daphne Path

trajectory

20250313T011807 [CommandExec]:got command set NAL9602.time_fix 1741828630 second

20250313T011811 [CommandExec]:got command get latitude

20250313T011811 [CommandExec]:latitude 36.880901 arcdeg

20250313T011815 [CommandExec]:got command maintain clear

20250313T011914 [CommandExec]:got command ibit

20250313T011914 [IBIT]:Beginning Initiated BIT

20250313T011914 [IBIT]:Beginning control surface checks.

20250313T011914 [GFScanner]:Beginning ground fault scan

20250313T012042 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250313T012053 [CommandExec]:got command load ./Missions/Transport/transit.tl

20250313T012058 [CommandExec]:Loaded ./Missions/Transport/transit.tl id=transit

20250313T012106 [IBIT]:Error acquiring IBIT communications status. Timeout expired.

20250313T012106 [IBIT]:Warning: Battery Data not active. Expected only when running primaries. Threshold checking not active.

20250313T012106 [IBIT]:bitPressureThreshold: 0.750000 psi

20250313T012108 [Default:CheckIn:E]:Default mission has been running for 12.232657 min

20250313T012112 [CommandExec]:got command set transit.MissionTimeout 120 minute

20250313T012112 [CommandExec]:got command set transit.NeedCommsTime 45 minute

20250313T012112 [CommandExec]:got command set transit.Latitude 36.8339 degree

20250313T012112 [CommandExec]:got command set transit.Longitude -121.95 degree

20250313T012112 [CommandExec]:got command set transit.Speed 1.2 meter_per_second

20250313T012112 [CommandExec]:got command run

20250313T012112 [MissionManager]:Started mission transit

20250313T012112 [CommandExec]:Running

20250313T012114 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.833900,-121.949997

20250313T012114 [transit:StandardEnvelopes:A.AltitudeEnvelope]:Altitude Measurement is not Active.

20250313T012136 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20250313T012401 [BPC1]:BPC1B got IPBS message with 4 sticks (min is 7).

20250313T012415 [BPC1]:BPC1B got IPBS message with 4 sticks (min is 7).

20250313T013608 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20250313T020022 [ThrusterHE]:Could not get status:serial timeout

20250313T020312 [ThrusterHE]:Could not get status:serial timeout

20250313T020312 [ThrusterHE]:getSpeed error serial timeout

20250313T020312 [ThrusterHE]:Thruster uart error: serial timeout

20250313T020312 [ThrusterHE]:Communications Fault

20250313T020312 [CBIT]:Communications Fault in component: ThrusterHE

20250313T020343 [NAL9602]:GPS failed to acquire within timeout.

20250313T020344 [CBIT]:Data Fault in component: NAL9602

20250313T020520 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250313T020716 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250313T021042 [transit:NeedComms:C:A_Timeout:A]:first GPS update timeout

20250313T021819 [NAL9602]:Inadequate Iridium signal strength reported: 0

20250313T021822 [NAL9602]:Inadequate Iridium signal strength reported: 0

20250313T021827 [NAL9602]:Inadequate Iridium signal strength reported: 0

20250313T022143 [NAL9602]:GPS failed to acquire within timeout.

20250313T022143 [CBIT]:Data Fault in component: NAL9602

20250313T022841 [transit:NeedComms:E:A_Timeout:A]:second GPS update timeout

20250313T023227 [NAL9602]:GPS failed to acquire within timeout.

20250313T023227 [CBIT]:Data Fault in component: NAL9602

20250313T023542 [transit:NeedComms:C:A_Timeout:A]:first GPS update timeout

20250313T024701 [transit:NeedComms:E:A_Timeout:A]:second GPS update timeout

20250313T025402 [transit:NeedComms:C:A_Timeout:A]:first GPS update timeout

20250313T025412 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20250313T030709 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20250313T030804 [transit:NeedComms:E:A_Timeout:A]:second GPS update timeout

20250313T031108 [CommandExec]:Scheduling is paused

20250313T031109 [MissionManager]:Started mission Default

20250313T032209 [Default:CheckIn:E]:Default mission has been running for 11.004021 min

20250313T033331 [Default:CheckIn:E]:Default mission has been running for 22.371531 min

20250313T033857 [CommandExec]:got command maintain sensor NAL9602.latitude_fix 36.848 degree

20250313T033857 [CommandExec]:got command maintain sensor NAL9602.longitude_fix -121.993 degree

20250313T033916 [CommandExec]:got command set NAL9602.time_fix 1741836200 second

20250313T034626 [CommandExec]:got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 11 h;set keepstation.NeedCommsTime 11 h;set keepstation.Depth 50 m;set keepstation.DepthDeadband 20 m;set keepstation.Speed 1 m/s;set keepstation.MaxDepth 80 m" 33e6y 1 2.000000

20250313T034626 [CommandExec]:Scheduling command #1 of 2 with id=33e6y

20250313T034626 [CommandExec]:Scheduled #1 (#1 of 2 with id='33e6y'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 11 h;set keepstation.NeedCommsTime 11 h;set keepstation.Depth 50 m;set keepstation.DepthDeadband 20 m;set keepstation.Speed 1 m/s;set keepstation.MaxDepth 80 m", ASAP

20250313T035335 [CommandExec]:got command schedule asap "set keepstation:NeedComms.GPSTimeout 1 min;run" 33e6y 2 2.000000

20250313T035335 [CommandExec]:Scheduling command #2 of 2 with id=33e6y

20250313T035335 [CommandExec]:Scheduled #2 (#2 of 2 with id='33e6y'): "set keepstation:NeedComms.GPSTimeout 1 min;run", ASAP

20250313T035336 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20250313T035338 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20250313T035356 [CommandExec]:got command set keepstation.MissionTimeout 11 hour

20250313T035356 [CommandExec]:got command set keepstation.NeedCommsTime 11 hour

20250313T035356 [CommandExec]:got command set keepstation.Depth 50 meter

20250313T035356 [CommandExec]:got command set keepstation.DepthDeadband 20 meter

20250313T035356 [CommandExec]:got command set keepstation.Speed 1 meter_per_second

20250313T035356 [CommandExec]:got command set keepstation.MaxDepth 80 meter

20250313T035400 [CommandExec]:got command set keepstation:NeedComms.GPSTimeout 1 minute

20250313T035400 [CommandExec]:got command run

20250313T035400 [CommandExec]:Running

20250313T035400 [MissionManager]:Started mission keepstation

20250313T035402 [keepstation:StandardEnvelopes:A.AltitudeEnvelope]:Altitude Measurement is not Active.

20250313T035502 [keepstation:NeedComms:C:A_Timeout:A]:first GPS update timeout

20250313T035753 [keepstation:NeedComms:E:A_Timeout:A]:second GPS update timeout

20250313T043317 [BPC1]:BPC1A failed to parse battery data due to unrecognized msg size.

20250313T043810 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20250313T055805 [RudderServo]:Reading outside of valid range:0.000000#

20250313T055805 [RudderServo]:Rudder reporting null position

20250313T055806 [RudderServo]:getPosition uart error serial timeout

20250313T055806 [RudderServo]:Rudder uart error - getPosition..serial timeout

20250313T055806 [RudderServo]:Communications Fault

20250313T055806 [CBIT]:Communications Fault in component: RudderServo

20250313T060419 [BPC1]:BPC1A failed to parse battery data due to unrecognized msg size.

20250313T070507 [GFScanner]:Beginning ground fault scan

20250313T074950 [RudderServo]:getPosition uart error serial timeout

20250313T074950 [RudderServo]:Rudder uart error - getPosition..serial timeout

20250313T074950 [RudderServo]:Communications Fault

20250313T074950 [CBIT]:Communications Fault in component: RudderServo

20250313T075556 [ThrusterHE]:Status lock Detected.

20250313T075558 [ThrusterHE]:Status lock Detected.

20250313T075611 [ThrusterHE]:Status lock Detected.

20250313T075652 [ThrusterHE]:Could not get status:serial timeout

20250313T075652 [ThrusterHE]:getSpeed error serial timeout

20250313T075652 [ThrusterHE]:Thruster uart error: serial timeout

20250313T075652 [ThrusterHE]:Communications Fault

20250313T075652 [CBIT]:Communications Fault in component: ThrusterHE

20250313T075653 [ThrusterHE]:LCB fault: Current Limiter Activated.

20250313T075653 [ThrusterHE]:Hardware Fault

20250313T075724 [ThrusterHE]:Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.

20250313T075724 [ThrusterHE]:Hardware Fault

20250313T075724 [CBIT]:Hardware Fault in component: ThrusterHE

20250313T075730 [ThrusterHE]:Zero Speed Commanded.

20250313T075739 [ThrusterHE]:getSpeed error serial timeout

20250313T075739 [ThrusterHE]:Thruster uart error: serial timeout

20250313T075739 [ThrusterHE]:Communications Fault

20250313T075739 [CBIT]:Communications Fault in component: ThrusterHE

20250313T075757 [ThrusterHE]:Zero Speed Commanded.

20250313T075811 [ThrusterHE]:Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.

20250313T075811 [ThrusterHE]:Hardware Fault

20250313T075811 [CBIT]:Hardware Fault in component: ThrusterHE

20250313T075818 [ThrusterHE]:Zero Speed Commanded.

20250313T075910 [ThrusterHE]:Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.

20250313T075910 [CBIT]:Hardware Fault in component: ThrusterHE

20250313T075937 [MissionManager]:Started mission Default

20250313T080150 [BuoyancyServo]:getPosition uart error serial timeout

20250313T080150 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20250313T080150 [BuoyancyServo]:Communications Fault

20250313T080150 [CBIT]:Communications Fault in component: BuoyancyServo

20250313T080201 [CommandExec]:got command set NAL9602.time_fix 1741837586 second

20250313T100915 [BPC1]:Failed to receive data from 11 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 32, 33, 34, 35, 36, 37, 38, 39, 50, 51, 54.

20250313T104306 [BPC1]:BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20250313T104459 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20250313T104501 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20250313T104518 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20250313T104518 [CommandExec]:got command set keepstation.NeedCommsTime 4 hour

20250313T104518 [CommandExec]:got command set keepstation.Depth 30 meter

20250313T104518 [CommandExec]:got command set keepstation.Speed 1 meter_per_second

20250313T104518 [CommandExec]:got command set keepstation:NeedComms.GPSTimeout 1 minute

20250313T104518 [CommandExec]:got command run

20250313T104518 [CommandExec]:Running

20250313T104518 [MissionManager]:Started mission keepstation

20250313T104520 [keepstation:StandardEnvelopes:A.AltitudeEnvelope]:Altitude Measurement is not Active.

20250313T104619 [keepstation:NeedComms:C:A_Timeout:A]:first GPS update timeout

20250313T104808 [keepstation:NeedComms:E:A_Timeout:A]:second GPS update timeout

20250313T104921 [ThrusterHE]:LCB fault: Current Limiter Activated.

20250313T104954 [CommandExec]:got command stop

20250313T104954 [CommandExec]:Scheduling is paused

20250313T104955 [MissionManager]:Started mission Default

20250313T105158 [CommandExec]:got command maintain sensor NAL9602.latitude_fix 36.954 degree

20250313T105158 [CommandExec]:got command maintain sensor NAL9602.longitude_fix -121.981 degree

20250313T105358 [CommandExec]:got command load ./Missions/Transport/transit.tl

20250313T105400 [CommandExec]:Loaded ./Missions/Transport/transit.tl id=transit

20250313T105412 [CommandExec]:got command set transit.MissionTimeout 60 minute

20250313T105412 [CommandExec]:got command set transit.Latitude 36.797 degree

20250313T105412 [CommandExec]:got command set transit.Longitude -121.847 degree

20250313T105412 [CommandExec]:got command set transit:NeedComms.GPSTimeout 1 minute

20250313T105412 [MissionManager]:Started mission transit

20250313T105412 [transit:StandardEnvelopes:C.OffshoreEnvelope]:Offshore envelope ACTIVE

20250313T105413 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.797001,-121.847000

20250313T105413 [transit:StandardEnvelopes:A.AltitudeEnvelope]:Altitude Measurement is not Active.

20250313T105419 [CommandExec]:got command stop

20250313T105439 [CommandExec]:got command load ./Missions/Transport/transit.tl

20250313T105441 [CommandExec]:Loaded ./Missions/Transport/transit.tl id=transit

20250313T105507 [CommandExec]:got command set transit.MissionTimeout 60 minute

20250313T105507 [CommandExec]:got command set transit.Latitude 36.797 degree

20250313T105507 [CommandExec]:got command set transit.Longitude -121.847 degree

20250313T105507 [CommandExec]:got command set transit.Depth 5 meter

20250313T105507 [CommandExec]:got command set transit:NeedComms.GPSTimeout 1 minute

20250313T105529 [CommandExec]:got command set transit.Depth 5 meter

20250313T105529 [CommandExec]:got command set transit.MinOffshore 0.001 kilometer

20250313T105529 [CommandExec]:got command set transit:NeedComms.GPSTimeout 1 minute

20250313T105529 [MissionManager]:Started mission transit

20250313T105529 [transit:StandardEnvelopes:C.OffshoreEnvelope]:Offshore envelope ACTIVE

20250313T105531 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.797001,-121.847000

20250313T105531 [transit:StandardEnvelopes:A.AltitudeEnvelope]:Altitude Measurement is not Active.

20250313T105807 [CommandExec]:Scheduling is paused

20250313T105905 [CommandExec]:got command maintain clear

20250313T114549 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20250313T114555 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20250313T121437 [CommandExec]:got command strobe on

20250313T121437 [CommandExec]:Activating strobe

20250313T122846 [CommandExec]:got command maintain sensor NAL9602.latitude_fix 36.954 degree

20250313T122846 [CommandExec]:got command maintain sensor NAL9602.longitude_fix -121.981 degree

20250313T124238 [CommandExec]:got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 0.2 m;set transit.MinOffshore 0.0001 km;set transit:NeedComms.GPSTimeout 1 min" 3439x 1 2.000000

20250313T124238 [CommandExec]:Scheduling command #1 of 2 with id=3439x

20250313T124238 [CommandExec]:Scheduled #3 (#1 of 2 with id='3439x'): "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 0.2 m;set transit.MinOffshore 0.0001 km;set transit:NeedComms.GPSTimeout 1 min", ASAP

20250313T124246 [CommandExec]:got command schedule asap "run" 3439x 2 2.000000

20250313T124246 [CommandExec]:Scheduling command #2 of 2 with id=3439x

20250313T124246 [CommandExec]:Scheduled #4 (#2 of 2 with id='3439x'): "run", ASAP

20250313T124317 [CommandExec]:got command set transit.Depth 0.2 meter

20250313T124317 [CommandExec]:got command set transit.MinOffshore 0.0001 kilometer

20250313T124317 [CommandExec]:got command strobe on

20250313T124317 [CommandExec]:Activating strobe

20250313T124317 [transit:StandardEnvelopes:C.OffshoreEnvelope]:Offshore envelope ACTIVE

20250313T124649 [CommandExec]:got command show stack

20250313T124649 [CommandExec]:Behavior Stack:#

20250313T124649 [transit:NeedComms]:Priority 0: transit:NeedComms:B.GoToSurface

20250313T124649 [transit:NeedComms]:Priority 1: transit:NeedComms:C

20250313T124649 [transit:StandardEnvelopes]:Priority 2: transit:StandardEnvelopes:A.AltitudeEnvelope

20250313T124649 [transit:StandardEnvelopes]:Priority 3: transit:StandardEnvelopes:B.DepthEnvelope

20250313T124649 [transit:StandardEnvelopes]:Priority 4: transit:StandardEnvelopes:C.OffshoreEnvelope

20250313T124649 [transit:BackseatDriver]:Priority 5: transit:BackseatDriver:A.BackseatDriver

20250313T124649 [transit:PowerOnly]:Priority 6: transit:PowerOnly:E.Wait

20250313T124649 [transit]:Priority 7: transit:BuoyancyHold.Buoyancy

20250313T124649 [transit]:Priority 8: transit:MassHold.Pitch

20250313T124649 [transit:Transit]:Priority 9: transit:Transit:A.Pitch

20250313T124649 [transit:Transit]:Priority 10: transit:Transit:B.SetSpeed

20250313T124649 [transit:Transit]:Priority 11: transit:Transit:Wpt1.Waypoint

20250313T124659 [CommandExec]:got command get SpeedControl.speedCmd

20250313T124659 [CommandExec]:SpeedControl.speedCmd 0.000000 m/s

20250313T124742 [CommandExec]:got command get SpeedControl.speedCmd

20250313T124742 [CommandExec]:SpeedControl.speedCmd 0.000000 m/s

20250313T124752 [CommandExec]:got command get SpeedControl.speedCmd

20250313T124752 [CommandExec]:SpeedControl.speedCmd 0.000000 m/s

20250313T124812 [CommandExec]:got command report mod SpeedControl.speedCmd

20250313T124819 [CommandExec]:got command get latitude

20250313T124819 [CommandExec]:latitude 36.953999 arcdeg

20250313T124838 [CommandExec]:got command maintain

20250313T124842 [CommandExec]:got command show stack

20250313T124842 [CommandExec]:Behavior Stack:#

20250313T124842 [transit:NeedComms]:Priority 0: transit:NeedComms:B.GoToSurface

20250313T124842 [transit:NeedComms]:Priority 1: transit:NeedComms:E

20250313T124842 [transit:StandardEnvelopes]:Priority 2: transit:StandardEnvelopes:A.AltitudeEnvelope

20250313T124842 [transit:StandardEnvelopes]:Priority 3: transit:StandardEnvelopes:B.DepthEnvelope

20250313T124842 [transit:StandardEnvelopes]:Priority 4: transit:StandardEnvelopes:C.OffshoreEnvelope

20250313T124842 [transit:BackseatDriver]:Priority 5: transit:BackseatDriver:A.BackseatDriver

20250313T124842 [transit:PowerOnly]:Priority 6: transit:PowerOnly:E.Wait

20250313T124842 [transit]:Priority 7: transit:BuoyancyHold.Buoyancy

20250313T124842 [transit]:Priority 8: transit:MassHold.Pitch

20250313T124842 [transit:Transit]:Priority 9: transit:Transit:A.Pitch

20250313T124842 [transit:Transit]:Priority 10: transit:Transit:B.SetSpeed

20250313T124842 [transit:Transit]:Priority 11: transit:Transit:Wpt1.Waypoint

20250313T124843 [transit:NeedComms:A]:caught uninitialized data element exception.

20250313T124937 [CommandExec]:got command report

20250313T124940 [CommandExec]:got command show stack

20250313T124940 [CommandExec]:Behavior Stack:#

20250313T124940 [transit:NeedComms]:Priority 0: transit:NeedComms:B.GoToSurface

20250313T124940 [transit:NeedComms]:Priority 1: transit:NeedComms:D

20250313T124940 [transit:StandardEnvelopes]:Priority 2: transit:StandardEnvelopes:A.AltitudeEnvelope

20250313T124940 [transit:StandardEnvelopes]:Priority 3: transit:StandardEnvelopes:B.DepthEnvelope

20250313T124940 [transit:StandardEnvelopes]:Priority 4: transit:StandardEnvelopes:C.OffshoreEnvelope

20250313T124940 [transit:BackseatDriver]:Priority 5: transit:BackseatDriver:A.BackseatDriver

20250313T124940 [transit:PowerOnly]:Priority 6: transit:PowerOnly:E.Wait

20250313T124940 [transit]:Priority 7: transit:BuoyancyHold.Buoyancy

20250313T124940 [transit]:Priority 8: transit:MassHold.Pitch

20250313T124940 [transit:Transit]:Priority 9: transit:Transit:A.Pitch

20250313T124940 [transit:Transit]:Priority 10: transit:Transit:B.SetSpeed

20250313T124940 [transit:Transit]:Priority 11: transit:Transit:Wpt1.Waypoint

20250313T124947 [CommandExec]:got command get depth

20250313T125002 [CommandExec]:got command get platform_orientation degree

20250313T125002 [CommandExec]:platform_orientation 255.721572 arcdeg

20250313T125645 [ElevatorServo]:getPosition uart error serial timeout

20250313T125645 [ElevatorServo]:Elevator uart error - getPosition.serial timeout

20250313T125645 [ElevatorServo]:Communications Fault

20250313T125645 [CBIT]:Communications Fault in component: ElevatorServo

20250313T130035 [CommandExec]:got command get platform_orientation degree

20250313T130035 [CommandExec]:platform_orientation 191.934640 arcdeg

20250313T130507 [GFScanner]:Beginning ground fault scan

20250313T130527 [CommandExec]:got command strobe on

20250313T130527 [CommandExec]:Activating strobe

20250313T132159 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20250313T132858 [CommandExec]:got command get platform_orientation degree

20250313T132858 [CommandExec]:platform_orientation 274.390064 arcdeg

20250313T133007 [CommandExec]:got command set transit.Depth 2 meter

20250313T133007 [CommandExec]:got command set transit.MinOffshore 0.0001 kilometer

20250313T134059 [transit:NeedComms:A]:caught uninitialized data element exception.

20250313T135627 [transit:NeedComms]:Priority 1: transit:NeedComms:E

20250313T135641 [CommandExec]:got command report

20250313T135753 [transit:NeedComms]:Priority 1: transit:NeedComms:E

20250313T135827 [CommandExec]:got command stop

20250313T142719 [ElevatorServo]:getPosition uart error serial timeout

20250313T142719 [ElevatorServo]:Elevator uart error - getPosition.serial timeout

20250313T142719 [ElevatorServo]:Communications Fault

20250313T142719 [CBIT]:Communications Fault in component: ElevatorServo

20250313T150944 [CommandExec]:got command set transit.NeedCommsTime 20 minute

20250313T154538 [CommandExec]:got command set transit.NeedCommsTime 20 minute

20250313T154954 [CommandExec]:got command get

20250313T154954 [CommandExec]:Incomplete syntax. Try: help get

20250313T154956 [CommandExec]:got command report

20250313T155040 [CommandExec]:got command get SpeedControl.propOmegaAction

20250313T155040 [CommandExec]:SpeedControl.propOmegaAction 0.000000 rad/s

20250313T160029 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20250313T162208 [BPC1]:Failed to receive data from 7 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 32, 33, 36, 37, 50, 51, 54.