2024-05-22T17:34:35.402Z,1716399275.402 [Supervisor](DEBUG): Initializing supervisor. 2024-05-22T17:34:35.406Z,1716399275.406 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2024-05-22T17:34:35.407Z,1716399275.407 [SyncHandler](INFO): Protected caller Thread ID is 837 2024-05-22T17:34:35.407Z,1716399275.407 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2024-05-22T17:34:35.408Z,1716399275.408 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2024-05-22T17:34:35.408Z,1716399275.408 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 838 2024-05-22T17:34:35.412Z,1716399275.412 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2024-05-22T17:34:35.429Z,1716399275.429 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2024-05-22T17:34:35.430Z,1716399275.430 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2024-05-22T17:34:35.431Z,1716399275.431 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 839 2024-05-22T17:34:35.435Z,1716399275.435 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2024-05-22T17:34:35.436Z,1716399275.436 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2024-05-22T17:34:35.436Z,1716399275.436 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 840 2024-05-22T17:34:35.438Z,1716399275.438 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2024-05-22T17:34:35.439Z,1716399275.439 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2024-05-22T17:34:35.439Z,1716399275.439 [logger ThreadHandler](INFO): Protected caller Thread ID is 841 2024-05-22T17:34:35.443Z,1716399275.443 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2024-05-22T17:34:35.443Z,1716399275.443 [Supervisor](INFO): Looking for Config files in directory: Config/ 2024-05-22T17:34:35.448Z,1716399275.448 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2024-05-22T17:34:35.731Z,1716399275.731 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2024-05-22T17:34:35.733Z,1716399275.733 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2024-05-22T17:34:35.828Z,1716399275.828 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2024-05-22T17:34:36.394Z,1716399276.394 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2024-05-22T17:34:36.396Z,1716399276.396 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2024-05-22T17:34:36.765Z,1716399276.765 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2024-05-22T17:34:36.767Z,1716399276.767 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2024-05-22T17:34:36.875Z,1716399276.875 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2024-05-22T17:34:36.877Z,1716399276.877 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2024-05-22T17:34:37.319Z,1716399277.319 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2024-05-22T17:34:37.320Z,1716399277.320 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2024-05-22T17:34:37.555Z,1716399277.555 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2024-05-22T17:34:37.557Z,1716399277.557 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2024-05-22T17:34:38.111Z,1716399278.111 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2024-05-22T17:34:38.113Z,1716399278.113 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2024-05-22T17:34:38.262Z,1716399278.262 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2024-05-22T17:34:38.264Z,1716399278.264 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2024-05-22T17:34:38.355Z,1716399278.355 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2024-05-22T17:34:39.809Z,1716399279.809 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2024-05-22T17:34:39.810Z,1716399279.810 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2024-05-22T17:34:40.219Z,1716399280.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2024-05-22T17:34:40.220Z,1716399280.220 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2024-05-22T17:34:40.431Z,1716399280.431 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2024-05-22T17:34:40.432Z,1716399280.432 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2024-05-22T17:34:40.558Z,1716399280.558 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2024-05-22T17:34:40.558Z,1716399280.558 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2024-05-22T17:34:40.817Z,1716399280.817 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2024-05-22T17:34:40.818Z,1716399280.818 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2024-05-22T17:34:41.090Z,1716399281.090 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2024-05-22T17:34:41.092Z,1716399281.092 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/ 2024-05-22T17:34:41.094Z,1716399281.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg 2024-05-22T17:34:41.198Z,1716399281.198 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg 2024-05-22T17:34:41.297Z,1716399281.297 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg 2024-05-22T17:34:41.413Z,1716399281.413 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg 2024-05-22T17:34:41.510Z,1716399281.510 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg 2024-05-22T17:34:41.626Z,1716399281.626 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg 2024-05-22T17:34:41.731Z,1716399281.731 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg 2024-05-22T17:34:41.857Z,1716399281.857 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg 2024-05-22T17:34:42.027Z,1716399282.027 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg 2024-05-22T17:34:42.181Z,1716399282.181 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg 2024-05-22T17:34:42.305Z,1716399282.305 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg 2024-05-22T17:34:42.584Z,1716399282.584 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2024-05-22T17:34:42.584Z,1716399282.584 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2024-05-22T17:34:42.596Z,1716399282.596 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2024-05-22T17:34:42.681Z,1716399282.681 [VerticalControl](DEBUG): Construct VerticalControl. 2024-05-22T17:34:42.741Z,1716399282.741 [VerticalControl] Loaded 2024-05-22T17:34:42.741Z,1716399282.741 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2024-05-22T17:34:42.744Z,1716399282.744 [HorizontalControl](DEBUG): Construct HorizontalControl. 2024-05-22T17:34:42.791Z,1716399282.791 [HorizontalControl] Loaded 2024-05-22T17:34:42.791Z,1716399282.791 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2024-05-22T17:34:42.793Z,1716399282.793 [SpeedControl](DEBUG): Construct SpeedControl. 2024-05-22T17:34:42.797Z,1716399282.797 [SpeedControl] Loaded 2024-05-22T17:34:42.797Z,1716399282.797 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2024-05-22T17:34:42.799Z,1716399282.799 [LoopControl](DEBUG): Construct LoopControl. 2024-05-22T17:34:42.800Z,1716399282.800 [LoopControl] Loaded 2024-05-22T17:34:42.800Z,1716399282.800 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2024-05-22T17:34:42.801Z,1716399282.801 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2024-05-22T17:34:42.803Z,1716399282.803 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2024-05-22T17:34:42.817Z,1716399282.817 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2024-05-22T17:34:42.818Z,1716399282.818 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2024-05-22T17:34:43.028Z,1716399283.028 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2024-05-22T17:34:43.029Z,1716399283.029 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2024-05-22T17:34:43.211Z,1716399283.211 [BuoyancyServo] Loaded 2024-05-22T17:34:43.212Z,1716399283.212 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2024-05-22T17:34:43.234Z,1716399283.234 [ElevatorServo] Loaded 2024-05-22T17:34:43.234Z,1716399283.234 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2024-05-22T17:34:43.255Z,1716399283.255 [MassServo] Loaded 2024-05-22T17:34:43.255Z,1716399283.255 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2024-05-22T17:34:43.275Z,1716399283.275 [RudderServo] Loaded 2024-05-22T17:34:43.276Z,1716399283.276 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2024-05-22T17:34:43.292Z,1716399283.292 [ThrusterHE] Loaded 2024-05-22T17:34:43.292Z,1716399283.292 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2024-05-22T17:34:43.293Z,1716399283.293 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2024-05-22T17:34:43.293Z,1716399283.293 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2024-05-22T17:34:43.431Z,1716399283.431 [DeadReckonUsingMultipleVelocitySources] Loaded 2024-05-22T17:34:43.431Z,1716399283.431 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2024-05-22T17:34:43.444Z,1716399283.444 [NavChart] Loaded 2024-05-22T17:34:43.445Z,1716399283.445 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2024-05-22T17:34:43.450Z,1716399283.450 [UniversalFixResidualReporter] Loaded 2024-05-22T17:34:43.450Z,1716399283.450 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2024-05-22T17:34:43.451Z,1716399283.451 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2024-05-22T17:34:43.451Z,1716399283.451 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2024-05-22T17:34:43.535Z,1716399283.535 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2024-05-22T17:34:43.536Z,1716399283.536 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2024-05-22T17:34:44.293Z,1716399284.293 [AHRS_M2] Loaded 2024-05-22T17:34:44.293Z,1716399284.293 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2024-05-22T17:34:45.117Z,1716399285.117 [BPC1] Loaded 2024-05-22T17:34:45.117Z,1716399285.117 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2024-05-22T17:34:45.342Z,1716399285.342 [DataOverHttps] Loaded 2024-05-22T17:34:45.344Z,1716399285.344 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2024-05-22T17:34:45.345Z,1716399285.345 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409314E0 2024-05-22T17:34:45.345Z,1716399285.345 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 923 2024-05-22T17:34:45.408Z,1716399285.408 [Depth_Keller] Loaded 2024-05-22T17:34:45.440Z,1716399285.440 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2024-05-22T17:34:45.445Z,1716399285.445 [DropWeight] Loaded 2024-05-22T17:34:45.445Z,1716399285.445 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2024-05-22T17:34:45.641Z,1716399285.641 [NAL9602] Loaded 2024-05-22T17:34:45.641Z,1716399285.641 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2024-05-22T17:34:45.707Z,1716399285.707 [Onboard] Loaded 2024-05-22T17:34:45.708Z,1716399285.708 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2024-05-22T17:34:45.709Z,1716399285.709 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409614E0 2024-05-22T17:34:45.709Z,1716399285.709 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 924 2024-05-22T17:34:45.724Z,1716399285.724 [Power24vConverter] Loaded 2024-05-22T17:34:45.724Z,1716399285.724 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2024-05-22T17:34:45.739Z,1716399285.739 [Radio_Surface] Loaded 2024-05-22T17:34:45.740Z,1716399285.740 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2024-05-22T17:34:45.741Z,1716399285.741 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409914E0 2024-05-22T17:34:45.741Z,1716399285.741 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 925 2024-05-22T17:34:45.756Z,1716399285.756 [Sonardyne_Nano] Loaded 2024-05-22T17:34:45.757Z,1716399285.757 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2024-05-22T17:34:45.856Z,1716399285.856 [DAT] Loaded 2024-05-22T17:34:45.856Z,1716399285.856 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2024-05-22T17:34:45.857Z,1716399285.857 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409C14E0 2024-05-22T17:34:45.858Z,1716399285.858 [DAT ThreadHandler](INFO): Protected caller Thread ID is 926 2024-05-22T17:34:45.858Z,1716399285.858 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2024-05-22T17:34:45.859Z,1716399285.859 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2024-05-22T17:34:45.943Z,1716399285.943 [DepthRateCalculator] Loaded 2024-05-22T17:34:45.943Z,1716399285.943 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2024-05-22T17:34:45.948Z,1716399285.948 [PitchRateCalculator] Loaded 2024-05-22T17:34:45.949Z,1716399285.949 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2024-05-22T17:34:45.957Z,1716399285.957 [SpeedCalculator] Loaded 2024-05-22T17:34:45.958Z,1716399285.958 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2024-05-22T17:34:45.962Z,1716399285.962 [YawRateCalculator] Loaded 2024-05-22T17:34:45.962Z,1716399285.962 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2024-05-22T17:34:45.981Z,1716399285.981 [ElevatorOffsetCalculator] Loaded 2024-05-22T17:34:45.982Z,1716399285.982 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2024-05-22T17:34:45.982Z,1716399285.982 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2024-05-22T17:34:45.983Z,1716399285.983 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2024-05-22T17:34:46.169Z,1716399286.169 [CANONSampler] Loaded 2024-05-22T17:34:46.169Z,1716399286.169 [ComponentRegistry](DEBUG): SyncComponent "CANONSampler" handled in the control thread. 2024-05-22T17:34:46.234Z,1716399286.234 [CTD_Seabird] Loaded 2024-05-22T17:34:46.235Z,1716399286.235 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2024-05-22T17:34:46.236Z,1716399286.236 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A7D4E0 2024-05-22T17:34:46.236Z,1716399286.236 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 927 2024-05-22T17:34:46.256Z,1716399286.256 [PAR_Licor] Loaded 2024-05-22T17:34:46.256Z,1716399286.256 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2024-05-22T17:34:46.300Z,1716399286.300 [WetLabsBB2FL] Loaded 2024-05-22T17:34:46.301Z,1716399286.301 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2024-05-22T17:34:46.302Z,1716399286.302 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40AAD4E0 2024-05-22T17:34:46.302Z,1716399286.302 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 928 2024-05-22T17:34:46.303Z,1716399286.303 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2024-05-22T17:34:46.305Z,1716399286.305 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2024-05-22T17:34:46.349Z,1716399286.349 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2024-05-22T17:34:46.349Z,1716399286.349 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2024-05-22T17:34:46.752Z,1716399286.752 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2024-05-22T17:34:46.754Z,1716399286.754 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2024-05-22T17:34:46.926Z,1716399286.926 [SBIT](DEBUG): Construct Startup Built In Test. 2024-05-22T17:34:46.935Z,1716399286.935 [SBIT] Loaded 2024-05-22T17:34:46.935Z,1716399286.935 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2024-05-22T17:34:46.938Z,1716399286.938 [IBIT](DEBUG): Construct Initiated Built In Test. 2024-05-22T17:34:46.951Z,1716399286.951 [IBIT] Loaded 2024-05-22T17:34:46.951Z,1716399286.951 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2024-05-22T17:34:46.957Z,1716399286.957 [CBIT](DEBUG): Construct Continuous Built In Test. 2024-05-22T17:34:47.065Z,1716399287.065 [CBIT] Loaded 2024-05-22T17:34:47.065Z,1716399287.065 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2024-05-22T17:34:47.066Z,1716399287.066 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2024-05-22T17:34:47.066Z,1716399287.066 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2024-05-22T17:34:47.207Z,1716399287.207 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2024-05-22T17:34:47.214Z,1716399287.214 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2024-05-22T17:34:47.216Z,1716399287.216 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2024-05-22T17:34:47.228Z,1716399287.228 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2024-05-22T17:34:47.229Z,1716399287.229 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C074E0 2024-05-22T17:34:47.230Z,1716399287.230 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 929 2024-05-22T17:34:47.234Z,1716399287.234 [Supervisor](INFO): Main Thread ID is 830 2024-05-22T17:34:47.234Z,1716399287.234 [Supervisor](DEBUG): Running supervisor. 2024-05-22T17:34:47.235Z,1716399287.235 [CommandExec ThreadHandler](INFO): Handler Thread ID is 930 2024-05-22T17:34:47.235Z,1716399287.235 [CommandExec](INFO): Initializing the command executive. 2024-05-22T17:34:47.237Z,1716399287.237 [CommandLine ThreadHandler](INFO): Handler Thread ID is 931 2024-05-22T17:34:47.239Z,1716399287.239 [controlThread ThreadHandler](INFO): Handler Thread ID is 932 2024-05-22T17:34:47.239Z,1716399287.239 [controlThread](DEBUG): Initializing ControlThread 2024-05-22T17:34:47.240Z,1716399287.240 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2024-05-22T17:34:47.242Z,1716399287.242 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2024-05-22T17:34:47.242Z,1716399287.242 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2024-05-22T17:34:47.243Z,1716399287.243 [LoopControl](DEBUG): Initialize LoopControlComponent. 2024-05-22T17:34:47.245Z,1716399287.245 [NavChart](DEBUG): Initialize NavChart Navigation. 2024-05-22T17:34:47.245Z,1716399287.245 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2024-05-22T17:34:47.250Z,1716399287.250 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2024-05-22T17:34:47.250Z,1716399287.250 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2024-05-22T17:34:47.251Z,1716399287.251 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2024-05-22T17:34:47.251Z,1716399287.251 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2024-05-22T17:34:47.251Z,1716399287.251 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2024-05-22T17:34:47.256Z,1716399287.256 [SBIT](INFO): Initialize SBIT Component. 2024-05-22T17:34:47.257Z,1716399287.257 [SBIT](IMPORTANT): git: 2024-05-10 2024-05-22T17:34:47.257Z,1716399287.257 [SBIT](INFO): git hash: a134c88d686ec779525c21b16fbeda2a3b596732 2024-05-22T17:34:47.257Z,1716399287.257 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-05-22T17:34:47.258Z,1716399287.258 [SBIT](INFO): Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021 2024-05-22T17:34:47.259Z,1716399287.259 [SBIT](INFO): Beginning SBIT in 33.000000 seconds. 2024-05-22T17:34:47.260Z,1716399287.260 [IBIT](INFO): Initialize IBIT Component. 2024-05-22T17:34:47.261Z,1716399287.261 [CBIT](DEBUG): Initialize CBIT Component. 2024-05-22T17:34:47.262Z,1716399287.262 [logger ThreadHandler](INFO): Handler Thread ID is 933 2024-05-22T17:34:47.272Z,1716399287.272 [CBIT](DEBUG): Initialized mux pins. 2024-05-22T17:34:47.272Z,1716399287.272 [CBIT](DEBUG): Initializing the watchdog timer. 2024-05-22T17:34:47.280Z,1716399287.280 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 934 2024-05-22T17:34:47.282Z,1716399287.282 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2024-05-22T17:34:47.292Z,1716399287.292 [Onboard ThreadHandler](INFO): Handler Thread ID is 935 2024-05-22T17:34:47.296Z,1716399287.296 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2024-05-22T17:34:47.297Z,1716399287.297 [CBIT](DEBUG): Initializing heartbeat. 2024-05-22T17:34:47.313Z,1716399287.313 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 936 2024-05-22T17:34:47.332Z,1716399287.332 [DAT ThreadHandler](INFO): Handler Thread ID is 937 2024-05-22T17:34:47.333Z,1716399287.333 [DAT](INFO): Powering up 2024-05-22T17:34:47.333Z,1716399287.333 [DAT](DEBUG): Initializing DAT. 2024-05-22T17:34:47.337Z,1716399287.337 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 939 2024-05-22T17:34:47.338Z,1716399287.338 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2024-05-22T17:34:47.341Z,1716399287.341 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 941 2024-05-22T17:34:47.344Z,1716399287.344 [WetLabsBB2FL](INFO): Powering up 2024-05-22T17:34:47.346Z,1716399287.346 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 943 2024-05-22T17:34:47.354Z,1716399287.354 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2024-05-22T17:34:47.354Z,1716399287.354 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2024-05-22T17:34:47.354Z,1716399287.354 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2024-05-22T17:34:47.354Z,1716399287.354 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2024-05-22T17:34:47.354Z,1716399287.354 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2024-05-22T17:34:47.354Z,1716399287.354 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2024-05-22T17:34:47.354Z,1716399287.354 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2024-05-22T17:34:47.355Z,1716399287.355 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2024-05-22T17:34:47.368Z,1716399287.368 [CBIT](DEBUG): Deactivating GF circuits. 2024-05-22T17:34:47.368Z,1716399287.368 [CBIT](DEBUG): Deactivating emergency mode. 2024-05-22T17:34:47.408Z,1716399287.408 [CBIT](DEBUG): Backplane powered. 2024-05-22T17:34:47.409Z,1716399287.409 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-05-22T17:34:47.409Z,1716399287.409 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2024-05-22T17:34:47.409Z,1716399287.409 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2024-05-22T17:34:47.424Z,1716399287.424 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2024-05-22T17:34:47.458Z,1716399287.458 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2024-05-22T17:34:47.463Z,1716399287.463 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-22T17:34:47.491Z,1716399287.491 [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 } } } 2024-05-22T17:34:47.491Z,1716399287.491 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2024-05-22T17:34:47.491Z,1716399287.491 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2024-05-22T17:34:47.511Z,1716399287.511 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2024-05-22T17:34:47.716Z,1716399287.716 [Radio_Surface](INFO): Powering up 2024-05-22T17:34:47.815Z,1716399287.815 [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 2024-05-22T17:34:47.837Z,1716399287.837 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2024-05-22T17:34:47.838Z,1716399287.838 [Default:A.Wait](DEBUG): Construct Wait. 2024-05-22T17:34:47.840Z,1716399287.840 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-22T17:34:47.881Z,1716399287.881 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2024-05-22T17:34:47.884Z,1716399287.884 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2024-05-22T17:34:47.914Z,1716399287.914 [Default:E.Execute](DEBUG): Construct Execute. 2024-05-22T17:34:47.921Z,1716399287.921 [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" } } 2024-05-22T17:34:47.926Z,1716399287.926 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,CANONSampler,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,Reporter,LogSplitter, 2024-05-22T17:34:47.949Z,1716399287.949 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2024-05-22T17:34:48.114Z,1716399288.114 [Depth_Keller](ERROR): Pressure or depth reading out of range: 1831.023193 decibar, 0.000000 m 2024-05-22T17:34:48.115Z,1716399288.115 [Power24vConverter](INFO): Powering up. 2024-05-22T17:34:48.115Z,1716399288.115 [Sonardyne_Nano](INFO): Initializing. 2024-05-22T17:34:48.136Z,1716399288.136 [CANONSampler](INFO): Powering down 2024-05-22T17:34:48.149Z,1716399288.149 [DepthRateCalculator](ERROR): Depth measurement is not active 2024-05-22T17:34:48.173Z,1716399288.173 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2024-05-22T17:34:48.180Z,1716399288.180 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2024-05-22T17:34:48.181Z,1716399288.181 [ElevatorServo](DEBUG): Initializing EZServoServo. 2024-05-22T17:34:48.188Z,1716399288.188 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2024-05-22T17:34:48.189Z,1716399288.189 [MassServo](DEBUG): Initializing EZServoServo. 2024-05-22T17:34:48.196Z,1716399288.196 [MassServo](DEBUG): Initializing MassServo. 2024-05-22T17:34:48.197Z,1716399288.197 [RudderServo](DEBUG): Initializing EZServoServo. 2024-05-22T17:34:48.204Z,1716399288.204 [RudderServo](DEBUG): Initializing RudderServo. 2024-05-22T17:34:48.205Z,1716399288.205 [ThrusterHE](DEBUG): Initializing EZServoServo. 2024-05-22T17:34:48.212Z,1716399288.212 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2024-05-22T17:34:48.372Z,1716399288.372 [DepthRateCalculator](ERROR): Depth measurement is not active 2024-05-22T17:34:49.452Z,1716399289.452 [WetLabsBB2FL](INFO): Powering down 2024-05-22T17:34:50.363Z,1716399290.363 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2024-05-22T17:34:51.596Z,1716399291.596 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2109 2024-05-22T17:34:53.841Z,1716399293.841 [ThrusterHE](ERROR): Zero Speed Commanded. 2024-05-22T17:34:54.384Z,1716399294.384 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit. 2024-05-22T17:35:00.941Z,1716399300.941 [DAT](INFO): DAT read: 2024-05-22T17:35:00.942Z,1716399300.942 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2024-05-22T17:35:02.705Z,1716399302.705 [DAT](INFO): DAT read: MF Frequency Band 2024-05-22T17:35:02.706Z,1716399302.706 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2024-05-22T17:35:02.707Z,1716399302.707 [DAT](INFO): DAT read: May 22 2024 17:34:55 2024-05-22T17:35:03.713Z,1716399303.713 [DAT](INFO): DAT read: Features enabled [Bearing] 2024-05-22T17:35:03.714Z,1716399303.714 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC 2024-05-22T17:35:03.714Z,1716399303.714 [DAT](INFO): commRate: 1200 2024-05-22T17:35:05.784Z,1716399305.784 [DAT](INFO): entering command mode 2024-05-22T17:35:05.984Z,1716399305.984 [DAT](INFO): DAT read: 2024-05-22T17:35:05.985Z,1716399305.985 [DAT](INFO): DAT read: user:1> 2024-05-22T17:35:05.985Z,1716399305.985 [DAT](INFO): setting verbose to 3 2024-05-22T17:35:06.236Z,1716399306.236 [DAT](INFO): DAT read: user:1> 2024-05-22T17:35:06.238Z,1716399306.238 [DAT](INFO): DAT read: Verbose | 3 2024-05-22T17:35:06.238Z,1716399306.238 [DAT](INFO): set verbose to 3 2024-05-22T17:35:06.238Z,1716399306.238 [DAT](INFO): setting DatVerbose to 27440 2024-05-22T17:35:06.488Z,1716399306.488 [DAT](INFO): DAT read: user:2> 2024-05-22T17:35:06.489Z,1716399306.489 [DAT](INFO): DAT read: DatVerbose | 27440 2024-05-22T17:35:06.490Z,1716399306.490 [DAT](INFO): set DatVerbose to 27440 2024-05-22T17:35:06.490Z,1716399306.490 [DAT](INFO): setting transmit power to 8 2024-05-22T17:35:06.741Z,1716399306.741 [DAT](INFO): DAT read: user:3> 2024-05-22T17:35:06.742Z,1716399306.742 [DAT](INFO): DAT read: TxPower | 8 (Max) 2024-05-22T17:35:06.742Z,1716399306.742 [DAT](INFO): set transmit power to 8 2024-05-22T17:35:06.742Z,1716399306.742 [DAT](INFO): setting local address to 8 2024-05-22T17:35:06.992Z,1716399306.992 [DAT](INFO): DAT read: user:4> 2024-05-22T17:35:06.993Z,1716399306.993 [DAT](INFO): DAT read: LocalAddr | 8 2024-05-22T17:35:06.994Z,1716399306.994 [DAT](INFO): set local address to 8 2024-05-22T17:35:06.995Z,1716399306.995 [DAT](INFO): Setting time to: 17:35:6 And date to:5/22/2024 2024-05-22T17:35:07.244Z,1716399307.244 [DAT](INFO): DAT read: user:5> 2024-05-22T17:35:07.245Z,1716399307.245 [DAT](INFO): DAT read: Wed May 22, 2024 17:35:06 2024-05-22T17:35:07.246Z,1716399307.246 [DAT](INFO): Local DAT time set to Wed May 22, 2024 17:35:06 2024-05-22T17:35:15.830Z,1716399315.830 [NAL9602](INFO): Powering up NAL9602 2024-05-22T17:35:20.690Z,1716399320.690 [SBIT](IMPORTANT): Beginning Startup BIT 2024-05-22T17:35:20.694Z,1716399320.694 [CBIT](IMPORTANT): Beginning ground fault scan 2024-05-22T17:35:26.721Z,1716399326.721 [NAL9602](INFO): NAL9602 initialized 2024-05-22T17:35:31.622Z,1716399331.622 [CBIT](ERROR): Ground fault scan returned out of bounds value. Re-running scan. 2024-05-22T17:35:32.073Z,1716399332.073 [CBIT](IMPORTANT): Beginning ground fault scan 2024-05-22T17:35:42.933Z,1716399342.933 [CBIT](ERROR): Ground fault scan returned out of bounds value. Re-running scan. 2024-05-22T17:35:43.349Z,1716399343.349 [CBIT](IMPORTANT): Beginning ground fault scan 2024-05-22T17:35:53.786Z,1716399353.786 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-22T17:35:54.238Z,1716399354.238 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.002779 CHAN A1 (24V): 0.000309 CHAN A2 (12V): -0.002195 CHAN A3 (5V): -0.001584 CHAN B0 (3.3V): -0.000346 CHAN B1 (3.15aV): -0.000176 CHAN B2 (3.15bV): -0.000211 CHAN B3 (GND): 0.000202 OPEN: 4.764929 Full Scale: +/- 1 mA 2024-05-22T17:36:06.713Z,1716399366.713 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-22T17:36:14.823Z,1716399374.823 [SBIT](IMPORTANT): SBIT PASSED 2024-05-22T17:36:14.823Z,1716399374.823 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2024-05-22T17:36:14.824Z,1716399374.824 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=20 count; 2024-05-22T17:36:14.824Z,1716399374.824 [SBIT](IMPORTANT): Normal all WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water; 2024-05-22T17:36:14.824Z,1716399374.824 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=111.683 cubic_centimeter; 2024-05-22T17:36:14.824Z,1716399374.824 [SBIT](IMPORTANT): VerticalControl.massDefault=3.30429 millimeter; 2024-05-22T17:36:15.225Z,1716399375.225 [MissionManager](IMPORTANT): Started mission Startup 2024-05-22T17:36:15.225Z,1716399375.225 [Startup] Running Loop=1 2024-05-22T17:36:15.225Z,1716399375.225 [Startup](DEBUG): Aggregate::initialize Startup 2024-05-22T17:36:15.225Z,1716399375.225 [Startup:A.GoToSurface] Running Loop=1 2024-05-22T17:36:15.225Z,1716399375.225 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-22T17:36:15.226Z,1716399375.226 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-22T17:36:15.226Z,1716399375.226 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-22T17:36:15.227Z,1716399375.227 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-22T17:36:15.227Z,1716399375.227 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-22T17:36:15.227Z,1716399375.227 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-05-22T17:36:15.227Z,1716399375.227 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-22T17:36:15.229Z,1716399375.229 [Startup:StartupSatComms] Running Loop=1 2024-05-22T17:36:15.229Z,1716399375.229 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2024-05-22T17:36:15.230Z,1716399375.230 [Startup:StartupSatComms:A] Running Loop=1 2024-05-22T17:36:15.622Z,1716399375.622 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2024-05-22T17:36:30.559Z,1716399390.559 [NAL9602](INFO): SBD MO Status=2, MOMSN=51306, MT Status=2, MTMSN=0 2024-05-22T17:36:30.559Z,1716399390.559 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-22T17:36:41.871Z,1716399401.871 [NAL9602](INFO): SBD MO Status=0, MOMSN=51306, MT Status=0, MTMSN=0 2024-05-22T17:36:41.871Z,1716399401.871 [NAL9602](INFO): No messages in MT queue 2024-05-22T17:36:43.083Z,1716399403.083 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173642.00,A,3648.13828,N,12147.20636,W,0.058,0.00,220524,,,A*7E 2024-05-22T17:36:43.088Z,1716399403.088 [NAL9602](INFO): GPS fix at 20240522T173642: (36.802305, -121.786773) 2024-05-22T17:36:43.099Z,1716399403.099 [Startup:StartupSatComms:A] Stopped 2024-05-22T17:36:43.099Z,1716399403.099 [Startup:StartupSatComms:B] Running Loop=1 2024-05-22T17:36:43.520Z,1716399403.520 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-22T17:36:54.061Z,1716399414.061 [NAL9602](INFO): SBD MO Status=1, MOMSN=51307, MT Status=0, MTMSN=0 2024-05-22T17:36:54.108Z,1716399414.108 [NAL9602](INFO): Sent 268 bytes from file Logs/20240522T173435/Courier0000.lzma 2024-05-22T17:36:54.108Z,1716399414.108 [NAL9602](INFO): Packets left to send: 0 2024-05-22T17:37:05.635Z,1716399425.635 [NAL9602](INFO): SBD MO Status=1, MOMSN=51308, MT Status=0, MTMSN=0 2024-05-22T17:37:05.685Z,1716399425.685 [NAL9602](INFO): Sent 222 bytes from file Logs/20240522T160553/Express0044.lzma 2024-05-22T17:37:05.686Z,1716399425.686 [NAL9602](INFO): Packets left to send: 0 2024-05-22T17:37:15.134Z,1716399435.134 [NAL9602](INFO): SBD MO Status=1, MOMSN=51309, MT Status=0, MTMSN=0 2024-05-22T17:37:15.184Z,1716399435.184 [NAL9602](INFO): Sent 332 bytes from file Logs/20240522T173435/Express0001.lzma 2024-05-22T17:37:15.184Z,1716399435.184 [NAL9602](INFO): Packets left to send: 2 2024-05-22T17:37:24.134Z,1716399444.134 [NAL9602](INFO): SBD MO Status=1, MOMSN=51310, MT Status=0, MTMSN=0 2024-05-22T17:37:24.184Z,1716399444.184 [NAL9602](INFO): Sent 332 bytes from file Logs/20240522T173435/Express0001.lzma 2024-05-22T17:37:24.184Z,1716399444.184 [NAL9602](INFO): Packets left to send: 1 2024-05-22T17:37:33.118Z,1716399453.118 [NAL9602](INFO): SBD MO Status=1, MOMSN=51311, MT Status=0, MTMSN=0 2024-05-22T17:37:33.180Z,1716399453.180 [NAL9602](INFO): Sent 244 bytes from file Logs/20240522T173435/Express0001.lzma 2024-05-22T17:37:33.180Z,1716399453.180 [NAL9602](INFO): Packets left to send: 0 2024-05-22T17:37:39.987Z,1716399459.987 [NAL9602](INFO): SBD MO Status=0, MOMSN=51312, MT Status=0, MTMSN=0 2024-05-22T17:37:40.077Z,1716399460.077 [Startup:StartupSatComms:B] Stopped 2024-05-22T17:37:40.077Z,1716399460.077 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2024-05-22T17:37:40.077Z,1716399460.077 [Startup:StartupSatComms] Stopped 2024-05-22T17:37:40.077Z,1716399460.077 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2024-05-22T17:37:40.078Z,1716399460.078 [Startup](INFO): Completed Startup 2024-05-22T17:37:40.078Z,1716399460.078 [MissionManager](INFO): Startup is completed. 2024-05-22T17:37:40.078Z,1716399460.078 [MissionManager](INFO): Uninitializing Mission Startup 2024-05-22T17:37:40.078Z,1716399460.078 [Startup] Stopped 2024-05-22T17:37:40.078Z,1716399460.078 [Startup](DEBUG): Aggregate::uninitialize Startup 2024-05-22T17:37:40.078Z,1716399460.078 [Startup:A.GoToSurface] Stopped 2024-05-22T17:37:40.078Z,1716399460.078 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-22T17:37:40.399Z,1716399460.399 [MissionManager](IMPORTANT): Started mission Default 2024-05-22T17:37:40.400Z,1716399460.400 [Default] Running Loop=1 2024-05-22T17:37:40.400Z,1716399460.400 [Default](DEBUG): Aggregate::initialize Default 2024-05-22T17:37:40.400Z,1716399460.400 [Default:B.GoToSurface] Running Loop=1 2024-05-22T17:37:40.400Z,1716399460.400 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-22T17:37:40.400Z,1716399460.400 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-22T17:37:40.401Z,1716399460.401 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-22T17:37:40.401Z,1716399460.401 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-22T17:37:40.401Z,1716399460.401 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-22T17:37:40.402Z,1716399460.402 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-05-22T17:37:40.402Z,1716399460.402 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-22T17:37:40.402Z,1716399460.402 [Default:A.Wait] Running Loop=1 2024-05-22T17:37:40.402Z,1716399460.402 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-05-22T17:37:53.741Z,1716399473.741 [Default:A.Wait](INFO): Done Waiting. 2024-05-22T17:37:53.741Z,1716399473.741 [Default:A.Wait] Stopped 2024-05-22T17:37:53.741Z,1716399473.741 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T17:37:54.154Z,1716399474.154 [Default:CheckIn] Running Loop=1 2024-05-22T17:37:54.154Z,1716399474.154 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-22T17:37:54.154Z,1716399474.154 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-22T17:37:54.541Z,1716399474.541 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2024-05-22T17:37:56.146Z,1716399476.146 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173755.00,A,3648.13802,N,12147.20651,W,0.058,0.00,220524,,,A*70 2024-05-22T17:37:56.149Z,1716399476.149 [NAL9602](INFO): GPS fix at 20240522T173755: (36.802300, -121.786775) 2024-05-22T17:37:56.159Z,1716399476.159 [Default:CheckIn:Read_GPS] Stopped 2024-05-22T17:37:56.160Z,1716399476.160 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-22T17:37:56.577Z,1716399476.577 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-22T17:38:11.977Z,1716399491.977 [NAL9602](INFO): SBD MO Status=1, MOMSN=51313, MT Status=0, MTMSN=0 2024-05-22T17:38:12.036Z,1716399492.036 [NAL9602](INFO): Sent 74 bytes from file Logs/20240522T173435/Courier0004.lzma 2024-05-22T17:38:12.037Z,1716399492.037 [NAL9602](INFO): Packets left to send: 0 2024-05-22T17:38:17.482Z,1716399497.482 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004480 2024-05-22T17:38:22.214Z,1716399502.214 [NAL9602](INFO): SBD MO Status=1, MOMSN=51314, MT Status=0, MTMSN=0 2024-05-22T17:38:22.260Z,1716399502.260 [NAL9602](INFO): Sent 102 bytes from file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:38:22.260Z,1716399502.260 [NAL9602](INFO): Packets left to send: 0 2024-05-22T17:38:22.335Z,1716399502.335 [Default:CheckIn:Read_Iridium] Stopped 2024-05-22T17:38:22.335Z,1716399502.335 [Default:CheckIn:C.Wait] Running Loop=1 2024-05-22T17:38:22.335Z,1716399502.335 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2024-05-22T17:38:27.610Z,1716399507.610 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:38:27.610Z,1716399507.610 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:38:36.026Z,1716399516.026 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:38:36.026Z,1716399516.026 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:38:43.247Z,1716399523.247 [BPC1](INFO): Calculating totals. Valid battery stick count: 40. Valid reserve battery stick count: 6. 2024-05-22T17:38:43.250Z,1716399523.250 [BPC1](INFO): Received data from all battery sticks. 2024-05-22T17:38:52.935Z,1716399532.935 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-22T17:39:06.906Z,1716399546.906 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:39:06.906Z,1716399546.906 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:39:08.065Z,1716399548.065 [CommandExec](IMPORTANT): got command configSet list 2024-05-22T17:39:08.065Z,1716399548.065 [CommandExec](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2024-05-22T17:39:08.067Z,1716399548.067 [CommandExec](IMPORTANT): BPC1.batteryMissingStickThreshold=20 count; 2024-05-22T17:39:08.068Z,1716399548.068 [CommandExec](IMPORTANT): Normal all WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water; 2024-05-22T17:39:08.069Z,1716399548.069 [CommandExec](IMPORTANT): VerticalControl.buoyancyNeutral=111.683 cubic_centimeter; 2024-05-22T17:39:08.070Z,1716399548.070 [CommandExec](IMPORTANT): VerticalControl.massDefault=3.30429 millimeter; 2024-05-22T17:39:37.502Z,1716399577.502 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:39:37.502Z,1716399577.502 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:40:07.966Z,1716399607.966 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:40:07.966Z,1716399607.966 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:40:38.382Z,1716399638.382 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:40:38.382Z,1716399638.382 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:41:05.524Z,1716399665.524 [CommandExec](IMPORTANT): got command failComponent 2024-05-22T17:41:05.525Z,1716399665.525 [CommandExec](IMPORTANT): Failed components: 2024-05-22T17:41:05.525Z,1716399665.525 [CommandExec](IMPORTANT): No failed Components. 2024-05-22T17:41:08.870Z,1716399668.870 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:41:08.870Z,1716399668.870 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:41:39.374Z,1716399699.374 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:41:39.375Z,1716399699.375 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:42:10.031Z,1716399730.031 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:42:10.031Z,1716399730.031 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:42:40.574Z,1716399760.574 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:42:40.574Z,1716399760.574 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:43:11.150Z,1716399791.150 [DataOverHttps](IMPORTANT): Could not stat file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:43:11.150Z,1716399791.150 [DataOverHttps](FAULT): Could not open file Logs/20240522T173435/Express0005.lzma 2024-05-22T17:43:22.835Z,1716399802.835 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2024-05-22T17:43:22.835Z,1716399802.835 [Default:CheckIn:C.Wait] Stopped 2024-05-22T17:43:22.835Z,1716399802.835 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T17:43:22.836Z,1716399802.836 [Default:CheckIn:D] Running Loop=1 2024-05-22T17:43:23.244Z,1716399803.244 [Default:CheckIn:D] Stopped 2024-05-22T17:43:23.244Z,1716399803.244 [Default:CheckIn:E] Running Loop=1 2024-05-22T17:43:23.659Z,1716399803.659 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 5.714071 min 2024-05-22T17:43:23.660Z,1716399803.660 [Default:CheckIn:E] Stopped 2024-05-22T17:43:23.660Z,1716399803.660 [Default:CheckIn](INFO): Completed Default:CheckIn 2024-05-22T17:43:23.660Z,1716399803.660 [Default:CheckIn] Stopped 2024-05-22T17:43:23.660Z,1716399803.660 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-05-22T17:43:23.660Z,1716399803.660 [Default:CheckIn](INFO): Running loop #2 2024-05-22T17:43:23.660Z,1716399803.660 [Default:CheckIn] Running Loop=2 2024-05-22T17:43:23.660Z,1716399803.660 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-22T17:43:23.660Z,1716399803.660 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-22T17:43:25.659Z,1716399805.659 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174324.00,A,3648.13820,N,12147.20667,W,0.039,0.00,220524,,,D*72 2024-05-22T17:43:25.661Z,1716399805.661 [NAL9602](INFO): GPS fix at 20240522T174324: (36.802303, -121.786778) 2024-05-22T17:43:25.671Z,1716399805.671 [Default:CheckIn:Read_GPS] Stopped 2024-05-22T17:43:25.671Z,1716399805.671 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-22T17:43:32.640Z,1716399812.640 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20240522T173435/Courier0007.lzma 2024-05-22T17:43:33.642Z,1716399813.642 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Courier0007.lzma.bak 2024-05-22T17:43:33.642Z,1716399813.642 [DataOverHttps](INFO): SBD MOMSN=21069377 2024-05-22T17:43:39.399Z,1716399819.399 [NAL9602](INFO): SBD MO Status=0, MOMSN=51315, MT Status=0, MTMSN=0 2024-05-22T17:43:39.399Z,1716399819.399 [NAL9602](INFO): No messages in MT queue 2024-05-22T17:43:49.561Z,1716399829.561 [DataOverHttps](INFO): Sending 640 bytes from file Logs/20240522T173435/Express0008.lzma 2024-05-22T17:43:50.562Z,1716399830.562 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Express0008.lzma.bak 2024-05-22T17:43:50.562Z,1716399830.562 [DataOverHttps](INFO): SBD MOMSN=21069380 2024-05-22T17:43:51.928Z,1716399831.928 [Default:CheckIn:Read_Iridium] Stopped 2024-05-22T17:43:51.928Z,1716399831.928 [Default:CheckIn:C.Wait] Running Loop=1 2024-05-22T17:43:51.928Z,1716399831.928 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2024-05-22T17:44:10.091Z,1716399850.091 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-22T17:48:52.515Z,1716400132.515 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2024-05-22T17:48:52.515Z,1716400132.515 [Default:CheckIn:C.Wait] Stopped 2024-05-22T17:48:52.515Z,1716400132.515 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T17:48:52.525Z,1716400132.525 [Default:CheckIn:D] Running Loop=1 2024-05-22T17:48:52.932Z,1716400132.932 [Default:CheckIn:D] Stopped 2024-05-22T17:48:52.932Z,1716400132.932 [Default:CheckIn:E] Running Loop=1 2024-05-22T17:48:53.343Z,1716400133.343 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 11.208870 min 2024-05-22T17:48:53.343Z,1716400133.343 [Default:CheckIn:E] Stopped 2024-05-22T17:48:53.343Z,1716400133.343 [Default:CheckIn](INFO): Completed Default:CheckIn 2024-05-22T17:48:53.352Z,1716400133.352 [Default:CheckIn] Stopped 2024-05-22T17:48:53.352Z,1716400133.352 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-05-22T17:48:53.353Z,1716400133.353 [Default:CheckIn](INFO): Running loop #3 2024-05-22T17:48:53.353Z,1716400133.353 [Default:CheckIn] Running Loop=3 2024-05-22T17:48:53.353Z,1716400133.353 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-22T17:48:53.353Z,1716400133.353 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-22T17:48:55.341Z,1716400135.341 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174855.00,A,3648.16469,N,12147.17695,W,5.734,28.77,220524,,,D*47 2024-05-22T17:48:55.343Z,1716400135.343 [NAL9602](INFO): GPS fix at 20240522T174855: (36.802745, -121.786282) 2024-05-22T17:48:55.361Z,1716400135.361 [Default:CheckIn:Read_GPS] Stopped 2024-05-22T17:48:55.361Z,1716400135.361 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-22T17:49:03.131Z,1716400143.131 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20240522T173435/Courier0010.lzma 2024-05-22T17:49:04.134Z,1716400144.134 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Courier0010.lzma.bak 2024-05-22T17:49:04.134Z,1716400144.134 [DataOverHttps](INFO): SBD MOMSN=21069433 2024-05-22T17:49:20.025Z,1716400160.025 [DataOverHttps](INFO): Sending 144 bytes from file Logs/20240522T173435/Express0011.lzma 2024-05-22T17:49:21.022Z,1716400161.022 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Express0011.lzma.bak 2024-05-22T17:49:21.022Z,1716400161.022 [DataOverHttps](INFO): SBD MOMSN=21069441 2024-05-22T17:49:21.194Z,1716400161.194 [NAL9602](INFO): SBD MO Status=2, MOMSN=51316, MT Status=2, MTMSN=0 2024-05-22T17:49:21.195Z,1716400161.195 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-22T17:49:22.420Z,1716400162.420 [Default:CheckIn:Read_Iridium] Stopped 2024-05-22T17:49:22.420Z,1716400162.420 [Default:CheckIn:C.Wait] Running Loop=1 2024-05-22T17:49:22.420Z,1716400162.420 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2024-05-22T17:49:55.534Z,1716400195.534 [NAL9602](INFO): SBD MO Status=0, MOMSN=51316, MT Status=0, MTMSN=0 2024-05-22T17:49:55.534Z,1716400195.534 [NAL9602](INFO): No messages in MT queue 2024-05-22T17:50:26.241Z,1716400226.241 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-22T17:53:34.030Z,1716400414.030 [DataOverHttps](IMPORTANT): SBD MTMSN=20240522T175333 2024-05-22T17:53:41.492Z,1716400421.492 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MaxDepth 10 m;run 2024-05-22T17:53:41.512Z,1716400421.512 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2024-05-22T17:53:41.512Z,1716400421.512 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2024-05-22T17:53:41.512Z,1716400421.512 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl 2024-05-22T17:53:41.516Z,1716400421.516 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl 2024-05-22T17:53:42.157Z,1716400422.157 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into: 60 30 NaN NaN 0 0 10 1 20 1 7 1 2024-05-22T17:53:42.187Z,1716400422.187 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2024-05-22T17:53:42.194Z,1716400422.194 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2024-05-22T17:53:42.201Z,1716400422.201 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2024-05-22T17:53:42.203Z,1716400422.203 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2024-05-22T17:53:42.226Z,1716400422.226 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2024-05-22T17:53:42.237Z,1716400422.237 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2024-05-22T17:53:42.268Z,1716400422.268 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2024-05-22T17:53:42.271Z,1716400422.271 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2024-05-22T17:53:42.305Z,1716400422.305 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2024-05-22T17:53:42.314Z,1716400422.314 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2024-05-22T17:53:42.318Z,1716400422.318 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2024-05-22T17:53:42.328Z,1716400422.328 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2024-05-22T17:53:42.331Z,1716400422.331 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2024-05-22T17:53:42.331Z,1716400422.331 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2024-05-22T17:53:42.336Z,1716400422.336 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2024-05-22T17:53:42.337Z,1716400422.337 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2024-05-22T17:53:42.684Z,1716400422.684 [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 2024-05-22T17:53:42.689Z,1716400422.689 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h 2024-05-22T17:53:42.692Z,1716400422.692 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2024-05-22T17:53:42.695Z,1716400422.695 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2024-05-22T17:53:42.726Z,1716400422.726 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2024-05-22T17:53:42.741Z,1716400422.741 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2024-05-22T17:53:42.748Z,1716400422.748 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2024-05-22T17:53:42.757Z,1716400422.757 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2024-05-22T17:53:42.764Z,1716400422.764 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2024-05-22T17:53:42.778Z,1716400422.778 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-22T17:53:42.826Z,1716400422.826 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2024-05-22T17:53:42.826Z,1716400422.826 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2024-05-22T17:53:42.827Z,1716400422.827 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2024-05-22T17:53:42.946Z,1716400422.946 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2024-05-22T17:53:42.951Z,1716400422.951 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2024-05-22T17:53:42.954Z,1716400422.954 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2024-05-22T17:53:42.965Z,1716400422.965 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2024-05-22T17:53:42.967Z,1716400422.967 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2024-05-22T17:53:43.009Z,1716400423.009 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2024-05-22T17:53:43.034Z,1716400423.034 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2024-05-22T17:53:43.059Z,1716400423.059 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2024-05-22T17:53:43.093Z,1716400423.093 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-05-22T17:53:43.094Z,1716400423.094 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-05-22T17:53:43.095Z,1716400423.095 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-05-22T17:53:43.146Z,1716400423.146 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-05-22T17:53:43.157Z,1716400423.157 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool 2024-05-22T17:53:43.575Z,1716400423.575 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-05-22T17:53:43.596Z,1716400423.596 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2024-05-22T17:53:43.596Z,1716400423.596 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2024-05-22T17:53:43.597Z,1716400423.597 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2024-05-22T17:53:43.703Z,1716400423.703 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2024-05-22T17:53:43.707Z,1716400423.707 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool 2024-05-22T17:53:43.710Z,1716400423.710 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool 2024-05-22T17:53:43.712Z,1716400423.712 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool 2024-05-22T17:53:43.715Z,1716400423.715 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool 2024-05-22T17:53:43.718Z,1716400423.718 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool 2024-05-22T17:53:43.725Z,1716400423.725 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait. 2024-05-22T17:53:43.727Z,1716400423.727 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2024-05-22T17:53:43.731Z,1716400423.731 [transit:MassHold.Pitch](DEBUG): Construct. 2024-05-22T17:53:43.738Z,1716400423.738 [transit:Transit:A.Pitch](DEBUG): Construct. 2024-05-22T17:53:43.772Z,1716400423.772 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2024-05-22T17:53:43.775Z,1716400423.775 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2024-05-22T17:53:43.847Z,1716400423.847 [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" } } 2024-05-22T17:53:43.847Z,1716400423.847 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2024-05-22T17:53:51.765Z,1716400431.765 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute 2024-05-22T17:53:51.765Z,1716400431.765 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 15 minute 2024-05-22T17:53:51.766Z,1716400431.766 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree 2024-05-22T17:53:51.767Z,1716400431.767 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree 2024-05-22T17:53:51.767Z,1716400431.767 [CommandExec](IMPORTANT): got command set transit.Depth 5 meter 2024-05-22T17:53:51.768Z,1716400431.768 [CommandExec](IMPORTANT): got command set transit.MaxDepth 10 meter 2024-05-22T17:53:51.769Z,1716400431.769 [CommandExec](IMPORTANT): got command run 2024-05-22T17:53:51.771Z,1716400431.771 [CommandExec](IMPORTANT): Running 2024-05-22T17:53:51.888Z,1716400431.888 [Default] Stopped 2024-05-22T17:53:51.888Z,1716400431.888 [Default](DEBUG): Aggregate::uninitialize Default 2024-05-22T17:53:51.888Z,1716400431.888 [Default:B.GoToSurface] Stopped 2024-05-22T17:53:51.888Z,1716400431.888 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-22T17:53:51.889Z,1716400431.889 [Default:CheckIn] Stopped 2024-05-22T17:53:51.889Z,1716400431.889 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-05-22T17:53:51.889Z,1716400431.889 [Default:CheckIn:C.Wait] Stopped 2024-05-22T17:53:51.889Z,1716400431.889 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T17:53:51.889Z,1716400431.889 [MissionManager](IMPORTANT): Started mission transit 2024-05-22T17:53:51.889Z,1716400431.889 [transit] Running Loop=1 2024-05-22T17:53:51.889Z,1716400431.889 [transit](DEBUG): Aggregate::initialize transit 2024-05-22T17:53:51.889Z,1716400431.889 [transit:StandardEnvelopes] Running Loop=1 2024-05-22T17:53:51.889Z,1716400431.889 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2024-05-22T17:53:51.890Z,1716400431.890 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-22T17:53:51.890Z,1716400431.890 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2024-05-22T17:53:51.890Z,1716400431.890 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-22T17:53:51.890Z,1716400431.890 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2024-05-22T17:53:51.890Z,1716400431.890 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-22T17:53:51.890Z,1716400431.890 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2024-05-22T17:53:51.890Z,1716400431.890 [transit:BackseatDriver] Running Loop=1 2024-05-22T17:53:51.890Z,1716400431.890 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver 2024-05-22T17:53:51.891Z,1716400431.891 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:PowerOnly] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly 2024-05-22T17:53:51.891Z,1716400431.891 [transit:PowerOnly:A] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:PowerOnly:B] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:PowerOnly:C] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:PowerOnly:D] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:PowerOnly:E.Wait] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2024-05-22T17:53:51.891Z,1716400431.891 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2024-05-22T17:53:51.891Z,1716400431.891 [transit:MassHold.Pitch] Running Loop=1 2024-05-22T17:53:51.891Z,1716400431.891 [transit:MassHold.Pitch](DEBUG): Initialize. 2024-05-22T17:53:51.892Z,1716400431.892 [transit:B] Running Loop=1 2024-05-22T17:53:51.893Z,1716400431.893 [transit:MassHold.Pitch] Running Loop=1 2024-05-22T17:53:51.893Z,1716400431.893 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2024-05-22T17:53:51.893Z,1716400431.893 [transit:PowerOnly] Running Loop=1 2024-05-22T17:53:51.894Z,1716400431.894 [transit:PowerOnly:D] Stopped 2024-05-22T17:53:51.894Z,1716400431.894 [transit:PowerOnly:C] Stopped 2024-05-22T17:53:51.894Z,1716400431.894 [transit:PowerOnly:B] Stopped 2024-05-22T17:53:51.894Z,1716400431.894 [transit:PowerOnly:A] Stopped 2024-05-22T17:53:51.894Z,1716400431.894 [transit:BackseatDriver] Running Loop=1 2024-05-22T17:53:51.894Z,1716400431.894 [transit:StandardEnvelopes] Running Loop=1 2024-05-22T17:53:51.894Z,1716400431.894 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-22T17:53:51.895Z,1716400431.895 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE 2024-05-22T17:53:51.903Z,1716400431.903 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-22T17:53:51.924Z,1716400431.924 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-22T17:53:51.925Z,1716400431.925 [transit:B] Stopped 2024-05-22T17:53:51.925Z,1716400431.925 [transit:C] Running Loop=1 2024-05-22T17:53:51.933Z,1716400431.933 [HorizontalControl](DEBUG): kpHeading = 0.400000 2024-05-22T17:53:51.934Z,1716400431.934 [HorizontalControl](DEBUG): kiHeading = 0.001000 2024-05-22T17:53:51.934Z,1716400431.934 [HorizontalControl](DEBUG): kdHeading = 0.050000 2024-05-22T17:53:52.307Z,1716400432.307 [transit:C] Stopped 2024-05-22T17:53:52.307Z,1716400432.307 [transit:E] Running Loop=1 2024-05-22T17:53:52.709Z,1716400432.709 [transit:E] Stopped 2024-05-22T17:53:52.709Z,1716400432.709 [transit:F] Running Loop=1 2024-05-22T17:53:53.095Z,1716400433.095 [transit:F] Stopped 2024-05-22T17:53:53.095Z,1716400433.095 [transit:G] Running Loop=1 2024-05-22T17:53:53.502Z,1716400433.502 [transit:G] Stopped 2024-05-22T17:53:53.502Z,1716400433.502 [transit:Transit] Running Loop=1 2024-05-22T17:53:53.502Z,1716400433.502 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2024-05-22T17:53:53.502Z,1716400433.502 [transit:Transit:A.Pitch] Running Loop=1 2024-05-22T17:53:53.503Z,1716400433.503 [transit:Transit:A.Pitch](DEBUG): Initialize. 2024-05-22T17:53:53.503Z,1716400433.503 [transit:Transit:B.SetSpeed] Running Loop=1 2024-05-22T17:53:53.503Z,1716400433.503 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2024-05-22T17:53:53.503Z,1716400433.503 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2024-05-22T17:53:53.503Z,1716400433.503 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2024-05-22T17:53:53.505Z,1716400433.505 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2024-05-22T17:53:53.514Z,1716400433.514 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2024-05-22T17:53:53.913Z,1716400433.913 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000 2024-05-22T17:53:53.914Z,1716400433.914 [transit:Transit:B.SetSpeed] Running Loop=1 2024-05-22T17:53:53.914Z,1716400433.914 [transit:Transit:A.Pitch] Running Loop=1 2024-05-22T17:54:43.921Z,1716400483.921 [DataOverHttps](IMPORTANT): SBD MTMSN=20240522T175443 2024-05-22T17:54:55.208Z,1716400495.208 [DataOverHttps](INFO): Received command: stop 2024-05-22T17:54:55.241Z,1716400495.241 [CommandExec](IMPORTANT): got command stop 2024-05-22T17:54:55.241Z,1716400495.241 [CommandExec](IMPORTANT): Scheduling is paused 2024-05-22T17:54:55.241Z,1716400495.241 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-05-22T17:54:55.435Z,1716400495.435 [MissionManager](INFO): MissionManager is completed. 2024-05-22T17:54:55.435Z,1716400495.435 [MissionManager](INFO): Uninitializing Mission transit 2024-05-22T17:54:55.435Z,1716400495.435 [transit] Stopped 2024-05-22T17:54:55.435Z,1716400495.435 [transit](DEBUG): Aggregate::uninitialize transit 2024-05-22T17:54:55.435Z,1716400495.435 [transit:StandardEnvelopes] Stopped 2024-05-22T17:54:55.435Z,1716400495.435 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes 2024-05-22T17:54:55.435Z,1716400495.435 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2024-05-22T17:54:55.435Z,1716400495.435 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2024-05-22T17:54:55.435Z,1716400495.435 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped 2024-05-22T17:54:55.435Z,1716400495.435 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2024-05-22T17:54:55.436Z,1716400495.436 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2024-05-22T17:54:55.436Z,1716400495.436 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2024-05-22T17:54:55.436Z,1716400495.436 [transit:BackseatDriver] Stopped 2024-05-22T17:54:55.436Z,1716400495.436 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver 2024-05-22T17:54:55.436Z,1716400495.436 [transit:BackseatDriver:A.BackseatDriver] Stopped 2024-05-22T17:54:55.436Z,1716400495.436 [transit:PowerOnly] Stopped 2024-05-22T17:54:55.437Z,1716400495.437 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly 2024-05-22T17:54:55.437Z,1716400495.437 [transit:PowerOnly:E.Wait] Stopped 2024-05-22T17:54:55.437Z,1716400495.437 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T17:54:55.437Z,1716400495.437 [transit:BuoyancyHold.Buoyancy] Stopped 2024-05-22T17:54:55.437Z,1716400495.437 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2024-05-22T17:54:55.437Z,1716400495.437 [transit:MassHold.Pitch] Stopped 2024-05-22T17:54:55.437Z,1716400495.437 [transit:Transit] Stopped 2024-05-22T17:54:55.437Z,1716400495.437 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit 2024-05-22T17:54:55.437Z,1716400495.437 [transit:Transit:A.Pitch] Stopped 2024-05-22T17:54:55.437Z,1716400495.437 [transit:Transit:B.SetSpeed] Stopped 2024-05-22T17:54:55.437Z,1716400495.437 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize. 2024-05-22T17:54:55.437Z,1716400495.437 [transit:Transit:Wpt1.Waypoint] Stopped 2024-05-22T17:54:55.437Z,1716400495.437 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2024-05-22T17:54:55.825Z,1716400495.825 [MissionManager](IMPORTANT): Started mission Default 2024-05-22T17:54:55.825Z,1716400495.825 [Default] Running Loop=1 2024-05-22T17:54:55.825Z,1716400495.825 [Default](DEBUG): Aggregate::initialize Default 2024-05-22T17:54:55.825Z,1716400495.825 [Default:B.GoToSurface] Running Loop=1 2024-05-22T17:54:55.825Z,1716400495.825 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-22T17:54:55.826Z,1716400495.826 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-22T17:54:55.826Z,1716400495.826 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-22T17:54:55.826Z,1716400495.826 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-22T17:54:55.827Z,1716400495.827 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-22T17:54:55.827Z,1716400495.827 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-05-22T17:54:55.827Z,1716400495.827 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-22T17:54:55.840Z,1716400495.840 [Default:A.Wait] Running Loop=1 2024-05-22T17:54:55.840Z,1716400495.840 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-05-22T17:55:09.141Z,1716400509.141 [Default:A.Wait](INFO): Done Waiting. 2024-05-22T17:55:09.141Z,1716400509.141 [Default:A.Wait] Stopped 2024-05-22T17:55:09.141Z,1716400509.141 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T17:55:09.553Z,1716400509.553 [Default:CheckIn] Running Loop=1 2024-05-22T17:55:09.553Z,1716400509.553 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-22T17:55:09.554Z,1716400509.554 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-22T17:55:11.559Z,1716400511.559 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175511.00,A,3648.33727,N,12147.56310,W,16.659,285.62,220524,,,D*41 2024-05-22T17:55:11.561Z,1716400511.561 [NAL9602](INFO): GPS fix at 20240522T175511: (36.805621, -121.792718) 2024-05-22T17:55:11.592Z,1716400511.592 [Default:CheckIn:Read_GPS] Stopped 2024-05-22T17:55:11.592Z,1716400511.592 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-22T17:55:19.507Z,1716400519.507 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20240522T173435/Courier0013.lzma 2024-05-22T17:55:20.511Z,1716400520.511 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Courier0013.lzma.bak 2024-05-22T17:55:20.511Z,1716400520.511 [DataOverHttps](IMPORTANT): SBD MOMSN=21069471, MTMSN=20240522T175520 2024-05-22T17:55:27.892Z,1716400527.892 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MaxDepth 10 m;run 2024-05-22T17:55:27.915Z,1716400527.915 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2024-05-22T17:55:27.917Z,1716400527.917 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2024-05-22T17:55:27.917Z,1716400527.917 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl 2024-05-22T17:55:27.918Z,1716400527.918 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl 2024-05-22T17:55:28.667Z,1716400528.667 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into: 60 30 NaN NaN 0 0 10 1 20 1 7 1 2024-05-22T17:55:28.677Z,1716400528.677 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2024-05-22T17:55:28.679Z,1716400528.679 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2024-05-22T17:55:28.681Z,1716400528.681 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2024-05-22T17:55:28.683Z,1716400528.683 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2024-05-22T17:55:28.685Z,1716400528.685 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2024-05-22T17:55:28.687Z,1716400528.687 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2024-05-22T17:55:28.689Z,1716400528.689 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2024-05-22T17:55:28.691Z,1716400528.691 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2024-05-22T17:55:28.693Z,1716400528.693 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2024-05-22T17:55:28.695Z,1716400528.695 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2024-05-22T17:55:28.697Z,1716400528.697 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2024-05-22T17:55:28.699Z,1716400528.699 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2024-05-22T17:55:28.701Z,1716400528.701 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2024-05-22T17:55:28.701Z,1716400528.701 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2024-05-22T17:55:28.701Z,1716400528.701 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2024-05-22T17:55:28.702Z,1716400528.702 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2024-05-22T17:55:29.117Z,1716400529.117 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2024-05-22T17:55:29.131Z,1716400529.131 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h 2024-05-22T17:55:29.145Z,1716400529.145 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2024-05-22T17:55:29.147Z,1716400529.147 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2024-05-22T17:55:29.158Z,1716400529.158 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2024-05-22T17:55:29.168Z,1716400529.168 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2024-05-22T17:55:29.170Z,1716400529.170 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2024-05-22T17:55:29.180Z,1716400529.180 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2024-05-22T17:55:29.182Z,1716400529.182 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2024-05-22T17:55:29.237Z,1716400529.237 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-22T17:55:29.287Z,1716400529.287 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2024-05-22T17:55:29.287Z,1716400529.287 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2024-05-22T17:55:29.290Z,1716400529.290 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2024-05-22T17:55:29.565Z,1716400529.565 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2024-05-22T17:55:29.573Z,1716400529.573 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2024-05-22T17:55:29.575Z,1716400529.575 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2024-05-22T17:55:29.590Z,1716400529.590 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2024-05-22T17:55:29.597Z,1716400529.597 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2024-05-22T17:55:29.598Z,1716400529.598 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2024-05-22T17:55:29.635Z,1716400529.635 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2024-05-22T17:55:29.650Z,1716400529.650 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2024-05-22T17:55:29.674Z,1716400529.674 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-05-22T17:55:29.674Z,1716400529.674 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-05-22T17:55:29.675Z,1716400529.675 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-05-22T17:55:29.695Z,1716400529.695 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-05-22T17:55:29.698Z,1716400529.698 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool 2024-05-22T17:55:29.700Z,1716400529.700 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-05-22T17:55:29.703Z,1716400529.703 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2024-05-22T17:55:29.703Z,1716400529.703 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2024-05-22T17:55:29.704Z,1716400529.704 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2024-05-22T17:55:29.917Z,1716400529.917 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2024-05-22T17:55:29.921Z,1716400529.921 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool 2024-05-22T17:55:29.922Z,1716400529.922 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool 2024-05-22T17:55:29.924Z,1716400529.924 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool 2024-05-22T17:55:29.926Z,1716400529.926 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool 2024-05-22T17:55:29.929Z,1716400529.929 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool 2024-05-22T17:55:29.935Z,1716400529.935 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait. 2024-05-22T17:55:29.937Z,1716400529.937 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2024-05-22T17:55:29.940Z,1716400529.940 [transit:MassHold.Pitch](DEBUG): Construct. 2024-05-22T17:55:29.946Z,1716400529.946 [transit:Transit:A.Pitch](DEBUG): Construct. 2024-05-22T17:55:29.950Z,1716400529.950 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2024-05-22T17:55:29.953Z,1716400529.953 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2024-05-22T17:55:29.967Z,1716400529.967 [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" } } 2024-05-22T17:55:29.967Z,1716400529.967 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2024-05-22T17:55:36.198Z,1716400536.198 [NAL9602](INFO): SBD MO Status=0, MOMSN=51317, MT Status=0, MTMSN=0 2024-05-22T17:55:36.198Z,1716400536.198 [NAL9602](INFO): No messages in MT queue 2024-05-22T17:55:39.994Z,1716400539.994 [DataOverHttps](INFO): Sending 535 bytes from file Logs/20240522T173435/Express0014.lzma 2024-05-22T17:55:40.994Z,1716400540.994 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Express0014.lzma.bak 2024-05-22T17:55:40.994Z,1716400540.994 [DataOverHttps](INFO): SBD MOMSN=21069476 2024-05-22T17:55:41.675Z,1716400541.675 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute 2024-05-22T17:55:41.676Z,1716400541.676 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 15 minute 2024-05-22T17:55:41.677Z,1716400541.677 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree 2024-05-22T17:55:41.678Z,1716400541.678 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree 2024-05-22T17:55:41.678Z,1716400541.678 [CommandExec](IMPORTANT): got command set transit.Depth 5 meter 2024-05-22T17:55:41.679Z,1716400541.679 [CommandExec](IMPORTANT): got command set transit.MaxDepth 10 meter 2024-05-22T17:55:41.679Z,1716400541.679 [CommandExec](IMPORTANT): got command run 2024-05-22T17:55:41.681Z,1716400541.681 [CommandExec](IMPORTANT): Running 2024-05-22T17:55:41.872Z,1716400541.872 [Default] Stopped 2024-05-22T17:55:41.872Z,1716400541.872 [Default](DEBUG): Aggregate::uninitialize Default 2024-05-22T17:55:41.872Z,1716400541.872 [Default:B.GoToSurface] Stopped 2024-05-22T17:55:41.873Z,1716400541.873 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-22T17:55:41.873Z,1716400541.873 [Default:CheckIn] Stopped 2024-05-22T17:55:41.873Z,1716400541.873 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-05-22T17:55:41.873Z,1716400541.873 [Default:CheckIn:Read_Iridium] Stopped 2024-05-22T17:55:41.873Z,1716400541.873 [MissionManager](IMPORTANT): Started mission transit 2024-05-22T17:55:41.873Z,1716400541.873 [transit] Running Loop=1 2024-05-22T17:55:41.873Z,1716400541.873 [transit](DEBUG): Aggregate::initialize transit 2024-05-22T17:55:41.873Z,1716400541.873 [transit:StandardEnvelopes] Running Loop=1 2024-05-22T17:55:41.873Z,1716400541.873 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2024-05-22T17:55:41.874Z,1716400541.874 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-22T17:55:41.874Z,1716400541.874 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2024-05-22T17:55:41.874Z,1716400541.874 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-22T17:55:41.874Z,1716400541.874 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2024-05-22T17:55:41.874Z,1716400541.874 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-22T17:55:41.874Z,1716400541.874 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2024-05-22T17:55:41.874Z,1716400541.874 [transit:BackseatDriver] Running Loop=1 2024-05-22T17:55:41.874Z,1716400541.874 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver 2024-05-22T17:55:41.874Z,1716400541.874 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-05-22T17:55:41.874Z,1716400541.874 [transit:PowerOnly] Running Loop=1 2024-05-22T17:55:41.875Z,1716400541.875 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly 2024-05-22T17:55:41.875Z,1716400541.875 [transit:PowerOnly:A] Running Loop=1 2024-05-22T17:55:41.875Z,1716400541.875 [transit:PowerOnly:B] Running Loop=1 2024-05-22T17:55:41.875Z,1716400541.875 [transit:PowerOnly:C] Running Loop=1 2024-05-22T17:55:41.875Z,1716400541.875 [transit:PowerOnly:D] Running Loop=1 2024-05-22T17:55:41.875Z,1716400541.875 [transit:PowerOnly:E.Wait] Running Loop=1 2024-05-22T17:55:41.875Z,1716400541.875 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2024-05-22T17:55:41.875Z,1716400541.875 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2024-05-22T17:55:41.875Z,1716400541.875 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2024-05-22T17:55:41.875Z,1716400541.875 [transit:MassHold.Pitch] Running Loop=1 2024-05-22T17:55:41.875Z,1716400541.875 [transit:MassHold.Pitch](DEBUG): Initialize. 2024-05-22T17:55:41.876Z,1716400541.876 [transit:B] Running Loop=1 2024-05-22T17:55:41.876Z,1716400541.876 [transit:MassHold.Pitch] Running Loop=1 2024-05-22T17:55:41.877Z,1716400541.877 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2024-05-22T17:55:41.877Z,1716400541.877 [transit:PowerOnly] Running Loop=1 2024-05-22T17:55:41.877Z,1716400541.877 [transit:PowerOnly:D] Stopped 2024-05-22T17:55:41.877Z,1716400541.877 [transit:PowerOnly:C] Stopped 2024-05-22T17:55:41.877Z,1716400541.877 [transit:PowerOnly:B] Stopped 2024-05-22T17:55:41.877Z,1716400541.877 [transit:PowerOnly:A] Stopped 2024-05-22T17:55:41.877Z,1716400541.877 [transit:BackseatDriver] Running Loop=1 2024-05-22T17:55:41.878Z,1716400541.878 [transit:StandardEnvelopes] Running Loop=1 2024-05-22T17:55:41.878Z,1716400541.878 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-22T17:55:41.878Z,1716400541.878 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE 2024-05-22T17:55:41.891Z,1716400541.891 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-22T17:55:41.891Z,1716400541.891 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-22T17:55:41.893Z,1716400541.893 [transit:B] Stopped 2024-05-22T17:55:41.893Z,1716400541.893 [transit:C] Running Loop=1 2024-05-22T17:55:42.298Z,1716400542.298 [transit:C] Stopped 2024-05-22T17:55:42.298Z,1716400542.298 [transit:E] Running Loop=1 2024-05-22T17:55:42.672Z,1716400542.672 [transit:E] Stopped 2024-05-22T17:55:42.672Z,1716400542.672 [transit:F] Running Loop=1 2024-05-22T17:55:43.076Z,1716400543.076 [transit:F] Stopped 2024-05-22T17:55:43.076Z,1716400543.076 [transit:G] Running Loop=1 2024-05-22T17:55:43.482Z,1716400543.482 [transit:G] Stopped 2024-05-22T17:55:43.482Z,1716400543.482 [transit:Transit] Running Loop=1 2024-05-22T17:55:43.482Z,1716400543.482 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2024-05-22T17:55:43.482Z,1716400543.482 [transit:Transit:A.Pitch] Running Loop=1 2024-05-22T17:55:43.482Z,1716400543.482 [transit:Transit:A.Pitch](DEBUG): Initialize. 2024-05-22T17:55:43.482Z,1716400543.482 [transit:Transit:B.SetSpeed] Running Loop=1 2024-05-22T17:55:43.482Z,1716400543.482 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2024-05-22T17:55:43.482Z,1716400543.482 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2024-05-22T17:55:43.482Z,1716400543.482 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2024-05-22T17:55:43.483Z,1716400543.483 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2024-05-22T17:55:43.499Z,1716400543.499 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2024-05-22T17:55:43.899Z,1716400543.899 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000 2024-05-22T17:55:43.900Z,1716400543.900 [transit:Transit:B.SetSpeed] Running Loop=1 2024-05-22T17:55:43.901Z,1716400543.901 [transit:Transit:A.Pitch] Running Loop=1 2024-05-22T17:56:06.904Z,1716400566.904 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-22T17:57:21.481Z,1716400641.481 [DataOverHttps](IMPORTANT): SBD MTMSN=20240522T175721 2024-05-22T17:57:29.408Z,1716400649.408 [DataOverHttps](INFO): Received command: stop 2024-05-22T17:57:29.461Z,1716400649.461 [CommandExec](IMPORTANT): got command stop 2024-05-22T17:57:29.461Z,1716400649.461 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-05-22T17:57:29.823Z,1716400649.823 [MissionManager](INFO): MissionManager is completed. 2024-05-22T17:57:29.823Z,1716400649.823 [MissionManager](INFO): Uninitializing Mission transit 2024-05-22T17:57:29.823Z,1716400649.823 [transit] Stopped 2024-05-22T17:57:29.823Z,1716400649.823 [transit](DEBUG): Aggregate::uninitialize transit 2024-05-22T17:57:29.823Z,1716400649.823 [transit:StandardEnvelopes] Stopped 2024-05-22T17:57:29.823Z,1716400649.823 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes 2024-05-22T17:57:29.823Z,1716400649.823 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2024-05-22T17:57:29.823Z,1716400649.823 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2024-05-22T17:57:29.823Z,1716400649.823 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped 2024-05-22T17:57:29.823Z,1716400649.823 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2024-05-22T17:57:29.823Z,1716400649.823 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2024-05-22T17:57:29.824Z,1716400649.824 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2024-05-22T17:57:29.824Z,1716400649.824 [transit:BackseatDriver] Stopped 2024-05-22T17:57:29.824Z,1716400649.824 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver 2024-05-22T17:57:29.824Z,1716400649.824 [transit:BackseatDriver:A.BackseatDriver] Stopped 2024-05-22T17:57:29.824Z,1716400649.824 [transit:PowerOnly] Stopped 2024-05-22T17:57:29.824Z,1716400649.824 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly 2024-05-22T17:57:29.824Z,1716400649.824 [transit:PowerOnly:E.Wait] Stopped 2024-05-22T17:57:29.824Z,1716400649.824 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T17:57:29.824Z,1716400649.824 [transit:BuoyancyHold.Buoyancy] Stopped 2024-05-22T17:57:29.824Z,1716400649.824 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2024-05-22T17:57:29.825Z,1716400649.825 [transit:MassHold.Pitch] Stopped 2024-05-22T17:57:29.825Z,1716400649.825 [transit:Transit] Stopped 2024-05-22T17:57:29.825Z,1716400649.825 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit 2024-05-22T17:57:29.825Z,1716400649.825 [transit:Transit:A.Pitch] Stopped 2024-05-22T17:57:29.825Z,1716400649.825 [transit:Transit:B.SetSpeed] Stopped 2024-05-22T17:57:29.825Z,1716400649.825 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize. 2024-05-22T17:57:29.825Z,1716400649.825 [transit:Transit:Wpt1.Waypoint] Stopped 2024-05-22T17:57:29.825Z,1716400649.825 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2024-05-22T17:57:30.217Z,1716400650.217 [MissionManager](IMPORTANT): Started mission Default 2024-05-22T17:57:30.217Z,1716400650.217 [Default] Running Loop=1 2024-05-22T17:57:30.217Z,1716400650.217 [Default](DEBUG): Aggregate::initialize Default 2024-05-22T17:57:30.217Z,1716400650.217 [Default:B.GoToSurface] Running Loop=1 2024-05-22T17:57:30.217Z,1716400650.217 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-22T17:57:30.217Z,1716400650.217 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-22T17:57:30.217Z,1716400650.217 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-22T17:57:30.218Z,1716400650.218 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-22T17:57:30.218Z,1716400650.218 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-22T17:57:30.218Z,1716400650.218 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-05-22T17:57:30.219Z,1716400650.219 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-22T17:57:30.219Z,1716400650.219 [Default:A.Wait] Running Loop=1 2024-05-22T17:57:30.219Z,1716400650.219 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-05-22T17:57:43.550Z,1716400663.550 [Default:A.Wait](INFO): Done Waiting. 2024-05-22T17:57:43.550Z,1716400663.550 [Default:A.Wait] Stopped 2024-05-22T17:57:43.550Z,1716400663.550 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T17:57:43.944Z,1716400663.944 [Default:CheckIn] Running Loop=1 2024-05-22T17:57:43.944Z,1716400663.944 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-22T17:57:43.944Z,1716400663.944 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-22T17:57:45.956Z,1716400665.956 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175745.00,A,3648.46483,N,12148.47845,W,20.955,289.11,220524,,,D*47 2024-05-22T17:57:45.958Z,1716400665.958 [NAL9602](INFO): GPS fix at 20240522T175745: (36.807747, -121.807974) 2024-05-22T17:57:45.969Z,1716400665.969 [Default:CheckIn:Read_GPS] Stopped 2024-05-22T17:57:45.969Z,1716400665.969 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-22T17:57:53.639Z,1716400673.639 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20240522T173435/Courier0019.lzma 2024-05-22T17:57:54.642Z,1716400674.642 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Courier0019.lzma.bak 2024-05-22T17:57:54.642Z,1716400674.642 [DataOverHttps](INFO): SBD MOMSN=21069506 2024-05-22T17:58:11.735Z,1716400691.735 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20240522T173435/Courier0022.lzma 2024-05-22T17:58:12.738Z,1716400692.738 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Courier0022.lzma.bak 2024-05-22T17:58:12.738Z,1716400692.738 [DataOverHttps](INFO): SBD MOMSN=21069509 2024-05-22T17:58:28.822Z,1716400708.822 [NAL9602](INFO): SBD MO Status=2, MOMSN=51318, MT Status=2, MTMSN=0 2024-05-22T17:58:28.822Z,1716400708.822 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-22T17:58:44.178Z,1716400724.178 [NAL9602](INFO): SBD MO Status=2, MOMSN=51318, MT Status=2, MTMSN=0 2024-05-22T17:58:44.178Z,1716400724.178 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-22T17:58:59.121Z,1716400739.121 [NAL9602](INFO): SBD MO Status=2, MOMSN=51318, MT Status=2, MTMSN=0 2024-05-22T17:58:59.122Z,1716400739.122 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-22T17:59:18.518Z,1716400758.518 [NAL9602](INFO): SBD MO Status=0, MOMSN=51318, MT Status=0, MTMSN=0 2024-05-22T17:59:18.518Z,1716400758.518 [NAL9602](INFO): No messages in MT queue 2024-05-22T17:59:26.032Z,1716400766.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-22T17:59:49.221Z,1716400789.221 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-22T17:59:57.156Z,1716400797.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-22T18:00:28.285Z,1716400828.285 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-22T18:00:35.683Z,1716400835.683 [DataOverHttps](INFO): Sending 159 bytes from file Logs/20240522T173435/Express0020.lzma 2024-05-22T18:00:36.686Z,1716400836.686 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Express0020.lzma.bak 2024-05-22T18:00:36.686Z,1716400836.686 [DataOverHttps](INFO): SBD MOMSN=21069528 2024-05-22T18:01:37.265Z,1716400897.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-22T18:01:44.736Z,1716400904.736 [DataOverHttps](INFO): Sending 426 bytes from file Logs/20240522T173435/Express0023.lzma 2024-05-22T18:01:45.738Z,1716400905.738 [DataOverHttps](INFO): Moved sent file to Logs/20240522T173435/Express0023.lzma.bak 2024-05-22T18:01:45.738Z,1716400905.738 [DataOverHttps](INFO): SBD MOMSN=21069532 2024-05-22T18:01:46.796Z,1716400906.796 [Default:CheckIn:Read_Iridium] Stopped 2024-05-22T18:01:46.796Z,1716400906.796 [Default:CheckIn:C.Wait] Running Loop=1 2024-05-22T18:01:46.796Z,1716400906.796 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2024-05-22T18:02:57.793Z,1716400977.793 [DataOverHttps](IMPORTANT): SBD MTMSN=20240522T180257