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owner=0048 element=0770 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0771 elementURI="CBIT.GFCHANA2Current" type=02 *a code=08C9 owner=0048 element=0771 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0772 elementURI="CBIT.GFCHANA3Current" type=02 *a code=08CA owner=0048 element=0772 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0773 elementURI="CBIT.GFCHANB0Current" type=02 *a code=08CB owner=0048 element=0773 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0774 elementURI="CBIT.GFCHANB1Current" type=02 *a code=08CC owner=0048 element=0774 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0775 elementURI="CBIT.GFCHANB2Current" type=02 *a code=08CD owner=0048 element=0775 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0776 elementURI="CBIT.GFCHANB3Current" type=02 *a code=08CE owner=0048 element=0776 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0777 elementURI="CBIT.GFCHANOpenCurrent" type=02 *a code=08CF owner=0048 element=0777 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=08D0 owner=0048 element=0769 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0778 elementURI="CBIT.empericalClassifierFaultDetected" type=02 *a code=08D1 owner=0048 element=0778 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0779 elementURI="CBIT.binnedDepthRate" type=02 *a code=08D2 owner=0048 element=0779 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08D3 owner=0048 element=0211 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08D4 owner=0048 element=0210 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08D5 owner=0048 element=0212 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08D6 owner=0048 element=0213 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=08D7 owner=0048 element=0214 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=08D8 owner=0048 element=021E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08D9 owner=0048 element=0217 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08DA owner=0048 element=0219 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=08DB owner=0048 element=021B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08DC owner=0048 element=021D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08DD owner=0048 element=021C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08DE owner=0048 element=0215 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08DF owner=0048 element=0216 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08E0 owner=0048 element=021F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08E1 owner=0048 element=021A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08E2 owner=0048 element=0220 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=08E3 owner=0048 element=0221 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=08E4 owner=0048 element=0222 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=08E5 owner=0048 element=0223 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=08E6 owner=0048 element=0224 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=08E7 owner=0048 element=0225 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=08E8 owner=0048 element=0226 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=08E9 owner=0048 element=0227 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=08EA owner=0048 element=0228 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=08EB owner=0048 element=0229 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=08EC owner=0048 element=022A universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=08ED owner=0048 element=022B universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=08EE owner=0048 element=022C universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=08EF owner=0048 element=022D universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=08F0 owner=0048 element=022E universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=08F1 owner=0048 element=022F universal=3FFF unitName="microampere" type=0B size=0003 fl=04 1W$[ƿW$[fSyncComponent "CBIT" handled in the control thread.X$[Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)X$[BLoading Module at Modules/Dock.so$[Loaded Module: Dock (Contains behaviors and commands for docking)*n code=0049 name="MissionManager" *e code=077A elementURI="MissionManager.enableBroadcast" type=02 *a code=08F2 owner=0049 element=077A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08F3 owner=0049 element=0764 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08F4 owner=0049 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=077B elementURI="MissionManager.mission_started" type=00 *a code=08F5 owner=0049 element=077B universal=001C unitName="count" type=0D size=0004 fl=05 ƿ$[zSyncComponent "MissionManager" handled in the control thread.*n code=004A name="Reporter" *e code=077C elementURI="Reporter.enableBroadcast" type=02 *a code=08F6 owner=004A element=077C universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿ$[nSyncComponent "Reporter" handled in the control thread.*n code=004B name="NavChartDb" *e code=077D elementURI="NavChartDb.enableBroadcast" type=02 *a code=08F7 owner=004B element=077D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=077E elementURI="NavChartDb.closestDistance" type=02 *a code=08F8 owner=004B element=077E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=077F elementURI="NavChartDb.nextDistance" type=02 *a code=08F9 owner=004B element=077F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0780 elementURI="NavChartDb.closestDepth" type=02 *a code=08FA owner=004B element=0780 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0781 elementURI="NavChartDb.nextDepth" type=02 *a code=08FB owner=004B element=0781 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08FC owner=004B element=00AB universal=3FFF unitName="none" type=00 size=0023 fl=04 *a code=08FD owner=004B element=00AC universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿ$[bComponent "NavChartDb" handled in its own thread.*n code=004C name="NavChartDb ThreadHandler" &$[DCreated PCaller Thread at 40C074E0&$[DProtected caller Thread ID is 9055N$[,Main Thread ID is 8961F$[&Running supervisor.$[2Handler Thread ID is 9056$[FInitializing the command executive.$[2Handler Thread ID is 9057$[2Handler Thread ID is 9058 $[4Initializing ControlThread $[HInitialize VerticalControlComponent.$[LInitialize HorizontalControlComponent. $[BInitialize SpeedControlComponent.$[@Initialize LoopControlComponent. $[>Initialize NavChart Navigation.$[hInitializing UniversalFixResidualReporter component.*a code=08FE owner=0031 element=035F universal=3FFF unitName="bool" type=02 size=0001 fl=04 $[BInitializing DepthRateCalculator. $[BInitializing PitchRateCalculator.$[:Initializing SpeedCalculator. $[>Initializing YawRateCalculator.$[LInitializing ElevatorOffsetCalculator.#$[4Initialize SBIT Component.=#$[git: 2024-07-24#$[dgit hash: f6cb8c8dea29ad885657024c63abf04d5f6782cd=#$[0Kernel Release: 2.6.27.8*a code=08FF owner=0046 element=0231 universal=3FFF unitName="bool" type=02 size=0001 fl=04 #$[Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021A$[#$[HBeginning SBIT in 25.000000 seconds.#$[4Initialize IBIT Component.B$[ $$[4Initialize CBIT Component.$[2Handler Thread ID is 9059 $$[*Initialized mux pins. $$[@Initializing the watchdog timer. $[2Handler Thread ID is 9060*a code=0900 owner=002E element=0325 universal=3FFF unitName="bool" type=02 size=0001 fl=04  $[dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP$[2Handler Thread ID is 9061$$[TLast reboot was NOT due to watchdog timer. $$[.Initializing heartbeat. &$[G*$[A*$[2Handler Thread ID is 9062 -$[A)2$[; U3$[ y2$[A:$[2Handler Thread ID is 9063;$[Powering up;$["Initializing DAT.!>$[2Handler Thread ID is 9065 ?$[2Initializing CTD_Seabird."C$[2Handler Thread ID is 9067mD$[B2qD$[&I$[2Handler Thread ID is 9069%O$[Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000%O$[tAlready Loaded Electronic Nav Chart data from US1WC07M.000%O$[Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000%O$[tAlready Loaded Electronic Nav Chart data from US2WC11M.000%O$[Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000%O$[tAlready Loaded Electronic Nav Chart data from US3CA52M.000%O$[Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000%P$[tAlready Loaded Electronic Nav Chart data from US5CA50M.000"R$[Powering up $`$[2Deactivating GF circuits. $`$[8Deactivating emergency mode. $$[$Backplane powered.$$[:Using TethysL tl-to-tx parser$$[\Loading Mission from file: Missions/Startup.tl$$[PTethyslAPI: loading: Missions/Startup.tl$$[hTethyslAPI: mission file loaded: Missions/Startup.tl$$[TethyslAPI: Missions/Startup.tl translated into: *n code=004D name="Startup" *n code=004E name="Startup:A.GoToSurface" *e code=0782 elementURI="GoToSurface.enableBroadcast" type=02 *a code=0901 owner=004E element=0782 universal=3FFF unitName="bool" type=02 size=0001 fl=05 '$[,Construct GoToSurface.*a code=0902 owner=004E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0903 owner=004E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0904 owner=004E element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0905 owner=004E element=04ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0906 owner=004E element=04EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0907 owner=004E element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0908 owner=004E element=04EB universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0909 owner=004E element=04F2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=090A owner=004E element=04F1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=090B owner=004E element=0502 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=090C owner=004E element=0507 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=090D owner=004E element=019F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=090E owner=004E element=019A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=090F owner=004E element=016C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0910 owner=004E element=018C universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0911 owner=004E element=0187 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0912 owner=004E element=019B universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=004F name="Startup:StartupSatComms" *n code=0050 name="Startup:StartupSatComms:A" *n code=0051 name="Startup:StartupSatComms:B" $$[ # 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 } } } $$[\Loading Mission from file: Missions/Default.tl$$[PTethyslAPI: loading: Missions/Default.tl$$[hTethyslAPI: mission file loaded: Missions/Default.tl$[Powering up$@$["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 *n code=0052 name="Default" *e code=0783 elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=0913 owner=0052 element=0783 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0914 owner=0052 element=0783 universal=3FFF unitName="minute" type=1F size=0008 fl=05 HP$[$Q$[vDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0053 name="Default:A.Wait" )R$[Construct Wait.*n code=0054 name="Default:B.GoToSurface" *a code=0915 owner=0054 element=0782 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *U$[,Construct GoToSurface.*a code=0916 owner=0054 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0917 owner=0054 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0918 owner=0054 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0919 owner=0054 element=04ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=091A owner=0054 element=04EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=091B owner=0054 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=091C owner=0054 element=04EB universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=091D owner=0054 element=04F2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=091E owner=0054 element=04F1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=091F owner=0054 element=0502 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0920 owner=0054 element=0507 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0921 owner=0054 element=019F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0922 owner=0054 element=019A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0923 owner=0054 element=016C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0924 owner=0054 element=018C universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0925 owner=0054 element=0187 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0926 owner=0054 element=019B universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0055 name="Default:CheckIn" *n code=0056 name="Default:CheckIn:Read_GPS" *n code=0057 name="Default:CheckIn:Read_Iridium" *n code=0058 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0059 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" ,$[$Construct Execute.*n code=005A name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=005B name="Default:CheckIn:C.Wait" -$[Construct Wait.*n code=005C name="Default:CheckIn:D" *a code=0927 owner=005C element=0783 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0928 owner=005C element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005D name="Default:CheckIn:E" *n code=005E name="Default:D" *n code=005F name="Default:E.Execute" /$[$Construct Execute.$$[U # 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" } } $[Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,PowerOnly,Power24vConverter,CANONSampler,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,Reporter,LogSplitter,=L{j ,O>3A J*Initializing AHRS_M2.)-*a code=0929 owner=002D element=030F universal=3FFF unitName="bool" type=02 size=0001 fl=04 !  U>!  E%.Powering up loadControl)Powering up.I Powering down) @?% @F<  a  @a  @a  @a  @a  @a  @I ڧi w:)   i  I% - 4Initializing EZServoServo. } 6Initializing BuoyancyServo. 4Initializing EZServoServo. 6Initializing ElevatorServo.  4Initializing EZServoServo.  .Initializing MassServo. 4Initializing EZServoServo.5 2Initializing RudderServo. = 4Initializing EZServoServo. u 0Initializing ThrusterHE.F *e code=0784 elementURI="controlThread.durationOfLastRun" type=00 *a code=092A owner=0004 element=0784 universal=3FFF unitName="second" type=07 size=0002 fl=05 RI >L{j,X3A]Meie@u"+@u: Pa=a i)i1I1FIRI=L{j,,q3A"S")$)&@*K@*R{aRq=VVi`)```i`dIdFRIu?=!E]@!U]@L{j,΋3A"Z")$)$*A*A@*a@*NaRJ=VVi`)```i`dIdFARI]T>"Powering down@@@@(L{j,*3At{ĩ@A@A) ) @&Xo@&y}a%C=--i)陡iIFRI5=x$L{j,3A"r"d)$)$@*z@*R::aRR=ZZi!)!!)i))I1FRIg= L{j,O]3A"/q"M)$)$ **@*΄@*6!:a6N=>>iD)DDHiHHILFYRIX=p6L{j,;93AV;4<) ) @&ō@&KBڂ<aBI=FFi)i I FRI#>!M{j, 4A]b] )i)i@uw@uQﹹлa,=i)iIFRI=J M{j,&4A~Oh~))  @ @ w}ia}`=i)陙iI!  w:  ٬=FRI%M>r0M{j,2@4A~=Oé  ) ) @@깹}<aJ=i)陡iI٬JM=FRI>I}d>)}ʕC TG )5 ;y9 FZM{j,Z4A))@@蹹u<au/=}}i)iIɪMAMA٬r;F RI-O>FM{j,t4A]4]e)a)a ii@uA@u蹹aW=i)iQIQM٬?BIFRIA>8l#M{j,![4A}K1};))@/@#湹;aY=i)i I ɪ55 ==F9RIUu>)M{j,74A]d8])a)i@m|@m乹aL=i)iI I)  9KQ6-*Zero Speed Commanded.F RI >~0M{j,4A]6a]z )a)aii@u0@u⹹żaF=  i)陁iI99biIM@AM@A! u uFRI~>R6M{j,p4AV *ĩ  ) ) @@ṹe3aeU=Q1m?a1m ymQqm?aqm mQum>aum mui)iIYIeA)eA95[FARI]=PɺCM{j,5A~m) )  p; @@߹ZaA=yQu?i)陹iI9FRI= Mt>Mp>\IM{j,|})5A]s])ae)i)i@u3@u޹żaY=yQu?iA)AAAiAIII=i=9OFRI=KPM{j,XC5A~}) ) @U@ݹL<aE=y!Qu%@!)i)陡iII5)55i5FRIj>am @am @am @am @am @am @au @au @Iu )u u iu VM{j,4]5A! uz rڌ@! z r@! yz r:! }z ٶr ! ~ rH@ B?%?)=;Z`L? ?irڌ@Irj`I;rC%d% ))))11@5v@5ܹE<aMY=yIIQuU@QYiq)qqqiqIFRIM=II ]M{j,ow5ARʆR%ĩTT)T)T@Z@Z۹μaO= i >!i  y  Qu2@I}>} yi)陑iIFRI5= dM{j,s5A@@#ی@]@1ٶgHh??`78nZ`?Z ?i#ی@I;I;6DA:)@)D E=G@F@F'۹]ʆA q4=);yʆAaA=8i>yQuN@Y-9}>i)陑iIFRI-=2jM{j,Ū5A{܌@@?ٶH6@?@!?W@-X[q?@ @ ?i{܌@I:$I;”CBtB{)D)D JH@Jk@J7۹eaeN=e@9ie>yiiQumg@iYm!9}u>qi)iIF RI= Mx>Ml>NqM{j,5A2ٌ@2@2Cjٶ222H&?*? 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