2025-03-31T23:15:36.043Z,1743462936.043 [Supervisor](DEBUG): Initializing supervisor. 2025-03-31T23:15:36.047Z,1743462936.047 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2025-03-31T23:15:36.048Z,1743462936.048 [SyncHandler](INFO): Protected caller Thread ID is 8090 2025-03-31T23:15:36.048Z,1743462936.048 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2025-03-31T23:15:36.049Z,1743462936.049 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2025-03-31T23:15:36.049Z,1743462936.049 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 8091 2025-03-31T23:15:36.054Z,1743462936.054 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2025-03-31T23:15:36.074Z,1743462936.074 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2025-03-31T23:15:36.075Z,1743462936.075 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2025-03-31T23:15:36.075Z,1743462936.075 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 8092 2025-03-31T23:15:36.080Z,1743462936.080 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2025-03-31T23:15:36.081Z,1743462936.081 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2025-03-31T23:15:36.081Z,1743462936.081 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 8093 2025-03-31T23:15:36.083Z,1743462936.083 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2025-03-31T23:15:36.084Z,1743462936.084 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2025-03-31T23:15:36.085Z,1743462936.085 [logger ThreadHandler](INFO): Protected caller Thread ID is 8094 2025-03-31T23:15:36.089Z,1743462936.089 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2025-03-31T23:15:36.089Z,1743462936.089 [Supervisor](INFO): Looking for Config files in directory: Config/ 2025-03-31T23:15:36.091Z,1743462936.091 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2025-03-31T23:15:36.442Z,1743462936.442 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2025-03-31T23:15:36.443Z,1743462936.443 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2025-03-31T23:15:36.534Z,1743462936.534 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2025-03-31T23:15:36.653Z,1743462936.653 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2025-03-31T23:15:36.654Z,1743462936.654 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2025-03-31T23:15:36.794Z,1743462936.794 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2025-03-31T23:15:36.794Z,1743462936.794 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2025-03-31T23:15:37.149Z,1743462937.149 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2025-03-31T23:15:37.150Z,1743462937.150 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2025-03-31T23:15:37.256Z,1743462937.256 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2025-03-31T23:15:37.257Z,1743462937.257 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2025-03-31T23:15:37.685Z,1743462937.685 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2025-03-31T23:15:37.686Z,1743462937.686 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2025-03-31T23:15:37.921Z,1743462937.921 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2025-03-31T23:15:37.921Z,1743462937.921 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2025-03-31T23:15:38.012Z,1743462938.012 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2025-03-31T23:15:38.262Z,1743462938.262 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2025-03-31T23:15:38.263Z,1743462938.263 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2025-03-31T23:15:38.493Z,1743462938.493 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2025-03-31T23:15:38.494Z,1743462938.494 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2025-03-31T23:15:39.052Z,1743462939.052 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2025-03-31T23:15:39.053Z,1743462939.053 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2025-03-31T23:15:39.253Z,1743462939.253 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2025-03-31T23:15:39.254Z,1743462939.254 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2025-03-31T23:15:39.551Z,1743462939.551 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2025-03-31T23:15:39.552Z,1743462939.552 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2025-03-31T23:15:40.447Z,1743462940.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2025-03-31T23:15:40.448Z,1743462940.448 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2025-03-31T23:15:41.022Z,1743462941.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2025-03-31T23:15:41.024Z,1743462941.024 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-ahi/ 2025-03-31T23:15:41.025Z,1743462941.025 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Control.cfg 2025-03-31T23:15:41.133Z,1743462941.133 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Science.cfg 2025-03-31T23:15:41.277Z,1743462941.277 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/secure.cfg 2025-03-31T23:15:41.373Z,1743462941.373 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Servo.cfg 2025-03-31T23:15:41.492Z,1743462941.492 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/BIT.cfg 2025-03-31T23:15:41.591Z,1743462941.591 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Battery.cfg 2025-03-31T23:15:41.863Z,1743462941.863 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2025-03-31T23:15:41.863Z,1743462941.863 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/vehicle.cfg 2025-03-31T23:15:41.985Z,1743462941.985 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/logger.cfg 2025-03-31T23:15:42.096Z,1743462942.096 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Sensor.cfg 2025-03-31T23:15:42.250Z,1743462942.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Simulator.cfg 2025-03-31T23:15:42.346Z,1743462942.346 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2025-03-31T23:15:42.362Z,1743462942.362 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2025-03-31T23:15:42.496Z,1743462942.496 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2025-03-31T23:15:42.497Z,1743462942.497 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2025-03-31T23:15:42.551Z,1743462942.551 [VerticalControl](DEBUG): Construct VerticalControl. 2025-03-31T23:15:42.613Z,1743462942.613 [VerticalControl] Loaded 2025-03-31T23:15:42.613Z,1743462942.613 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2025-03-31T23:15:42.616Z,1743462942.616 [HorizontalControl](DEBUG): Construct HorizontalControl. 2025-03-31T23:15:42.663Z,1743462942.663 [HorizontalControl] Loaded 2025-03-31T23:15:42.663Z,1743462942.663 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2025-03-31T23:15:42.666Z,1743462942.666 [SpeedControl](DEBUG): Construct SpeedControl. 2025-03-31T23:15:42.669Z,1743462942.669 [SpeedControl] Loaded 2025-03-31T23:15:42.669Z,1743462942.669 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2025-03-31T23:15:42.672Z,1743462942.672 [LoopControl](DEBUG): Construct LoopControl. 2025-03-31T23:15:42.672Z,1743462942.672 [LoopControl] Loaded 2025-03-31T23:15:42.673Z,1743462942.673 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2025-03-31T23:15:42.673Z,1743462942.673 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2025-03-31T23:15:42.674Z,1743462942.674 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2025-03-31T23:15:42.732Z,1743462942.732 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2025-03-31T23:15:42.733Z,1743462942.733 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2025-03-31T23:15:43.233Z,1743462943.233 [AHRS_M2] Loaded 2025-03-31T23:15:43.233Z,1743462943.233 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2025-03-31T23:15:43.271Z,1743462943.271 [BackseatComponent](INFO): Found secondary power supply at: /dev/loadC4 2025-03-31T23:15:43.272Z,1743462943.272 [BackseatComponent] Loaded 2025-03-31T23:15:43.272Z,1743462943.272 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2025-03-31T23:15:43.273Z,1743462943.273 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408BA4E0 2025-03-31T23:15:43.274Z,1743462943.274 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 8173 2025-03-31T23:15:43.277Z,1743462943.277 [LcmUniversalReporter] Loaded 2025-03-31T23:15:43.277Z,1743462943.277 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2025-03-31T23:15:44.082Z,1743462944.082 [BPC1] Loaded 2025-03-31T23:15:44.082Z,1743462944.082 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2025-03-31T23:15:44.179Z,1743462944.179 [DAT] Loaded 2025-03-31T23:15:44.179Z,1743462944.179 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2025-03-31T23:15:44.180Z,1743462944.180 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408EA4E0 2025-03-31T23:15:44.181Z,1743462944.181 [DAT ThreadHandler](INFO): Protected caller Thread ID is 8174 2025-03-31T23:15:44.255Z,1743462944.255 [DataOverHttps] Loaded 2025-03-31T23:15:44.255Z,1743462944.255 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2025-03-31T23:15:44.256Z,1743462944.256 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4091A4E0 2025-03-31T23:15:44.256Z,1743462944.256 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 8175 2025-03-31T23:15:44.279Z,1743462944.279 [Depth_Keller] Loaded 2025-03-31T23:15:44.280Z,1743462944.280 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2025-03-31T23:15:44.284Z,1743462944.284 [DropWeight] Loaded 2025-03-31T23:15:44.285Z,1743462944.285 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2025-03-31T23:15:44.350Z,1743462944.350 [NAL9602] Loaded 2025-03-31T23:15:44.351Z,1743462944.351 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2025-03-31T23:15:44.381Z,1743462944.381 [Onboard] Loaded 2025-03-31T23:15:44.381Z,1743462944.381 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2025-03-31T23:15:44.382Z,1743462944.382 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4094A4E0 2025-03-31T23:15:44.383Z,1743462944.383 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 8176 2025-03-31T23:15:44.397Z,1743462944.397 [Power24vConverter] Loaded 2025-03-31T23:15:44.397Z,1743462944.397 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2025-03-31T23:15:44.413Z,1743462944.413 [Radio_Surface] Loaded 2025-03-31T23:15:44.414Z,1743462944.414 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2025-03-31T23:15:44.415Z,1743462944.415 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4097A4E0 2025-03-31T23:15:44.415Z,1743462944.415 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 8177 2025-03-31T23:15:44.431Z,1743462944.431 [Sonardyne_Nano] Loaded 2025-03-31T23:15:44.431Z,1743462944.431 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2025-03-31T23:15:44.456Z,1743462944.456 [Waterlinked] Loaded 2025-03-31T23:15:44.457Z,1743462944.457 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread. 2025-03-31T23:15:44.457Z,1743462944.457 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2025-03-31T23:15:44.457Z,1743462944.457 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2025-03-31T23:15:44.468Z,1743462944.468 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2025-03-31T23:15:44.468Z,1743462944.468 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2025-03-31T23:15:44.498Z,1743462944.498 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2025-03-31T23:15:44.498Z,1743462944.498 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2025-03-31T23:15:44.660Z,1743462944.660 [SBIT](DEBUG): Construct Startup Built In Test. 2025-03-31T23:15:44.669Z,1743462944.669 [SBIT] Loaded 2025-03-31T23:15:44.669Z,1743462944.669 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2025-03-31T23:15:44.672Z,1743462944.672 [IBIT](DEBUG): Construct Initiated Built In Test. 2025-03-31T23:15:44.685Z,1743462944.685 [IBIT] Loaded 2025-03-31T23:15:44.685Z,1743462944.685 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2025-03-31T23:15:44.690Z,1743462944.690 [CBIT](DEBUG): Construct Continuous Built In Test. 2025-03-31T23:15:44.770Z,1743462944.770 [CBIT] Loaded 2025-03-31T23:15:44.770Z,1743462944.770 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2025-03-31T23:15:44.803Z,1743462944.803 [GFScanner] Loaded 2025-03-31T23:15:44.803Z,1743462944.803 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread. 2025-03-31T23:15:44.804Z,1743462944.804 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2025-03-31T23:15:44.804Z,1743462944.804 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2025-03-31T23:15:45.149Z,1743462945.149 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2025-03-31T23:15:45.150Z,1743462945.150 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2025-03-31T23:15:45.202Z,1743462945.202 [DepthRateCalculator] Loaded 2025-03-31T23:15:45.202Z,1743462945.202 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2025-03-31T23:15:45.208Z,1743462945.208 [PitchRateCalculator] Loaded 2025-03-31T23:15:45.208Z,1743462945.208 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2025-03-31T23:15:45.218Z,1743462945.218 [SpeedCalculator] Loaded 2025-03-31T23:15:45.218Z,1743462945.218 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2025-03-31T23:15:45.223Z,1743462945.223 [YawRateCalculator] Loaded 2025-03-31T23:15:45.223Z,1743462945.223 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2025-03-31T23:15:45.242Z,1743462945.242 [ElevatorOffsetCalculator] Loaded 2025-03-31T23:15:45.242Z,1743462945.242 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2025-03-31T23:15:45.243Z,1743462945.243 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2025-03-31T23:15:45.243Z,1743462945.243 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2025-03-31T23:15:45.422Z,1743462945.422 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2025-03-31T23:15:45.423Z,1743462945.423 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2025-03-31T23:15:45.537Z,1743462945.537 [DeadReckonUsingMultipleVelocitySources] Loaded 2025-03-31T23:15:45.537Z,1743462945.537 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2025-03-31T23:15:45.551Z,1743462945.551 [NavChart] Loaded 2025-03-31T23:15:45.551Z,1743462945.551 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2025-03-31T23:15:45.557Z,1743462945.557 [UniversalFixResidualReporter] Loaded 2025-03-31T23:15:45.557Z,1743462945.557 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2025-03-31T23:15:45.558Z,1743462945.558 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2025-03-31T23:15:45.558Z,1743462945.558 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2025-03-31T23:15:45.729Z,1743462945.729 [BuoyancyServo] Loaded 2025-03-31T23:15:45.729Z,1743462945.729 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2025-03-31T23:15:45.753Z,1743462945.753 [ElevatorServo] Loaded 2025-03-31T23:15:45.753Z,1743462945.753 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2025-03-31T23:15:45.775Z,1743462945.775 [MassServo] Loaded 2025-03-31T23:15:45.775Z,1743462945.775 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2025-03-31T23:15:45.797Z,1743462945.797 [RudderServo] Loaded 2025-03-31T23:15:45.797Z,1743462945.797 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2025-03-31T23:15:45.814Z,1743462945.814 [ThrusterHE] Loaded 2025-03-31T23:15:45.814Z,1743462945.814 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2025-03-31T23:15:45.815Z,1743462945.815 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2025-03-31T23:15:45.815Z,1743462945.815 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2025-03-31T23:15:45.984Z,1743462945.984 [CTD_Seabird] Loaded 2025-03-31T23:15:45.984Z,1743462945.984 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2025-03-31T23:15:45.985Z,1743462945.985 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C054E0 2025-03-31T23:15:45.985Z,1743462945.985 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 8178 2025-03-31T23:15:46.022Z,1743462946.022 [ESPComponent] Loaded 2025-03-31T23:15:46.023Z,1743462946.023 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2025-03-31T23:15:46.045Z,1743462946.045 [PAR_Licor] Loaded 2025-03-31T23:15:46.046Z,1743462946.046 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2025-03-31T23:15:46.092Z,1743462946.092 [WetLabsBB2FL] Loaded 2025-03-31T23:15:46.092Z,1743462946.092 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2025-03-31T23:15:46.093Z,1743462946.093 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C354E0 2025-03-31T23:15:46.094Z,1743462946.094 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 8179 2025-03-31T23:15:46.095Z,1743462946.095 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2025-03-31T23:15:46.101Z,1743462946.101 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2025-03-31T23:15:46.104Z,1743462946.104 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2025-03-31T23:15:46.116Z,1743462946.116 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2025-03-31T23:15:46.117Z,1743462946.117 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0 2025-03-31T23:15:46.117Z,1743462946.117 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 8180 2025-03-31T23:15:46.121Z,1743462946.121 [Supervisor](INFO): Main Thread ID is 6139 2025-03-31T23:15:46.121Z,1743462946.121 [Supervisor](DEBUG): Running supervisor. 2025-03-31T23:15:46.122Z,1743462946.122 [CommandExec ThreadHandler](INFO): Handler Thread ID is 8181 2025-03-31T23:15:46.123Z,1743462946.123 [CommandExec](INFO): Initializing the command executive. 2025-03-31T23:15:46.124Z,1743462946.124 [CommandLine ThreadHandler](INFO): Handler Thread ID is 8182 2025-03-31T23:15:46.126Z,1743462946.126 [controlThread ThreadHandler](INFO): Handler Thread ID is 8183 2025-03-31T23:15:46.127Z,1743462946.127 [controlThread](DEBUG): Initializing ControlThread 2025-03-31T23:15:46.128Z,1743462946.128 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2025-03-31T23:15:46.129Z,1743462946.129 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2025-03-31T23:15:46.130Z,1743462946.130 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2025-03-31T23:15:46.130Z,1743462946.130 [LoopControl](DEBUG): Initialize LoopControlComponent. 2025-03-31T23:15:46.134Z,1743462946.134 [SBIT](INFO): Initialize SBIT Component. 2025-03-31T23:15:46.134Z,1743462946.134 [SBIT](IMPORTANT): git: 2025-03-31 2025-03-31T23:15:46.134Z,1743462946.134 [SBIT](INFO): git hash: fa5a0d22cc02557daa9f4ab77c7f518dfe223d1b 2025-03-31T23:15:46.135Z,1743462946.135 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-03-31T23:15:46.136Z,1743462946.136 [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 2025-03-31T23:15:46.137Z,1743462946.137 [SBIT](INFO): Beginning SBIT in 79.000000 seconds. 2025-03-31T23:15:46.137Z,1743462946.137 [IBIT](INFO): Initialize IBIT Component. 2025-03-31T23:15:46.138Z,1743462946.138 [CBIT](DEBUG): Initialize CBIT Component. 2025-03-31T23:15:46.139Z,1743462946.139 [logger ThreadHandler](INFO): Handler Thread ID is 8184 2025-03-31T23:15:46.151Z,1743462946.151 [CBIT](DEBUG): Initialized mux pins. 2025-03-31T23:15:46.151Z,1743462946.151 [CBIT](DEBUG): Initializing the watchdog timer. 2025-03-31T23:15:46.160Z,1743462946.160 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 8185 2025-03-31T23:15:46.175Z,1743462946.175 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2025-03-31T23:15:46.176Z,1743462946.176 [CBIT](DEBUG): Initializing heartbeat. 2025-03-31T23:15:46.176Z,1743462946.176 [DAT ThreadHandler](INFO): Handler Thread ID is 8186 2025-03-31T23:15:46.177Z,1743462946.177 [DAT](INFO): Powering up 2025-03-31T23:15:46.177Z,1743462946.177 [DAT](DEBUG): Initializing DAT. 2025-03-31T23:15:46.181Z,1743462946.181 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 8188 2025-03-31T23:15:46.182Z,1743462946.182 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2025-03-31T23:15:46.204Z,1743462946.204 [Onboard ThreadHandler](INFO): Handler Thread ID is 8189 2025-03-31T23:15:46.221Z,1743462946.221 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 8190 2025-03-31T23:15:46.242Z,1743462946.242 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 8191 2025-03-31T23:15:46.242Z,1743462946.242 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2025-03-31T23:15:46.247Z,1743462946.247 [CBIT](DEBUG): Deactivating emergency mode. 2025-03-31T23:15:46.249Z,1743462946.249 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 8193 2025-03-31T23:15:46.252Z,1743462946.252 [WetLabsBB2FL](INFO): Powering up 2025-03-31T23:15:46.253Z,1743462946.253 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 8195 2025-03-31T23:15:46.255Z,1743462946.255 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2025-03-31T23:15:46.256Z,1743462946.256 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2025-03-31T23:15:46.256Z,1743462946.256 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2025-03-31T23:15:46.256Z,1743462946.256 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2025-03-31T23:15:46.256Z,1743462946.256 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2025-03-31T23:15:46.256Z,1743462946.256 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2025-03-31T23:15:46.256Z,1743462946.256 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2025-03-31T23:15:46.257Z,1743462946.257 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2025-03-31T23:15:46.287Z,1743462946.287 [CBIT](DEBUG): Backplane powered. 2025-03-31T23:15:46.288Z,1743462946.288 [GFScanner](DEBUG): Initializing GFScanner 2025-03-31T23:15:46.288Z,1743462946.288 [GFScanner](DEBUG): Deactivating GF circuits. 2025-03-31T23:15:46.292Z,1743462946.292 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2025-03-31T23:15:46.292Z,1743462946.292 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2025-03-31T23:15:46.293Z,1743462946.293 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2025-03-31T23:15:46.293Z,1743462946.293 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2025-03-31T23:15:46.293Z,1743462946.293 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2025-03-31T23:15:46.294Z,1743462946.294 [NavChart](DEBUG): Initialize NavChart Navigation. 2025-03-31T23:15:46.295Z,1743462946.295 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2025-03-31T23:15:46.308Z,1743462946.308 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-03-31T23:15:46.309Z,1743462946.309 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2025-03-31T23:15:46.309Z,1743462946.309 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2025-03-31T23:15:46.310Z,1743462946.310 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2025-03-31T23:15:46.379Z,1743462946.379 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2025-03-31T23:15:46.411Z,1743462946.411 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2025-03-31T23:15:46.444Z,1743462946.444 [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 } } } 2025-03-31T23:15:46.444Z,1743462946.444 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2025-03-31T23:15:46.444Z,1743462946.444 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2025-03-31T23:15:46.445Z,1743462946.445 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2025-03-31T23:15:46.628Z,1743462946.628 [Radio_Surface](INFO): Powering up 2025-03-31T23:15:46.749Z,1743462946.749 [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 2025-03-31T23:15:46.789Z,1743462946.789 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2025-03-31T23:15:46.790Z,1743462946.790 [Default:A.Wait](DEBUG): Construct Wait. 2025-03-31T23:15:46.793Z,1743462946.793 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-03-31T23:15:46.826Z,1743462946.826 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2025-03-31T23:15:46.829Z,1743462946.829 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2025-03-31T23:15:46.851Z,1743462946.851 [Default:E.Execute](DEBUG): Construct Execute. 2025-03-31T23:15:46.854Z,1743462946.854 [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" } } 2025-03-31T23:15:46.868Z,1743462946.868 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,Waterlinked,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter, 2025-03-31T23:15:46.879Z,1743462946.879 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2025-03-31T23:15:46.944Z,1743462946.944 [Depth_Keller](INFO): Initializing. 2025-03-31T23:15:46.945Z,1743462946.945 [Power24vConverter](INFO): Powering up. 2025-03-31T23:15:46.948Z,1743462946.948 [Sonardyne_Nano](INFO): Initializing. 2025-03-31T23:15:46.996Z,1743462946.996 [DepthRateCalculator](ERROR): Depth measurement is not active 2025-03-31T23:15:47.022Z,1743462947.022 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2025-03-31T23:15:47.028Z,1743462947.028 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2025-03-31T23:15:47.029Z,1743462947.029 [ElevatorServo](DEBUG): Initializing EZServoServo. 2025-03-31T23:15:47.036Z,1743462947.036 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2025-03-31T23:15:47.037Z,1743462947.037 [MassServo](DEBUG): Initializing EZServoServo. 2025-03-31T23:15:47.044Z,1743462947.044 [MassServo](DEBUG): Initializing MassServo. 2025-03-31T23:15:47.044Z,1743462947.044 [RudderServo](DEBUG): Initializing EZServoServo. 2025-03-31T23:15:47.052Z,1743462947.052 [RudderServo](DEBUG): Initializing RudderServo. 2025-03-31T23:15:47.053Z,1743462947.053 [ThrusterHE](DEBUG): Initializing EZServoServo. 2025-03-31T23:15:47.060Z,1743462947.060 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2025-03-31T23:15:48.359Z,1743462948.359 [WetLabsBB2FL](INFO): Powering down 2025-03-31T23:15:48.898Z,1743462948.898 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2025-03-31T23:15:50.181Z,1743462950.181 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2311 2025-03-31T23:15:53.271Z,1743462953.271 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit. 2025-03-31T23:15:58.272Z,1743462958.272 [DAT](INFO): DAT read: 2025-03-31T23:15:58.273Z,1743462958.273 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-03-31T23:16:00.036Z,1743462960.036 [DAT](INFO): DAT read: MF Frequency Band 2025-03-31T23:16:00.037Z,1743462960.037 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-03-31T23:16:00.038Z,1743462960.038 [DAT](INFO): DAT read: Mar 31 2025 23:15:54 2025-03-31T23:16:01.044Z,1743462961.044 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-03-31T23:16:01.046Z,1743462961.046 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2025-03-31T23:16:01.046Z,1743462961.046 [DAT](INFO): commRate: 800 2025-03-31T23:16:03.111Z,1743462963.111 [DAT](INFO): entering command mode 2025-03-31T23:16:03.312Z,1743462963.312 [DAT](INFO): DAT read: 2025-03-31T23:16:03.312Z,1743462963.312 [DAT](INFO): DAT read: user:1> 2025-03-31T23:16:03.313Z,1743462963.313 [DAT](INFO): setting verbose to 3 2025-03-31T23:16:03.564Z,1743462963.564 [DAT](INFO): DAT read: user:1> 2025-03-31T23:16:03.565Z,1743462963.565 [DAT](INFO): DAT read: Verbose | 3 2025-03-31T23:16:03.565Z,1743462963.565 [DAT](INFO): set verbose to 3 2025-03-31T23:16:03.566Z,1743462963.566 [DAT](INFO): setting DatVerbose to 27440 2025-03-31T23:16:03.816Z,1743462963.816 [DAT](INFO): DAT read: user:2> 2025-03-31T23:16:03.817Z,1743462963.817 [DAT](INFO): DAT read: DatVerbose | 27440 2025-03-31T23:16:03.817Z,1743462963.817 [DAT](INFO): set DatVerbose to 27440 2025-03-31T23:16:03.818Z,1743462963.818 [DAT](INFO): setting transmit power to 8 2025-03-31T23:16:04.068Z,1743462964.068 [DAT](INFO): DAT read: user:3> 2025-03-31T23:16:04.069Z,1743462964.069 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-03-31T23:16:04.069Z,1743462964.069 [DAT](INFO): set transmit power to 8 2025-03-31T23:16:04.070Z,1743462964.070 [DAT](INFO): setting local address to 1 2025-03-31T23:16:04.320Z,1743462964.320 [DAT](INFO): DAT read: user:4> 2025-03-31T23:16:04.321Z,1743462964.321 [DAT](INFO): DAT read: LocalAddr | 1 2025-03-31T23:16:04.321Z,1743462964.321 [DAT](INFO): set local address to 1 2025-03-31T23:16:04.322Z,1743462964.322 [DAT](INFO): Setting time to: 23:16:4 And date to:3/31/2025 2025-03-31T23:16:04.572Z,1743462964.572 [DAT](INFO): DAT read: user:5> 2025-03-31T23:16:04.573Z,1743462964.573 [DAT](INFO): DAT read: Mon Mar 31, 2025 23:16:04 2025-03-31T23:16:04.573Z,1743462964.573 [DAT](INFO): Local DAT time set to Mon Mar 31, 2025 23:16:04 2025-03-31T23:16:14.457Z,1743462974.457 [NAL9602](INFO): Powering up NAL9602 2025-03-31T23:16:25.493Z,1743462985.493 [NAL9602](INFO): NAL9602 initialized 2025-03-31T23:17:05.934Z,1743463025.934 [SBIT](IMPORTANT): Beginning Startup BIT 2025-03-31T23:17:05.948Z,1743463025.948 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-03-31T23:17:10.517Z,1743463030.517 [GFScanner](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.006667 CHAN A1 (24V): 0.004337 CHAN A2 (12V): 0.001379 CHAN A3 (5V): -0.001168 CHAN B0 (3.3V): 0.000591 CHAN B1 (3.15aV): 0.000675 CHAN B2 (3.15bV): 0.000378 CHAN B3 (GND): -0.001093 OPEN: 0.009072 Full Scale: +/- 1 mA 2025-03-31T23:17:59.643Z,1743463079.643 [SBIT](IMPORTANT): SBIT PASSED 2025-03-31T23:17:59.643Z,1743463079.643 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2025-03-31T23:17:59.660Z,1743463079.660 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=12 count; 2025-03-31T23:17:59.660Z,1743463079.660 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute; 2025-03-31T23:17:59.660Z,1743463079.660 [SBIT](IMPORTANT): Express linearApproximation TrackAcousticContact.range_to_contact 15.000000 meter; 2025-03-31T23:17:59.660Z,1743463079.660 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_HM_AvgRois 1.000000 count_per_second; 2025-03-31T23:17:59.660Z,1743463079.660 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_LM_AvgRois 25.000000 count_per_second; 2025-03-31T23:17:59.660Z,1743463079.660 [SBIT](IMPORTANT): Express linearApproximation _.planktivore_caseHumidity 10.000000 percent; 2025-03-31T23:17:59.661Z,1743463079.661 [SBIT](IMPORTANT): Express none _.planktivore_diatoms; 2025-03-31T23:17:59.661Z,1743463079.661 [SBIT](IMPORTANT): Express none _.planktivore_dinoflagellates; 2025-03-31T23:17:59.661Z,1743463079.661 [SBIT](IMPORTANT): Express none _.predict_plankton_data_pct_dinos_sqerr; 2025-03-31T23:17:59.661Z,1743463079.661 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 10.000000 meter; 2025-03-31T23:17:59.661Z,1743463079.661 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool; 2025-03-31T23:17:59.661Z,1743463079.661 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool; 2025-03-31T23:17:59.661Z,1743463079.661 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=196 cubic_centimeter; 2025-03-31T23:17:59.661Z,1743463079.661 [SBIT](IMPORTANT): VerticalControl.massDefault=14.870359 millimeter; 2025-03-31T23:17:59.662Z,1743463079.662 [SBIT](IMPORTANT): Waterlinked.loadAtStartup=1 bool; 2025-03-31T23:18:00.059Z,1743463080.059 [MissionManager](IMPORTANT): Started mission Startup 2025-03-31T23:18:00.060Z,1743463080.060 [Startup] Running Loop=1 2025-03-31T23:18:00.060Z,1743463080.060 [Startup](DEBUG): Aggregate::initialize Startup 2025-03-31T23:18:00.060Z,1743463080.060 [Startup:A.GoToSurface] Running Loop=1 2025-03-31T23:18:00.060Z,1743463080.060 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-03-31T23:18:00.060Z,1743463080.060 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-03-31T23:18:00.061Z,1743463080.061 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-03-31T23:18:00.061Z,1743463080.061 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-03-31T23:18:00.061Z,1743463080.061 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-03-31T23:18:00.062Z,1743463080.062 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-03-31T23:18:00.062Z,1743463080.062 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-03-31T23:18:00.064Z,1743463080.064 [Startup:StartupSatComms] Running Loop=1 2025-03-31T23:18:00.064Z,1743463080.064 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2025-03-31T23:18:00.064Z,1743463080.064 [Startup:StartupSatComms:A] Running Loop=1 2025-03-31T23:18:00.473Z,1743463080.473 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2025-03-31T23:18:07.710Z,1743463087.710 [NAL9602](INFO): SBD MO Status=0, MOMSN=22233, MT Status=0, MTMSN=0 2025-03-31T23:18:07.710Z,1743463087.710 [NAL9602](INFO): No messages in MT queue 2025-03-31T23:18:21.033Z,1743463101.033 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:18:21.044Z,1743463101.044 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231819.00,A,3647.96144,N,12149.58861,W,0.972,83.56,310325,,,A*4B 2025-03-31T23:18:21.047Z,1743463101.047 [NAL9602](INFO): GPS fix at 20250331T231819: (36.799357, -121.826477) 2025-03-31T23:18:21.097Z,1743463101.097 [Startup:StartupSatComms:A] Stopped 2025-03-31T23:18:21.097Z,1743463101.097 [Startup:StartupSatComms:B] Running Loop=1 2025-03-31T23:18:21.527Z,1743463101.527 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-03-31T23:18:34.903Z,1743463114.903 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:18:39.752Z,1743463119.752 [NAL9602](INFO): SBD MO Status=1, MOMSN=22234, MT Status=0, MTMSN=0 2025-03-31T23:18:39.812Z,1743463119.812 [NAL9602](INFO): Sent 39 bytes from file Logs/20250331T210851/Courier0082.lzma 2025-03-31T23:18:39.812Z,1743463119.812 [NAL9602](INFO): Packets left to send: 0 2025-03-31T23:18:48.728Z,1743463128.728 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:19:02.059Z,1743463142.059 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:19:14.987Z,1743463154.987 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:19:14.997Z,1743463154.997 [NAL9602](INFO): SBD MO Status=2, MOMSN=22235, MT Status=2, MTMSN=0 2025-03-31T23:19:14.997Z,1743463154.997 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-03-31T23:19:21.104Z,1743463161.104 [Startup:StartupSatComms:B](INFO): Timed out from 2025-03-31T23:18:21.1Z 2025-03-31T23:19:21.104Z,1743463161.104 [Startup:StartupSatComms:B] Stopped 2025-03-31T23:19:21.104Z,1743463161.104 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2025-03-31T23:19:21.104Z,1743463161.104 [Startup:StartupSatComms] Stopped 2025-03-31T23:19:21.104Z,1743463161.104 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2025-03-31T23:19:21.105Z,1743463161.105 [Startup](INFO): Completed Startup 2025-03-31T23:19:21.106Z,1743463161.106 [MissionManager](INFO): Startup is completed. 2025-03-31T23:19:21.106Z,1743463161.106 [MissionManager](INFO): Uninitializing Mission Startup 2025-03-31T23:19:21.106Z,1743463161.106 [Startup] Stopped 2025-03-31T23:19:21.106Z,1743463161.106 [Startup](DEBUG): Aggregate::uninitialize Startup 2025-03-31T23:19:21.106Z,1743463161.106 [Startup:A.GoToSurface] Stopped 2025-03-31T23:19:21.106Z,1743463161.106 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-03-31T23:19:21.472Z,1743463161.472 [MissionManager](IMPORTANT): Started mission Default 2025-03-31T23:19:21.472Z,1743463161.472 [Default] Running Loop=1 2025-03-31T23:19:21.472Z,1743463161.472 [Default](DEBUG): Aggregate::initialize Default 2025-03-31T23:19:21.472Z,1743463161.472 [Default:B.GoToSurface] Running Loop=1 2025-03-31T23:19:21.472Z,1743463161.472 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-03-31T23:19:21.473Z,1743463161.473 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-03-31T23:19:21.473Z,1743463161.473 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-03-31T23:19:21.473Z,1743463161.473 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-03-31T23:19:21.473Z,1743463161.473 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-03-31T23:19:21.474Z,1743463161.474 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-03-31T23:19:21.474Z,1743463161.474 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-03-31T23:19:21.474Z,1743463161.474 [Default:A.Wait] Running Loop=1 2025-03-31T23:19:21.474Z,1743463161.474 [Default:A.Wait](DEBUG): Initialize Wait Component. 2025-03-31T23:19:24.778Z,1743463164.778 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-03-31T23:19:29.127Z,1743463169.127 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:19:32.053Z,1743463172.053 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004521 2025-03-31T23:19:34.532Z,1743463174.532 [Default:A.Wait](INFO): Done Waiting. 2025-03-31T23:19:34.532Z,1743463174.532 [Default:A.Wait] Stopped 2025-03-31T23:19:34.532Z,1743463174.532 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2025-03-31T23:19:34.924Z,1743463174.924 [Default:CheckIn] Running Loop=1 2025-03-31T23:19:34.924Z,1743463174.924 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2025-03-31T23:19:34.924Z,1743463174.924 [Default:CheckIn:Read_GPS] Running Loop=1 2025-03-31T23:19:35.315Z,1743463175.315 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-03-31T23:19:42.585Z,1743463182.585 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:19:46.221Z,1743463186.221 [NAL9602](INFO): SBD MO Status=1, MOMSN=22235, MT Status=0, MTMSN=0 2025-03-31T23:19:46.268Z,1743463186.268 [NAL9602](INFO): Sent 272 bytes from file Logs/20250331T231536/Courier0000.lzma 2025-03-31T23:19:46.268Z,1743463186.268 [NAL9602](INFO): Packets left to send: 0 2025-03-31T23:19:47.431Z,1743463187.431 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231945.00,A,3647.96946,N,12149.58062,W,0.583,107.84,310325,,,A*72 2025-03-31T23:19:47.433Z,1743463187.433 [NAL9602](INFO): GPS fix at 20250331T231945: (36.799491, -121.826344) 2025-03-31T23:19:47.461Z,1743463187.461 [Default:CheckIn:Read_GPS] Stopped 2025-03-31T23:19:47.461Z,1743463187.461 [Default:CheckIn:Read_Iridium] Running Loop=1 2025-03-31T23:19:47.880Z,1743463187.880 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-03-31T23:19:55.202Z,1743463195.202 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250331T231536/Courier0004.lzma 2025-03-31T23:19:55.917Z,1743463195.917 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:19:56.189Z,1743463196.189 [DataOverHttps](INFO): Moved sent file to Logs/20250331T231536/Courier0004.lzma.bak 2025-03-31T23:19:56.189Z,1743463196.189 [DataOverHttps](INFO): SBD MOMSN=24504879 2025-03-31T23:20:09.242Z,1743463209.242 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:20:12.899Z,1743463212.899 [DataOverHttps](INFO): Sending 145 bytes from file Logs/20250331T210851/Express0083.lzma 2025-03-31T23:20:13.901Z,1743463213.901 [DataOverHttps](INFO): Moved sent file to Logs/20250331T210851/Express0083.lzma.bak 2025-03-31T23:20:13.902Z,1743463213.902 [DataOverHttps](INFO): SBD MOMSN=24504889 2025-03-31T23:20:19.340Z,1743463219.340 [NAL9602](INFO): Not Powering down - fast GPS 2025-03-31T23:20:22.972Z,1743463222.972 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:20:30.786Z,1743463230.786 [DataOverHttps](INFO): Sending 1243 bytes from file Logs/20250331T231536/Express0001.lzma 2025-03-31T23:20:31.785Z,1743463231.785 [DataOverHttps](INFO): Moved sent file to Logs/20250331T231536/Express0001.lzma.bak 2025-03-31T23:20:31.786Z,1743463231.786 [DataOverHttps](INFO): SBD MOMSN=24504893 2025-03-31T23:20:36.304Z,1743463236.304 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:20:50.495Z,1743463250.495 [DataOverHttps](INFO): Sending 140 bytes from file Logs/20250331T231536/Express0005.lzma 2025-03-31T23:20:51.501Z,1743463251.501 [DataOverHttps](INFO): Moved sent file to Logs/20250331T231536/Express0005.lzma.bak 2025-03-31T23:20:51.501Z,1743463251.501 [DataOverHttps](INFO): SBD MOMSN=24504921 2025-03-31T23:20:52.596Z,1743463252.596 [Default:CheckIn:Read_Iridium] Stopped 2025-03-31T23:20:52.596Z,1743463252.596 [Default:CheckIn:C.Wait] Running Loop=1 2025-03-31T23:20:52.596Z,1743463252.596 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2025-03-31T23:20:52.966Z,1743463252.966 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD, +0.00, +0.00, 0.00 2025-03-31T23:22:31.174Z,1743463351.174 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T232230 2025-03-31T23:22:39.160Z,1743463359.160 [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 2025-03-31T23:22:39.253Z,1743463359.253 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2025-03-31T23:22:39.253Z,1743463359.253 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2025-03-31T23:22:39.253Z,1743463359.253 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl 2025-03-31T23:22:39.255Z,1743463359.255 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl 2025-03-31T23:22:40.146Z,1743463360.146 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into: 60 30 NaN NaN 0 0 10 1 20 1 7 1 2025-03-31T23:22:40.152Z,1743463360.152 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2025-03-31T23:22:40.156Z,1743463360.156 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2025-03-31T23:22:40.158Z,1743463360.158 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2025-03-31T23:22:40.166Z,1743463360.166 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2025-03-31T23:22:40.170Z,1743463360.170 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2025-03-31T23:22:40.173Z,1743463360.173 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2025-03-31T23:22:40.176Z,1743463360.176 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2025-03-31T23:22:40.179Z,1743463360.179 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2025-03-31T23:22:40.182Z,1743463360.182 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2025-03-31T23:22:40.185Z,1743463360.185 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2025-03-31T23:22:40.188Z,1743463360.188 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2025-03-31T23:22:40.191Z,1743463360.191 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2025-03-31T23:22:40.193Z,1743463360.193 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2025-03-31T23:22:40.194Z,1743463360.194 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2025-03-31T23:22:40.194Z,1743463360.194 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2025-03-31T23:22:40.251Z,1743463360.251 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2025-03-31T23:22:40.651Z,1743463360.651 [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 2025-03-31T23:22:40.706Z,1743463360.706 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h 2025-03-31T23:22:40.718Z,1743463360.718 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2025-03-31T23:22:40.725Z,1743463360.725 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2025-03-31T23:22:40.744Z,1743463360.744 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2025-03-31T23:22:40.755Z,1743463360.755 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2025-03-31T23:22:40.758Z,1743463360.758 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2025-03-31T23:22:40.770Z,1743463360.770 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2025-03-31T23:22:40.785Z,1743463360.785 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2025-03-31T23:22:40.797Z,1743463360.797 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-03-31T23:22:40.853Z,1743463360.853 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-03-31T23:22:40.853Z,1743463360.853 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-03-31T23:22:40.855Z,1743463360.855 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-03-31T23:22:41.000Z,1743463361.000 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2025-03-31T23:22:41.006Z,1743463361.006 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2025-03-31T23:22:41.057Z,1743463361.057 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2025-03-31T23:22:41.064Z,1743463361.064 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2025-03-31T23:22:41.081Z,1743463361.081 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-03-31T23:22:41.083Z,1743463361.083 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-03-31T23:22:41.108Z,1743463361.108 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-03-31T23:22:41.143Z,1743463361.143 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-03-31T23:22:41.163Z,1743463361.163 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-03-31T23:22:41.167Z,1743463361.167 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-03-31T23:22:41.168Z,1743463361.168 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-03-31T23:22:41.207Z,1743463361.207 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-03-31T23:22:41.219Z,1743463361.219 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool 2025-03-31T23:22:41.226Z,1743463361.226 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-03-31T23:22:41.230Z,1743463361.230 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-03-31T23:22:41.230Z,1743463361.230 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-03-31T23:22:41.231Z,1743463361.231 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-03-31T23:22:41.610Z,1743463361.610 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-03-31T23:22:41.619Z,1743463361.619 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool 2025-03-31T23:22:41.621Z,1743463361.621 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool 2025-03-31T23:22:41.632Z,1743463361.632 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool 2025-03-31T23:22:41.635Z,1743463361.635 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool 2025-03-31T23:22:41.642Z,1743463361.642 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool 2025-03-31T23:22:41.658Z,1743463361.658 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-03-31T23:22:41.664Z,1743463361.664 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2025-03-31T23:22:41.669Z,1743463361.669 [transit:MassHold.Pitch](DEBUG): Construct. 2025-03-31T23:22:41.688Z,1743463361.688 [transit:Transit:A.Pitch](DEBUG): Construct. 2025-03-31T23:22:41.694Z,1743463361.694 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2025-03-31T23:22:41.707Z,1743463361.707 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2025-03-31T23:22:41.744Z,1743463361.744 [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" } } 2025-03-31T23:22:41.745Z,1743463361.745 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2025-03-31T23:22:57.744Z,1743463377.744 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 20 minute 2025-03-31T23:22:57.745Z,1743463377.745 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree 2025-03-31T23:22:57.745Z,1743463377.745 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree 2025-03-31T23:22:57.746Z,1743463377.746 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.001 kilometer 2025-03-31T23:22:57.747Z,1743463377.747 [CommandExec](IMPORTANT): got command run 2025-03-31T23:22:57.793Z,1743463377.793 [CommandExec](IMPORTANT): Running 2025-03-31T23:22:57.897Z,1743463377.897 [Default] Stopped 2025-03-31T23:22:57.897Z,1743463377.897 [Default](DEBUG): Aggregate::uninitialize Default 2025-03-31T23:22:57.898Z,1743463377.898 [Default:B.GoToSurface] Stopped 2025-03-31T23:22:57.898Z,1743463377.898 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2025-03-31T23:22:57.898Z,1743463377.898 [Default:CheckIn] Stopped 2025-03-31T23:22:57.898Z,1743463377.898 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2025-03-31T23:22:57.898Z,1743463377.898 [Default:CheckIn:C.Wait] Stopped 2025-03-31T23:22:57.898Z,1743463377.898 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2025-03-31T23:22:57.898Z,1743463377.898 [MissionManager](IMPORTANT): Started mission transit 2025-03-31T23:22:57.898Z,1743463377.898 [transit] Running Loop=1 2025-03-31T23:22:57.898Z,1743463377.898 [transit](DEBUG): Aggregate::initialize transit 2025-03-31T23:22:57.899Z,1743463377.899 [transit:StandardEnvelopes] Running Loop=1 2025-03-31T23:22:57.899Z,1743463377.899 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2025-03-31T23:22:57.899Z,1743463377.899 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-03-31T23:22:57.899Z,1743463377.899 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-03-31T23:22:57.908Z,1743463377.908 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-03-31T23:22:57.908Z,1743463377.908 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-03-31T23:22:57.908Z,1743463377.908 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-03-31T23:22:57.908Z,1743463377.908 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-03-31T23:22:57.908Z,1743463377.908 [transit:BackseatDriver] Running Loop=1 2025-03-31T23:22:57.908Z,1743463377.908 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver 2025-03-31T23:22:57.908Z,1743463377.908 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-03-31T23:22:57.908Z,1743463377.908 [transit:PowerOnly] Running Loop=1 2025-03-31T23:22:57.908Z,1743463377.908 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly 2025-03-31T23:22:57.909Z,1743463377.909 [transit:PowerOnly:A] Running Loop=1 2025-03-31T23:22:57.909Z,1743463377.909 [transit:PowerOnly:B] Running Loop=1 2025-03-31T23:22:57.909Z,1743463377.909 [transit:PowerOnly:C] Running Loop=1 2025-03-31T23:22:57.909Z,1743463377.909 [transit:PowerOnly:D] Running Loop=1 2025-03-31T23:22:57.909Z,1743463377.909 [transit:PowerOnly:E.Wait] Running Loop=1 2025-03-31T23:22:57.909Z,1743463377.909 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-03-31T23:22:57.909Z,1743463377.909 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2025-03-31T23:22:57.909Z,1743463377.909 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-03-31T23:22:57.909Z,1743463377.909 [transit:MassHold.Pitch] Running Loop=1 2025-03-31T23:22:57.909Z,1743463377.909 [transit:MassHold.Pitch](DEBUG): Initialize. 2025-03-31T23:22:57.910Z,1743463377.910 [transit:B] Running Loop=1 2025-03-31T23:22:57.910Z,1743463377.910 [transit:MassHold.Pitch] Running Loop=1 2025-03-31T23:22:57.911Z,1743463377.911 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2025-03-31T23:22:57.911Z,1743463377.911 [transit:PowerOnly] Running Loop=1 2025-03-31T23:22:57.944Z,1743463377.944 [transit:PowerOnly:D] Stopped 2025-03-31T23:22:57.944Z,1743463377.944 [transit:PowerOnly:C] Stopped 2025-03-31T23:22:57.944Z,1743463377.944 [transit:PowerOnly:B] Stopped 2025-03-31T23:22:57.944Z,1743463377.944 [transit:PowerOnly:A] Stopped 2025-03-31T23:22:57.944Z,1743463377.944 [transit:BackseatDriver] Running Loop=1 2025-03-31T23:22:57.944Z,1743463377.944 [transit:StandardEnvelopes] Running Loop=1 2025-03-31T23:22:57.944Z,1743463377.944 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-03-31T23:22:57.945Z,1743463377.945 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-03-31T23:22:57.946Z,1743463377.946 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-03-31T23:22:57.946Z,1743463377.946 [transit:B] Stopped 2025-03-31T23:22:57.946Z,1743463377.946 [transit:C] Running Loop=1 2025-03-31T23:22:58.250Z,1743463378.250 [transit:C] Stopped 2025-03-31T23:22:58.250Z,1743463378.250 [transit:E] Running Loop=1 2025-03-31T23:22:58.529Z,1743463378.529 [transit:E] Stopped 2025-03-31T23:22:58.529Z,1743463378.529 [transit:F] Running Loop=1 2025-03-31T23:22:59.051Z,1743463379.051 [transit:F] Stopped 2025-03-31T23:22:59.051Z,1743463379.051 [transit:G] Running Loop=1 2025-03-31T23:22:59.470Z,1743463379.470 [transit:G] Stopped 2025-03-31T23:22:59.470Z,1743463379.470 [transit:Transit] Running Loop=1 2025-03-31T23:22:59.470Z,1743463379.470 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2025-03-31T23:22:59.470Z,1743463379.470 [transit:Transit:A.Pitch] Running Loop=1 2025-03-31T23:22:59.470Z,1743463379.470 [transit:Transit:A.Pitch](DEBUG): Initialize. 2025-03-31T23:22:59.470Z,1743463379.470 [transit:Transit:B.SetSpeed] Running Loop=1 2025-03-31T23:22:59.470Z,1743463379.470 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2025-03-31T23:22:59.471Z,1743463379.471 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2025-03-31T23:22:59.471Z,1743463379.471 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2025-03-31T23:22:59.472Z,1743463379.472 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2025-03-31T23:22:59.747Z,1743463379.747 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000 2025-03-31T23:22:59.748Z,1743463379.748 [transit:Transit:B.SetSpeed] Running Loop=1 2025-03-31T23:22:59.748Z,1743463379.748 [transit:Transit:A.Pitch] Running Loop=1 2025-03-31T23:22:59.757Z,1743463379.757 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-03-31T23:22:59.757Z,1743463379.757 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-03-31T23:22:59.757Z,1743463379.757 [HorizontalControl](DEBUG): kdHeading = 0.050000 2025-03-31T23:23:03.014Z,1743463383.014 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-03-31T23:23:04.938Z,1743463384.938 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-03-31T23:23:04.953Z,1743463384.953 [BPC1](ERROR): Battery stick #21 (s/n: 01C7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-03-31T23:23:04.954Z,1743463384.954 [BPC1](ERROR): Battery stick #22 (s/n: 00C0) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-03-31T23:23:04.954Z,1743463384.954 [BPC1](ERROR): Battery stick #29 (s/n: 00A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-03-31T23:23:04.959Z,1743463384.959 [BPC1](ERROR): Battery stick #30 (s/n: 015F) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-03-31T23:23:04.960Z,1743463384.960 [BPC1](ERROR): Battery stick #59 (s/n: 0184) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-03-31T23:23:04.961Z,1743463384.961 [BPC1](INFO): Calculating totals. Valid battery stick count: 40. Valid reserve battery stick count: 5. 2025-03-31T23:23:04.968Z,1743463384.968 [BPC1](INFO): Received data from all battery sticks. 2025-03-31T23:25:04.764Z,1743463504.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:25:24.640Z,1743463524.640 [Radio_Surface](INFO): Powering down 2025-03-31T23:25:35.901Z,1743463535.901 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:25:36.904Z,1743463536.904 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-03-31T23:27:21.336Z,1743463641.336 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.754929 2025-03-31T23:39:47.458Z,1743464387.458 [transit:NeedComms] Running Loop=1 2025-03-31T23:39:47.459Z,1743464387.459 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms 2025-03-31T23:39:47.459Z,1743464387.459 [transit:NeedComms:B.GoToSurface] Running Loop=1 2025-03-31T23:39:47.459Z,1743464387.459 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-03-31T23:39:47.461Z,1743464387.461 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2025-03-31T23:39:47.461Z,1743464387.461 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2025-03-31T23:39:47.461Z,1743464387.461 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2025-03-31T23:39:47.462Z,1743464387.462 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2025-03-31T23:39:47.462Z,1743464387.462 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-03-31T23:39:47.462Z,1743464387.462 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-03-31T23:39:47.463Z,1743464387.463 [transit:NeedComms:A] Running Loop=1 2025-03-31T23:39:47.465Z,1743464387.465 [transit:NeedComms:A](INFO): last time_fix was: 1743463185.000000 second since 1970/01/01T00:00:00Z 2025-03-31T23:39:47.465Z,1743464387.465 [transit:NeedComms:A] Stopped 2025-03-31T23:40:27.385Z,1743464427.385 [transit:NeedComms:C] Running Loop=1 2025-03-31T23:40:27.751Z,1743464427.751 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix 2025-03-31T23:40:28.124Z,1743464428.124 [Radio_Surface](INFO): Powering up 2025-03-31T23:40:33.628Z,1743464433.628 [DataOverHttps](INFO): Radio surface powered ON. 2025-03-31T23:41:03.748Z,1743464463.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:41:34.872Z,1743464494.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:42:06.004Z,1743464526.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:42:37.128Z,1743464557.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:43:08.253Z,1743464588.253 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:43:39.376Z,1743464619.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:44:10.500Z,1743464650.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-03-31T23:44:10.805Z,1743464650.805 [NAL9602](INFO): SBD MO Status=0, MOMSN=22236, MT Status=0, MTMSN=0 2025-03-31T23:44:10.805Z,1743464650.805 [NAL9602](INFO): No messages in MT queue 2025-03-31T23:44:12.018Z,1743464652.018 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234410.00,A,3647.93865,N,12150.04407,W,0.894,48.64,310325,,,A*46 2025-03-31T23:44:12.021Z,1743464652.021 [NAL9602](INFO): GPS fix at 20250331T234410: (36.798977, -121.834068) 2025-03-31T23:44:12.073Z,1743464652.073 [UniversalFixResidualReporter](INFO): Fix residual: 3.5 %DT, over the last 914.6 m. Residual distance 32.0 m at bearing -178.3 degrees. Fix at (36.7990, -121.8341) with 690.1 m made good. 2025-03-31T23:44:12.098Z,1743464652.098 [transit:NeedComms:C] Stopped 2025-03-31T23:44:12.104Z,1743464652.104 [transit:NeedComms:D] Running Loop=1 2025-03-31T23:44:12.472Z,1743464652.472 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-03-31T23:44:20.121Z,1743464660.121 [DataOverHttps](IMPORTANT): SBD MTMSN=20250331T234419 2025-03-31T23:44:20.124Z,1743464660.124 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003611