2023-04-03T18:06:48.553Z,1680545208.553 [Supervisor](DEBUG): Initializing supervisor. 2023-04-03T18:06:48.558Z,1680545208.558 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2023-04-03T18:06:48.558Z,1680545208.558 [SyncHandler](INFO): Protected caller Thread ID is 835 2023-04-03T18:06:48.559Z,1680545208.559 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2023-04-03T18:06:48.559Z,1680545208.559 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2023-04-03T18:06:48.560Z,1680545208.560 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 836 2023-04-03T18:06:48.564Z,1680545208.564 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2023-04-03T18:06:48.581Z,1680545208.581 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2023-04-03T18:06:48.582Z,1680545208.582 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2023-04-03T18:06:48.582Z,1680545208.582 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 837 2023-04-03T18:06:48.586Z,1680545208.586 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2023-04-03T18:06:48.587Z,1680545208.587 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2023-04-03T18:06:48.588Z,1680545208.588 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 838 2023-04-03T18:06:48.590Z,1680545208.590 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2023-04-03T18:06:48.591Z,1680545208.591 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2023-04-03T18:06:48.591Z,1680545208.591 [logger ThreadHandler](INFO): Protected caller Thread ID is 839 2023-04-03T18:06:48.595Z,1680545208.595 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2023-04-03T18:06:48.595Z,1680545208.595 [Supervisor](INFO): Looking for Config files in directory: Config/ 2023-04-03T18:06:48.599Z,1680545208.599 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2023-04-03T18:06:48.820Z,1680545208.820 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2023-04-03T18:06:48.821Z,1680545208.821 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2023-04-03T18:06:48.928Z,1680545208.928 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2023-04-03T18:06:48.930Z,1680545208.930 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2023-04-03T18:06:49.025Z,1680545209.025 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2023-04-03T18:06:49.026Z,1680545209.026 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2023-04-03T18:06:49.496Z,1680545209.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2023-04-03T18:06:49.498Z,1680545209.498 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2023-04-03T18:06:49.853Z,1680545209.853 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2023-04-03T18:06:49.855Z,1680545209.855 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2023-04-03T18:06:50.200Z,1680545210.200 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2023-04-03T18:06:50.201Z,1680545210.201 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2023-04-03T18:06:50.394Z,1680545210.394 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2023-04-03T18:06:50.395Z,1680545210.395 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2023-04-03T18:06:50.475Z,1680545210.475 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2023-04-03T18:06:50.557Z,1680545210.557 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2023-04-03T18:06:50.962Z,1680545210.962 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2023-04-03T18:06:50.964Z,1680545210.964 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2023-04-03T18:06:51.256Z,1680545211.256 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2023-04-03T18:06:51.257Z,1680545211.257 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2023-04-03T18:06:51.773Z,1680545211.773 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2023-04-03T18:06:51.774Z,1680545211.774 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2023-04-03T18:06:51.995Z,1680545211.995 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2023-04-03T18:06:51.995Z,1680545211.995 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2023-04-03T18:06:52.729Z,1680545212.729 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2023-04-03T18:06:52.731Z,1680545212.731 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2023-04-03T18:06:52.872Z,1680545212.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2023-04-03T18:06:52.873Z,1680545212.873 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2023-04-03T18:06:53.676Z,1680545213.676 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2023-04-03T18:06:53.678Z,1680545213.678 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/ 2023-04-03T18:06:53.680Z,1680545213.680 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg 2023-04-03T18:06:53.764Z,1680545213.764 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg 2023-04-03T18:06:53.950Z,1680545213.950 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg 2023-04-03T18:06:54.223Z,1680545214.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2023-04-03T18:06:54.224Z,1680545214.224 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg 2023-04-03T18:06:54.348Z,1680545214.348 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg 2023-04-03T18:06:54.449Z,1680545214.449 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg 2023-04-03T18:06:54.542Z,1680545214.542 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg 2023-04-03T18:06:54.649Z,1680545214.649 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg 2023-04-03T18:06:54.744Z,1680545214.744 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg 2023-04-03T18:06:54.831Z,1680545214.831 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg 2023-04-03T18:06:54.931Z,1680545214.931 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg 2023-04-03T18:06:55.092Z,1680545215.092 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2023-04-03T18:06:55.105Z,1680545215.105 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2023-04-03T18:06:55.179Z,1680545215.179 [DepthRateCalculator] Loaded 2023-04-03T18:06:55.179Z,1680545215.179 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2023-04-03T18:06:55.185Z,1680545215.185 [PitchRateCalculator] Loaded 2023-04-03T18:06:55.185Z,1680545215.185 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2023-04-03T18:06:55.195Z,1680545215.195 [SpeedCalculator] Loaded 2023-04-03T18:06:55.195Z,1680545215.195 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2023-04-03T18:06:55.200Z,1680545215.200 [YawRateCalculator] Loaded 2023-04-03T18:06:55.201Z,1680545215.201 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2023-04-03T18:06:55.222Z,1680545215.222 [ElevatorOffsetCalculator] Loaded 2023-04-03T18:06:55.223Z,1680545215.223 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2023-04-03T18:06:55.223Z,1680545215.223 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2023-04-03T18:06:55.224Z,1680545215.224 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2023-04-03T18:06:55.267Z,1680545215.267 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2023-04-03T18:06:55.268Z,1680545215.268 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2023-04-03T18:06:55.284Z,1680545215.284 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2023-04-03T18:06:55.285Z,1680545215.285 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2023-04-03T18:06:56.079Z,1680545216.079 [AHRS_M2] Loaded 2023-04-03T18:06:56.079Z,1680545216.079 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2023-04-03T18:06:56.329Z,1680545216.329 [BackseatComponent] Loaded 2023-04-03T18:06:56.329Z,1680545216.329 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2023-04-03T18:06:56.330Z,1680545216.330 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408474E0 2023-04-03T18:06:56.330Z,1680545216.330 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 921 2023-04-03T18:06:56.333Z,1680545216.333 [LcmUniversalReporter] Loaded 2023-04-03T18:06:56.334Z,1680545216.334 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2023-04-03T18:06:57.155Z,1680545217.155 [BPC1] Loaded 2023-04-03T18:06:57.155Z,1680545217.155 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2023-04-03T18:06:57.295Z,1680545217.295 [DataOverHttps] Loaded 2023-04-03T18:06:57.295Z,1680545217.295 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2023-04-03T18:06:57.297Z,1680545217.297 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408774E0 2023-04-03T18:06:57.297Z,1680545217.297 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 922 2023-04-03T18:06:57.318Z,1680545217.318 [Depth_Keller] Loaded 2023-04-03T18:06:57.318Z,1680545217.318 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2023-04-03T18:06:57.323Z,1680545217.323 [DropWeight] Loaded 2023-04-03T18:06:57.323Z,1680545217.323 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2023-04-03T18:06:57.387Z,1680545217.387 [NAL9602] Loaded 2023-04-03T18:06:57.388Z,1680545217.388 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2023-04-03T18:06:57.418Z,1680545217.418 [Onboard] Loaded 2023-04-03T18:06:57.418Z,1680545217.418 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2023-04-03T18:06:57.419Z,1680545217.419 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408A74E0 2023-04-03T18:06:57.419Z,1680545217.419 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 923 2023-04-03T18:06:57.426Z,1680545217.426 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3 2023-04-03T18:06:57.437Z,1680545217.437 [PowerOnly] Loaded 2023-04-03T18:06:57.437Z,1680545217.437 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread. 2023-04-03T18:06:57.449Z,1680545217.449 [Power24vConverter] Loaded 2023-04-03T18:06:57.449Z,1680545217.449 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2023-04-03T18:06:57.464Z,1680545217.464 [Radio_Surface] Loaded 2023-04-03T18:06:57.464Z,1680545217.464 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2023-04-03T18:06:57.465Z,1680545217.465 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408D74E0 2023-04-03T18:06:57.465Z,1680545217.465 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 924 2023-04-03T18:06:57.489Z,1680545217.489 [Waterlinked] Loaded 2023-04-03T18:06:57.490Z,1680545217.490 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread. 2023-04-03T18:06:57.490Z,1680545217.490 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2023-04-03T18:06:57.491Z,1680545217.491 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2023-04-03T18:06:58.288Z,1680545218.288 [DeadReckonUsingMultipleVelocitySources] Loaded 2023-04-03T18:06:58.288Z,1680545218.288 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2023-04-03T18:06:58.330Z,1680545218.330 [DeadReckonUsingSpeedCalculator] Loaded 2023-04-03T18:06:58.331Z,1680545218.331 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread. 2023-04-03T18:06:58.345Z,1680545218.345 [NavChart] Loaded 2023-04-03T18:06:58.345Z,1680545218.345 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2023-04-03T18:06:58.351Z,1680545218.351 [UniversalFixResidualReporter] Loaded 2023-04-03T18:06:58.351Z,1680545218.351 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2023-04-03T18:06:58.352Z,1680545218.352 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2023-04-03T18:06:58.352Z,1680545218.352 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2023-04-03T18:06:58.539Z,1680545218.539 [SBIT](DEBUG): Construct Startup Built In Test. 2023-04-03T18:06:58.554Z,1680545218.554 [SBIT] Loaded 2023-04-03T18:06:58.554Z,1680545218.554 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2023-04-03T18:06:58.557Z,1680545218.557 [IBIT](DEBUG): Construct Initiated Built In Test. 2023-04-03T18:06:58.570Z,1680545218.570 [IBIT] Loaded 2023-04-03T18:06:58.570Z,1680545218.570 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2023-04-03T18:06:58.576Z,1680545218.576 [CBIT](DEBUG): Construct Continuous Built In Test. 2023-04-03T18:06:58.680Z,1680545218.680 [CBIT] Loaded 2023-04-03T18:06:58.681Z,1680545218.681 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2023-04-03T18:06:58.681Z,1680545218.681 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2023-04-03T18:06:58.682Z,1680545218.682 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2023-04-03T18:06:58.910Z,1680545218.910 [CTD_Seabird] Loaded 2023-04-03T18:06:58.911Z,1680545218.911 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2023-04-03T18:06:58.912Z,1680545218.912 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409DB4E0 2023-04-03T18:06:58.912Z,1680545218.912 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 925 2023-04-03T18:06:58.933Z,1680545218.933 [PAR_Licor] Loaded 2023-04-03T18:06:58.933Z,1680545218.933 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2023-04-03T18:06:58.965Z,1680545218.965 [WetLabsBB2FL] Loaded 2023-04-03T18:06:58.965Z,1680545218.965 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2023-04-03T18:06:58.966Z,1680545218.966 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A0B4E0 2023-04-03T18:06:58.967Z,1680545218.967 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 926 2023-04-03T18:06:58.967Z,1680545218.967 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2023-04-03T18:06:58.968Z,1680545218.968 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2023-04-03T18:06:59.141Z,1680545219.141 [BuoyancyServo] Loaded 2023-04-03T18:06:59.141Z,1680545219.141 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2023-04-03T18:06:59.163Z,1680545219.163 [ElevatorServo] Loaded 2023-04-03T18:06:59.164Z,1680545219.164 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2023-04-03T18:06:59.185Z,1680545219.185 [MassServo] Loaded 2023-04-03T18:06:59.185Z,1680545219.185 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2023-04-03T18:06:59.207Z,1680545219.207 [RudderServo] Loaded 2023-04-03T18:06:59.207Z,1680545219.207 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2023-04-03T18:06:59.223Z,1680545219.223 [ThrusterHE] Loaded 2023-04-03T18:06:59.224Z,1680545219.224 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2023-04-03T18:06:59.224Z,1680545219.224 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2023-04-03T18:06:59.225Z,1680545219.225 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2023-04-03T18:06:59.299Z,1680545219.299 [VerticalControl](DEBUG): Construct VerticalControl. 2023-04-03T18:06:59.350Z,1680545219.350 [VerticalControl] Loaded 2023-04-03T18:06:59.351Z,1680545219.351 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2023-04-03T18:06:59.354Z,1680545219.354 [HorizontalControl](DEBUG): Construct HorizontalControl. 2023-04-03T18:06:59.392Z,1680545219.392 [HorizontalControl] Loaded 2023-04-03T18:06:59.392Z,1680545219.392 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2023-04-03T18:06:59.395Z,1680545219.395 [SpeedControl](DEBUG): Construct SpeedControl. 2023-04-03T18:06:59.396Z,1680545219.396 [SpeedControl] Loaded 2023-04-03T18:06:59.397Z,1680545219.397 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2023-04-03T18:06:59.399Z,1680545219.399 [LoopControl](DEBUG): Construct LoopControl. 2023-04-03T18:06:59.400Z,1680545219.400 [LoopControl] Loaded 2023-04-03T18:06:59.400Z,1680545219.400 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2023-04-03T18:06:59.401Z,1680545219.401 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2023-04-03T18:06:59.401Z,1680545219.401 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2023-04-03T18:06:59.535Z,1680545219.535 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2023-04-03T18:06:59.536Z,1680545219.536 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2023-04-03T18:06:59.738Z,1680545219.738 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2023-04-03T18:06:59.738Z,1680545219.738 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2023-04-03T18:07:00.133Z,1680545220.133 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2023-04-03T18:07:00.134Z,1680545220.134 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2023-04-03T18:07:00.221Z,1680545220.221 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2023-04-03T18:07:00.227Z,1680545220.227 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2023-04-03T18:07:00.230Z,1680545220.230 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2023-04-03T18:07:00.241Z,1680545220.241 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2023-04-03T18:07:00.242Z,1680545220.242 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BAE4E0 2023-04-03T18:07:00.242Z,1680545220.242 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 927 2023-04-03T18:07:00.246Z,1680545220.246 [Supervisor](INFO): Main Thread ID is 830 2023-04-03T18:07:00.247Z,1680545220.247 [Supervisor](DEBUG): Running supervisor. 2023-04-03T18:07:00.247Z,1680545220.247 [CommandExec ThreadHandler](INFO): Handler Thread ID is 928 2023-04-03T18:07:00.248Z,1680545220.248 [CommandExec](INFO): Initializing the command executive. 2023-04-03T18:07:00.249Z,1680545220.249 [CommandLine ThreadHandler](INFO): Handler Thread ID is 929 2023-04-03T18:07:00.251Z,1680545220.251 [controlThread ThreadHandler](INFO): Handler Thread ID is 930 2023-04-03T18:07:00.252Z,1680545220.252 [controlThread](DEBUG): Initializing ControlThread 2023-04-03T18:07:00.253Z,1680545220.253 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2023-04-03T18:07:00.253Z,1680545220.253 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2023-04-03T18:07:00.253Z,1680545220.253 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2023-04-03T18:07:00.254Z,1680545220.254 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2023-04-03T18:07:00.254Z,1680545220.254 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2023-04-03T18:07:00.259Z,1680545220.259 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2023-04-03T18:07:00.259Z,1680545220.259 [NavChart](DEBUG): Initialize NavChart Navigation. 2023-04-03T18:07:00.260Z,1680545220.260 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2023-04-03T18:07:00.260Z,1680545220.260 [SBIT](INFO): Initialize SBIT Component. 2023-04-03T18:07:00.261Z,1680545220.261 [SBIT](IMPORTANT): git: 2023-03-31_A 2023-04-03T18:07:00.261Z,1680545220.261 [SBIT](INFO): git hash: af64d0505c79dd7b718d6df4bbafdde730718da9 2023-04-03T18:07:00.261Z,1680545220.261 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2023-04-03T18:07:00.262Z,1680545220.262 [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 2023-04-03T18:07:00.264Z,1680545220.264 [SBIT](INFO): Beginning SBIT in 91.000000 seconds. 2023-04-03T18:07:00.264Z,1680545220.264 [IBIT](INFO): Initialize IBIT Component. 2023-04-03T18:07:00.265Z,1680545220.265 [CBIT](DEBUG): Initialize CBIT Component. 2023-04-03T18:07:00.266Z,1680545220.266 [logger ThreadHandler](INFO): Handler Thread ID is 931 2023-04-03T18:07:00.276Z,1680545220.276 [CBIT](DEBUG): Initialized mux pins. 2023-04-03T18:07:00.276Z,1680545220.276 [CBIT](DEBUG): Initializing the watchdog timer. 2023-04-03T18:07:00.284Z,1680545220.284 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 932 2023-04-03T18:07:00.296Z,1680545220.296 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 933 2023-04-03T18:07:00.297Z,1680545220.297 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2023-04-03T18:07:00.300Z,1680545220.300 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2023-04-03T18:07:00.300Z,1680545220.300 [CBIT](DEBUG): Initializing heartbeat. 2023-04-03T18:07:00.308Z,1680545220.308 [Onboard ThreadHandler](INFO): Handler Thread ID is 934 2023-04-03T18:07:00.324Z,1680545220.324 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 935 2023-04-03T18:07:00.344Z,1680545220.344 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 936 2023-04-03T18:07:00.345Z,1680545220.345 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2023-04-03T18:07:00.349Z,1680545220.349 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 938 2023-04-03T18:07:00.353Z,1680545220.353 [WetLabsBB2FL](INFO): Powering up 2023-04-03T18:07:00.354Z,1680545220.354 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 940 2023-04-03T18:07:00.363Z,1680545220.363 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2023-04-03T18:07:00.363Z,1680545220.363 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2023-04-03T18:07:00.363Z,1680545220.363 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2023-04-03T18:07:00.363Z,1680545220.363 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2023-04-03T18:07:00.364Z,1680545220.364 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2023-04-03T18:07:00.364Z,1680545220.364 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2023-04-03T18:07:00.364Z,1680545220.364 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2023-04-03T18:07:00.364Z,1680545220.364 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2023-04-03T18:07:00.372Z,1680545220.372 [CBIT](DEBUG): Deactivating GF circuits. 2023-04-03T18:07:00.372Z,1680545220.372 [CBIT](DEBUG): Deactivating emergency mode. 2023-04-03T18:07:00.412Z,1680545220.412 [CBIT](DEBUG): Backplane powered. 2023-04-03T18:07:00.417Z,1680545220.417 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2023-04-03T18:07:00.419Z,1680545220.419 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2023-04-03T18:07:00.420Z,1680545220.420 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2023-04-03T18:07:00.420Z,1680545220.420 [LoopControl](DEBUG): Initialize LoopControlComponent. 2023-04-03T18:07:00.421Z,1680545220.421 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml 2023-04-03T18:07:00.461Z,1680545220.461 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2023-04-03T18:07:00.489Z,1680545220.489 [MissionManager](DEBUG): 2023-04-03T18:07:00.490Z,1680545220.490 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml 2023-04-03T18:07:00.544Z,1680545220.544 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2023-04-03T18:07:00.546Z,1680545220.546 [Default:A.Wait](DEBUG): Construct Wait. 2023-04-03T18:07:00.549Z,1680545220.549 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2023-04-03T18:07:00.577Z,1680545220.577 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2023-04-03T18:07:00.579Z,1680545220.579 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2023-04-03T18:07:00.585Z,1680545220.585 [Default:E.Execute](DEBUG): Construct Execute. 2023-04-03T18:07:00.607Z,1680545220.607 [MissionManager](DEBUG): 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs 2023-04-03T18:07:00.612Z,1680545220.612 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,PowerOnly,Power24vConverter,Waterlinked,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter, 2023-04-03T18:07:00.622Z,1680545220.622 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2023-04-03T18:07:00.740Z,1680545220.740 [Radio_Surface](INFO): Powering up 2023-04-03T18:07:00.759Z,1680545220.759 [Power24vConverter](INFO): Powering up. 2023-04-03T18:07:00.798Z,1680545220.798 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2023-04-03T18:07:00.804Z,1680545220.804 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2023-04-03T18:07:00.805Z,1680545220.805 [ElevatorServo](DEBUG): Initializing EZServoServo. 2023-04-03T18:07:00.812Z,1680545220.812 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2023-04-03T18:07:00.813Z,1680545220.813 [MassServo](DEBUG): Initializing EZServoServo. 2023-04-03T18:07:00.820Z,1680545220.820 [MassServo](DEBUG): Initializing MassServo. 2023-04-03T18:07:00.821Z,1680545220.821 [RudderServo](DEBUG): Initializing EZServoServo. 2023-04-03T18:07:00.828Z,1680545220.828 [RudderServo](DEBUG): Initializing RudderServo. 2023-04-03T18:07:00.829Z,1680545220.829 [ThrusterHE](DEBUG): Initializing EZServoServo. 2023-04-03T18:07:00.836Z,1680545220.836 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2023-04-03T18:07:02.964Z,1680545222.964 [WetLabsBB2FL](INFO): Powering down 2023-04-03T18:07:06.525Z,1680545226.525 [ThrusterHE](ERROR): Zero Speed Commanded. 2023-04-03T18:07:27.701Z,1680545247.701 [NAL9602](INFO): Powering up NAL9602 2023-04-03T18:07:35.052Z,1680545255.052 [Waterlinked](INFO): Powering down 2023-04-03T18:07:38.614Z,1680545258.614 [NAL9602](INFO): NAL9602 initialized 2023-04-03T18:08:31.965Z,1680545311.965 [SBIT](IMPORTANT): Beginning Startup BIT 2023-04-03T18:08:31.969Z,1680545311.969 [CBIT](IMPORTANT): Beginning ground fault scan 2023-04-03T18:08:42.901Z,1680545322.901 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.024022 CHAN A1 (24V): 0.044802 CHAN A2 (12V): 0.013803 CHAN A3 (5V): 0.001659 CHAN B0 (3.3V): 0.000226 CHAN B1 (3.15aV): -0.000146 CHAN B2 (3.15bV): -0.000016 CHAN B3 (GND): -0.001801 OPEN: 0.005754 Full Scale: +/- 1 mA 2023-04-03T18:09:26.091Z,1680545366.091 [SBIT](IMPORTANT): SBIT PASSED 2023-04-03T18:09:26.091Z,1680545366.091 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2023-04-03T18:09:26.092Z,1680545366.092 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool; 2023-04-03T18:09:26.092Z,1680545366.092 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=2 minute; 2023-04-03T18:09:26.093Z,1680545366.093 [SBIT](IMPORTANT): Express linearApproximation _.ayeris_disk_space 100.000000 gigabyte; 2023-04-03T18:09:26.093Z,1680545366.093 [SBIT](IMPORTANT): Express linearApproximation _.ayeris_particle_counts 300.000000 count_per_second; 2023-04-03T18:09:26.093Z,1680545366.093 [SBIT](IMPORTANT): Express linearApproximation _.ayeris_particle_shape 10.000000 count_per_second; 2023-04-03T18:09:26.093Z,1680545366.093 [SBIT](IMPORTANT): Express linearApproximation _.ayeris_particle_slope 0.200000 count_per_millimeter; 2023-04-03T18:09:26.093Z,1680545366.093 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=236.612869 cubic_centimeter; 2023-04-03T18:09:26.093Z,1680545366.093 [SBIT](IMPORTANT): VerticalControl.massDefault=17.883769 millimeter; 2023-04-03T18:09:26.507Z,1680545366.507 [MissionManager](IMPORTANT): Started mission Startup 2023-04-03T18:09:26.507Z,1680545366.507 [Startup] Running Loop=1 2023-04-03T18:09:26.507Z,1680545366.507 [Startup](DEBUG): Aggregate::initialize Startup 2023-04-03T18:09:26.507Z,1680545366.507 [Startup:A.GoToSurface] Running Loop=1 2023-04-03T18:09:26.507Z,1680545366.507 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2023-04-03T18:09:26.508Z,1680545366.508 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2023-04-03T18:09:26.508Z,1680545366.508 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2023-04-03T18:09:26.509Z,1680545366.509 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2023-04-03T18:09:26.509Z,1680545366.509 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2023-04-03T18:09:26.509Z,1680545366.509 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2023-04-03T18:09:26.511Z,1680545366.511 [Startup:StartupSatComms] Running Loop=1 2023-04-03T18:09:26.511Z,1680545366.511 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2023-04-03T18:09:26.511Z,1680545366.511 [Startup:StartupSatComms:A] Running Loop=1 2023-04-03T18:09:26.915Z,1680545366.915 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2023-04-03T18:10:00.427Z,1680545400.427 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1 2023-04-03T18:10:00.427Z,1680545400.427 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2023-04-03T18:10:00.429Z,1680545400.429 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1 2023-04-03T18:10:00.429Z,1680545400.429 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2023-04-03T18:10:00.440Z,1680545400.440 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2023-04-03T18:10:00.440Z,1680545400.440 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2023-04-03T18:10:00.864Z,1680545400.864 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2023-04-03T18:10:00.864Z,1680545400.864 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1 2023-04-03T18:10:00.865Z,1680545400.865 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2023-04-03T18:10:00.865Z,1680545400.865 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1 2023-04-03T18:10:01.232Z,1680545401.232 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2023-04-03T18:10:26.686Z,1680545426.686 [Startup:StartupSatComms:A](INFO): Timed out from 2023-04-03T18:09:26.5Z 2023-04-03T18:10:26.687Z,1680545426.687 [Startup:StartupSatComms:A] Stopped 2023-04-03T18:10:26.687Z,1680545426.687 [Startup:StartupSatComms:B] Running Loop=1 2023-04-03T18:10:27.094Z,1680545427.094 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2023-04-03T18:10:38.582Z,1680545438.582 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004467 2023-04-03T18:10:45.767Z,1680545445.767 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20230403T152239/Courier0079.lzma 2023-04-03T18:10:46.773Z,1680545446.773 [DataOverHttps](INFO): Moved sent file to Logs/20230403T152239/Courier0079.lzma.bak 2023-04-03T18:10:46.773Z,1680545446.773 [DataOverHttps](INFO): SBD MOMSN=18016632 2023-04-03T18:11:02.443Z,1680545462.443 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20230403T180648/Courier0000.lzma 2023-04-03T18:11:03.445Z,1680545463.445 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0000.lzma.bak 2023-04-03T18:11:03.446Z,1680545463.446 [DataOverHttps](INFO): SBD MOMSN=18016635 2023-04-03T18:11:19.137Z,1680545479.137 [DataOverHttps](INFO): Sending 1300 bytes from file Logs/20230403T152239/Express0080.lzma 2023-04-03T18:11:20.138Z,1680545480.138 [DataOverHttps](INFO): Moved sent file to Logs/20230403T152239/Express0080.lzma.bak 2023-04-03T18:11:20.138Z,1680545480.138 [DataOverHttps](INFO): SBD MOMSN=18016638 2023-04-03T18:11:26.882Z,1680545486.882 [Startup:StartupSatComms:B](INFO): Timed out from 2023-04-03T18:10:26.7Z 2023-04-03T18:11:26.882Z,1680545486.882 [Startup:StartupSatComms:B] Stopped 2023-04-03T18:11:26.882Z,1680545486.882 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2023-04-03T18:11:26.882Z,1680545486.882 [Startup:StartupSatComms] Stopped 2023-04-03T18:11:26.883Z,1680545486.883 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2023-04-03T18:11:26.883Z,1680545486.883 [Startup](INFO): Completed Startup 2023-04-03T18:11:26.883Z,1680545486.883 [MissionManager](INFO): Startup is completed. 2023-04-03T18:11:26.884Z,1680545486.884 [MissionManager](INFO): Uninitializing Mission Startup 2023-04-03T18:11:26.884Z,1680545486.884 [Startup] Stopped 2023-04-03T18:11:26.884Z,1680545486.884 [Startup](DEBUG): Aggregate::uninitialize Startup 2023-04-03T18:11:26.884Z,1680545486.884 [Startup:A.GoToSurface] Stopped 2023-04-03T18:11:26.884Z,1680545486.884 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2023-04-03T18:11:27.286Z,1680545487.286 [MissionManager](IMPORTANT): Started mission Default 2023-04-03T18:11:27.287Z,1680545487.287 [Default] Running Loop=1 2023-04-03T18:11:27.287Z,1680545487.287 [Default](DEBUG): Aggregate::initialize Default 2023-04-03T18:11:27.287Z,1680545487.287 [Default:B.GoToSurface] Running Loop=1 2023-04-03T18:11:27.287Z,1680545487.287 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2023-04-03T18:11:27.287Z,1680545487.287 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2023-04-03T18:11:27.287Z,1680545487.287 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2023-04-03T18:11:27.288Z,1680545487.288 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2023-04-03T18:11:27.288Z,1680545487.288 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2023-04-03T18:11:27.289Z,1680545487.289 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2023-04-03T18:11:27.289Z,1680545487.289 [Default:A.Wait] Running Loop=1 2023-04-03T18:11:27.289Z,1680545487.289 [Default:A.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:11:35.129Z,1680545495.129 [DataOverHttps](INFO): Sending 819 bytes from file Logs/20230403T180648/Express0001.lzma 2023-04-03T18:11:36.130Z,1680545496.130 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0001.lzma.bak 2023-04-03T18:11:36.130Z,1680545496.130 [DataOverHttps](INFO): SBD MOMSN=18016717 2023-04-03T18:11:40.655Z,1680545500.655 [Default:A.Wait](INFO): Done Waiting. 2023-04-03T18:11:40.655Z,1680545500.655 [Default:A.Wait] Stopped 2023-04-03T18:11:40.655Z,1680545500.655 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:11:41.040Z,1680545501.040 [Default:CheckIn] Running Loop=1 2023-04-03T18:11:41.040Z,1680545501.040 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2023-04-03T18:11:41.040Z,1680545501.040 [Default:CheckIn:Read_GPS] Running Loop=1 2023-04-03T18:11:41.431Z,1680545501.431 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2023-04-03T18:12:42.430Z,1680545562.430 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2023-04-03T18:12:43.640Z,1680545563.640 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181242.00,A,3648.17396,N,12147.27551,W,0.039,34.85,030423,,,D*45 2023-04-03T18:12:43.644Z,1680545563.644 [NAL9602](INFO): GPS fix at 20230403T181242: (36.802899, -121.787925) 2023-04-03T18:12:43.708Z,1680545563.708 [Default:CheckIn:Read_GPS] Stopped 2023-04-03T18:12:43.708Z,1680545563.708 [Default:CheckIn:Read_Iridium] Running Loop=1 2023-04-03T18:12:44.101Z,1680545564.101 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2023-04-03T18:12:47.460Z,1680545567.460 [DataOverHttps](INFO): Sending 223 bytes from file Logs/20230403T180648/Courier0004.lzma 2023-04-03T18:12:48.462Z,1680545568.462 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0004.lzma.bak 2023-04-03T18:12:48.462Z,1680545568.462 [DataOverHttps](INFO): SBD MOMSN=18016736 2023-04-03T18:13:04.268Z,1680545584.268 [DataOverHttps](INFO): Sending 312 bytes from file Logs/20230403T180648/Express0005.lzma 2023-04-03T18:13:05.270Z,1680545585.270 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0005.lzma.bak 2023-04-03T18:13:05.270Z,1680545585.270 [DataOverHttps](INFO): SBD MOMSN=18016739 2023-04-03T18:13:06.357Z,1680545586.357 [Default:CheckIn:Read_Iridium] Stopped 2023-04-03T18:13:06.357Z,1680545586.357 [Default:CheckIn:C.Wait] Running Loop=1 2023-04-03T18:13:06.357Z,1680545586.357 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:13:16.445Z,1680545596.445 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2023-04-03T18:13:16.453Z,1680545596.453 [BPC1](INFO): Received data from all battery sticks. 2023-04-03T18:13:16.455Z,1680545596.455 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:14:24.567Z,1680545664.567 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T181423 2023-04-03T18:14:31.969Z,1680545671.969 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m" 2lzzi 1 2 2023-04-03T18:14:32.005Z,1680545672.005 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m" 2lzzi 1 2.000000 2023-04-03T18:14:32.005Z,1680545672.005 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2lzzi 2023-04-03T18:14:32.006Z,1680545672.006 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='2lzzi'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m", ASAP 2023-04-03T18:14:32.970Z,1680545672.970 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T181432 2023-04-03T18:14:40.268Z,1680545680.268 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run" 2lzzi 2 2 2023-04-03T18:14:40.333Z,1680545680.333 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run" 2lzzi 2 2.000000 2023-04-03T18:14:40.333Z,1680545680.333 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2lzzi 2023-04-03T18:14:40.334Z,1680545680.334 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='2lzzi'): "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run", ASAP 2023-04-03T18:14:40.448Z,1680545680.448 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2023-04-03T18:14:40.449Z,1680545680.449 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2023-04-03T18:14:40.449Z,1680545680.449 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx 2023-04-03T18:14:40.558Z,1680545680.558 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2023-04-03T18:14:40.573Z,1680545680.573 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2023-04-03T18:14:40.576Z,1680545680.576 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2023-04-03T18:14:40.579Z,1680545680.579 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2023-04-03T18:14:40.581Z,1680545680.581 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2023-04-03T18:14:40.584Z,1680545680.584 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2023-04-03T18:14:40.587Z,1680545680.587 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2023-04-03T18:14:40.611Z,1680545680.611 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2023-04-03T18:14:40.613Z,1680545680.613 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2023-04-03T18:14:40.616Z,1680545680.616 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2023-04-03T18:14:40.619Z,1680545680.619 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2023-04-03T18:14:40.640Z,1680545680.640 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2023-04-03T18:14:40.643Z,1680545680.643 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2023-04-03T18:14:40.643Z,1680545680.643 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml 2023-04-03T18:14:40.749Z,1680545680.749 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h 2023-04-03T18:14:40.752Z,1680545680.752 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2023-04-03T18:14:40.763Z,1680545680.763 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2023-04-03T18:14:40.779Z,1680545680.779 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2023-04-03T18:14:40.794Z,1680545680.794 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2023-04-03T18:14:40.801Z,1680545680.801 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2023-04-03T18:14:40.804Z,1680545680.804 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2023-04-03T18:14:40.811Z,1680545680.811 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2023-04-03T18:14:40.826Z,1680545680.826 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2023-04-03T18:14:40.867Z,1680545680.867 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml 2023-04-03T18:14:40.912Z,1680545680.912 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2023-04-03T18:14:40.915Z,1680545680.915 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2023-04-03T18:14:40.950Z,1680545680.950 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2023-04-03T18:14:40.951Z,1680545680.951 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2023-04-03T18:14:40.975Z,1680545680.975 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2023-04-03T18:14:41.004Z,1680545681.004 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2023-04-03T18:14:41.037Z,1680545681.037 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2023-04-03T18:14:41.045Z,1680545681.045 [transit:MassHold.Pitch](DEBUG): Construct. 2023-04-03T18:14:41.052Z,1680545681.052 [transit:Transit:A.Pitch](DEBUG): Construct. 2023-04-03T18:14:41.070Z,1680545681.070 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2023-04-03T18:14:41.076Z,1680545681.076 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2023-04-03T18:14:41.114Z,1680545681.114 [MissionManager](DEBUG): 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.xml assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.xml assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore 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" } } 2023-04-03T18:14:41.115Z,1680545681.115 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl 2023-04-03T18:14:49.213Z,1680545689.213 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute 2023-04-03T18:14:49.214Z,1680545689.214 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute 2023-04-03T18:14:49.215Z,1680545689.215 [CommandExec](IMPORTANT): got command set transit.Latitude 36.79169 degree 2023-04-03T18:14:49.215Z,1680545689.215 [CommandExec](IMPORTANT): got command set transit.Longitude -121.8201 degree 2023-04-03T18:14:49.216Z,1680545689.216 [CommandExec](IMPORTANT): got command set transit.Depth 0.5 meter 2023-04-03T18:14:49.217Z,1680545689.217 [CommandExec](IMPORTANT): got command set transit.MaxDepth 1 meter 2023-04-03T18:14:52.076Z,1680545692.076 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.0001 kilometer 2023-04-03T18:14:52.077Z,1680545692.077 [CommandExec](IMPORTANT): got command set transit.MinAltitude 1 meter 2023-04-03T18:14:52.078Z,1680545692.078 [CommandExec](IMPORTANT): got command run 2023-04-03T18:14:52.080Z,1680545692.080 [CommandExec](IMPORTANT): Running 2023-04-03T18:14:52.257Z,1680545692.257 [Default] Stopped 2023-04-03T18:14:52.257Z,1680545692.257 [Default](DEBUG): Aggregate::uninitialize Default 2023-04-03T18:14:52.257Z,1680545692.257 [Default:B.GoToSurface] Stopped 2023-04-03T18:14:52.257Z,1680545692.257 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2023-04-03T18:14:52.257Z,1680545692.257 [Default:CheckIn] Stopped 2023-04-03T18:14:52.257Z,1680545692.257 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2023-04-03T18:14:52.257Z,1680545692.257 [Default:CheckIn:C.Wait] Stopped 2023-04-03T18:14:52.257Z,1680545692.257 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:14:52.258Z,1680545692.258 [MissionManager](IMPORTANT): Started mission transit 2023-04-03T18:14:52.258Z,1680545692.258 [transit] Running Loop=1 2023-04-03T18:14:52.258Z,1680545692.258 [transit](DEBUG): Aggregate::initialize transit 2023-04-03T18:14:52.258Z,1680545692.258 [transit:StandardEnvelopes] Running Loop=1 2023-04-03T18:14:52.258Z,1680545692.258 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2023-04-03T18:14:52.258Z,1680545692.258 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2023-04-03T18:14:52.258Z,1680545692.258 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2023-04-03T18:14:52.259Z,1680545692.259 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2023-04-03T18:14:52.259Z,1680545692.259 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2023-04-03T18:14:52.259Z,1680545692.259 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2023-04-03T18:14:52.259Z,1680545692.259 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2023-04-03T18:14:52.259Z,1680545692.259 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2023-04-03T18:14:52.259Z,1680545692.259 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2023-04-03T18:14:52.259Z,1680545692.259 [transit:MassHold.Pitch] Running Loop=1 2023-04-03T18:14:52.259Z,1680545692.259 [transit:MassHold.Pitch](DEBUG): Initialize. 2023-04-03T18:14:52.260Z,1680545692.260 [transit:B] Running Loop=1 2023-04-03T18:14:52.260Z,1680545692.260 [transit:MassHold.Pitch] Running Loop=1 2023-04-03T18:14:52.269Z,1680545692.269 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2023-04-03T18:14:52.269Z,1680545692.269 [transit:StandardEnvelopes] Running Loop=1 2023-04-03T18:14:52.269Z,1680545692.269 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2023-04-03T18:14:52.270Z,1680545692.270 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2023-04-03T18:14:52.270Z,1680545692.270 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2023-04-03T18:14:52.271Z,1680545692.271 [transit:B] Stopped 2023-04-03T18:14:52.271Z,1680545692.271 [transit:C] Running Loop=1 2023-04-03T18:14:52.664Z,1680545692.664 [transit:C] Stopped 2023-04-03T18:14:52.664Z,1680545692.664 [transit:E] Running Loop=1 2023-04-03T18:14:53.074Z,1680545693.074 [transit:E] Stopped 2023-04-03T18:14:53.074Z,1680545693.074 [transit:F] Running Loop=1 2023-04-03T18:14:53.481Z,1680545693.481 [transit:F] Stopped 2023-04-03T18:14:53.481Z,1680545693.481 [transit:G] Running Loop=1 2023-04-03T18:14:53.879Z,1680545693.879 [transit:G] Stopped 2023-04-03T18:14:53.879Z,1680545693.879 [transit:Transit] Running Loop=1 2023-04-03T18:14:53.879Z,1680545693.879 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2023-04-03T18:14:53.879Z,1680545693.879 [transit:Transit:A.Pitch] Running Loop=1 2023-04-03T18:14:53.880Z,1680545693.880 [transit:Transit:A.Pitch](DEBUG): Initialize. 2023-04-03T18:14:53.880Z,1680545693.880 [transit:Transit:B.SetSpeed] Running Loop=1 2023-04-03T18:14:53.880Z,1680545693.880 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2023-04-03T18:14:53.880Z,1680545693.880 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2023-04-03T18:14:53.880Z,1680545693.880 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2023-04-03T18:14:53.918Z,1680545693.918 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.791691,-121.820099 2023-04-03T18:14:53.919Z,1680545693.919 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2023-04-03T18:14:54.282Z,1680545694.282 [transit:Transit:B.SetSpeed] Running Loop=1 2023-04-03T18:14:54.283Z,1680545694.283 [transit:Transit:A.Pitch] Running Loop=1 2023-04-03T18:15:17.962Z,1680545717.962 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T181516 2023-04-03T18:15:18.060Z,1680545718.060 [CommandExec](IMPORTANT): got command get Waterlinked.loadControl 2023-04-03T18:15:18.060Z,1680545718.060 [CommandExec](IMPORTANT): Waterlinked.loadControl /dev/loadB4 2023-04-03T18:15:24.757Z,1680545724.757 [CommandExec](IMPORTANT): got command failComponent 2023-04-03T18:15:24.757Z,1680545724.757 [CommandExec](IMPORTANT): Failed components: 2023-04-03T18:15:24.757Z,1680545724.757 [CommandExec](IMPORTANT): No failed Components. 2023-04-03T18:15:25.903Z,1680545725.903 [DataOverHttps](INFO): Received command: stop 2023-04-03T18:15:26.005Z,1680545726.005 [CommandExec](IMPORTANT): got command stop 2023-04-03T18:15:26.005Z,1680545726.005 [CommandExec](IMPORTANT): Scheduling is paused 2023-04-03T18:15:26.006Z,1680545726.006 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2023-04-03T18:15:26.194Z,1680545726.194 [MissionManager](INFO): MissionManager is completed. 2023-04-03T18:15:26.195Z,1680545726.195 [MissionManager](INFO): Uninitializing Mission transit 2023-04-03T18:15:26.195Z,1680545726.195 [transit] Stopped 2023-04-03T18:15:26.195Z,1680545726.195 [transit](DEBUG): Aggregate::uninitialize transit 2023-04-03T18:15:26.195Z,1680545726.195 [transit:StandardEnvelopes] Stopped 2023-04-03T18:15:26.195Z,1680545726.195 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes 2023-04-03T18:15:26.195Z,1680545726.195 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2023-04-03T18:15:26.195Z,1680545726.195 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2023-04-03T18:15:26.195Z,1680545726.195 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped 2023-04-03T18:15:26.195Z,1680545726.195 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2023-04-03T18:15:26.195Z,1680545726.195 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2023-04-03T18:15:26.195Z,1680545726.195 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2023-04-03T18:15:26.196Z,1680545726.196 [transit:BuoyancyHold.Buoyancy] Stopped 2023-04-03T18:15:26.196Z,1680545726.196 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2023-04-03T18:15:26.196Z,1680545726.196 [transit:MassHold.Pitch] Stopped 2023-04-03T18:15:26.196Z,1680545726.196 [transit:Transit] Stopped 2023-04-03T18:15:26.196Z,1680545726.196 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit 2023-04-03T18:15:26.196Z,1680545726.196 [transit:Transit:A.Pitch] Stopped 2023-04-03T18:15:26.196Z,1680545726.196 [transit:Transit:B.SetSpeed] Stopped 2023-04-03T18:15:26.196Z,1680545726.196 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize. 2023-04-03T18:15:26.196Z,1680545726.196 [transit:Transit:Wpt1.Waypoint] Stopped 2023-04-03T18:15:26.196Z,1680545726.196 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2023-04-03T18:15:26.599Z,1680545726.599 [MissionManager](IMPORTANT): Started mission Default 2023-04-03T18:15:26.599Z,1680545726.599 [Default] Running Loop=1 2023-04-03T18:15:26.599Z,1680545726.599 [Default](DEBUG): Aggregate::initialize Default 2023-04-03T18:15:26.599Z,1680545726.599 [Default:B.GoToSurface] Running Loop=1 2023-04-03T18:15:26.599Z,1680545726.599 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2023-04-03T18:15:26.599Z,1680545726.599 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2023-04-03T18:15:26.600Z,1680545726.600 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2023-04-03T18:15:26.600Z,1680545726.600 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2023-04-03T18:15:26.600Z,1680545726.600 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2023-04-03T18:15:26.601Z,1680545726.601 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2023-04-03T18:15:26.601Z,1680545726.601 [Default:A.Wait] Running Loop=1 2023-04-03T18:15:26.601Z,1680545726.601 [Default:A.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:15:39.929Z,1680545739.929 [Default:A.Wait](INFO): Done Waiting. 2023-04-03T18:15:39.930Z,1680545739.930 [Default:A.Wait] Stopped 2023-04-03T18:15:39.930Z,1680545739.930 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:15:40.347Z,1680545740.347 [Default:CheckIn] Running Loop=1 2023-04-03T18:15:40.347Z,1680545740.347 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2023-04-03T18:15:40.347Z,1680545740.347 [Default:CheckIn:Read_GPS] Running Loop=1 2023-04-03T18:15:42.347Z,1680545742.347 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181541.00,A,3648.16363,N,12147.23811,W,0.039,118.79,030423,,,A*7E 2023-04-03T18:15:42.359Z,1680545742.359 [NAL9602](INFO): GPS fix at 20230403T181541: (36.802727, -121.787302) 2023-04-03T18:15:42.371Z,1680545742.371 [Default:CheckIn:Read_GPS] Stopped 2023-04-03T18:15:42.371Z,1680545742.371 [Default:CheckIn:Read_Iridium] Running Loop=1 2023-04-03T18:15:52.552Z,1680545752.552 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20230403T180648/Courier0007.lzma 2023-04-03T18:15:52.705Z,1680545752.705 [CommandExec](IMPORTANT): got command failComponent 2023-04-03T18:15:52.705Z,1680545752.705 [CommandExec](IMPORTANT): Failed components: 2023-04-03T18:15:52.706Z,1680545752.706 [CommandExec](IMPORTANT): No failed Components. 2023-04-03T18:15:53.555Z,1680545753.555 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0007.lzma.bak 2023-04-03T18:15:53.555Z,1680545753.555 [DataOverHttps](INFO): SBD MOMSN=18016750 2023-04-03T18:15:54.702Z,1680545754.702 [CommandExec](IMPORTANT): got command gfscan 2023-04-03T18:15:54.730Z,1680545754.730 [CBIT](IMPORTANT): Beginning ground fault scan 2023-04-03T18:16:01.867Z,1680545761.867 [NAL9602](INFO): SBD MO Status=2, MOMSN=11271, MT Status=2, MTMSN=0 2023-04-03T18:16:01.867Z,1680545761.867 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2023-04-03T18:16:05.589Z,1680545765.589 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.051030 CHAN A1 (24V): 0.083510 CHAN A2 (12V): 0.030747 CHAN A3 (5V): 0.006491 CHAN B0 (3.3V): 0.003025 CHAN B1 (3.15aV): 0.002521 CHAN B2 (3.15bV): 0.002986 CHAN B3 (GND): -0.002752 OPEN: 0.005442 Full Scale: +/- 1 mA 2023-04-03T18:16:09.873Z,1680545769.873 [DataOverHttps](INFO): Sending 808 bytes from file Logs/20230403T180648/Express0008.lzma 2023-04-03T18:16:10.874Z,1680545770.874 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0008.lzma.bak 2023-04-03T18:16:10.874Z,1680545770.874 [DataOverHttps](INFO): SBD MOMSN=18016753 2023-04-03T18:16:11.978Z,1680545771.978 [Default:CheckIn:Read_Iridium] Stopped 2023-04-03T18:16:11.979Z,1680545771.979 [Default:CheckIn:C.Wait] Running Loop=1 2023-04-03T18:16:11.979Z,1680545771.979 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:16:13.526Z,1680545773.526 [CommandExec](IMPORTANT): got command ! echo i > /dev/loadB4 2023-04-03T18:16:15.630Z,1680545775.630 [CommandExec](IMPORTANT): got command gfscan 2023-04-03T18:16:15.689Z,1680545775.689 [CBIT](IMPORTANT): Beginning ground fault scan 2023-04-03T18:16:26.564Z,1680545786.564 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.007561 CHAN A1 (24V): 0.000349 CHAN A2 (12V): -0.005302 CHAN A3 (5V): -0.003234 CHAN B0 (3.3V): -0.000996 CHAN B1 (3.15aV): -0.001811 CHAN B2 (3.15bV): -0.001128 CHAN B3 (GND): -0.001018 OPEN: 0.003464 Full Scale: +/- 1 mA 2023-04-03T18:16:29.748Z,1680545789.748 [NAL9602](INFO): SBD MO Status=0, MOMSN=11271, MT Status=0, MTMSN=0 2023-04-03T18:16:29.749Z,1680545789.749 [NAL9602](INFO): No messages in MT queue 2023-04-03T18:17:00.449Z,1680545820.449 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:17:35.997Z,1680545855.997 [Power24vConverter](INFO): Powering down. 2023-04-03T18:21:12.588Z,1680546072.588 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2023-04-03T18:21:12.588Z,1680546072.588 [Default:CheckIn:C.Wait] Stopped 2023-04-03T18:21:12.589Z,1680546072.589 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:21:12.589Z,1680546072.589 [Default:CheckIn:D] Running Loop=1 2023-04-03T18:21:12.989Z,1680546072.989 [Default:CheckIn:D] Stopped 2023-04-03T18:21:12.989Z,1680546072.989 [Default:CheckIn:E] Running Loop=1 2023-04-03T18:21:13.404Z,1680546073.404 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 5.773159 min 2023-04-03T18:21:13.404Z,1680546073.404 [Default:CheckIn:E] Stopped 2023-04-03T18:21:13.405Z,1680546073.405 [Default:CheckIn](INFO): Completed Default:CheckIn 2023-04-03T18:21:13.405Z,1680546073.405 [Default:CheckIn] Stopped 2023-04-03T18:21:13.405Z,1680546073.405 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2023-04-03T18:21:13.405Z,1680546073.405 [Default:CheckIn](INFO): Running loop #2 2023-04-03T18:21:13.405Z,1680546073.405 [Default:CheckIn] Running Loop=2 2023-04-03T18:21:13.405Z,1680546073.405 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2023-04-03T18:21:13.405Z,1680546073.405 [Default:CheckIn:Read_GPS] Running Loop=1 2023-04-03T18:21:15.407Z,1680546075.407 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182114.00,A,3648.35610,N,12147.24563,W,2.974,322.84,030423,,,D*78 2023-04-03T18:21:15.410Z,1680546075.410 [NAL9602](INFO): GPS fix at 20230403T182114: (36.805935, -121.787427) 2023-04-03T18:21:15.422Z,1680546075.422 [Default:CheckIn:Read_GPS] Stopped 2023-04-03T18:21:15.422Z,1680546075.422 [Default:CheckIn:Read_Iridium] Running Loop=1 2023-04-03T18:21:22.364Z,1680546082.364 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20230403T180648/Courier0012.lzma 2023-04-03T18:21:23.366Z,1680546083.366 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0012.lzma.bak 2023-04-03T18:21:23.367Z,1680546083.367 [DataOverHttps](INFO): SBD MOMSN=18017176 2023-04-03T18:21:40.025Z,1680546100.025 [DataOverHttps](INFO): Sending 512 bytes from file Logs/20230403T180648/Express0011.lzma 2023-04-03T18:21:41.026Z,1680546101.026 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0011.lzma.bak 2023-04-03T18:21:41.027Z,1680546101.027 [DataOverHttps](INFO): SBD MOMSN=18017180 2023-04-03T18:21:42.128Z,1680546102.128 [Default:CheckIn:Read_Iridium] Stopped 2023-04-03T18:21:42.128Z,1680546102.128 [Default:CheckIn:C.Wait] Running Loop=1 2023-04-03T18:21:42.128Z,1680546102.128 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:22:10.819Z,1680546130.819 [NAL9602](INFO): SBD MO Status=0, MOMSN=11272, MT Status=0, MTMSN=0 2023-04-03T18:22:10.819Z,1680546130.819 [NAL9602](INFO): No messages in MT queue 2023-04-03T18:22:41.497Z,1680546161.497 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:26:42.701Z,1680546402.701 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2023-04-03T18:26:42.701Z,1680546402.701 [Default:CheckIn:C.Wait] Stopped 2023-04-03T18:26:42.701Z,1680546402.701 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:26:42.701Z,1680546402.701 [Default:CheckIn:D] Running Loop=1 2023-04-03T18:26:43.100Z,1680546403.100 [Default:CheckIn:D] Stopped 2023-04-03T18:26:43.100Z,1680546403.100 [Default:CheckIn:E] Running Loop=1 2023-04-03T18:26:43.518Z,1680546403.518 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 11.275024 min 2023-04-03T18:26:43.518Z,1680546403.518 [Default:CheckIn:E] Stopped 2023-04-03T18:26:43.518Z,1680546403.518 [Default:CheckIn](INFO): Completed Default:CheckIn 2023-04-03T18:26:43.518Z,1680546403.518 [Default:CheckIn] Stopped 2023-04-03T18:26:43.518Z,1680546403.518 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2023-04-03T18:26:43.518Z,1680546403.518 [Default:CheckIn](INFO): Running loop #3 2023-04-03T18:26:43.519Z,1680546403.519 [Default:CheckIn] Running Loop=3 2023-04-03T18:26:43.519Z,1680546403.519 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2023-04-03T18:26:43.519Z,1680546403.519 [Default:CheckIn:Read_GPS] Running Loop=1 2023-04-03T18:26:45.520Z,1680546405.520 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182644.00,A,3648.38027,N,12147.28002,W,0.019,297.27,030423,,,D*7D 2023-04-03T18:26:45.522Z,1680546405.522 [NAL9602](INFO): GPS fix at 20230403T182644: (36.806338, -121.788000) 2023-04-03T18:26:45.558Z,1680546405.558 [Default:CheckIn:Read_GPS] Stopped 2023-04-03T18:26:45.558Z,1680546405.558 [Default:CheckIn:Read_Iridium] Running Loop=1 2023-04-03T18:26:53.024Z,1680546413.024 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20230403T180648/Courier0016.lzma 2023-04-03T18:26:54.026Z,1680546414.026 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0016.lzma.bak 2023-04-03T18:26:54.026Z,1680546414.026 [DataOverHttps](INFO): SBD MOMSN=18017196 2023-04-03T18:27:09.688Z,1680546429.688 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20230403T180648/Express0017.lzma 2023-04-03T18:27:10.690Z,1680546430.690 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0017.lzma.bak 2023-04-03T18:27:10.690Z,1680546430.690 [DataOverHttps](INFO): SBD MOMSN=18017199 2023-04-03T18:27:10.967Z,1680546430.967 [NAL9602](INFO): SBD MO Status=0, MOMSN=11273, MT Status=0, MTMSN=0 2023-04-03T18:27:10.967Z,1680546430.967 [NAL9602](INFO): No messages in MT queue 2023-04-03T18:27:11.786Z,1680546431.786 [Default:CheckIn:Read_Iridium] Stopped 2023-04-03T18:27:11.786Z,1680546431.786 [Default:CheckIn:C.Wait] Running Loop=1 2023-04-03T18:27:11.786Z,1680546431.786 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:27:41.673Z,1680546461.673 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:31:05.925Z,1680546665.925 [CommandExec](IMPORTANT): got command gfscan 2023-04-03T18:31:06.220Z,1680546666.220 [CBIT](IMPORTANT): Beginning ground fault scan 2023-04-03T18:31:09.074Z,1680546669.074 [CBIT](ERROR): Error reading 24V bus power status. Assuming off for scan purposes. 2023-04-03T18:31:17.140Z,1680546677.140 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.006780 CHAN A1 (24V) N/A reporting off CHAN A2 (12V): -0.005313 CHAN A3 (5V): -0.002749 CHAN B0 (3.3V): -0.001803 CHAN B1 (3.15aV): -0.001020 CHAN B2 (3.15bV): -0.001417 CHAN B3 (GND): -0.000309 OPEN: 0.003567 Full Scale: +/- 1 mA 2023-04-03T18:31:25.430Z,1680546685.430 [CommandExec](IMPORTANT): got command ! echo d > /dev/loadB4 2023-04-03T18:31:28.774Z,1680546688.774 [CommandExec](IMPORTANT): got command gfscan 2023-04-03T18:31:28.853Z,1680546688.853 [CBIT](IMPORTANT): Beginning ground fault scan 2023-04-03T18:31:31.674Z,1680546691.674 [CBIT](ERROR): Error reading 24V bus power status. Assuming off for scan purposes. 2023-04-03T18:31:39.754Z,1680546699.754 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.010663 CHAN A1 (24V) N/A reporting off CHAN A2 (12V): 0.006749 CHAN A3 (5V): 0.001210 CHAN B0 (3.3V): 0.000725 CHAN B1 (3.15aV): 0.000430 CHAN B2 (3.15bV): 0.000767 CHAN B3 (GND): -0.000536 OPEN: 0.004534 Full Scale: +/- 1 mA 2023-04-03T18:31:59.666Z,1680546719.666 [CommandExec](IMPORTANT): got command ! echo 1 > /dev/loadB4 2023-04-03T18:32:01.537Z,1680546721.537 [CommandExec](IMPORTANT): got command gfscan 2023-04-03T18:32:01.593Z,1680546721.593 [CBIT](IMPORTANT): Beginning ground fault scan 2023-04-03T18:32:04.418Z,1680546724.418 [CBIT](ERROR): Error reading 24V bus power status. Assuming off for scan purposes. 2023-04-03T18:32:12.464Z,1680546732.464 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2023-04-03T18:32:12.464Z,1680546732.464 [Default:CheckIn:C.Wait] Stopped 2023-04-03T18:32:12.464Z,1680546732.464 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:32:12.464Z,1680546732.464 [Default:CheckIn:D] Running Loop=1 2023-04-03T18:32:12.494Z,1680546732.494 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.006398 CHAN A1 (24V) N/A reporting off CHAN A2 (12V): -0.003875 CHAN A3 (5V): -0.003522 CHAN B0 (3.3V): -0.001452 CHAN B1 (3.15aV): -0.001169 CHAN B2 (3.15bV): -0.000872 CHAN B3 (GND): -0.001245 OPEN: 0.000392 Full Scale: +/- 1 mA 2023-04-03T18:32:12.878Z,1680546732.878 [Default:CheckIn:D] Stopped 2023-04-03T18:32:12.878Z,1680546732.878 [Default:CheckIn:E] Running Loop=1 2023-04-03T18:32:13.281Z,1680546733.281 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 16.771314 min 2023-04-03T18:32:13.281Z,1680546733.281 [Default:CheckIn:E] Stopped 2023-04-03T18:32:13.281Z,1680546733.281 [Default:CheckIn](INFO): Completed Default:CheckIn 2023-04-03T18:32:13.282Z,1680546733.282 [Default:CheckIn] Stopped 2023-04-03T18:32:13.282Z,1680546733.282 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2023-04-03T18:32:13.282Z,1680546733.282 [Default:CheckIn](INFO): Running loop #4 2023-04-03T18:32:13.282Z,1680546733.282 [Default:CheckIn] Running Loop=4 2023-04-03T18:32:13.282Z,1680546733.282 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2023-04-03T18:32:13.282Z,1680546733.282 [Default:CheckIn:Read_GPS] Running Loop=1 2023-04-03T18:32:15.287Z,1680546735.287 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183214.00,A,3648.38036,N,12147.27936,W,0.019,297.27,030423,,,D*7C 2023-04-03T18:32:15.290Z,1680546735.290 [NAL9602](INFO): GPS fix at 20230403T183214: (36.806339, -121.787989) 2023-04-03T18:32:15.329Z,1680546735.329 [Default:CheckIn:Read_GPS] Stopped 2023-04-03T18:32:15.329Z,1680546735.329 [Default:CheckIn:Read_Iridium] Running Loop=1 2023-04-03T18:32:19.834Z,1680546739.834 [CommandExec](IMPORTANT): got command ! echo 0 > /dev/loadB4 2023-04-03T18:32:23.124Z,1680546743.124 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20230403T180648/Courier0019.lzma 2023-04-03T18:32:24.126Z,1680546744.126 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0019.lzma.bak 2023-04-03T18:32:24.126Z,1680546744.126 [DataOverHttps](INFO): SBD MOMSN=18017590 2023-04-03T18:32:39.841Z,1680546759.841 [DataOverHttps](INFO): Sending 488 bytes from file Logs/20230403T180648/Express0020.lzma 2023-04-03T18:32:40.842Z,1680546760.842 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0020.lzma.bak 2023-04-03T18:32:40.842Z,1680546760.842 [DataOverHttps](INFO): SBD MOMSN=18017593 2023-04-03T18:32:41.965Z,1680546761.965 [Default:CheckIn:Read_Iridium] Stopped 2023-04-03T18:32:41.965Z,1680546761.965 [Default:CheckIn:C.Wait] Running Loop=1 2023-04-03T18:32:41.966Z,1680546761.966 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:32:53.258Z,1680546773.258 [NAL9602](INFO): SBD MO Status=2, MOMSN=11274, MT Status=2, MTMSN=0 2023-04-03T18:32:53.258Z,1680546773.258 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2023-04-03T18:33:59.519Z,1680546839.519 [NAL9602](INFO): SBD MO Status=0, MOMSN=11274, MT Status=0, MTMSN=0 2023-04-03T18:33:59.519Z,1680546839.519 [NAL9602](INFO): No messages in MT queue 2023-04-03T18:34:30.218Z,1680546870.218 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:37:42.536Z,1680547062.536 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2023-04-03T18:37:42.537Z,1680547062.537 [Default:CheckIn:C.Wait] Stopped 2023-04-03T18:37:42.537Z,1680547062.537 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:37:42.537Z,1680547062.537 [Default:CheckIn:D] Running Loop=1 2023-04-03T18:37:42.944Z,1680547062.944 [Default:CheckIn:D] Stopped 2023-04-03T18:37:42.945Z,1680547062.945 [Default:CheckIn:E] Running Loop=1 2023-04-03T18:37:43.348Z,1680547063.348 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 22.272426 min 2023-04-03T18:37:43.348Z,1680547063.348 [Default:CheckIn:E] Stopped 2023-04-03T18:37:43.348Z,1680547063.348 [Default:CheckIn](INFO): Completed Default:CheckIn 2023-04-03T18:37:43.348Z,1680547063.348 [Default:CheckIn] Stopped 2023-04-03T18:37:43.349Z,1680547063.349 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2023-04-03T18:37:43.349Z,1680547063.349 [Default:CheckIn](INFO): Running loop #5 2023-04-03T18:37:43.349Z,1680547063.349 [Default:CheckIn] Running Loop=5 2023-04-03T18:37:43.349Z,1680547063.349 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2023-04-03T18:37:43.349Z,1680547063.349 [Default:CheckIn:Read_GPS] Running Loop=1 2023-04-03T18:37:45.356Z,1680547065.356 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183744.00,A,3648.35836,N,12147.31914,W,0.058,224.92,030423,,,D*7D 2023-04-03T18:37:45.358Z,1680547065.358 [NAL9602](INFO): GPS fix at 20230403T183744: (36.805973, -121.788652) 2023-04-03T18:37:45.403Z,1680547065.403 [Default:CheckIn:Read_GPS] Stopped 2023-04-03T18:37:45.403Z,1680547065.403 [Default:CheckIn:Read_Iridium] Running Loop=1 2023-04-03T18:38:04.052Z,1680547084.052 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20230403T180648/Courier0022.lzma 2023-04-03T18:38:09.632Z,1680547089.632 [NAL9602](INFO): SBD MO Status=0, MOMSN=11275, MT Status=0, MTMSN=0 2023-04-03T18:38:09.632Z,1680547089.632 [NAL9602](INFO): No messages in MT queue 2023-04-03T18:38:16.114Z,1680547096.114 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0022.lzma.bak 2023-04-03T18:38:16.115Z,1680547096.115 [DataOverHttps](INFO): SBD MOMSN=18017616 2023-04-03T18:38:31.752Z,1680547111.752 [DataOverHttps](INFO): Sending 171 bytes from file Logs/20230403T180648/Express0023.lzma 2023-04-03T18:38:32.754Z,1680547112.754 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0023.lzma.bak 2023-04-03T18:38:32.754Z,1680547112.754 [DataOverHttps](INFO): SBD MOMSN=18017619 2023-04-03T18:38:33.893Z,1680547113.893 [Default:CheckIn:Read_Iridium] Stopped 2023-04-03T18:38:33.894Z,1680547113.894 [Default:CheckIn:C.Wait] Running Loop=1 2023-04-03T18:38:33.894Z,1680547113.894 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:38:40.332Z,1680547120.332 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:39:54.598Z,1680547194.598 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T183953 2023-04-03T18:40:01.900Z,1680547201.900 [DataOverHttps](INFO): Received command: ibit 2023-04-03T18:40:01.930Z,1680547201.930 [CommandExec](IMPORTANT): got command ibit 2023-04-03T18:40:02.016Z,1680547202.016 [IBIT](IMPORTANT): Beginning Initiated BIT 2023-04-03T18:40:02.016Z,1680547202.016 [IBIT](IMPORTANT): Beginning control surface checks. 2023-04-03T18:40:02.019Z,1680547202.019 [CBIT](IMPORTANT): Beginning ground fault scan 2023-04-03T18:40:03.612Z,1680547203.612 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184002.00,A,3648.35417,N,12147.34299,W,0.019,326.66,030423,,,D*76 2023-04-03T18:40:03.614Z,1680547203.614 [NAL9602](INFO): GPS fix at 20230403T184002: (36.805903, -121.789050) 2023-04-03T18:40:04.893Z,1680547204.893 [CBIT](ERROR): Error reading 24V bus power status. Assuming off for scan purposes. 2023-04-03T18:40:12.942Z,1680547212.942 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.040303 CHAN A1 (24V) N/A reporting off CHAN A2 (12V): 0.025676 CHAN A3 (5V): 0.005756 CHAN B0 (3.3V): 0.002857 CHAN B1 (3.15aV): 0.002350 CHAN B2 (3.15bV): 0.002580 CHAN B3 (GND): -0.002390 OPEN: 0.005694 Full Scale: +/- 1 mA 2023-04-03T18:40:18.955Z,1680547218.955 [NAL9602](INFO): SBD MO Status=0, MOMSN=11276, MT Status=0, MTMSN=0 2023-04-03T18:40:18.955Z,1680547218.955 [NAL9602](INFO): No messages in MT queue 2023-04-03T18:40:20.177Z,1680547220.177 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184019.00,A,3648.35408,N,12147.34280,W,0.019,326.66,030423,,,D*7A 2023-04-03T18:40:20.179Z,1680547220.179 [NAL9602](INFO): GPS fix at 20230403T184019: (36.805901, -121.789047) 2023-04-03T18:40:22.998Z,1680547222.998 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184022.00,A,3648.35408,N,12147.34280,W,0.039,326.66,030423,,,D*70 2023-04-03T18:40:22.000Z,1680547223.000 [NAL9602](INFO): GPS fix at 20230403T184022: (36.805901, -121.789047) 2023-04-03T18:40:26.232Z,1680547226.232 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184025.00,A,3648.35411,N,12147.34274,W,0.019,326.66,030423,,,D*76 2023-04-03T18:40:26.234Z,1680547226.234 [NAL9602](INFO): GPS fix at 20230403T184025: (36.805902, -121.789046) 2023-04-03T18:40:29.064Z,1680547229.064 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184028.00,A,3648.35410,N,12147.34274,W,0.000,326.66,030423,,,D*72 2023-04-03T18:40:29.066Z,1680547229.066 [NAL9602](INFO): GPS fix at 20230403T184028: (36.805902, -121.789046) 2023-04-03T18:40:32.292Z,1680547232.292 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184031.00,A,3648.35413,N,12147.34275,W,0.019,326.66,030423,,,D*70 2023-04-03T18:40:32.294Z,1680547232.294 [NAL9602](INFO): GPS fix at 20230403T184031: (36.805902, -121.789046) 2023-04-03T18:40:35.115Z,1680547235.115 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184034.00,A,3648.35420,N,12147.34271,W,0.039,326.66,030423,,,D*73 2023-04-03T18:40:35.117Z,1680547235.117 [NAL9602](INFO): GPS fix at 20230403T184034: (36.805903, -121.789045) 2023-04-03T18:40:38.348Z,1680547238.348 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184037.00,A,3648.35426,N,12147.34266,W,0.019,326.66,030423,,,D*72 2023-04-03T18:40:38.350Z,1680547238.350 [NAL9602](INFO): GPS fix at 20230403T184037: (36.805904, -121.789044) 2023-04-03T18:40:41.179Z,1680547241.179 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184040.00,A,3648.35426,N,12147.34268,W,0.019,326.66,030423,,,D*7C 2023-04-03T18:40:41.182Z,1680547241.182 [NAL9602](INFO): GPS fix at 20230403T184040: (36.805904, -121.789045) 2023-04-03T18:40:44.408Z,1680547244.408 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184043.00,A,3648.35425,N,12147.34265,W,0.019,326.66,030423,,,D*71 2023-04-03T18:40:44.410Z,1680547244.410 [NAL9602](INFO): GPS fix at 20230403T184043: (36.805904, -121.789044) 2023-04-03T18:40:47.237Z,1680547247.237 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184046.00,A,3648.35425,N,12147.34263,W,0.019,326.66,030423,,,D*72 2023-04-03T18:40:47.239Z,1680547247.239 [NAL9602](INFO): GPS fix at 20230403T184046: (36.805904, -121.789044) 2023-04-03T18:40:48.467Z,1680547248.467 [IBIT](IMPORTANT): Communications Status: Fix Status: 1 Iridium Signal Strength: 3 Latitude: 36.805904 Longitude: -121.789047 2023-04-03T18:40:48.875Z,1680547248.875 [IBIT](IMPORTANT): Battery Status: Battery Charge (AH): 0.000000 Voltage: 16.611000 2023-04-03T18:40:48.875Z,1680547248.875 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah 2023-04-03T18:40:48.876Z,1680547248.876 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V 2023-04-03T18:40:49.283Z,1680547249.283 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 % 2023-04-03T18:40:49.283Z,1680547249.283 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi 2023-04-03T18:40:49.284Z,1680547249.284 [IBIT](IMPORTANT): Pressure:9.179552 PSI 2023-04-03T18:40:49.284Z,1680547249.284 [IBIT](IMPORTANT): Humidity:16.328897 % 2023-04-03T18:40:49.705Z,1680547249.705 [IBIT](IMPORTANT): Vehicle Pitch:-21.500511 degrees 2023-04-03T18:40:49.706Z,1680547249.706 [IBIT](IMPORTANT): Vehicle Roll:15.521764 degrees 2023-04-03T18:40:49.706Z,1680547249.706 [IBIT](IMPORTANT): Vehicle Heading:213.557220 degrees 2023-04-03T18:40:50.077Z,1680547250.077 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m 2023-04-03T18:40:50.077Z,1680547250.077 [IBIT](IMPORTANT): buoyancyNeutral: 236.612869 cc 2023-04-03T18:40:50.077Z,1680547250.077 [IBIT](IMPORTANT): massDefault: 1.788377 cm 2023-04-03T18:40:50.078Z,1680547250.078 [IBIT](IMPORTANT): stopDepth: 290.000000 m 2023-04-03T18:40:50.078Z,1680547250.078 [IBIT](IMPORTANT): abortDepth: 300.000000 m 2023-04-03T18:40:50.078Z,1680547250.078 [IBIT](IMPORTANT): IBIT PASSED 2023-04-03T18:41:19.559Z,1680547279.559 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:42:14.245Z,1680547334.245 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247311 2023-04-03T18:42:25.570Z,1680547345.570 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T184224 2023-04-03T18:42:25.574Z,1680547345.574 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003673 2023-04-03T18:42:32.844Z,1680547352.844 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m" 2m19r 1 2 2023-04-03T18:42:32.925Z,1680547352.925 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m" 2m19r 1 2.000000 2023-04-03T18:42:32.926Z,1680547352.926 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2m19r 2023-04-03T18:42:32.927Z,1680547352.927 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='2m19r'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m", ASAP 2023-04-03T18:42:33.849Z,1680547353.849 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T184232 2023-04-03T18:42:41.152Z,1680547361.152 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run" 2m19r 2 2 2023-04-03T18:42:41.252Z,1680547361.252 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run" 2m19r 2 2.000000 2023-04-03T18:42:41.253Z,1680547361.253 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2m19r 2023-04-03T18:42:41.254Z,1680547361.254 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='2m19r'): "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run", ASAP 2023-04-03T18:42:41.365Z,1680547361.365 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2023-04-03T18:42:41.366Z,1680547361.366 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2023-04-03T18:42:41.366Z,1680547361.366 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx 2023-04-03T18:42:41.438Z,1680547361.438 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2023-04-03T18:42:41.441Z,1680547361.441 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2023-04-03T18:42:41.443Z,1680547361.443 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2023-04-03T18:42:41.445Z,1680547361.445 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2023-04-03T18:42:41.447Z,1680547361.447 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2023-04-03T18:42:41.475Z,1680547361.475 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2023-04-03T18:42:41.477Z,1680547361.477 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2023-04-03T18:42:41.479Z,1680547361.479 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2023-04-03T18:42:41.482Z,1680547361.482 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2023-04-03T18:42:41.484Z,1680547361.484 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2023-04-03T18:42:41.486Z,1680547361.486 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2023-04-03T18:42:41.488Z,1680547361.488 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2023-04-03T18:42:41.490Z,1680547361.490 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2023-04-03T18:42:41.490Z,1680547361.490 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml 2023-04-03T18:42:41.579Z,1680547361.579 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h 2023-04-03T18:42:41.581Z,1680547361.581 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2023-04-03T18:42:41.583Z,1680547361.583 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2023-04-03T18:42:41.585Z,1680547361.585 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2023-04-03T18:42:41.587Z,1680547361.587 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2023-04-03T18:42:41.589Z,1680547361.589 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2023-04-03T18:42:41.591Z,1680547361.591 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2023-04-03T18:42:41.593Z,1680547361.593 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2023-04-03T18:42:41.599Z,1680547361.599 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2023-04-03T18:42:41.687Z,1680547361.687 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml 2023-04-03T18:42:41.730Z,1680547361.730 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2023-04-03T18:42:41.737Z,1680547361.737 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2023-04-03T18:42:41.739Z,1680547361.739 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2023-04-03T18:42:41.740Z,1680547361.740 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2023-04-03T18:42:41.753Z,1680547361.753 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2023-04-03T18:42:41.771Z,1680547361.771 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2023-04-03T18:42:41.798Z,1680547361.798 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2023-04-03T18:42:41.800Z,1680547361.800 [transit:MassHold.Pitch](DEBUG): Construct. 2023-04-03T18:42:41.806Z,1680547361.806 [transit:Transit:A.Pitch](DEBUG): Construct. 2023-04-03T18:42:41.810Z,1680547361.810 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2023-04-03T18:42:41.812Z,1680547361.812 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2023-04-03T18:42:41.829Z,1680547361.829 [MissionManager](DEBUG): 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.xml assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.xml assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore 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" } } 2023-04-03T18:42:41.830Z,1680547361.830 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl 2023-04-03T18:42:49.654Z,1680547369.654 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute 2023-04-03T18:42:49.655Z,1680547369.655 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute 2023-04-03T18:42:49.655Z,1680547369.655 [CommandExec](IMPORTANT): got command set transit.Latitude 36.79169 degree 2023-04-03T18:42:49.656Z,1680547369.656 [CommandExec](IMPORTANT): got command set transit.Longitude -121.8201 degree 2023-04-03T18:42:49.657Z,1680547369.657 [CommandExec](IMPORTANT): got command set transit.Depth 0.5 meter 2023-04-03T18:42:49.657Z,1680547369.657 [CommandExec](IMPORTANT): got command set transit.MaxDepth 1 meter 2023-04-03T18:42:52.495Z,1680547372.495 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.0001 kilometer 2023-04-03T18:42:52.496Z,1680547372.496 [CommandExec](IMPORTANT): got command set transit.MinAltitude 1 meter 2023-04-03T18:42:52.496Z,1680547372.496 [CommandExec](IMPORTANT): got command run 2023-04-03T18:42:52.498Z,1680547372.498 [CommandExec](IMPORTANT): Running 2023-04-03T18:42:52.564Z,1680547372.564 [Default] Stopped 2023-04-03T18:42:52.564Z,1680547372.564 [Default](DEBUG): Aggregate::uninitialize Default 2023-04-03T18:42:52.564Z,1680547372.564 [Default:B.GoToSurface] Stopped 2023-04-03T18:42:52.564Z,1680547372.564 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2023-04-03T18:42:52.565Z,1680547372.565 [Default:CheckIn] Stopped 2023-04-03T18:42:52.565Z,1680547372.565 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2023-04-03T18:42:52.565Z,1680547372.565 [Default:CheckIn:C.Wait] Stopped 2023-04-03T18:42:52.565Z,1680547372.565 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:42:52.565Z,1680547372.565 [MissionManager](IMPORTANT): Started mission transit 2023-04-03T18:42:52.565Z,1680547372.565 [transit] Running Loop=1 2023-04-03T18:42:52.565Z,1680547372.565 [transit](DEBUG): Aggregate::initialize transit 2023-04-03T18:42:52.565Z,1680547372.565 [transit:StandardEnvelopes] Running Loop=1 2023-04-03T18:42:52.566Z,1680547372.566 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2023-04-03T18:42:52.566Z,1680547372.566 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2023-04-03T18:42:52.566Z,1680547372.566 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2023-04-03T18:42:52.566Z,1680547372.566 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2023-04-03T18:42:52.566Z,1680547372.566 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2023-04-03T18:42:52.566Z,1680547372.566 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2023-04-03T18:42:52.566Z,1680547372.566 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2023-04-03T18:42:52.566Z,1680547372.566 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2023-04-03T18:42:52.566Z,1680547372.566 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2023-04-03T18:42:52.566Z,1680547372.566 [transit:MassHold.Pitch] Running Loop=1 2023-04-03T18:42:52.566Z,1680547372.566 [transit:MassHold.Pitch](DEBUG): Initialize. 2023-04-03T18:42:52.567Z,1680547372.567 [transit:B] Running Loop=1 2023-04-03T18:42:52.567Z,1680547372.567 [transit:MassHold.Pitch] Running Loop=1 2023-04-03T18:42:52.568Z,1680547372.568 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2023-04-03T18:42:52.568Z,1680547372.568 [transit:StandardEnvelopes] Running Loop=1 2023-04-03T18:42:52.568Z,1680547372.568 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2023-04-03T18:42:52.568Z,1680547372.568 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2023-04-03T18:42:52.569Z,1680547372.569 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2023-04-03T18:42:52.569Z,1680547372.569 [transit:B] Stopped 2023-04-03T18:42:52.569Z,1680547372.569 [transit:C] Running Loop=1 2023-04-03T18:42:52.958Z,1680547372.958 [transit:C] Stopped 2023-04-03T18:42:52.958Z,1680547372.958 [transit:E] Running Loop=1 2023-04-03T18:42:53.350Z,1680547373.350 [transit:E] Stopped 2023-04-03T18:42:53.350Z,1680547373.350 [transit:F] Running Loop=1 2023-04-03T18:42:53.749Z,1680547373.749 [transit:F] Stopped 2023-04-03T18:42:53.749Z,1680547373.749 [transit:G] Running Loop=1 2023-04-03T18:42:54.163Z,1680547374.163 [transit:G] Stopped 2023-04-03T18:42:54.163Z,1680547374.163 [transit:Transit] Running Loop=1 2023-04-03T18:42:54.163Z,1680547374.163 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2023-04-03T18:42:54.163Z,1680547374.163 [transit:Transit:A.Pitch] Running Loop=1 2023-04-03T18:42:54.164Z,1680547374.164 [transit:Transit:A.Pitch](DEBUG): Initialize. 2023-04-03T18:42:54.164Z,1680547374.164 [transit:Transit:B.SetSpeed] Running Loop=1 2023-04-03T18:42:54.164Z,1680547374.164 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2023-04-03T18:42:54.164Z,1680547374.164 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2023-04-03T18:42:54.164Z,1680547374.164 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2023-04-03T18:42:54.165Z,1680547374.165 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.791691,-121.820099 2023-04-03T18:42:54.166Z,1680547374.166 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2023-04-03T18:42:54.577Z,1680547374.577 [transit:Transit:B.SetSpeed] Running Loop=1 2023-04-03T18:42:54.577Z,1680547374.577 [transit:Transit:A.Pitch] Running Loop=1 2023-04-03T18:44:29.453Z,1680547469.453 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T184428 2023-04-03T18:44:37.039Z,1680547477.039 [DataOverHttps](INFO): Received command: stop 2023-04-03T18:44:37.041Z,1680547477.041 [CommandExec](IMPORTANT): got command stop 2023-04-03T18:44:37.041Z,1680547477.041 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2023-04-03T18:44:37.283Z,1680547477.283 [MissionManager](INFO): MissionManager is completed. 2023-04-03T18:44:37.284Z,1680547477.284 [MissionManager](INFO): Uninitializing Mission transit 2023-04-03T18:44:37.284Z,1680547477.284 [transit] Stopped 2023-04-03T18:44:37.284Z,1680547477.284 [transit](DEBUG): Aggregate::uninitialize transit 2023-04-03T18:44:37.284Z,1680547477.284 [transit:StandardEnvelopes] Stopped 2023-04-03T18:44:37.284Z,1680547477.284 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes 2023-04-03T18:44:37.284Z,1680547477.284 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2023-04-03T18:44:37.284Z,1680547477.284 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2023-04-03T18:44:37.284Z,1680547477.284 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped 2023-04-03T18:44:37.284Z,1680547477.284 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2023-04-03T18:44:37.284Z,1680547477.284 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2023-04-03T18:44:37.284Z,1680547477.284 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2023-04-03T18:44:37.284Z,1680547477.284 [transit:BuoyancyHold.Buoyancy] Stopped 2023-04-03T18:44:37.285Z,1680547477.285 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2023-04-03T18:44:37.285Z,1680547477.285 [transit:MassHold.Pitch] Stopped 2023-04-03T18:44:37.285Z,1680547477.285 [transit:Transit] Stopped 2023-04-03T18:44:37.285Z,1680547477.285 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit 2023-04-03T18:44:37.285Z,1680547477.285 [transit:Transit:A.Pitch] Stopped 2023-04-03T18:44:37.285Z,1680547477.285 [transit:Transit:B.SetSpeed] Stopped 2023-04-03T18:44:37.285Z,1680547477.285 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize. 2023-04-03T18:44:37.285Z,1680547477.285 [transit:Transit:Wpt1.Waypoint] Stopped 2023-04-03T18:44:37.285Z,1680547477.285 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2023-04-03T18:44:37.706Z,1680547477.706 [MissionManager](IMPORTANT): Started mission Default 2023-04-03T18:44:37.706Z,1680547477.706 [Default] Running Loop=1 2023-04-03T18:44:37.706Z,1680547477.706 [Default](DEBUG): Aggregate::initialize Default 2023-04-03T18:44:37.706Z,1680547477.706 [Default:B.GoToSurface] Running Loop=1 2023-04-03T18:44:37.706Z,1680547477.706 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2023-04-03T18:44:37.707Z,1680547477.707 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2023-04-03T18:44:37.707Z,1680547477.707 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2023-04-03T18:44:37.707Z,1680547477.707 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2023-04-03T18:44:37.708Z,1680547477.708 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2023-04-03T18:44:37.708Z,1680547477.708 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2023-04-03T18:44:37.708Z,1680547477.708 [Default:A.Wait] Running Loop=1 2023-04-03T18:44:37.709Z,1680547477.709 [Default:A.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:44:51.032Z,1680547491.032 [Default:A.Wait](INFO): Done Waiting. 2023-04-03T18:44:51.032Z,1680547491.032 [Default:A.Wait] Stopped 2023-04-03T18:44:51.033Z,1680547491.033 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:44:51.415Z,1680547491.415 [Default:CheckIn] Running Loop=1 2023-04-03T18:44:51.415Z,1680547491.415 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2023-04-03T18:44:51.415Z,1680547491.415 [Default:CheckIn:Read_GPS] Running Loop=1 2023-04-03T18:44:53.431Z,1680547493.431 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184452.00,A,3648.35466,N,12147.34342,W,0.019,326.66,030423,,,D*76 2023-04-03T18:44:53.433Z,1680547493.433 [NAL9602](INFO): GPS fix at 20230403T184452: (36.805911, -121.789057) 2023-04-03T18:44:53.444Z,1680547493.444 [Default:CheckIn:Read_GPS] Stopped 2023-04-03T18:44:53.445Z,1680547493.445 [Default:CheckIn:Read_Iridium] Running Loop=1 2023-04-03T18:45:00.667Z,1680547500.667 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20230403T180648/Courier0025.lzma 2023-04-03T18:45:01.670Z,1680547501.670 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0025.lzma.bak 2023-04-03T18:45:01.670Z,1680547501.670 [DataOverHttps](INFO): SBD MOMSN=18018012 2023-04-03T18:45:17.661Z,1680547517.661 [DataOverHttps](INFO): Sending 1262 bytes from file Logs/20230403T180648/Express0026.lzma 2023-04-03T18:45:18.662Z,1680547518.662 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0026.lzma.bak 2023-04-03T18:45:18.662Z,1680547518.662 [DataOverHttps](INFO): SBD MOMSN=18018015 2023-04-03T18:45:19.734Z,1680547519.734 [Default:CheckIn:Read_Iridium] Stopped 2023-04-03T18:45:19.734Z,1680547519.734 [Default:CheckIn:C.Wait] Running Loop=1 2023-04-03T18:45:19.734Z,1680547519.734 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:45:35.447Z,1680547535.447 [NAL9602](INFO): SBD MO Status=0, MOMSN=11277, MT Status=0, MTMSN=0 2023-04-03T18:45:35.447Z,1680547535.447 [NAL9602](INFO): No messages in MT queue 2023-04-03T18:46:02.582Z,1680547562.582 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T184601 2023-04-03T18:46:06.145Z,1680547566.145 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:46:09.908Z,1680547569.908 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m" 2m1g8 1 2 2023-04-03T18:46:09.920Z,1680547569.920 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m" 2m1g8 1 2.000000 2023-04-03T18:46:09.921Z,1680547569.921 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2m1g8 2023-04-03T18:46:09.922Z,1680547569.922 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='2m1g8'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m", ASAP 2023-04-03T18:46:10.909Z,1680547570.909 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T184609 2023-04-03T18:46:18.199Z,1680547578.199 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run" 2m1g8 2 2 2023-04-03T18:46:18.255Z,1680547578.255 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run" 2m1g8 2 2.000000 2023-04-03T18:46:18.255Z,1680547578.255 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2m1g8 2023-04-03T18:46:18.256Z,1680547578.256 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='2m1g8'): "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run", ASAP 2023-04-03T18:46:18.365Z,1680547578.365 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2023-04-03T18:46:18.365Z,1680547578.365 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2023-04-03T18:46:18.365Z,1680547578.365 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx 2023-04-03T18:46:18.445Z,1680547578.445 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2023-04-03T18:46:18.447Z,1680547578.447 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2023-04-03T18:46:18.449Z,1680547578.449 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2023-04-03T18:46:18.451Z,1680547578.451 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2023-04-03T18:46:18.471Z,1680547578.471 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2023-04-03T18:46:18.474Z,1680547578.474 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2023-04-03T18:46:18.476Z,1680547578.476 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2023-04-03T18:46:18.478Z,1680547578.478 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2023-04-03T18:46:18.480Z,1680547578.480 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2023-04-03T18:46:18.482Z,1680547578.482 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2023-04-03T18:46:18.484Z,1680547578.484 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2023-04-03T18:46:18.486Z,1680547578.486 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2023-04-03T18:46:18.487Z,1680547578.487 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2023-04-03T18:46:18.488Z,1680547578.488 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml 2023-04-03T18:46:18.586Z,1680547578.586 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h 2023-04-03T18:46:18.588Z,1680547578.588 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2023-04-03T18:46:18.590Z,1680547578.590 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2023-04-03T18:46:18.592Z,1680547578.592 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2023-04-03T18:46:18.594Z,1680547578.594 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2023-04-03T18:46:18.596Z,1680547578.596 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2023-04-03T18:46:18.598Z,1680547578.598 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2023-04-03T18:46:18.601Z,1680547578.601 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2023-04-03T18:46:18.606Z,1680547578.606 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2023-04-03T18:46:18.694Z,1680547578.694 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml 2023-04-03T18:46:18.751Z,1680547578.751 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2023-04-03T18:46:18.753Z,1680547578.753 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2023-04-03T18:46:18.755Z,1680547578.755 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2023-04-03T18:46:18.765Z,1680547578.765 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2023-04-03T18:46:18.770Z,1680547578.770 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2023-04-03T18:46:18.800Z,1680547578.800 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2023-04-03T18:46:18.809Z,1680547578.809 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2023-04-03T18:46:18.812Z,1680547578.812 [transit:MassHold.Pitch](DEBUG): Construct. 2023-04-03T18:46:18.817Z,1680547578.817 [transit:Transit:A.Pitch](DEBUG): Construct. 2023-04-03T18:46:18.822Z,1680547578.822 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2023-04-03T18:46:18.824Z,1680547578.824 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2023-04-03T18:46:18.838Z,1680547578.838 [MissionManager](DEBUG): 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.xml assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.xml assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore 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" } } 2023-04-03T18:46:18.838Z,1680547578.838 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl 2023-04-03T18:46:26.591Z,1680547586.591 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute 2023-04-03T18:46:26.592Z,1680547586.592 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute 2023-04-03T18:46:26.593Z,1680547586.593 [CommandExec](IMPORTANT): got command set transit.Latitude 36.79169 degree 2023-04-03T18:46:26.594Z,1680547586.594 [CommandExec](IMPORTANT): got command set transit.Longitude -121.8201 degree 2023-04-03T18:46:26.594Z,1680547586.594 [CommandExec](IMPORTANT): got command set transit.Depth 0.5 meter 2023-04-03T18:46:26.595Z,1680547586.595 [CommandExec](IMPORTANT): got command set transit.MaxDepth 1 meter 2023-04-03T18:46:29.424Z,1680547589.424 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.0001 kilometer 2023-04-03T18:46:29.425Z,1680547589.425 [CommandExec](IMPORTANT): got command set transit.MinAltitude 1 meter 2023-04-03T18:46:29.425Z,1680547589.425 [CommandExec](IMPORTANT): got command run 2023-04-03T18:46:29.427Z,1680547589.427 [CommandExec](IMPORTANT): Running 2023-04-03T18:46:29.592Z,1680547589.592 [Default] Stopped 2023-04-03T18:46:29.592Z,1680547589.592 [Default](DEBUG): Aggregate::uninitialize Default 2023-04-03T18:46:29.592Z,1680547589.592 [Default:B.GoToSurface] Stopped 2023-04-03T18:46:29.592Z,1680547589.592 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2023-04-03T18:46:29.592Z,1680547589.592 [Default:CheckIn] Stopped 2023-04-03T18:46:29.593Z,1680547589.593 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2023-04-03T18:46:29.593Z,1680547589.593 [Default:CheckIn:C.Wait] Stopped 2023-04-03T18:46:29.593Z,1680547589.593 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:46:29.593Z,1680547589.593 [MissionManager](IMPORTANT): Started mission transit 2023-04-03T18:46:29.593Z,1680547589.593 [transit] Running Loop=1 2023-04-03T18:46:29.593Z,1680547589.593 [transit](DEBUG): Aggregate::initialize transit 2023-04-03T18:46:29.593Z,1680547589.593 [transit:StandardEnvelopes] Running Loop=1 2023-04-03T18:46:29.593Z,1680547589.593 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2023-04-03T18:46:29.594Z,1680547589.594 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2023-04-03T18:46:29.594Z,1680547589.594 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2023-04-03T18:46:29.594Z,1680547589.594 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2023-04-03T18:46:29.594Z,1680547589.594 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2023-04-03T18:46:29.594Z,1680547589.594 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2023-04-03T18:46:29.594Z,1680547589.594 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2023-04-03T18:46:29.594Z,1680547589.594 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2023-04-03T18:46:29.594Z,1680547589.594 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2023-04-03T18:46:29.594Z,1680547589.594 [transit:MassHold.Pitch] Running Loop=1 2023-04-03T18:46:29.594Z,1680547589.594 [transit:MassHold.Pitch](DEBUG): Initialize. 2023-04-03T18:46:29.595Z,1680547589.595 [transit:B] Running Loop=1 2023-04-03T18:46:29.595Z,1680547589.595 [transit:MassHold.Pitch] Running Loop=1 2023-04-03T18:46:29.596Z,1680547589.596 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2023-04-03T18:46:29.596Z,1680547589.596 [transit:StandardEnvelopes] Running Loop=1 2023-04-03T18:46:29.596Z,1680547589.596 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2023-04-03T18:46:29.596Z,1680547589.596 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2023-04-03T18:46:29.597Z,1680547589.597 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2023-04-03T18:46:29.597Z,1680547589.597 [transit:B] Stopped 2023-04-03T18:46:29.597Z,1680547589.597 [transit:C] Running Loop=1 2023-04-03T18:46:30.006Z,1680547590.006 [transit:C] Stopped 2023-04-03T18:46:30.006Z,1680547590.006 [transit:E] Running Loop=1 2023-04-03T18:46:30.396Z,1680547590.396 [transit:E] Stopped 2023-04-03T18:46:30.396Z,1680547590.396 [transit:F] Running Loop=1 2023-04-03T18:46:30.801Z,1680547590.801 [transit:F] Stopped 2023-04-03T18:46:30.801Z,1680547590.801 [transit:G] Running Loop=1 2023-04-03T18:46:31.215Z,1680547591.215 [transit:G] Stopped 2023-04-03T18:46:31.215Z,1680547591.215 [transit:Transit] Running Loop=1 2023-04-03T18:46:31.215Z,1680547591.215 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2023-04-03T18:46:31.215Z,1680547591.215 [transit:Transit:A.Pitch] Running Loop=1 2023-04-03T18:46:31.215Z,1680547591.215 [transit:Transit:A.Pitch](DEBUG): Initialize. 2023-04-03T18:46:31.215Z,1680547591.215 [transit:Transit:B.SetSpeed] Running Loop=1 2023-04-03T18:46:31.215Z,1680547591.215 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2023-04-03T18:46:31.216Z,1680547591.216 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2023-04-03T18:46:31.216Z,1680547591.216 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2023-04-03T18:46:31.217Z,1680547591.217 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.791691,-121.820099 2023-04-03T18:46:31.218Z,1680547591.218 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2023-04-03T18:46:31.627Z,1680547591.627 [transit:Transit:B.SetSpeed] Running Loop=1 2023-04-03T18:46:31.627Z,1680547591.627 [transit:Transit:A.Pitch] Running Loop=1 2023-04-03T18:47:30.145Z,1680547650.145 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T184729 2023-04-03T18:47:37.907Z,1680547657.907 [DataOverHttps](INFO): Received command: stop 2023-04-03T18:47:37.988Z,1680547657.988 [CommandExec](IMPORTANT): got command stop 2023-04-03T18:47:37.989Z,1680547657.989 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2023-04-03T18:47:38.275Z,1680547658.275 [MissionManager](INFO): MissionManager is completed. 2023-04-03T18:47:38.275Z,1680547658.275 [MissionManager](INFO): Uninitializing Mission transit 2023-04-03T18:47:38.276Z,1680547658.276 [transit] Stopped 2023-04-03T18:47:38.276Z,1680547658.276 [transit](DEBUG): Aggregate::uninitialize transit 2023-04-03T18:47:38.276Z,1680547658.276 [transit:StandardEnvelopes] Stopped 2023-04-03T18:47:38.276Z,1680547658.276 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes 2023-04-03T18:47:38.276Z,1680547658.276 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2023-04-03T18:47:38.277Z,1680547658.277 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2023-04-03T18:47:38.277Z,1680547658.277 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped 2023-04-03T18:47:38.277Z,1680547658.277 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2023-04-03T18:47:38.277Z,1680547658.277 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2023-04-03T18:47:38.277Z,1680547658.277 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2023-04-03T18:47:38.277Z,1680547658.277 [transit:BuoyancyHold.Buoyancy] Stopped 2023-04-03T18:47:38.277Z,1680547658.277 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2023-04-03T18:47:38.277Z,1680547658.277 [transit:MassHold.Pitch] Stopped 2023-04-03T18:47:38.277Z,1680547658.277 [transit:Transit] Stopped 2023-04-03T18:47:38.277Z,1680547658.277 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit 2023-04-03T18:47:38.277Z,1680547658.277 [transit:Transit:A.Pitch] Stopped 2023-04-03T18:47:38.277Z,1680547658.277 [transit:Transit:B.SetSpeed] Stopped 2023-04-03T18:47:38.277Z,1680547658.277 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize. 2023-04-03T18:47:38.277Z,1680547658.277 [transit:Transit:Wpt1.Waypoint] Stopped 2023-04-03T18:47:38.278Z,1680547658.278 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2023-04-03T18:47:38.673Z,1680547658.673 [MissionManager](IMPORTANT): Started mission Default 2023-04-03T18:47:38.673Z,1680547658.673 [Default] Running Loop=1 2023-04-03T18:47:38.673Z,1680547658.673 [Default](DEBUG): Aggregate::initialize Default 2023-04-03T18:47:38.673Z,1680547658.673 [Default:B.GoToSurface] Running Loop=1 2023-04-03T18:47:38.674Z,1680547658.674 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2023-04-03T18:47:38.674Z,1680547658.674 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2023-04-03T18:47:38.674Z,1680547658.674 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2023-04-03T18:47:38.674Z,1680547658.674 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2023-04-03T18:47:38.675Z,1680547658.675 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2023-04-03T18:47:38.675Z,1680547658.675 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2023-04-03T18:47:38.675Z,1680547658.675 [Default:A.Wait] Running Loop=1 2023-04-03T18:47:38.676Z,1680547658.676 [Default:A.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:47:52.032Z,1680547672.032 [Default:A.Wait](INFO): Done Waiting. 2023-04-03T18:47:52.032Z,1680547672.032 [Default:A.Wait] Stopped 2023-04-03T18:47:52.032Z,1680547672.032 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:47:52.413Z,1680547672.413 [Default:CheckIn] Running Loop=1 2023-04-03T18:47:52.414Z,1680547672.414 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2023-04-03T18:47:52.414Z,1680547672.414 [Default:CheckIn:Read_GPS] Running Loop=1 2023-04-03T18:47:54.423Z,1680547674.423 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184753.00,A,3648.35462,N,12147.34311,W,0.019,336.51,030423,,,D*73 2023-04-03T18:47:54.425Z,1680547674.425 [NAL9602](INFO): GPS fix at 20230403T184753: (36.805910, -121.789052) 2023-04-03T18:47:54.437Z,1680547674.437 [Default:CheckIn:Read_GPS] Stopped 2023-04-03T18:47:54.437Z,1680547674.437 [Default:CheckIn:Read_Iridium] Running Loop=1 2023-04-03T18:48:01.427Z,1680547681.427 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20230403T180648/Courier0030.lzma 2023-04-03T18:48:02.430Z,1680547682.430 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Courier0030.lzma.bak 2023-04-03T18:48:02.430Z,1680547682.430 [DataOverHttps](INFO): SBD MOMSN=18018074 2023-04-03T18:48:18.488Z,1680547698.488 [DataOverHttps](INFO): Sending 653 bytes from file Logs/20230403T180648/Express0032.lzma 2023-04-03T18:48:19.490Z,1680547699.490 [DataOverHttps](INFO): Moved sent file to Logs/20230403T180648/Express0032.lzma.bak 2023-04-03T18:48:19.490Z,1680547699.490 [DataOverHttps](INFO): SBD MOMSN=18018077 2023-04-03T18:48:20.718Z,1680547700.718 [Default:CheckIn:Read_Iridium] Stopped 2023-04-03T18:48:20.719Z,1680547700.719 [Default:CheckIn:C.Wait] Running Loop=1 2023-04-03T18:48:20.719Z,1680547700.719 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2023-04-03T18:49:03.754Z,1680547743.754 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T184902 2023-04-03T18:49:11.116Z,1680547751.116 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m" 2m1ku 1 2 2023-04-03T18:49:11.126Z,1680547751.126 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m" 2m1ku 1 2.000000 2023-04-03T18:49:11.126Z,1680547751.126 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2m1ku 2023-04-03T18:49:11.127Z,1680547751.127 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='2m1ku'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.79169 degree;set transit.Longitude -121.8201 degree;set transit.Depth 0.5 m;set transit.MaxDepth 1 m", ASAP 2023-04-03T18:49:12.117Z,1680547752.117 [DataOverHttps](IMPORTANT): SBD MTMSN=20230403T184911 2023-04-03T18:49:19.491Z,1680547759.491 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run" 2m1ku 2 2 2023-04-03T18:49:19.571Z,1680547759.571 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run" 2m1ku 2 2.000000 2023-04-03T18:49:19.572Z,1680547759.572 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2m1ku 2023-04-03T18:49:19.573Z,1680547759.573 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='2m1ku'): "set transit.MinOffshore 0.0001 km;set transit.MinAltitude 1 m;run", ASAP 2023-04-03T18:49:19.697Z,1680547759.697 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2023-04-03T18:49:19.698Z,1680547759.698 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2023-04-03T18:49:19.698Z,1680547759.698 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx 2023-04-03T18:49:19.823Z,1680547759.823 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2023-04-03T18:49:19.826Z,1680547759.826 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2023-04-03T18:49:19.845Z,1680547759.845 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2023-04-03T18:49:19.847Z,1680547759.847 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2023-04-03T18:49:19.849Z,1680547759.849 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2023-04-03T18:49:19.851Z,1680547759.851 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2023-04-03T18:49:19.853Z,1680547759.853 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2023-04-03T18:49:19.855Z,1680547759.855 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2023-04-03T18:49:19.858Z,1680547759.858 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2023-04-03T18:49:19.860Z,1680547759.860 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2023-04-03T18:49:19.862Z,1680547759.862 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2023-04-03T18:49:19.864Z,1680547759.864 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2023-04-03T18:49:19.866Z,1680547759.866 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2023-04-03T18:49:19.866Z,1680547759.866 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml 2023-04-03T18:49:19.972Z,1680547759.972 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 3.000000 h 2023-04-03T18:49:19.974Z,1680547759.974 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2023-04-03T18:49:19.976Z,1680547759.976 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2023-04-03T18:49:19.978Z,1680547759.978 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2023-04-03T18:49:19.980Z,1680547759.980 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2023-04-03T18:49:19.982Z,1680547759.982 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2023-04-03T18:49:19.988Z,1680547759.988 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2023-04-03T18:49:19.990Z,1680547759.990 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2023-04-03T18:49:20.025Z,1680547760.025 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2023-04-03T18:49:20.088Z,1680547760.088 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml 2023-04-03T18:49:20.148Z,1680547760.148 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2023-04-03T18:49:20.150Z,1680547760.150 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2023-04-03T18:49:20.152Z,1680547760.152 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2023-04-03T18:49:20.153Z,1680547760.153 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2023-04-03T18:49:20.158Z,1680547760.158 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2023-04-03T18:49:20.186Z,1680547760.186 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2023-04-03T18:49:20.194Z,1680547760.194 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2023-04-03T18:49:20.197Z,1680547760.197 [transit:MassHold.Pitch](DEBUG): Construct. 2023-04-03T18:49:20.203Z,1680547760.203 [transit:Transit:A.Pitch](DEBUG): Construct. 2023-04-03T18:49:20.207Z,1680547760.207 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2023-04-03T18:49:20.209Z,1680547760.209 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2023-04-03T18:49:20.235Z,1680547760.235 [MissionManager](DEBUG): 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.xml assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.xml assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore 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" } } 2023-04-03T18:49:20.236Z,1680547760.236 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl 2023-04-03T18:49:28.069Z,1680547768.069 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute 2023-04-03T18:49:28.070Z,1680547768.070 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute 2023-04-03T18:49:28.070Z,1680547768.070 [CommandExec](IMPORTANT): got command set transit.Latitude 36.79169 degree 2023-04-03T18:49:28.071Z,1680547768.071 [CommandExec](IMPORTANT): got command set transit.Longitude -121.8201 degree 2023-04-03T18:49:28.072Z,1680547768.072 [CommandExec](IMPORTANT): got command set transit.Depth 0.5 meter 2023-04-03T18:49:28.072Z,1680547768.072 [CommandExec](IMPORTANT): got command set transit.MaxDepth 1 meter 2023-04-03T18:49:30.910Z,1680547770.910 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.0001 kilometer 2023-04-03T18:49:30.911Z,1680547770.911 [CommandExec](IMPORTANT): got command set transit.MinAltitude 1 meter 2023-04-03T18:49:30.911Z,1680547770.911 [CommandExec](IMPORTANT): got command run 2023-04-03T18:49:30.913Z,1680547770.913 [CommandExec](IMPORTANT): Running 2023-04-03T18:49:30.000Z,1680547771.000 [Default] Stopped 2023-04-03T18:49:30.000Z,1680547771.000 [Default](DEBUG): Aggregate::uninitialize Default 2023-04-03T18:49:31.000Z,1680547771.000 [Default:B.GoToSurface] Stopped 2023-04-03T18:49:31.000Z,1680547771.000 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2023-04-03T18:49:31.000Z,1680547771.000 [Default:CheckIn] Stopped 2023-04-03T18:49:31.000Z,1680547771.000 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2023-04-03T18:49:31.000Z,1680547771.000 [Default:CheckIn:C.Wait] Stopped 2023-04-03T18:49:31.000Z,1680547771.000 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2023-04-03T18:49:31.001Z,1680547771.001 [MissionManager](IMPORTANT): Started mission transit 2023-04-03T18:49:31.001Z,1680547771.001 [transit] Running Loop=1 2023-04-03T18:49:31.001Z,1680547771.001 [transit](DEBUG): Aggregate::initialize transit 2023-04-03T18:49:31.001Z,1680547771.001 [transit:StandardEnvelopes] Running Loop=1 2023-04-03T18:49:31.001Z,1680547771.001 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2023-04-03T18:49:31.001Z,1680547771.001 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2023-04-03T18:49:31.001Z,1680547771.001 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2023-04-03T18:49:31.001Z,1680547771.001 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2023-04-03T18:49:31.002Z,1680547771.002 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2023-04-03T18:49:31.002Z,1680547771.002 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2023-04-03T18:49:31.002Z,1680547771.002 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2023-04-03T18:49:31.002Z,1680547771.002 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2023-04-03T18:49:31.002Z,1680547771.002 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2023-04-03T18:49:31.002Z,1680547771.002 [transit:MassHold.Pitch] Running Loop=1 2023-04-03T18:49:31.002Z,1680547771.002 [transit:MassHold.Pitch](DEBUG): Initialize. 2023-04-03T18:49:31.002Z,1680547771.002 [transit:B] Running Loop=1 2023-04-03T18:49:31.003Z,1680547771.003 [transit:MassHold.Pitch] Running Loop=1 2023-04-03T18:49:31.003Z,1680547771.003 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2023-04-03T18:49:31.003Z,1680547771.003 [transit:StandardEnvelopes] Running Loop=1 2023-04-03T18:49:31.003Z,1680547771.003 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2023-04-03T18:49:31.004Z,1680547771.004 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2023-04-03T18:49:31.004Z,1680547771.004 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2023-04-03T18:49:31.005Z,1680547771.005 [transit:B] Stopped 2023-04-03T18:49:31.005Z,1680547771.005 [transit:C] Running Loop=1 2023-04-03T18:49:31.391Z,1680547771.391 [transit:C] Stopped 2023-04-03T18:49:31.391Z,1680547771.391 [transit:E] Running Loop=1 2023-04-03T18:49:31.788Z,1680547771.788 [NAL9602](INFO): SBD MO Status=2, MOMSN=11278, MT Status=2, MTMSN=0 2023-04-03T18:49:31.788Z,1680547771.788 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2023-04-03T18:49:31.801Z,1680547771.801 [transit:E] Stopped 2023-04-03T18:49:31.801Z,1680547771.801 [transit:F] Running Loop=1 2023-04-03T18:49:32.222Z,1680547772.222 [transit:F] Stopped 2023-04-03T18:49:32.222Z,1680547772.222 [transit:G] Running Loop=1 2023-04-03T18:49:32.601Z,1680547772.601 [transit:G] Stopped 2023-04-03T18:49:32.601Z,1680547772.601 [transit:Transit] Running Loop=1 2023-04-03T18:49:32.602Z,1680547772.602 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2023-04-03T18:49:32.602Z,1680547772.602 [transit:Transit:A.Pitch] Running Loop=1 2023-04-03T18:49:32.602Z,1680547772.602 [transit:Transit:A.Pitch](DEBUG): Initialize. 2023-04-03T18:49:32.602Z,1680547772.602 [transit:Transit:B.SetSpeed] Running Loop=1 2023-04-03T18:49:32.602Z,1680547772.602 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2023-04-03T18:49:32.602Z,1680547772.602 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2023-04-03T18:49:32.602Z,1680547772.602 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2023-04-03T18:49:32.603Z,1680547772.603 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.791691,-121.820099 2023-04-03T18:49:32.604Z,1680547772.604 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2023-04-03T18:49:33.019Z,1680547773.019 [transit:Transit:B.SetSpeed] Running Loop=1 2023-04-03T18:49:33.019Z,1680547773.019 [transit:Transit:A.Pitch] Running Loop=1 2023-04-03T18:50:17.471Z,1680547817.471 [Power24vConverter](INFO): Powering up. 2023-04-03T18:50:42.595Z,1680547842.595 [Waterlinked](ERROR): only read 1 of 5 data items 2023-04-03T18:50:55.122Z,1680547855.122 [Waterlinked](ERROR): only read 0 of 1 data item for altitude 2023-04-03T18:51:00.481Z,1680547860.481 [NAL9602](INFO): SBD MO Status=2, MOMSN=11278, MT Status=2, MTMSN=0 2023-04-03T18:51:00.481Z,1680547860.481 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2023-04-03T18:51:32.466Z,1680547892.466 [Waterlinked](ERROR): only read 3 of 5 data items 2023-04-03T18:51:41.799Z,1680547901.799 [Waterlinked](ERROR): only read 3 of 5 data items 2023-04-03T18:51:48.915Z,1680547908.915 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.698406 2023-04-03T18:52:18.557Z,1680547938.557 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error 2023-04-03T18:52:28.220Z,1680547948.220 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002863 2023-04-03T18:52:56.521Z,1680547976.521 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2023-04-03T18:53:27.337Z,1680548007.337 [NAL9602](INFO): Not Powering down - fast GPS 2023-04-03T18:53:30.341Z,1680548010.341 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=62.124065 2023-04-03T18:53:34.299Z,1680548014.299 [Waterlinked](ERROR): only read 0 of 1 data item for altitude 2023-04-03T18:53:36.238Z,1680548016.238 [Waterlinked](ERROR): only read 3 of 5 data items 2023-04-03T18:53:43.882Z,1680548023.882 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error 2023-04-03T18:53:58.864Z,1680548038.864 [Waterlinked](ERROR): DVL uart error: serial timeout 2023-04-03T18:53:58.864Z,1680548038.864 [Waterlinked] Communications Fault, FailCount= 1 2023-04-03T18:53:58.864Z,1680548038.864 [Waterlinked](ERROR): Communications Fault 2023-04-03T18:53:59.100Z,1680548039.100 [CBIT](ERROR): Communications Fault in component: Waterlinked 2023-04-03T18:53:59.300Z,1680548039.300 [Waterlinked](INFO): Powering down 2023-04-03T18:54:00.255Z,1680548040.255 [CBIT](INFO): Clearing failed state for component Waterlinked 2023-04-03T18:54:00.256Z,1680548040.256 [Waterlinked] No Fault, FailCount= 1 2023-04-03T18:54:21.524Z,1680548061.524 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003267 2023-04-03T18:55:01.640Z,1680548101.640 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting. 2023-04-03T18:55:12.766Z,1680548112.766 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error 2023-04-03T18:55:17.634Z,1680548117.634 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 17.88 mm (1 active estimators). 2023-04-03T18:55:21.721Z,1680548121.721 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.199364 2023-04-03T18:55:45.086Z,1680548145.086 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error 2023-04-03T18:56:11.943Z,1680548171.943 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2023-04-03T18:56:12.558Z,1680548172.558 [Waterlinked](ERROR): only read 0 of 1 data item for BIT error 2023-04-03T18:56:47.082Z,1680548207.082 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2023-04-03T18:57:22.220Z,1680548242.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2023-04-03T18:57:35.339Z,1680548255.339 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003745 2023-04-03T18:59:30.766Z,1680548370.766 [Waterlinked](ERROR): only read 0 of 1 data item for altitude 2023-04-03T18:59:55.374Z,1680548395.374 [transit:NeedComms] Running Loop=1 2023-04-03T18:59:55.374Z,1680548395.374 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms 2023-04-03T18:59:55.374Z,1680548395.374 [transit:NeedComms:B.GoToSurface] Running Loop=1 2023-04-03T18:59:55.374Z,1680548395.374 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2023-04-03T18:59:55.374Z,1680548395.374 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s. 2023-04-03T18:59:55.375Z,1680548395.375 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees. 2023-04-03T18:59:55.394Z,1680548395.394 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s. 2023-04-03T18:59:55.407Z,1680548395.407 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds. 2023-04-03T18:59:55.424Z,1680548395.424 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2023-04-03T18:59:55.424Z,1680548395.424 [transit:NeedComms:A] Running Loop=1 2023-04-03T18:59:55.426Z,1680548395.426 [transit:N