 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.002964
CHAN A1 (24V): 0.006803
CHAN A2 (12V): 0.002123
CHAN A3 (5V): -0.000819
CHAN B0 (3.3V): 0.001158
CHAN B1 (3.15aV): 0.000628
CHAN B2 (3.15bV): 0.000180
CHAN B3 (GND): -0.000675
OPEN: 0.009353
Full Scale: +/- 1 mA
2025-03-31T22:06:51.849Z,1743458811.849 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T220650
2025-03-31T22:07:03.303Z,1743458823.303 [DataOverHttps](INFO): Received command: stop
2025-03-31T22:07:03.392Z,1743458823.392 [CommandExec](IMPORTANT): got command stop
2025-03-31T22:07:03.392Z,1743458823.392 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-03-31T22:07:03.624Z,1743458823.624 [MissionManager](INFO): MissionManager is completed.
2025-03-31T22:07:03.624Z,1743458823.624 [MissionManager](INFO): Uninitializing Mission transit
2025-03-31T22:07:03.624Z,1743458823.624 [transit] Stopped
2025-03-31T22:07:03.624Z,1743458823.624 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-31T22:07:03.624Z,1743458823.624 [transit:NeedComms] Stopped
2025-03-31T22:07:03.625Z,1743458823.625 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-03-31T22:07:03.625Z,1743458823.625 [transit:NeedComms:B.GoToSurface] Stopped
2025-03-31T22:07:03.625Z,1743458823.625 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T22:07:03.625Z,1743458823.625 [transit:NeedComms:C] Stopped
2025-03-31T22:07:03.625Z,1743458823.625 [transit:StandardEnvelopes] Stopped
2025-03-31T22:07:03.625Z,1743458823.625 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-31T22:07:03.625Z,1743458823.625 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-31T22:07:03.625Z,1743458823.625 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-31T22:07:03.625Z,1743458823.625 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-31T22:07:03.625Z,1743458823.625 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-31T22:07:03.625Z,1743458823.625 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-31T22:07:03.625Z,1743458823.625 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-31T22:07:03.625Z,1743458823.625 [transit:BackseatDriver] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-31T22:07:03.626Z,1743458823.626 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:PowerOnly] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-31T22:07:03.626Z,1743458823.626 [transit:PowerOnly:E.Wait] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T22:07:03.626Z,1743458823.626 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-31T22:07:03.626Z,1743458823.626 [transit:MassHold.Pitch] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:Transit] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-31T22:07:03.626Z,1743458823.626 [transit:Transit:A.Pitch] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:Transit:B.SetSpeed] Stopped
2025-03-31T22:07:03.626Z,1743458823.626 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-31T22:07:03.626Z,1743458823.626 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-31T22:07:03.627Z,1743458823.627 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-31T22:07:04.025Z,1743458824.025 [MissionManager](IMPORTANT): Started mission Default
2025-03-31T22:07:04.025Z,1743458824.025 [Default] Running Loop=1
2025-03-31T22:07:04.025Z,1743458824.025 [Default](DEBUG): Aggregate::initialize Default
2025-03-31T22:07:04.025Z,1743458824.025 [Default:B.GoToSurface] Running Loop=1
2025-03-31T22:07:04.025Z,1743458824.025 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T22:07:04.025Z,1743458824.026 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-31T22:07:04.026Z,1743458824.026 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-31T22:07:04.026Z,1743458824.026 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-31T22:07:04.026Z,1743458824.026 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-31T22:07:04.027Z,1743458824.027 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T22:07:04.027Z,1743458824.027 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T22:07:04.032Z,1743458824.032 [Default:A.Wait] Running Loop=1
2025-03-31T22:07:04.032Z,1743458824.032 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-31T22:07:17.343Z,1743458837.343 [Default:A.Wait](INFO): Done Waiting.
2025-03-31T22:07:17.344Z,1743458837.344 [Default:A.Wait] Stopped
2025-03-31T22:07:17.344Z,1743458837.344 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T22:07:17.747Z,1743458837.747 [Default:CheckIn] Running Loop=1
2025-03-31T22:07:17.747Z,1743458837.747 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-31T22:07:17.747Z,1743458837.747 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-31T22:07:36.726Z,1743458856.726 [NAL9602](INFO): SBD MO Status=2, MOMSN=22230, MT Status=2, MTMSN=0
2025-03-31T22:07:36.726Z,1743458856.726 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T22:07:56.114Z,1743458876.114 [NAL9602](INFO): SBD MO Status=0, MOMSN=22230, MT Status=0, MTMSN=0
2025-03-31T22:07:56.114Z,1743458876.114 [NAL9602](INFO): No messages in MT queue
2025-03-31T22:07:57.330Z,1743458877.330 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,220755.00,A,3647.99061,N,12148.12870,W,1.652,190.51,310325,,,A*72
2025-03-31T22:07:57.333Z,1743458877.333 [NAL9602](INFO): GPS fix at 20250331T220755: (36.799844, -121.802145)
2025-03-31T22:07:57.358Z,1743458877.358 [UniversalFixResidualReporter](INFO): Fix residual: 17.2 %DT, over the last 1222.8 m. Residual distance 210.2 m at bearing -81.5 degrees. Fix at (36.7998, -121.8021) with 1004.3 m made good.
2025-03-31T22:07:57.359Z,1743458877.359 [Default:CheckIn:Read_GPS] Stopped
2025-03-31T22:07:57.364Z,1743458877.364 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-31T22:08:00.125Z,1743458880.125 [DataOverHttps](INFO): Sending 207 bytes from file Logs/20250331T210851/Courier0064.lzma
2025-03-31T22:08:00.849Z,1743458880.849 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0064.lzma.bak
2025-03-31T22:08:00.849Z,1743458880.849 [DataOverHttps](INFO): SBD MOMSN=24504449
2025-03-31T22:08:16.907Z,1743458896.907 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20250331T210851/Express0056.lzma
2025-03-31T22:08:17.909Z,1743458897.909 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0056.lzma.bak
2025-03-31T22:08:17.910Z,1743458897.910 [DataOverHttps](INFO): SBD MOMSN=24504452
2025-03-31T22:08:29.386Z,1743458909.386 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T22:08:33.915Z,1743458913.915 [DataOverHttps](INFO): Sending 112 bytes from file Logs/20250331T210851/Express0059.lzma
2025-03-31T22:08:34.917Z,1743458914.917 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0059.lzma.bak
2025-03-31T22:08:34.917Z,1743458914.917 [DataOverHttps](INFO): SBD MOMSN=24504455
2025-03-31T22:08:52.927Z,1743458932.927 [DataOverHttps](INFO): Sending 105 bytes from file Logs/20250331T210851/Express0062.lzma
2025-03-31T22:08:53.930Z,1743458933.930 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0062.lzma.bak
2025-03-31T22:08:53.931Z,1743458933.931 [DataOverHttps](IMPORTANT): SBD MOMSN=24504458, MTMSN=20250331T220853
2025-03-31T22:09:02.843Z,1743458942.843 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 20 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.MinOffshore 0.001 km;run
2025-03-31T22:09:02.909Z,1743458942.909 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-03-31T22:09:02.910Z,1743458942.910 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-03-31T22:09:02.910Z,1743458942.910 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-03-31T22:09:02.911Z,1743458942.911 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-03-31T22:09:03.652Z,1743458943.652 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
60
30
NaN
NaN
0
0
10
1
20
1
7
1
2025-03-31T22:09:03.657Z,1743458943.657 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-03-31T22:09:03.659Z,1743458943.659 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-03-31T22:09:03.661Z,1743458943.661 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-03-31T22:09:03.692Z,1743458943.692 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-03-31T22:09:03.694Z,1743458943.694 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-03-31T22:09:03.721Z,1743458943.721 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-03-31T22:09:03.726Z,1743458943.726 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-03-31T22:09:03.745Z,1743458943.745 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-03-31T22:09:03.772Z,1743458943.772 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-03-31T22:09:03.774Z,1743458943.774 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-03-31T22:09:03.789Z,1743458943.789 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-03-31T22:09:03.790Z,1743458943.790 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-03-31T22:09:03.805Z,1743458943.805 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-03-31T22:09:03.806Z,1743458943.806 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-03-31T22:09:03.806Z,1743458943.806 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-03-31T22:09:03.816Z,1743458943.816 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-03-31T22:09:04.374Z,1743458944.374 [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
2025-03-31T22:09:04.379Z,1743458944.379 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-03-31T22:09:04.381Z,1743458944.381 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-03-31T22:09:04.385Z,1743458944.385 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-03-31T22:09:04.389Z,1743458944.389 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-03-31T22:09:04.391Z,1743458944.391 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-03-31T22:09:04.393Z,1743458944.393 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-03-31T22:09:04.396Z,1743458944.396 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-03-31T22:09:04.398Z,1743458944.398 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-03-31T22:09:04.404Z,1743458944.404 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-31T22:09:04.473Z,1743458944.473 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-03-31T22:09:04.473Z,1743458944.473 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-03-31T22:09:04.474Z,1743458944.474 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-03-31T22:09:04.647Z,1743458944.647 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2025-03-31T22:09:04.656Z,1743458944.656 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-03-31T22:09:04.658Z,1743458944.658 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-03-31T22:09:04.665Z,1743458944.665 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-03-31T22:09:04.683Z,1743458944.683 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-03-31T22:09:04.684Z,1743458944.684 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-03-31T22:09:04.690Z,1743458944.690 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-03-31T22:09:04.721Z,1743458944.721 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-03-31T22:09:04.746Z,1743458944.746 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-03-31T22:09:04.747Z,1743458944.747 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-03-31T22:09:04.748Z,1743458944.748 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-03-31T22:09:04.768Z,1743458944.768 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-03-31T22:09:04.771Z,1743458944.771 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-03-31T22:09:04.773Z,1743458944.773 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-03-31T22:09:04.775Z,1743458944.775 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-03-31T22:09:04.776Z,1743458944.776 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-03-31T22:09:04.777Z,1743458944.777 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-03-31T22:09:04.927Z,1743458944.927 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-03-31T22:09:04.931Z,1743458944.931 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-03-31T22:09:04.933Z,1743458944.933 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-03-31T22:09:04.935Z,1743458944.935 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-03-31T22:09:04.937Z,1743458944.937 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-03-31T22:09:04.940Z,1743458944.940 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-03-31T22:09:04.946Z,1743458944.946 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-03-31T22:09:04.948Z,1743458944.948 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-03-31T22:09:04.951Z,1743458944.951 [transit:MassHold.Pitch](DEBUG): Construct.
2025-03-31T22:09:05.025Z,1743458945.025 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-03-31T22:09:05.045Z,1743458945.045 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-03-31T22:09:05.068Z,1743458945.068 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-03-31T22:09:05.113Z,1743458945.113 [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"
}
}
2025-03-31T22:09:05.114Z,1743458945.114 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-03-31T22:09:14.845Z,1743458954.845 [DataOverHttps](INFO): Sending 999 bytes from file Logs/20250331T210851/Express0065.lzma
2025-03-31T22:09:15.845Z,1743458955.845 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0065.lzma.bak
2025-03-31T22:09:15.845Z,1743458955.845 [DataOverHttps](INFO): SBD MOMSN=24504461
2025-03-31T22:09:18.722Z,1743458958.722 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 20 minute
2025-03-31T22:09:18.722Z,1743458958.722 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-03-31T22:09:18.748Z,1743458958.748 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-03-31T22:09:18.748Z,1743458958.748 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.001 kilometer
2025-03-31T22:09:18.749Z,1743458958.749 [CommandExec](IMPORTANT): got command run
2025-03-31T22:09:18.751Z,1743458958.751 [CommandExec](IMPORTANT): Running
2025-03-31T22:09:18.759Z,1743458958.759 [Default] Stopped
2025-03-31T22:09:18.763Z,1743458958.763 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-31T22:09:18.763Z,1743458958.763 [Default:B.GoToSurface] Stopped
2025-03-31T22:09:18.763Z,1743458958.763 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T22:09:18.764Z,1743458958.764 [Default:CheckIn] Stopped
2025-03-31T22:09:18.764Z,1743458958.764 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-31T22:09:18.764Z,1743458958.764 [Default:CheckIn:Read_Iridium] Stopped
2025-03-31T22:09:18.764Z,1743458958.764 [MissionManager](IMPORTANT): Started mission transit
2025-03-31T22:09:18.764Z,1743458958.764 [transit] Running Loop=1
2025-03-31T22:09:18.764Z,1743458958.764 [transit](DEBUG): Aggregate::initialize transit
2025-03-31T22:09:18.764Z,1743458958.764 [transit:StandardEnvelopes] Running Loop=1
2025-03-31T22:09:18.764Z,1743458958.764 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-03-31T22:09:18.765Z,1743458958.765 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-31T22:09:18.765Z,1743458958.765 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-03-31T22:09:18.765Z,1743458958.765 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-31T22:09:18.765Z,1743458958.765 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-03-31T22:09:18.765Z,1743458958.765 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-31T22:09:18.765Z,1743458958.765 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-03-31T22:09:18.765Z,1743458958.765 [transit:BackseatDriver] Running Loop=1
2025-03-31T22:09:18.765Z,1743458958.765 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-03-31T22:09:18.765Z,1743458958.765 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-03-31T22:09:18.765Z,1743458958.765 [transit:PowerOnly] Running Loop=1
2025-03-31T22:09:18.766Z,1743458958.766 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-03-31T22:09:18.766Z,1743458958.766 [transit:PowerOnly:A] Running Loop=1
2025-03-31T22:09:18.766Z,1743458958.766 [transit:PowerOnly:B] Running Loop=1
2025-03-31T22:09:18.766Z,1743458958.766 [transit:PowerOnly:C] Running Loop=1
2025-03-31T22:09:18.766Z,1743458958.766 [transit:PowerOnly:D] Running Loop=1
2025-03-31T22:09:18.766Z,1743458958.766 [transit:PowerOnly:E.Wait] Running Loop=1
2025-03-31T22:09:18.766Z,1743458958.766 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-03-31T22:09:18.766Z,1743458958.766 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-31T22:09:18.766Z,1743458958.766 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-03-31T22:09:18.766Z,1743458958.766 [transit:MassHold.Pitch] Running Loop=1
2025-03-31T22:09:18.766Z,1743458958.766 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-03-31T22:09:18.767Z,1743458958.767 [transit:B] Running Loop=1
2025-03-31T22:09:18.772Z,1743458958.772 [transit:MassHold.Pitch] Running Loop=1
2025-03-31T22:09:18.772Z,1743458958.772 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-03-31T22:09:18.772Z,1743458958.772 [transit:PowerOnly] Running Loop=1
2025-03-31T22:09:18.772Z,1743458958.772 [transit:PowerOnly:D] Stopped
2025-03-31T22:09:18.772Z,1743458958.772 [transit:PowerOnly:C] Stopped
2025-03-31T22:09:18.773Z,1743458958.773 [transit:PowerOnly:B] Stopped
2025-03-31T22:09:18.773Z,1743458958.773 [transit:PowerOnly:A] Stopped
2025-03-31T22:09:18.773Z,1743458958.773 [transit:BackseatDriver] Running Loop=1
2025-03-31T22:09:18.773Z,1743458958.773 [transit:StandardEnvelopes] Running Loop=1
2025-03-31T22:09:18.773Z,1743458958.773 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-03-31T22:09:18.773Z,1743458958.773 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-03-31T22:09:18.793Z,1743458958.793 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-03-31T22:09:18.794Z,1743458958.794 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-03-31T22:09:18.794Z,1743458958.794 [transit:B] Stopped
2025-03-31T22:09:18.794Z,1743458958.794 [transit:C] Running Loop=1
2025-03-31T22:09:19.182Z,1743458959.182 [transit:C] Stopped
2025-03-31T22:09:19.182Z,1743458959.182 [transit:E] Running Loop=1
2025-03-31T22:09:19.553Z,1743458959.553 [transit:E] Stopped
2025-03-31T22:09:19.553Z,1743458959.553 [transit:F] Running Loop=1
2025-03-31T22:09:19.965Z,1743458959.965 [transit:F] Stopped
2025-03-31T22:09:19.965Z,1743458959.965 [transit:G] Running Loop=1
2025-03-31T22:09:20.375Z,1743458960.375 [transit:G] Stopped
2025-03-31T22:09:20.375Z,1743458960.375 [transit:Transit] Running Loop=1
2025-03-31T22:09:20.375Z,1743458960.375 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-03-31T22:09:20.383Z,1743458960.383 [transit:Transit:A.Pitch] Running Loop=1
2025-03-31T22:09:20.383Z,1743458960.383 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-03-31T22:09:20.384Z,1743458960.384 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-31T22:09:20.384Z,1743458960.384 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-03-31T22:09:20.384Z,1743458960.384 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-03-31T22:09:20.384Z,1743458960.384 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-03-31T22:09:20.385Z,1743458960.385 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-03-31T22:09:20.386Z,1743458960.386 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-03-31T22:09:20.758Z,1743458960.758 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-03-31T22:09:20.758Z,1743458960.758 [transit:Transit:B.SetSpeed] Running Loop=1
2025-03-31T22:09:20.759Z,1743458960.759 [transit:Transit:A.Pitch] Running Loop=1
2025-03-31T22:09:32.959Z,1743458972.959 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250331T210851/Courier0070.lzma
2025-03-31T22:09:33.961Z,1743458973.961 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0070.lzma.bak
2025-03-31T22:09:33.961Z,1743458973.961 [DataOverHttps](INFO): SBD MOMSN=24504490
2025-03-31T22:10:36.151Z,1743459036.151 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 14.87 mm (1 active estimators).
2025-03-31T22:11:27.654Z,1743459087.654 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:11:36.371Z,1743459096.371 [Radio_Surface](INFO): Powering down
2025-03-31T22:11:58.776Z,1743459118.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:11:59.780Z,1743459119.780 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-31T22:13:05.052Z,1743459185.052 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.843277
2025-03-31T22:16:53.974Z,1743459413.974 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:17:09.325Z,1743459429.325 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:17:24.677Z,1743459444.677 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:17:39.624Z,1743459459.624 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:17:54.636Z,1743459474.636 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:18:09.521Z,1743459489.521 [BPC1](ERROR): BPC1B got IPBS message with 5 sticks (min is 7).
2025-03-31T22:20:42.639Z,1743459642.639 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:20:55.971Z,1743459655.971 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:21:10.114Z,1743459670.114 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:21:23.847Z,1743459683.847 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:21:37.585Z,1743459697.585 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:21:51.725Z,1743459711.725 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:22:05.465Z,1743459725.465 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:22:19.599Z,1743459739.599 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:22:33.342Z,1743459753.342 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:22:47.476Z,1743459767.476 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:25:30.695Z,1743459930.695 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:25:46.855Z,1743459946.855 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:26:01.805Z,1743459961.805 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:26:16.752Z,1743459976.752 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:26:31.709Z,1743459991.709 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:26:46.251Z,1743460006.251 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:27:01.221Z,1743460021.221 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:27:16.551Z,1743460036.551 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:27:30.691Z,1743460050.691 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:27:45.248Z,1743460065.248 [BPC1](ERROR): BPC1B got IPBS message with 5 sticks (min is 7).
2025-03-31T22:27:58.615Z,1743460078.615 [transit:NeedComms] Running Loop=1
2025-03-31T22:27:58.615Z,1743460078.615 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-03-31T22:27:58.616Z,1743460078.616 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-03-31T22:27:58.616Z,1743460078.616 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T22:27:58.616Z,1743460078.616 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-31T22:27:58.616Z,1743460078.616 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-31T22:27:58.617Z,1743460078.617 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-31T22:27:58.617Z,1743460078.617 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-31T22:27:58.617Z,1743460078.617 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T22:27:58.618Z,1743460078.618 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T22:27:58.618Z,1743460078.618 [transit:NeedComms:A] Running Loop=1
2025-03-31T22:27:58.620Z,1743460078.620 [transit:NeedComms:A](INFO): last time_fix was: 1743458875.000000 second since 1970/01/01T00:00:00Z
2025-03-31T22:27:58.620Z,1743460078.620 [transit:NeedComms:A] Stopped
2025-03-31T22:28:42.241Z,1743460122.241 [transit:NeedComms:C] Running Loop=1
2025-03-31T22:28:42.658Z,1743460122.658 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-31T22:28:42.935Z,1743460122.935 [Radio_Surface](INFO): Powering up
2025-03-31T22:28:48.984Z,1743460128.984 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-31T22:29:19.112Z,1743460159.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:29:50.236Z,1743460190.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:30:19.587Z,1743460219.587 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:30:21.360Z,1743460221.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:30:33.325Z,1743460233.325 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:30:47.465Z,1743460247.465 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:30:52.484Z,1743460252.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:31:01.212Z,1743460261.212 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:31:14.531Z,1743460274.531 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:31:23.608Z,1743460283.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:31:27.866Z,1743460287.866 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:31:41.600Z,1743460301.600 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:31:54.732Z,1743460314.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:31:54.933Z,1743460314.933 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:32:08.668Z,1743460328.668 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:32:22.403Z,1743460342.403 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:32:25.860Z,1743460345.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:32:34.436Z,1743460354.436 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003062
2025-03-31T22:32:36.139Z,1743460356.139 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:33:24.242Z,1743460404.242 [NAL9602](INFO): SBD MO Status=0, MOMSN=22231, MT Status=0, MTMSN=0
2025-03-31T22:33:24.242Z,1743460404.242 [NAL9602](INFO): No messages in MT queue
2025-03-31T22:33:25.435Z,1743460405.435 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223323.00,A,3647.89021,N,12148.73921,W,1.263,159.80,310325,,,A*7C
2025-03-31T22:33:25.437Z,1743460405.437 [NAL9602](INFO): GPS fix at 20250331T223323: (36.798170, -121.812320)
2025-03-31T22:33:25.450Z,1743460405.450 [UniversalFixResidualReporter](INFO): Fix residual: 22.0 %DT, over the last 1141.4 m. Residual distance 250.9 m at bearing -66.0 degrees. Fix at (36.7982, -121.8123) with 924.9 m made good.
2025-03-31T22:33:25.454Z,1743460405.454 [transit:NeedComms:C] Stopped
2025-03-31T22:33:25.454Z,1743460405.454 [transit:NeedComms:D] Running Loop=1
2025-03-31T22:33:25.868Z,1743460405.868 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-31T22:33:33.156Z,1743460413.156 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250331T210851/Courier0073.lzma
2025-03-31T22:33:34.157Z,1743460414.157 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0073.lzma.bak
2025-03-31T22:33:34.157Z,1743460414.157 [DataOverHttps](INFO): SBD MOMSN=24504612
2025-03-31T22:33:50.207Z,1743460430.207 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250331T210851/Express0068.lzma
2025-03-31T22:33:51.210Z,1743460431.210 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0068.lzma.bak
2025-03-31T22:33:51.210Z,1743460431.210 [DataOverHttps](INFO): SBD MOMSN=24504615
2025-03-31T22:33:57.352Z,1743460437.352 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T22:34:07.663Z,1743460447.663 [DataOverHttps](INFO): Sending 172 bytes from file Logs/20250331T210851/Express0071.lzma
2025-03-31T22:34:08.665Z,1743460448.665 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0071.lzma.bak
2025-03-31T22:34:08.666Z,1743460448.666 [DataOverHttps](INFO): SBD MOMSN=24504617
2025-03-31T22:34:24.928Z,1743460464.928 [DataOverHttps](INFO): Sending 491 bytes from file Logs/20250331T210851/Express0074.lzma
2025-03-31T22:34:25.929Z,1743460465.929 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0074.lzma.bak
2025-03-31T22:34:25.930Z,1743460465.930 [DataOverHttps](INFO): SBD MOMSN=24504621
2025-03-31T22:34:27.287Z,1743460467.287 [transit:NeedComms:D] Stopped
2025-03-31T22:34:27.288Z,1743460467.288 [transit:NeedComms:E] Running Loop=1
2025-03-31T22:34:27.665Z,1743460467.665 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-31T22:34:29.270Z,1743460469.270 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223427.00,A,3647.88997,N,12148.73293,W,0.156,137.64,310325,,,A*7E
2025-03-31T22:34:29.272Z,1743460469.272 [NAL9602](INFO): GPS fix at 20250331T223427: (36.798166, -121.812215)
2025-03-31T22:34:29.328Z,1743460469.328 [transit:NeedComms:E] Stopped
2025-03-31T22:34:29.329Z,1743460469.329 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-03-31T22:34:29.329Z,1743460469.329 [transit:NeedComms] Stopped
2025-03-31T22:34:29.329Z,1743460469.329 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-03-31T22:34:29.329Z,1743460469.329 [transit:NeedComms:B.GoToSurface] Stopped
2025-03-31T22:34:29.329Z,1743460469.329 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T22:34:51.158Z,1743460491.158 [NAL9602](INFO): SBD MO Status=2, MOMSN=22232, MT Status=2, MTMSN=0
2025-03-31T22:34:51.159Z,1743460491.159 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T22:35:04.167Z,1743460504.167 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:35:19.179Z,1743460519.179 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:35:27.280Z,1743460527.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:35:34.143Z,1743460534.143 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:35:49.495Z,1743460549.495 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:35:57.660Z,1743460557.660 [Radio_Surface](INFO): Powering down
2025-03-31T22:35:58.404Z,1743460558.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:35:59.408Z,1743460559.408 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-31T22:36:04.446Z,1743460564.446 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:36:19.393Z,1743460579.393 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:36:34.340Z,1743460594.340 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:36:49.287Z,1743460609.287 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:37:04.639Z,1743460624.639 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:37:19.587Z,1743460639.587 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:37:35.824Z,1743460655.824 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.770660
2025-03-31T22:39:31.321Z,1743460771.321 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-31T22:39:54.349Z,1743460794.349 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:40:02.028Z,1743460802.028 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T22:40:08.096Z,1743460808.096 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:40:22.223Z,1743460822.223 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:40:36.363Z,1743460836.363 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:40:50.099Z,1743460850.099 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:41:04.239Z,1743460864.239 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:41:17.571Z,1743460877.571 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:41:31.735Z,1743460891.735 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:41:45.449Z,1743460905.449 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:41:59.588Z,1743460919.588 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:42:12.920Z,1743460932.920 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:44:42.005Z,1743461082.005 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:44:57.355Z,1743461097.355 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:45:13.125Z,1743461113.125 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:45:28.072Z,1743461128.072 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:45:43.422Z,1743461143.422 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:45:58.775Z,1743461158.775 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:46:14.133Z,1743461174.133 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:46:29.080Z,1743461189.080 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:46:44.434Z,1743461204.434 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-03-31T22:46:47.260Z,1743461207.260 [BPC1](ERROR): Battery stick #21 (s/n: 01C7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.
2025-03-31T22:46:47.261Z,1743461207.261 [BPC1](ERROR): Battery stick #22 (s/n: 00C0) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.
2025-03-31T22:46:47.261Z,1743461207.261 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-03-31T22:46:47.262Z,1743461207.262 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.
2025-03-31T22:46:47.263Z,1743461207.263 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-03-31T22:46:47.264Z,1743461207.264 [BPC1](INFO): Calculating totals. Valid battery stick count: 41. Valid reserve battery stick count: 5.
2025-03-31T22:46:47.266Z,1743461207.266 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-03-31T22:54:30.654Z,1743461670.654 [transit:NeedComms] Running Loop=1
2025-03-31T22:54:30.654Z,1743461670.654 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-03-31T22:54:30.654Z,1743461670.654 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-03-31T22:54:30.654Z,1743461670.654 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T22:54:30.654Z,1743461670.654 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-03-31T22:54:30.655Z,1743461670.655 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-03-31T22:54:30.672Z,1743461670.672 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-03-31T22:54:30.673Z,1743461670.673 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-03-31T22:54:30.673Z,1743461670.673 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T22:54:30.673Z,1743461670.673 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T22:54:30.674Z,1743461670.674 [transit:NeedComms:A] Running Loop=1
2025-03-31T22:54:30.676Z,1743461670.676 [transit:NeedComms:A](INFO): last time_fix was: 1743460467.000000 second since 1970/01/01T00:00:00Z
2025-03-31T22:54:30.676Z,1743461670.676 [transit:NeedComms:A] Stopped
2025-03-31T22:55:13.083Z,1743461713.083 [transit:NeedComms:C] Running Loop=1
2025-03-31T22:55:13.615Z,1743461713.615 [Radio_Surface](INFO): Powering up
2025-03-31T22:55:19.160Z,1743461719.160 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-31T22:55:45.802Z,1743461745.802 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-03-31T22:55:45.875Z,1743461745.875 [NAL9602](ERROR): received:
+CSQ:0
OK232, 2, 0, 0, 0
OK
2025-03-31T22:55:49.280Z,1743461749.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:56:20.404Z,1743461780.404 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:56:51.528Z,1743461811.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:57:22.653Z,1743461842.653 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:57:53.776Z,1743461873.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:58:24.900Z,1743461904.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:58:56.024Z,1743461936.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T22:59:04.516Z,1743461944.516 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003054
2025-03-31T23:00:12.436Z,1743462012.436 [NAL9602](INFO): SBD MO Status=2, MOMSN=22232, MT Status=2, MTMSN=0
2025-03-31T23:00:12.436Z,1743462012.436 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T23:00:28.201Z,1743462028.201 [NAL9602](INFO): SBD MO Status=2, MOMSN=22232, MT Status=2, MTMSN=0
2025-03-31T23:00:28.201Z,1743462028.201 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T23:00:28.594Z,1743462028.594 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-31T23:00:29.816Z,1743462029.816 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230028.00,A,3647.88287,N,12149.35871,W,1.127,22.83,310325,,,A*43
2025-03-31T23:00:29.818Z,1743462029.818 [NAL9602](INFO): GPS fix at 20250331T230028: (36.798048, -121.822645)
2025-03-31T23:00:29.850Z,1743462029.850 [UniversalFixResidualReporter](INFO): Fix residual: 19.9 %DT, over the last 1220.3 m. Residual distance 243.4 m at bearing -79.9 degrees. Fix at (36.7980, -121.8226) with 928.7 m made good.
2025-03-31T23:00:29.854Z,1743462029.854 [transit:NeedComms:C] Stopped
2025-03-31T23:00:29.854Z,1743462029.854 [transit:NeedComms:D] Running Loop=1
2025-03-31T23:00:30.636Z,1743462030.636 [transit:NeedComms:D] Stopped
2025-03-31T23:00:30.636Z,1743462030.636 [transit:NeedComms:E] Running Loop=1
2025-03-31T23:00:33.043Z,1743462033.043 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230031.00,A,3647.88321,N,12149.35834,W,0.855,356.47,310325,,,A*72
2025-03-31T23:00:33.045Z,1743462033.045 [NAL9602](INFO): GPS fix at 20250331T230031: (36.798054, -121.822639)
2025-03-31T23:00:33.099Z,1743462033.099 [transit:NeedComms:E] Stopped
2025-03-31T23:00:33.100Z,1743462033.100 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-03-31T23:00:33.100Z,1743462033.100 [transit:NeedComms] Stopped
2025-03-31T23:00:33.100Z,1743462033.100 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-03-31T23:00:33.101Z,1743462033.101 [transit:NeedComms:B.GoToSurface] Stopped
2025-03-31T23:00:33.101Z,1743462033.101 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T23:01:05.268Z,1743462065.268 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T23:02:08.524Z,1743462128.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:02:29.547Z,1743462149.547 [Radio_Surface](INFO): Powering down
2025-03-31T23:02:39.648Z,1743462159.648 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:02:40.652Z,1743462160.652 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-31T23:04:17.036Z,1743462257.036 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.719299
2025-03-31T23:09:18.969Z,1743462558.969 [transit](INFO): Timed out from 2025-03-31T22:09:18.8Z
2025-03-31T23:09:18.969Z,1743462558.969 [MissionManager](INFO): transit is completed.
2025-03-31T23:09:18.969Z,1743462558.969 [MissionManager](INFO): Uninitializing Mission transit
2025-03-31T23:09:18.969Z,1743462558.969 [transit] Stopped
2025-03-31T23:09:18.969Z,1743462558.969 [transit](DEBUG): Aggregate::uninitialize transit
2025-03-31T23:09:18.969Z,1743462558.969 [transit:StandardEnvelopes] Stopped
2025-03-31T23:09:18.969Z,1743462558.969 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-03-31T23:09:18.970Z,1743462558.970 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-03-31T23:09:18.970Z,1743462558.970 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-03-31T23:09:18.970Z,1743462558.970 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-03-31T23:09:18.970Z,1743462558.970 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-03-31T23:09:18.970Z,1743462558.970 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-03-31T23:09:18.970Z,1743462558.970 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-03-31T23:09:18.970Z,1743462558.970 [transit:BackseatDriver] Stopped
2025-03-31T23:09:18.970Z,1743462558.970 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-03-31T23:09:18.970Z,1743462558.970 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-03-31T23:09:18.970Z,1743462558.970 [transit:PowerOnly] Stopped
2025-03-31T23:09:18.970Z,1743462558.970 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-03-31T23:09:18.970Z,1743462558.970 [transit:PowerOnly:E.Wait] Stopped
2025-03-31T23:09:18.970Z,1743462558.970 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T23:09:18.970Z,1743462558.970 [transit:BuoyancyHold.Buoyancy] Stopped
2025-03-31T23:09:18.971Z,1743462558.971 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-03-31T23:09:18.971Z,1743462558.971 [transit:MassHold.Pitch] Stopped
2025-03-31T23:09:18.971Z,1743462558.971 [transit:Transit] Stopped
2025-03-31T23:09:18.971Z,1743462558.971 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-03-31T23:09:18.971Z,1743462558.971 [transit:Transit:A.Pitch] Stopped
2025-03-31T23:09:18.971Z,1743462558.971 [transit:Transit:B.SetSpeed] Stopped
2025-03-31T23:09:18.971Z,1743462558.971 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-03-31T23:09:18.972Z,1743462558.972 [transit:Transit:Wpt1.Waypoint] Stopped
2025-03-31T23:09:18.972Z,1743462558.972 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-03-31T23:09:19.374Z,1743462559.374 [MissionManager](IMPORTANT): Started mission Default
2025-03-31T23:09:19.374Z,1743462559.374 [Default] Running Loop=1
2025-03-31T23:09:19.374Z,1743462559.374 [Default](DEBUG): Aggregate::initialize Default
2025-03-31T23:09:19.374Z,1743462559.374 [Default:B.GoToSurface] Running Loop=1
2025-03-31T23:09:19.374Z,1743462559.374 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-31T23:09:19.374Z,1743462559.374 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-31T23:09:19.375Z,1743462559.375 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-31T23:09:19.375Z,1743462559.375 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-31T23:09:19.375Z,1743462559.375 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-31T23:09:19.376Z,1743462559.376 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-31T23:09:19.376Z,1743462559.376 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-31T23:09:19.377Z,1743462559.377 [Default:A.Wait] Running Loop=1
2025-03-31T23:09:19.377Z,1743462559.377 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-31T23:09:19.781Z,1743462559.781 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -21.00 mm (2 active estimators).
2025-03-31T23:09:20.011Z,1743462560.011 [Radio_Surface](INFO): Powering up
2025-03-31T23:09:25.288Z,1743462565.288 [DataOverHttps](INFO): Radio surface powered ON.
2025-03-31T23:09:32.750Z,1743462572.750 [Default:A.Wait](INFO): Done Waiting.
2025-03-31T23:09:32.750Z,1743462572.750 [Default:A.Wait] Stopped
2025-03-31T23:09:32.750Z,1743462572.750 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T23:09:51.336Z,1743462591.336 [Default:CheckIn] Running Loop=1
2025-03-31T23:09:51.336Z,1743462591.336 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-31T23:09:51.336Z,1743462591.336 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-31T23:09:55.408Z,1743462595.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:10:23.662Z,1743462623.662 [NAL9602](INFO): SBD MO Status=2, MOMSN=22232, MT Status=2, MTMSN=0
2025-03-31T23:10:23.662Z,1743462623.662 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T23:10:26.532Z,1743462626.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:10:51.942Z,1743462651.942 [NAL9602](INFO): SBD MO Status=2, MOMSN=22232, MT Status=2, MTMSN=0
2025-03-31T23:10:51.942Z,1743462651.942 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T23:10:57.656Z,1743462657.656 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:11:22.642Z,1743462682.642 [NAL9602](INFO): SBD MO Status=2, MOMSN=22232, MT Status=2, MTMSN=0
2025-03-31T23:11:22.642Z,1743462682.642 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T23:11:28.780Z,1743462688.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:11:59.904Z,1743462719.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:12:27.690Z,1743462747.690 [NAL9602](INFO): SBD MO Status=0, MOMSN=22232, MT Status=0, MTMSN=0
2025-03-31T23:12:27.690Z,1743462747.690 [NAL9602](INFO): No messages in MT queue
2025-03-31T23:12:28.902Z,1743462748.902 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231228.00,A,3647.92078,N,12149.61969,W,1.186,58.57,310325,,,A*4F
2025-03-31T23:12:28.904Z,1743462748.904 [NAL9602](INFO): GPS fix at 20250331T231228: (36.798680, -121.826995)
2025-03-31T23:12:28.916Z,1743462748.916 [UniversalFixResidualReporter](INFO): Fix residual: 24.2 %DT, over the last 535.0 m. Residual distance 129.7 m at bearing -113.3 degrees. Fix at (36.7987, -121.8270) with 394.0 m made good.
2025-03-31T23:12:28.917Z,1743462748.917 [Default:CheckIn:Read_GPS] Stopped
2025-03-31T23:12:28.917Z,1743462748.917 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-31T23:12:31.028Z,1743462751.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:12:53.210Z,1743462773.210 [NAL9602](INFO): SBD MO Status=2, MOMSN=22233, MT Status=2, MTMSN=0
2025-03-31T23:12:53.210Z,1743462773.210 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-31T23:13:02.152Z,1743462782.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-03-31T23:13:10.681Z,1743462790.681 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003393
2025-03-31T23:13:18.231Z,1743462798.231 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20250331T210851/Courier0076.lzma
2025-03-31T23:13:19.233Z,1743462799.233 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0076.lzma.bak
2025-03-31T23:13:19.233Z,1743462799.233 [DataOverHttps](INFO): SBD MOMSN=24504806
2025-03-31T23:13:35.265Z,1743462815.265 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20250331T210851/Courier0079.lzma
2025-03-31T23:13:36.257Z,1743462816.257 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Courier0079.lzma.bak
2025-03-31T23:13:36.258Z,1743462816.258 [DataOverHttps](INFO): SBD MOMSN=24504809
2025-03-31T23:13:48.972Z,1743462828.972 [NAL9602](INFO): Not Powering down - fast GPS
2025-03-31T23:13:52.296Z,1743462832.296 [DataOverHttps](INFO): Sending 384 bytes from file Logs/20250331T210851/Express0077.lzma
2025-03-31T23:13:53.297Z,1743462833.297 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0077.lzma.bak
2025-03-31T23:13:53.298Z,1743462833.298 [DataOverHttps](INFO): SBD MOMSN=24504812
2025-03-31T23:13:56.741Z,1743462836.741 [DAT](INFO): DAT read: user:6>Rx Time:23:13:55.7271
2025-03-31T23:13:56.741Z,1743462836.741 [DAT](INFO): Rx dataTimestamp_ set to:1743462836.740792
2025-03-31T23:13:56.741Z,1743462836.741 [DAT](INFO): DAT read:
2025-03-31T23:13:56.742Z,1743462836.742 [DAT](INFO): DAT read: $Packet for address 0
2025-03-31T23:13:56.742Z,1743462836.742 [DAT](INFO): received a packet notification
2025-03-31T23:14:09.272Z,1743462849.272 [DataOverHttps](INFO): Sending 272 bytes from file Logs/20250331T210851/Express0080.lzma
2025-03-31T23:14:10.273Z,1743462850.273 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0080.lzma.bak
2025-03-31T23:14:10.274Z,1743462850.274 [DataOverHttps](INFO): SBD MOMSN=24504818
2025-03-31T23:14:11.608Z,1743462851.608 [Default:CheckIn:Read_Iridium] Stopped
2025-03-31T23:14:11.608Z,1743462851.608 [Default:CheckIn:C.Wait] Running Loop=1
2025-03-31T23:14:11.608Z,1743462851.608 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-03-31T23:15:19.341Z,1743462919.341 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T231518
2025-03-31T23:15:26.819Z,1743462926.819 [DataOverHttps](INFO): Received command: restart app
2025-03-31T23:15:26.869Z,1743462926.869 [CommandExec](IMPORTANT): got command restart application
2025-03-31T23:15:27.871Z,1743462927.871 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-03-31T23:15:27.872Z,1743462927.872 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:27.872Z,1743462927.872 [CommandExec](INFO): Uninitializing the command executive.
2025-03-31T23:15:27.872Z,1743462927.872 [CommandExec](INFO): Uninitializing the command scheduler.
2025-03-31T23:15:27.872Z,1743462927.872 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:28.064Z,1743462928.064 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup. Bye!
2025-03-31T23:15:28.064Z,1743462928.064 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-03-31T23:15:28.064Z,1743462928.064 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:28.065Z,1743462928.065 [NavChartDb](INFO): Join timeout helper Thread ID is 8078
2025-03-31T23:15:28.459Z,1743462928.459 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:28.460Z,1743462928.460 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:28.467Z,1743462928.467 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-03-31T23:15:28.467Z,1743462928.467 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:28.468Z,1743462928.468 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 8079
2025-03-31T23:15:28.611Z,1743462928.611 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:28.612Z,1743462928.612 [WetLabsBB2FL](INFO): Powering down
2025-03-31T23:15:28.612Z,1743462928.612 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:28.627Z,1743462928.627 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-03-31T23:15:28.627Z,1743462928.627 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:28.628Z,1743462928.628 [CTD_Seabird](INFO): Join timeout helper Thread ID is 8080
2025-03-31T23:15:29.160Z,1743462929.160 [CTD_Seabird](INFO): Powering down
2025-03-31T23:15:29.171Z,1743462929.171 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:29.172Z,1743462929.172 [CTD_Seabird](INFO): Powering down
2025-03-31T23:15:29.183Z,1743462929.183 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:29.187Z,1743462929.187 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-03-31T23:15:29.188Z,1743462929.188 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:29.188Z,1743462929.188 [Radio_Surface](INFO): Join timeout helper Thread ID is 8081
2025-03-31T23:15:29.275Z,1743462929.275 [Radio_Surface](INFO): Powering down
2025-03-31T23:15:29.276Z,1743462929.276 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:29.277Z,1743462929.277 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:29.282Z,1743462929.282 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-03-31T23:15:29.282Z,1743462929.282 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:29.282Z,1743462929.282 [Onboard](INFO): Join timeout helper Thread ID is 8082
2025-03-31T23:15:29.828Z,1743462929.828 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-03-31T23:15:33.556Z,1743462933.556 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:33.556Z,1743462933.556 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:33.560Z,1743462933.560 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-03-31T23:15:33.560Z,1743462933.560 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:33.561Z,1743462933.561 [DataOverHttps](INFO): Join timeout helper Thread ID is 8083
2025-03-31T23:15:33.844Z,1743462933.844 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:33.844Z,1743462933.844 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:33.860Z,1743462933.860 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-03-31T23:15:33.860Z,1743462933.860 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:33.860Z,1743462933.860 [DAT](INFO): Join timeout helper Thread ID is 8084
2025-03-31T23:15:34.103Z,1743462934.103 [DAT](INFO): Powering down
2025-03-31T23:15:34.176Z,1743462934.176 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:34.176Z,1743462934.176 [DAT](INFO): Powering down
2025-03-31T23:15:34.177Z,1743462934.177 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.192Z,1743462934.192 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-03-31T23:15:34.192Z,1743462934.192 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.193Z,1743462934.193 [BackseatComponent](INFO): Join timeout helper Thread ID is 8085
2025-03-31T23:15:34.235Z,1743462934.235 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:34.236Z,1743462934.236 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.244Z,1743462934.244 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-03-31T23:15:34.244Z,1743462934.244 [logger ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.244Z,1743462934.244 [logger](INFO): Join timeout helper Thread ID is 8086
2025-03-31T23:15:34.283Z,1743462934.283 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:34.284Z,1743462934.284 [logger ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.304Z,1743462934.304 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-03-31T23:15:34.304Z,1743462934.304 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.304Z,1743462934.304 [CommandLine](INFO): Join timeout helper Thread ID is 8087
2025-03-31T23:15:34.315Z,1743462934.315 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:34.316Z,1743462934.316 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.327Z,1743462934.327 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-03-31T23:15:34.328Z,1743462934.328 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.329Z,1743462934.329 [CommandExec](INFO): Join timeout helper Thread ID is 8088
2025-03-31T23:15:34.331Z,1743462934.331 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-03-31T23:15:34.331Z,1743462934.331 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.331Z,1743462934.331 [controlThread](INFO): Join timeout helper Thread ID is 8089
2025-03-31T23:15:34.387Z,1743462934.387 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-03-31T23:15:34.388Z,1743462934.388 [controlThread](DEBUG): Uninitializing ControlThread
2025-03-31T23:15:34.388Z,1743462934.388 [AHRS_M2](INFO): Powering down
2025-03-31T23:15:34.468Z,1743462934.468 [NAL9602](INFO): Powering down
2025-03-31T23:15:34.469Z,1743462934.469 [Sonardyne_Nano](INFO): Powering down
2025-03-31T23:15:34.676Z,1743462934.676 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-03-31T23:15:34.676Z,1743462934.676 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-03-31T23:15:34.677Z,1743462934.677 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-03-31T23:15:34.677Z,1743462934.677 [MissionManager](INFO): Uninitializing Mission Default
2025-03-31T23:15:34.677Z,1743462934.677 [Default] Stopped
2025-03-31T23:15:34.678Z,1743462934.678 [Default](DEBUG): Aggregate::uninitialize Default
2025-03-31T23:15:34.678Z,1743462934.678 [Default:B.GoToSurface] Stopped
2025-03-31T23:15:34.678Z,1743462934.678 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-31T23:15:34.678Z,1743462934.678 [Default:CheckIn] Stopped
2025-03-31T23:15:34.678Z,1743462934.678 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-03-31T23:15:34.678Z,1743462934.678 [Default:CheckIn:C.Wait] Stopped
2025-03-31T23:15:34.678Z,1743462934.678 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-03-31T23:15:34.681Z,1743462934.681 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-03-31T23:15:34.681Z,1743462934.681 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-03-31T23:15:34.682Z,1743462934.682 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-03-31T23:15:34.682Z,1743462934.682 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-03-31T23:15:34.682Z,1743462934.682 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-03-31T23:15:34.682Z,1743462934.682 [BuoyancyServo](INFO): Powering down
2025-03-31T23:15:34.695Z,1743462934.695 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-31T23:15:34.696Z,1743462934.696 [ElevatorServo](INFO): Powering down
2025-03-31T23:15:34.696Z,1743462934.696 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-03-31T23:15:34.696Z,1743462934.696 [MassServo](INFO): Powering down
2025-03-31T23:15:34.697Z,1743462934.697 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-03-31T23:15:34.697Z,1743462934.697 [RudderServo](INFO): Powering down
2025-03-31T23:15:34.698Z,1743462934.698 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-31T23:15:34.698Z,1743462934.698 [ThrusterHE](INFO): Powering down
2025-03-31T23:15:34.699Z,1743462934.699 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-03-31T23:15:34.699Z,1743462934.699 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-03-31T23:15:34.700Z,1743462934.700 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-03-31T23:15:34.700Z,1743462934.700 [CBIT](DEBUG): Powering off loads.
2025-03-31T23:15:34.711Z,1743462934.711 [CBIT](DEBUG): Disabling WDT.
2025-03-31T23:15:34.723Z,1743462934.723 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-03-31T23:15:34.724Z,1743462934.724 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-03-31T23:15:34.725Z,1743462934.725 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.757Z,1743462934.757 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.761Z,1743462934.761 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.767Z,1743462934.767 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.773Z,1743462934.773 [DAT ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.818Z,1743462934.818 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.851Z,1743462934.851 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-03-31T23:15:34.851Z,1743462934.851 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-03-31T23:15:34.909Z,1743462934.909 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.916Z,1743462934.916 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:34.924Z,1743462934.924 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-03-31T23:15:35.001Z,1743462935.001 [logger ThreadHandler](INFO): Thread cancelled.