2024-02-13T05:08:24.464Z,1707800904.464 [Supervisor](DEBUG): Initializing supervisor. 2024-02-13T05:08:24.469Z,1707800904.469 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2024-02-13T05:08:24.469Z,1707800904.469 [SyncHandler](INFO): Protected caller Thread ID is 3673 2024-02-13T05:08:24.469Z,1707800904.469 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2024-02-13T05:08:24.470Z,1707800904.470 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2024-02-13T05:08:24.471Z,1707800904.471 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3674 2024-02-13T05:08:24.475Z,1707800904.475 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2024-02-13T05:08:24.492Z,1707800904.492 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2024-02-13T05:08:24.492Z,1707800904.492 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2024-02-13T05:08:24.493Z,1707800904.493 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 3675 2024-02-13T05:08:24.497Z,1707800904.497 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2024-02-13T05:08:24.498Z,1707800904.498 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2024-02-13T05:08:24.498Z,1707800904.498 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3676 2024-02-13T05:08:24.500Z,1707800904.500 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2024-02-13T05:08:24.501Z,1707800904.501 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2024-02-13T05:08:24.502Z,1707800904.502 [logger ThreadHandler](INFO): Protected caller Thread ID is 3677 2024-02-13T05:08:24.505Z,1707800904.505 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2024-02-13T05:08:24.505Z,1707800904.505 [Supervisor](INFO): Looking for Config files in directory: Config/ 2024-02-13T05:08:24.507Z,1707800904.507 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2024-02-13T05:08:24.722Z,1707800904.722 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2024-02-13T05:08:24.723Z,1707800904.723 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2024-02-13T05:08:24.834Z,1707800904.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2024-02-13T05:08:24.835Z,1707800904.835 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2024-02-13T05:08:24.933Z,1707800904.933 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2024-02-13T05:08:24.934Z,1707800904.934 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2024-02-13T05:08:25.427Z,1707800905.427 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2024-02-13T05:08:25.428Z,1707800905.428 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2024-02-13T05:08:25.787Z,1707800905.787 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2024-02-13T05:08:25.787Z,1707800905.787 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2024-02-13T05:08:26.131Z,1707800906.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2024-02-13T05:08:26.132Z,1707800906.132 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2024-02-13T05:08:26.330Z,1707800906.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2024-02-13T05:08:26.330Z,1707800906.330 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2024-02-13T05:08:26.412Z,1707800906.412 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2024-02-13T05:08:26.505Z,1707800906.505 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2024-02-13T05:08:26.920Z,1707800906.920 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2024-02-13T05:08:26.921Z,1707800906.921 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2024-02-13T05:08:27.212Z,1707800907.212 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2024-02-13T05:08:27.212Z,1707800907.212 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2024-02-13T05:08:27.741Z,1707800907.741 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2024-02-13T05:08:27.741Z,1707800907.741 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2024-02-13T05:08:27.971Z,1707800907.971 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2024-02-13T05:08:27.971Z,1707800907.971 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2024-02-13T05:08:28.222Z,1707800908.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2024-02-13T05:08:28.223Z,1707800908.223 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2024-02-13T05:08:28.367Z,1707800908.367 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2024-02-13T05:08:28.368Z,1707800908.368 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2024-02-13T05:08:29.229Z,1707800909.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2024-02-13T05:08:29.231Z,1707800909.231 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/ 2024-02-13T05:08:29.232Z,1707800909.232 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg 2024-02-13T05:08:29.413Z,1707800909.413 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg 2024-02-13T05:08:29.596Z,1707800909.596 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg 2024-02-13T05:08:30.641Z,1707800910.641 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2024-02-13T05:08:30.641Z,1707800910.641 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg 2024-02-13T05:08:30.775Z,1707800910.775 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg 2024-02-13T05:08:30.879Z,1707800910.879 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg 2024-02-13T05:08:30.975Z,1707800910.975 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg 2024-02-13T05:08:31.132Z,1707800911.132 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg 2024-02-13T05:08:31.364Z,1707800911.364 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg 2024-02-13T05:08:31.455Z,1707800911.455 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg 2024-02-13T05:08:31.558Z,1707800911.558 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/workSite.cfg 2024-02-13T05:08:31.644Z,1707800911.644 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg 2024-02-13T05:08:31.812Z,1707800911.812 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2024-02-13T05:08:31.821Z,1707800911.821 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2024-02-13T05:08:31.874Z,1707800911.874 [DepthRateCalculator] Loaded 2024-02-13T05:08:31.874Z,1707800911.874 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2024-02-13T05:08:31.879Z,1707800911.879 [PitchRateCalculator] Loaded 2024-02-13T05:08:31.880Z,1707800911.880 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2024-02-13T05:08:31.890Z,1707800911.890 [SpeedCalculator] Loaded 2024-02-13T05:08:31.890Z,1707800911.890 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2024-02-13T05:08:31.895Z,1707800911.895 [YawRateCalculator] Loaded 2024-02-13T05:08:31.896Z,1707800911.896 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2024-02-13T05:08:31.917Z,1707800911.917 [ElevatorOffsetCalculator] Loaded 2024-02-13T05:08:31.917Z,1707800911.917 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2024-02-13T05:08:31.917Z,1707800911.917 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2024-02-13T05:08:31.918Z,1707800911.918 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2024-02-13T05:08:31.945Z,1707800911.945 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2024-02-13T05:08:31.945Z,1707800911.945 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2024-02-13T05:08:31.955Z,1707800911.955 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2024-02-13T05:08:31.956Z,1707800911.956 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2024-02-13T05:08:32.393Z,1707800912.393 [AHRS_M2] Loaded 2024-02-13T05:08:32.393Z,1707800912.393 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2024-02-13T05:08:32.429Z,1707800912.429 [BackseatComponent] Loaded 2024-02-13T05:08:32.429Z,1707800912.429 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2024-02-13T05:08:32.430Z,1707800912.430 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4084F4E0 2024-02-13T05:08:32.431Z,1707800912.431 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 3763 2024-02-13T05:08:32.433Z,1707800912.433 [LcmUniversalReporter] Loaded 2024-02-13T05:08:32.434Z,1707800912.434 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2024-02-13T05:08:33.257Z,1707800913.257 [BPC1] Loaded 2024-02-13T05:08:33.257Z,1707800913.257 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2024-02-13T05:08:33.333Z,1707800913.333 [DataOverHttps] Loaded 2024-02-13T05:08:33.334Z,1707800913.334 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2024-02-13T05:08:33.335Z,1707800913.335 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087F4E0 2024-02-13T05:08:33.335Z,1707800913.335 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 3764 2024-02-13T05:08:33.356Z,1707800913.356 [Depth_Keller] Loaded 2024-02-13T05:08:33.356Z,1707800913.356 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2024-02-13T05:08:33.361Z,1707800913.361 [DropWeight] Loaded 2024-02-13T05:08:33.361Z,1707800913.361 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2024-02-13T05:08:33.380Z,1707800913.380 [MultiRay] Loaded 2024-02-13T05:08:33.380Z,1707800913.380 [ComponentRegistry](DEBUG): SyncComponent "MultiRay" handled in the control thread. 2024-02-13T05:08:33.444Z,1707800913.444 [NAL9602] Loaded 2024-02-13T05:08:33.444Z,1707800913.444 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2024-02-13T05:08:33.474Z,1707800913.474 [Onboard] Loaded 2024-02-13T05:08:33.474Z,1707800913.474 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2024-02-13T05:08:33.475Z,1707800913.475 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408AF4E0 2024-02-13T05:08:33.475Z,1707800913.475 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 3765 2024-02-13T05:08:33.481Z,1707800913.481 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3 2024-02-13T05:08:33.493Z,1707800913.493 [PowerOnly] Loaded 2024-02-13T05:08:33.493Z,1707800913.493 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread. 2024-02-13T05:08:33.505Z,1707800913.505 [Power24vConverter] Loaded 2024-02-13T05:08:33.505Z,1707800913.505 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2024-02-13T05:08:33.520Z,1707800913.520 [Radio_Surface] Loaded 2024-02-13T05:08:33.520Z,1707800913.520 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2024-02-13T05:08:33.521Z,1707800913.521 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408DF4E0 2024-02-13T05:08:33.521Z,1707800913.521 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3766 2024-02-13T05:08:33.523Z,1707800913.523 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2024-02-13T05:08:33.523Z,1707800913.523 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2024-02-13T05:08:33.635Z,1707800913.635 [DeadReckonUsingMultipleVelocitySources] Loaded 2024-02-13T05:08:33.635Z,1707800913.635 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2024-02-13T05:08:33.677Z,1707800913.677 [DeadReckonUsingSpeedCalculator] Loaded 2024-02-13T05:08:33.677Z,1707800913.677 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread. 2024-02-13T05:08:33.691Z,1707800913.691 [NavChart] Loaded 2024-02-13T05:08:33.691Z,1707800913.691 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2024-02-13T05:08:33.697Z,1707800913.697 [UniversalFixResidualReporter] Loaded 2024-02-13T05:08:33.697Z,1707800913.697 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2024-02-13T05:08:33.697Z,1707800913.697 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2024-02-13T05:08:33.698Z,1707800913.698 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2024-02-13T05:08:33.843Z,1707800913.843 [SBIT](DEBUG): Construct Startup Built In Test. 2024-02-13T05:08:33.857Z,1707800913.857 [SBIT] Loaded 2024-02-13T05:08:33.857Z,1707800913.857 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2024-02-13T05:08:33.860Z,1707800913.860 [IBIT](DEBUG): Construct Initiated Built In Test. 2024-02-13T05:08:33.873Z,1707800913.873 [IBIT] Loaded 2024-02-13T05:08:33.873Z,1707800913.873 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2024-02-13T05:08:33.879Z,1707800913.879 [CBIT](DEBUG): Construct Continuous Built In Test. 2024-02-13T05:08:33.982Z,1707800913.982 [CBIT] Loaded 2024-02-13T05:08:33.982Z,1707800913.982 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2024-02-13T05:08:33.983Z,1707800913.983 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2024-02-13T05:08:33.983Z,1707800913.983 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2024-02-13T05:08:34.157Z,1707800914.157 [CTD_Seabird] Loaded 2024-02-13T05:08:34.158Z,1707800914.158 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2024-02-13T05:08:34.159Z,1707800914.159 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409E64E0 2024-02-13T05:08:34.159Z,1707800914.159 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 3767 2024-02-13T05:08:34.179Z,1707800914.179 [PAR_Licor] Loaded 2024-02-13T05:08:34.179Z,1707800914.179 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2024-02-13T05:08:34.236Z,1707800914.236 [WetLabsBB2FL] Loaded 2024-02-13T05:08:34.236Z,1707800914.236 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2024-02-13T05:08:34.237Z,1707800914.237 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A164E0 2024-02-13T05:08:34.238Z,1707800914.238 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 3768 2024-02-13T05:08:34.239Z,1707800914.239 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2024-02-13T05:08:34.239Z,1707800914.239 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2024-02-13T05:08:34.474Z,1707800914.474 [BuoyancyServo] Loaded 2024-02-13T05:08:34.474Z,1707800914.474 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2024-02-13T05:08:34.499Z,1707800914.499 [ElevatorServo] Loaded 2024-02-13T05:08:34.500Z,1707800914.500 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2024-02-13T05:08:34.536Z,1707800914.536 [MassServo] Loaded 2024-02-13T05:08:34.537Z,1707800914.537 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2024-02-13T05:08:34.573Z,1707800914.573 [RudderServo] Loaded 2024-02-13T05:08:34.573Z,1707800914.573 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2024-02-13T05:08:34.605Z,1707800914.605 [ThrusterHE] Loaded 2024-02-13T05:08:34.605Z,1707800914.605 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2024-02-13T05:08:34.606Z,1707800914.606 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2024-02-13T05:08:34.606Z,1707800914.606 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2024-02-13T05:08:34.817Z,1707800914.817 [VerticalControl](DEBUG): Construct VerticalControl. 2024-02-13T05:08:35.047Z,1707800915.047 [VerticalControl] Loaded 2024-02-13T05:08:35.048Z,1707800915.048 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2024-02-13T05:08:35.051Z,1707800915.051 [HorizontalControl](DEBUG): Construct HorizontalControl. 2024-02-13T05:08:35.151Z,1707800915.151 [HorizontalControl] Loaded 2024-02-13T05:08:35.152Z,1707800915.152 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2024-02-13T05:08:35.162Z,1707800915.162 [SpeedControl](DEBUG): Construct SpeedControl. 2024-02-13T05:08:35.164Z,1707800915.164 [SpeedControl] Loaded 2024-02-13T05:08:35.164Z,1707800915.164 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2024-02-13T05:08:35.167Z,1707800915.167 [LoopControl](DEBUG): Construct LoopControl. 2024-02-13T05:08:35.167Z,1707800915.167 [LoopControl] Loaded 2024-02-13T05:08:35.168Z,1707800915.168 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2024-02-13T05:08:35.168Z,1707800915.168 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2024-02-13T05:08:35.169Z,1707800915.169 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2024-02-13T05:08:35.352Z,1707800915.352 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2024-02-13T05:08:35.352Z,1707800915.352 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2024-02-13T05:08:35.506Z,1707800915.506 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2024-02-13T05:08:35.506Z,1707800915.506 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2024-02-13T05:08:35.849Z,1707800915.849 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2024-02-13T05:08:35.849Z,1707800915.849 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2024-02-13T05:08:35.908Z,1707800915.908 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2024-02-13T05:08:35.914Z,1707800915.914 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2024-02-13T05:08:35.917Z,1707800915.917 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2024-02-13T05:08:35.928Z,1707800915.928 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2024-02-13T05:08:35.929Z,1707800915.929 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BE14E0 2024-02-13T05:08:35.929Z,1707800915.929 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3769 2024-02-13T05:08:35.934Z,1707800915.934 [Supervisor](INFO): Main Thread ID is 3672 2024-02-13T05:08:35.934Z,1707800915.934 [Supervisor](DEBUG): Running supervisor. 2024-02-13T05:08:35.935Z,1707800915.935 [CommandExec ThreadHandler](INFO): Handler Thread ID is 3770 2024-02-13T05:08:35.935Z,1707800915.935 [CommandExec](INFO): Initializing the command executive. 2024-02-13T05:08:35.937Z,1707800915.937 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3771 2024-02-13T05:08:35.940Z,1707800915.940 [controlThread ThreadHandler](INFO): Handler Thread ID is 3772 2024-02-13T05:08:35.941Z,1707800915.941 [controlThread](DEBUG): Initializing ControlThread 2024-02-13T05:08:35.941Z,1707800915.941 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2024-02-13T05:08:35.942Z,1707800915.942 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2024-02-13T05:08:35.942Z,1707800915.942 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2024-02-13T05:08:35.942Z,1707800915.942 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2024-02-13T05:08:35.943Z,1707800915.943 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2024-02-13T05:08:35.949Z,1707800915.949 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:08:35.949Z,1707800915.949 [NavChart](DEBUG): Initialize NavChart Navigation. 2024-02-13T05:08:35.950Z,1707800915.950 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2024-02-13T05:08:35.950Z,1707800915.950 [SBIT](INFO): Initialize SBIT Component. 2024-02-13T05:08:35.951Z,1707800915.951 [SBIT](IMPORTANT): git: 2024-02-06 2024-02-13T05:08:35.951Z,1707800915.951 [SBIT](INFO): git hash: 45759fb189c1cf26f5343b3c07f985a86883e7e8 2024-02-13T05:08:35.951Z,1707800915.951 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-02-13T05:08:35.952Z,1707800915.952 [SBIT](INFO): Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021 2024-02-13T05:08:35.954Z,1707800915.954 [SBIT](INFO): Beginning SBIT in 48.000000 seconds. 2024-02-13T05:08:35.954Z,1707800915.954 [IBIT](INFO): Initialize IBIT Component. 2024-02-13T05:08:35.955Z,1707800915.955 [CBIT](DEBUG): Initialize CBIT Component. 2024-02-13T05:08:35.956Z,1707800915.956 [logger ThreadHandler](INFO): Handler Thread ID is 3773 2024-02-13T05:08:35.966Z,1707800915.966 [CBIT](DEBUG): Initialized mux pins. 2024-02-13T05:08:35.966Z,1707800915.966 [CBIT](DEBUG): Initializing the watchdog timer. 2024-02-13T05:08:35.974Z,1707800915.974 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 3774 2024-02-13T05:08:35.986Z,1707800915.986 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 3775 2024-02-13T05:08:35.988Z,1707800915.988 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2024-02-13T05:08:35.990Z,1707800915.990 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2024-02-13T05:08:35.991Z,1707800915.991 [CBIT](DEBUG): Initializing heartbeat. 2024-02-13T05:08:35.998Z,1707800915.998 [Onboard ThreadHandler](INFO): Handler Thread ID is 3776 2024-02-13T05:08:36.015Z,1707800916.015 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3777 2024-02-13T05:08:36.039Z,1707800916.039 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 3778 2024-02-13T05:08:36.039Z,1707800916.039 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2024-02-13T05:08:36.043Z,1707800916.043 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 3780 2024-02-13T05:08:36.046Z,1707800916.046 [WetLabsBB2FL](INFO): Powering up 2024-02-13T05:08:36.047Z,1707800916.047 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3782 2024-02-13T05:08:36.050Z,1707800916.050 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2024-02-13T05:08:36.050Z,1707800916.050 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2024-02-13T05:08:36.050Z,1707800916.050 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2024-02-13T05:08:36.051Z,1707800916.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2024-02-13T05:08:36.051Z,1707800916.051 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2024-02-13T05:08:36.051Z,1707800916.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2024-02-13T05:08:36.051Z,1707800916.051 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2024-02-13T05:08:36.051Z,1707800916.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2024-02-13T05:08:36.062Z,1707800916.062 [CBIT](DEBUG): Deactivating GF circuits. 2024-02-13T05:08:36.062Z,1707800916.062 [CBIT](DEBUG): Deactivating emergency mode. 2024-02-13T05:08:36.102Z,1707800916.102 [CBIT](DEBUG): Backplane powered. 2024-02-13T05:08:36.107Z,1707800916.107 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2024-02-13T05:08:36.109Z,1707800916.109 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2024-02-13T05:08:36.110Z,1707800916.110 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2024-02-13T05:08:36.110Z,1707800916.110 [LoopControl](DEBUG): Initialize LoopControlComponent. 2024-02-13T05:08:36.111Z,1707800916.111 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-02-13T05:08:36.112Z,1707800916.112 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2024-02-13T05:08:36.112Z,1707800916.112 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2024-02-13T05:08:36.113Z,1707800916.113 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2024-02-13T05:08:36.240Z,1707800916.240 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2024-02-13T05:08:36.244Z,1707800916.244 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2024-02-13T05:08:36.279Z,1707800916.279 [MissionManager](DEBUG): mission Startup { behavior Guidance:GoToSurface { run in progression } aggregate StartupSatComms { run in sequence readDatum { timeout duration=P1M Universal:latitude_fix } readDatum { timeout duration=P1M Universal:platform_communications } } } 2024-02-13T05:08:36.280Z,1707800916.280 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml 2024-02-13T05:08:36.348Z,1707800916.348 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2024-02-13T05:08:36.349Z,1707800916.349 [Default:A.Wait](DEBUG): Construct Wait. 2024-02-13T05:08:36.355Z,1707800916.355 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-02-13T05:08:36.385Z,1707800916.385 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:08:36.387Z,1707800916.387 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2024-02-13T05:08:36.393Z,1707800916.393 [Default:E.Execute](DEBUG): Construct Execute. 2024-02-13T05:08:36.420Z,1707800916.420 [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 2024-02-13T05:08:36.425Z,1707800916.425 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,MultiRay,NAL9602,PowerOnly,Power24vConverter,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, 2024-02-13T05:08:36.430Z,1707800916.430 [Radio_Surface](INFO): Powering up 2024-02-13T05:08:36.432Z,1707800916.432 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2024-02-13T05:08:36.496Z,1707800916.496 [Depth_Keller](ERROR): Pressure or depth reading out of range: 1629.131348 decibar, 0.000000 m 2024-02-13T05:08:36.497Z,1707800916.497 [MultiRay](INFO): Powering up MultiRay Lights 2024-02-13T05:08:36.543Z,1707800916.543 [PowerOnly](INFO): Powering up loadControl 2024-02-13T05:08:36.562Z,1707800916.562 [Power24vConverter](INFO): Powering up. 2024-02-13T05:08:36.571Z,1707800916.571 [DepthRateCalculator](ERROR): Depth measurement is not active 2024-02-13T05:08:36.595Z,1707800916.595 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2024-02-13T05:08:36.602Z,1707800916.602 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2024-02-13T05:08:36.603Z,1707800916.603 [ElevatorServo](DEBUG): Initializing EZServoServo. 2024-02-13T05:08:36.610Z,1707800916.610 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2024-02-13T05:08:36.611Z,1707800916.611 [MassServo](DEBUG): Initializing EZServoServo. 2024-02-13T05:08:36.619Z,1707800916.619 [MassServo](DEBUG): Initializing MassServo. 2024-02-13T05:08:36.619Z,1707800916.619 [RudderServo](DEBUG): Initializing EZServoServo. 2024-02-13T05:08:36.626Z,1707800916.626 [RudderServo](DEBUG): Initializing RudderServo. 2024-02-13T05:08:36.627Z,1707800916.627 [ThrusterHE](DEBUG): Initializing EZServoServo. 2024-02-13T05:08:36.634Z,1707800916.634 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2024-02-13T05:08:36.872Z,1707800916.872 [DropWeight](CRITICAL): DROP WEIGHT MISSING. 2024-02-13T05:08:36.872Z,1707800916.872 [DropWeight] Hardware Fault, FailCount= 1 2024-02-13T05:08:36.872Z,1707800916.872 [DropWeight](ERROR): Hardware Fault 2024-02-13T05:08:36.924Z,1707800916.924 [CommandExec](FAULT): Scheduling is paused 2024-02-13T05:08:36.924Z,1707800916.924 [CBIT](INFO): Critical error at 20240213T050836 2024-02-13T05:08:36.924Z,1707800916.924 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2024-02-13T05:08:36.931Z,1707800916.931 [CBIT](ERROR): Hardware Fault in component: DropWeight 2024-02-13T05:08:36.931Z,1707800916.931 [CBIT](CRITICAL): Hardware Fault in component: DropWeight 2024-02-13T05:08:37.270Z,1707800917.270 [CBIT](INFO): Critical error at 20240213T050836 2024-02-13T05:08:38.658Z,1707800918.658 [WetLabsBB2FL](INFO): Powering down 2024-02-13T05:08:42.251Z,1707800922.251 [ThrusterHE](ERROR): Zero Speed Commanded. 2024-02-13T05:08:43.070Z,1707800923.070 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit. 2024-02-13T05:08:46.808Z,1707800926.808 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004740 2024-02-13T05:09:03.572Z,1707800943.572 [NAL9602](INFO): Powering up NAL9602 2024-02-13T05:09:14.484Z,1707800954.484 [NAL9602](INFO): NAL9602 initialized 2024-02-13T05:09:24.671Z,1707800964.671 [SBIT](IMPORTANT): Beginning Startup BIT 2024-02-13T05:09:24.676Z,1707800964.676 [CBIT](IMPORTANT): Beginning ground fault scan 2024-02-13T05:09:35.561Z,1707800975.561 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.002970 CHAN A1 (24V): 0.000018 CHAN A2 (12V): -0.005005 CHAN A3 (5V): -0.002957 CHAN B0 (3.3V): -0.001023 CHAN B1 (3.15aV): -0.001521 CHAN B2 (3.15bV): -0.001194 CHAN B3 (GND): -0.001001 OPEN: 0.004249 Full Scale: +/- 1 mA 2024-02-13T05:10:18.799Z,1707801018.799 [SBIT](IMPORTANT): SBIT PASSED 2024-02-13T05:10:18.799Z,1707801018.799 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2024-02-13T05:10:18.800Z,1707801018.800 [SBIT](IMPORTANT): BackseatComponent.missionCritical=0 bool; 2024-02-13T05:10:18.800Z,1707801018.800 [SBIT](IMPORTANT): BuoyancyServo.deviationVolume=2 cubic_centimeter; 2024-02-13T05:10:18.800Z,1707801018.800 [SBIT](IMPORTANT): BuoyancyServo.pidW=3000 count; 2024-02-13T05:10:18.800Z,1707801018.800 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=1 bool; 2024-02-13T05:10:18.800Z,1707801018.800 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool; 2024-02-13T05:10:18.801Z,1707801018.801 [SBIT](IMPORTANT): MultiRay.loadAtStartup=1 bool; 2024-02-13T05:10:18.801Z,1707801018.801 [SBIT](IMPORTANT): Vehicle.useTlLoader=1 bool; 2024-02-13T05:10:18.801Z,1707801018.801 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=473.280850 cubic_centimeter; 2024-02-13T05:10:18.801Z,1707801018.801 [SBIT](IMPORTANT): VerticalControl.massDeadband=0 centimeter; 2024-02-13T05:10:18.801Z,1707801018.801 [SBIT](IMPORTANT): VerticalControl.massDefault=-7.151472 millimeter; 2024-02-13T05:10:19.137Z,1707801019.137 [MissionManager](IMPORTANT): Started mission Startup 2024-02-13T05:10:19.137Z,1707801019.137 [Startup] Running Loop=1 2024-02-13T05:10:19.165Z,1707801019.165 [Startup](DEBUG): Aggregate::initialize Startup 2024-02-13T05:10:19.165Z,1707801019.165 [Startup:A.GoToSurface] Running Loop=1 2024-02-13T05:10:19.165Z,1707801019.165 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T05:10:19.166Z,1707801019.166 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T05:10:19.166Z,1707801019.166 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T05:10:19.167Z,1707801019.167 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T05:10:19.167Z,1707801019.167 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T05:10:19.167Z,1707801019.167 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T05:10:19.169Z,1707801019.169 [Startup:StartupSatComms] Running Loop=1 2024-02-13T05:10:19.169Z,1707801019.169 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2024-02-13T05:10:19.169Z,1707801019.169 [Startup:StartupSatComms:A] Running Loop=1 2024-02-13T05:10:19.531Z,1707801019.531 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2024-02-13T05:11:19.353Z,1707801079.353 [Startup:StartupSatComms:A](INFO): Timed out from 2024-02-13T05:10:19.2Z 2024-02-13T05:11:19.353Z,1707801079.353 [Startup:StartupSatComms:A] Stopped 2024-02-13T05:11:19.353Z,1707801079.353 [Startup:StartupSatComms:B] Running Loop=1 2024-02-13T05:11:19.745Z,1707801079.745 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-02-13T05:11:30.354Z,1707801090.354 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20240212T212612/Courier0004.lzma 2024-02-13T05:11:31.356Z,1707801091.356 [DataOverHttps](INFO): Moved sent file to Logs/20240212T212612/Courier0004.lzma.bak 2024-02-13T05:11:31.356Z,1707801091.356 [DataOverHttps](INFO): SBD MOMSN=19276626 2024-02-13T05:11:35.999Z,1707801095.999 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1 2024-02-13T05:11:35.999Z,1707801095.999 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:11:36.000Z,1707801096.000 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1 2024-02-13T05:11:36.000Z,1707801096.000 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:11:36.090Z,1707801096.090 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:11:36.091Z,1707801096.091 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:11:36.492Z,1707801096.492 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:11:36.492Z,1707801096.492 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1 2024-02-13T05:11:36.492Z,1707801096.492 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:11:36.492Z,1707801096.492 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1 2024-02-13T05:11:36.827Z,1707801096.827 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:11:47.438Z,1707801107.438 [DataOverHttps](INFO): Sending 243 bytes from file Logs/20240213T050824/Courier0000.lzma 2024-02-13T05:11:48.440Z,1707801108.440 [DataOverHttps](INFO): Moved sent file to Logs/20240213T050824/Courier0000.lzma.bak 2024-02-13T05:11:48.440Z,1707801108.440 [DataOverHttps](INFO): SBD MOMSN=19276628 2024-02-13T05:12:04.705Z,1707801124.705 [DataOverHttps](INFO): Sending 533 bytes from file Logs/20240212T212612/Express0005.lzma 2024-02-13T05:12:05.704Z,1707801125.704 [DataOverHttps](INFO): Moved sent file to Logs/20240212T212612/Express0005.lzma.bak 2024-02-13T05:12:05.704Z,1707801125.704 [DataOverHttps](INFO): SBD MOMSN=19276633 2024-02-13T05:12:19.649Z,1707801139.649 [Startup:StartupSatComms:B](INFO): Timed out from 2024-02-13T05:11:19.4Z 2024-02-13T05:12:19.649Z,1707801139.649 [Startup:StartupSatComms:B] Stopped 2024-02-13T05:12:19.649Z,1707801139.649 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2024-02-13T05:12:19.649Z,1707801139.649 [Startup:StartupSatComms] Stopped 2024-02-13T05:12:19.649Z,1707801139.649 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2024-02-13T05:12:19.654Z,1707801139.654 [Startup](INFO): Completed Startup 2024-02-13T05:12:19.654Z,1707801139.654 [MissionManager](INFO): Startup is completed. 2024-02-13T05:12:19.655Z,1707801139.655 [MissionManager](INFO): Uninitializing Mission Startup 2024-02-13T05:12:19.655Z,1707801139.655 [Startup] Stopped 2024-02-13T05:12:19.655Z,1707801139.655 [Startup](DEBUG): Aggregate::uninitialize Startup 2024-02-13T05:12:19.655Z,1707801139.655 [Startup:A.GoToSurface] Stopped 2024-02-13T05:12:19.655Z,1707801139.655 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T05:12:20.045Z,1707801140.045 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T05:12:20.045Z,1707801140.045 [Default] Running Loop=1 2024-02-13T05:12:20.045Z,1707801140.045 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T05:12:20.045Z,1707801140.045 [Default:B.GoToSurface] Running Loop=1 2024-02-13T05:12:20.045Z,1707801140.045 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T05:12:20.050Z,1707801140.050 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T05:12:20.050Z,1707801140.050 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T05:12:20.050Z,1707801140.050 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T05:12:20.051Z,1707801140.051 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T05:12:20.051Z,1707801140.051 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T05:12:20.051Z,1707801140.051 [Default:A.Wait] Running Loop=1 2024-02-13T05:12:20.051Z,1707801140.051 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:12:21.792Z,1707801141.792 [DataOverHttps](INFO): Sending 870 bytes from file Logs/20240213T050824/Express0001.lzma 2024-02-13T05:12:22.792Z,1707801142.792 [DataOverHttps](INFO): Moved sent file to Logs/20240213T050824/Express0001.lzma.bak 2024-02-13T05:12:22.792Z,1707801142.792 [DataOverHttps](INFO): SBD MOMSN=19276658 2024-02-13T05:12:33.357Z,1707801153.357 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T05:12:33.357Z,1707801153.357 [Default:A.Wait] Stopped 2024-02-13T05:12:33.357Z,1707801153.357 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:12:33.768Z,1707801153.768 [Default:CheckIn] Running Loop=1 2024-02-13T05:12:33.769Z,1707801153.769 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T05:12:33.769Z,1707801153.769 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T05:12:34.190Z,1707801154.190 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2024-02-13T05:14:18.391Z,1707801258.391 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2024-02-13T05:14:37.063Z,1707801277.063 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2 2024-02-13T05:14:37.064Z,1707801277.064 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:14:37.065Z,1707801277.065 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2 2024-02-13T05:14:37.065Z,1707801277.065 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:14:37.138Z,1707801277.138 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:14:37.139Z,1707801277.139 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:14:37.459Z,1707801277.459 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:14:37.459Z,1707801277.459 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2 2024-02-13T05:14:37.459Z,1707801277.459 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:14:37.459Z,1707801277.459 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2 2024-02-13T05:14:37.802Z,1707801277.802 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:16:01.410Z,1707801361.410 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2024-02-13T05:16:01.413Z,1707801361.413 [BPC1](INFO): Received data from all battery sticks. 2024-02-13T05:17:33.957Z,1707801453.957 [Default:CheckIn:Read_GPS](INFO): Timed out from 2024-02-13T05:12:33.8Z 2024-02-13T05:17:33.957Z,1707801453.957 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T05:17:33.957Z,1707801453.957 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-02-13T05:17:34.369Z,1707801454.369 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-02-13T05:17:37.986Z,1707801457.986 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3 2024-02-13T05:17:37.986Z,1707801457.986 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:17:37.987Z,1707801457.987 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3 2024-02-13T05:17:37.987Z,1707801457.987 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:17:38.074Z,1707801458.074 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:17:38.074Z,1707801458.074 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:17:38.474Z,1707801458.474 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:17:38.474Z,1707801458.474 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3 2024-02-13T05:17:38.475Z,1707801458.475 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:17:38.475Z,1707801458.475 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3 2024-02-13T05:17:38.787Z,1707801458.787 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:17:41.595Z,1707801461.595 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20240213T050824/Courier0004.lzma 2024-02-13T05:17:42.596Z,1707801462.596 [DataOverHttps](INFO): Moved sent file to Logs/20240213T050824/Courier0004.lzma.bak 2024-02-13T05:17:42.596Z,1707801462.596 [DataOverHttps](INFO): SBD MOMSN=19276681 2024-02-13T05:17:59.246Z,1707801479.246 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20240213T050824/Express0005.lzma 2024-02-13T05:18:00.248Z,1707801480.248 [DataOverHttps](INFO): Moved sent file to Logs/20240213T050824/Express0005.lzma.bak 2024-02-13T05:18:00.248Z,1707801480.248 [DataOverHttps](INFO): SBD MOMSN=19276683 2024-02-13T05:18:01.829Z,1707801481.829 [Default:CheckIn:Read_Iridium] Stopped 2024-02-13T05:18:01.829Z,1707801481.829 [Default:CheckIn:C.Wait] Running Loop=1 2024-02-13T05:18:01.829Z,1707801481.829 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:19:16.135Z,1707801556.135 [NAL9602](FAULT): GPS failed to acquire within timeout. 2024-02-13T05:19:16.135Z,1707801556.135 [NAL9602] Data Fault, FailCount= 1 2024-02-13T05:19:16.135Z,1707801556.135 [NAL9602](ERROR): Data Fault 2024-02-13T05:19:16.247Z,1707801556.247 [CBIT](ERROR): Data Fault in component: NAL9602 2024-02-13T05:19:16.573Z,1707801556.573 [NAL9602](INFO): Powering down 2024-02-13T05:19:17.458Z,1707801557.458 [CBIT](INFO): Clearing failed state for component NAL9602 2024-02-13T05:19:17.458Z,1707801557.458 [NAL9602] No Fault, FailCount= 1 2024-02-13T05:19:46.839Z,1707801586.839 [NAL9602](INFO): Powering up NAL9602 2024-02-13T05:19:57.751Z,1707801597.751 [NAL9602](INFO): NAL9602 initialized 2024-02-13T05:20:38.979Z,1707801638.979 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4 2024-02-13T05:20:38.979Z,1707801638.979 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:20:38.980Z,1707801638.980 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4 2024-02-13T05:20:38.980Z,1707801638.980 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:20:39.047Z,1707801639.047 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:20:39.047Z,1707801639.047 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:20:39.430Z,1707801639.430 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:20:39.430Z,1707801639.430 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4 2024-02-13T05:20:39.431Z,1707801639.431 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:20:39.431Z,1707801639.431 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4 2024-02-13T05:20:39.777Z,1707801639.777 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:21:03.345Z,1707801663.345 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:21:03.345Z,1707801663.345 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:21:03.345Z,1707801663.345 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:21:03.351Z,1707801663.351 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:21:04.354Z,1707801664.354 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T05:21:04.369Z,1707801664.369 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T05:21:04.376Z,1707801664.376 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T05:21:04.383Z,1707801664.383 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T05:21:04.385Z,1707801664.385 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T05:21:04.392Z,1707801664.392 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T05:21:04.459Z,1707801664.459 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T05:21:04.474Z,1707801664.474 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T05:21:04.477Z,1707801664.477 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T05:21:04.492Z,1707801664.492 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T05:21:04.508Z,1707801664.508 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T05:21:04.527Z,1707801664.527 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T05:21:04.561Z,1707801664.561 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T05:21:04.584Z,1707801664.584 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T05:21:04.584Z,1707801664.584 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T05:21:04.585Z,1707801664.585 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T05:21:04.590Z,1707801664.590 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T05:21:04.647Z,1707801664.647 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T05:21:04.668Z,1707801664.668 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T05:21:04.679Z,1707801664.679 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T05:21:04.704Z,1707801664.704 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T05:21:04.746Z,1707801664.746 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T05:21:04.767Z,1707801664.767 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:21:04.781Z,1707801664.781 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T05:21:04.831Z,1707801664.831 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T05:21:04.847Z,1707801664.847 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:21:04.944Z,1707801664.944 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T05:21:04.950Z,1707801664.950 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T05:21:04.977Z,1707801664.977 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T05:21:04.977Z,1707801664.977 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T05:21:16.138Z,1707801676.138 [CommandExec](IMPORTANT): got command run 2024-02-13T05:21:16.141Z,1707801676.141 [CommandExec](IMPORTANT): Running 2024-02-13T05:21:16.543Z,1707801676.543 [Default] Stopped 2024-02-13T05:21:16.543Z,1707801676.543 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T05:21:16.543Z,1707801676.543 [Default:B.GoToSurface] Stopped 2024-02-13T05:21:16.543Z,1707801676.543 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T05:21:16.543Z,1707801676.543 [Default:CheckIn] Stopped 2024-02-13T05:21:16.544Z,1707801676.544 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T05:21:16.544Z,1707801676.544 [Default:CheckIn:C.Wait] Stopped 2024-02-13T05:21:16.544Z,1707801676.544 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:21:16.544Z,1707801676.544 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T05:21:16.544Z,1707801676.544 [lab_test_optim] Running Loop=1 2024-02-13T05:21:16.544Z,1707801676.544 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T05:21:16.544Z,1707801676.544 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:21:16.544Z,1707801676.544 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T05:21:16.544Z,1707801676.544 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T05:21:16.545Z,1707801676.545 [lab_test_optim:B] Running Loop=1 2024-02-13T05:21:16.545Z,1707801676.545 [lab_test_optim:C] Running Loop=1 2024-02-13T05:21:16.545Z,1707801676.545 [lab_test_optim:D] Running Loop=1 2024-02-13T05:21:16.545Z,1707801676.545 [lab_test_optim:Startup] Running Loop=1 2024-02-13T05:21:16.545Z,1707801676.545 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T05:21:16.545Z,1707801676.545 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T05:21:16.546Z,1707801676.546 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T05:21:16.546Z,1707801676.546 [lab_test_optim:Startup:A] Stopped 2024-02-13T05:21:16.546Z,1707801676.546 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T05:21:16.546Z,1707801676.546 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:21:16.546Z,1707801676.546 [lab_test_optim:D] Stopped 2024-02-13T05:21:16.546Z,1707801676.546 [lab_test_optim:C] Stopped 2024-02-13T05:21:16.546Z,1707801676.546 [lab_test_optim:B] Running Loop=1 2024-02-13T05:21:16.547Z,1707801676.547 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:21:16.547Z,1707801676.547 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T05:21:16.554Z,1707801676.554 [BackseatComponent](INFO): Powering up 2024-02-13T05:21:16.555Z,1707801676.555 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T05:21:17.353Z,1707801677.353 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T05:21:47.265Z,1707801707.265 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T05:21:47.265Z,1707801707.265 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T05:21:47.265Z,1707801707.265 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:21:47.265Z,1707801707.265 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T05:21:47.265Z,1707801707.265 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T05:21:47.265Z,1707801707.265 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:21:47.265Z,1707801707.265 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T05:21:47.649Z,1707801707.649 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T05:21:47.649Z,1707801707.649 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T05:21:47.649Z,1707801707.649 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:21:48.052Z,1707801708.052 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T05:21:48.052Z,1707801708.052 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T05:21:48.052Z,1707801708.052 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T05:21:48.053Z,1707801708.053 [lab_test_optim:C] Running Loop=1 2024-02-13T05:21:48.053Z,1707801708.053 [lab_test_optim:C] Running Loop=1 2024-02-13T05:21:48.062Z,1707801708.062 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T05:21:48.449Z,1707801708.449 [PowerOnly](INFO): Powering down loadControl 2024-02-13T05:21:48.466Z,1707801708.466 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T05:21:48.466Z,1707801708.466 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T05:21:48.466Z,1707801708.466 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:21:48.861Z,1707801708.861 [lab_test_optim:C] Stopped 2024-02-13T05:21:50.093Z,1707801710.093 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T05:21:50.093Z,1707801710.093 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T05:21:50.093Z,1707801710.093 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:21:50.093Z,1707801710.093 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T05:21:50.493Z,1707801710.493 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T05:21:50.493Z,1707801710.493 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T05:21:50.877Z,1707801710.877 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T05:21:50.877Z,1707801710.877 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T05:21:50.878Z,1707801710.878 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T05:21:50.878Z,1707801710.878 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T05:21:50.878Z,1707801710.878 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T05:21:50.878Z,1707801710.878 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T05:21:50.878Z,1707801710.878 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T05:21:50.878Z,1707801710.878 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:21:50.879Z,1707801710.879 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T05:21:50.879Z,1707801710.879 [lab_test_optim:C] Running Loop=1 2024-02-13T05:21:51.276Z,1707801711.276 [PowerOnly](INFO): Powering up loadControl 2024-02-13T05:21:51.304Z,1707801711.304 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T05:21:51.305Z,1707801711.305 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:21:51.305Z,1707801711.305 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T05:21:51.305Z,1707801711.305 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T05:21:51.305Z,1707801711.305 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:21:51.305Z,1707801711.305 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T05:21:51.709Z,1707801711.709 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T05:21:51.709Z,1707801711.709 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:21:51.709Z,1707801711.709 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T05:21:51.709Z,1707801711.709 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T05:21:51.709Z,1707801711.709 [lab_test_optim:Startup] Stopped 2024-02-13T05:21:51.710Z,1707801711.710 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T05:21:51.710Z,1707801711.710 [lab_test_optim:Run] Running Loop=1 2024-02-13T05:21:51.710Z,1707801711.710 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T05:21:51.710Z,1707801711.710 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T05:21:52.093Z,1707801712.093 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T05:21:52.093Z,1707801712.093 [lab_test_optim:Run:A] Stopped 2024-02-13T05:21:52.093Z,1707801712.093 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T05:21:52.509Z,1707801712.509 [lab_test_optim:Run:B] Stopped 2024-02-13T05:21:52.509Z,1707801712.509 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T05:21:52.917Z,1707801712.917 [lab_test_optim:Run:C] Stopped 2024-02-13T05:21:52.917Z,1707801712.917 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T05:21:53.321Z,1707801713.321 [lab_test_optim:Run:D] Stopped 2024-02-13T05:21:53.321Z,1707801713.321 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T05:21:53.321Z,1707801713.321 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T05:21:53.321Z,1707801713.321 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T05:21:53.321Z,1707801713.321 [lab_test_optim:D] Running Loop=1 2024-02-13T05:21:53.321Z,1707801713.321 [lab_test_optim:D] Running Loop=1 2024-02-13T05:21:53.323Z,1707801713.323 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T05:21:53.709Z,1707801713.709 [lab_test_optim:Run:setRed] Stopped 2024-02-13T05:21:53.709Z,1707801713.709 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T05:21:53.709Z,1707801713.709 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T05:21:53.709Z,1707801713.709 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T05:21:53.709Z,1707801713.709 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T05:21:53.709Z,1707801713.709 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T05:21:54.168Z,1707801714.168 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T05:21:54.168Z,1707801714.168 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T05:21:54.576Z,1707801714.576 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T05:21:54.576Z,1707801714.576 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T05:21:54.576Z,1707801714.576 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T05:21:54.576Z,1707801714.576 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T05:21:54.576Z,1707801714.576 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T05:21:54.576Z,1707801714.576 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T05:21:54.932Z,1707801714.932 [BackseatComponent](INFO): Created universal data reader for depth with code: 6 2024-02-13T05:21:54.932Z,1707801714.932 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 1 2024-02-13T05:21:54.949Z,1707801714.949 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T05:21:54.949Z,1707801714.949 [lab_test_optim:Run:G] Stopped 2024-02-13T05:21:54.949Z,1707801714.949 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T05:21:54.949Z,1707801714.949 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:22:55.553Z,1707801775.553 [lab_test_optim:Run:H.Wait](INFO): Done Waiting. 2024-02-13T05:22:55.553Z,1707801775.553 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T05:22:55.553Z,1707801775.553 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:22:55.553Z,1707801775.553 [lab_test_optim:Run](INFO): Completed lab_test_optim:Run 2024-02-13T05:22:55.553Z,1707801775.553 [lab_test_optim:Run] Stopped 2024-02-13T05:22:55.554Z,1707801775.554 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T05:22:55.554Z,1707801775.554 [lab_test_optim:G.Wait] Running Loop=1 2024-02-13T05:22:55.554Z,1707801775.554 [lab_test_optim:G.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:23:37.283Z,1707801817.283 [CBIT](INFO): Clearing failed state for component DropWeight 2024-02-13T05:23:37.283Z,1707801817.283 [DropWeight] No Fault, FailCount= 1 2024-02-13T05:23:39.983Z,1707801819.983 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5 2024-02-13T05:23:39.983Z,1707801819.983 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:23:39.984Z,1707801819.984 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 5 2024-02-13T05:23:39.984Z,1707801819.984 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:23:40.062Z,1707801820.062 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:23:40.062Z,1707801820.062 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:23:40.510Z,1707801820.510 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:23:40.510Z,1707801820.510 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5 2024-02-13T05:23:40.511Z,1707801820.511 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:23:40.511Z,1707801820.511 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 5 2024-02-13T05:23:40.770Z,1707801820.770 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:26:40.975Z,1707802000.975 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6 2024-02-13T05:26:40.975Z,1707802000.975 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:26:40.976Z,1707802000.976 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 6 2024-02-13T05:26:40.976Z,1707802000.976 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:26:41.066Z,1707802001.066 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:26:41.066Z,1707802001.066 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:26:41.498Z,1707802001.498 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:26:41.498Z,1707802001.498 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6 2024-02-13T05:26:41.499Z,1707802001.499 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:26:41.499Z,1707802001.499 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 6 2024-02-13T05:26:41.763Z,1707802001.763 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:26:57.458Z,1707802017.458 [CommandExec](IMPORTANT): got command stop 2024-02-13T05:26:57.459Z,1707802017.459 [CommandExec](IMPORTANT): Scheduling is paused 2024-02-13T05:26:57.459Z,1707802017.459 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T05:26:57.594Z,1707802017.594 [MissionManager](INFO): MissionManager is completed. 2024-02-13T05:26:57.594Z,1707802017.594 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T05:26:57.594Z,1707802017.594 [lab_test_optim] Stopped 2024-02-13T05:26:57.594Z,1707802017.594 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T05:26:57.594Z,1707802017.594 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T05:26:57.594Z,1707802017.594 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T05:26:57.594Z,1707802017.594 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T05:26:57.595Z,1707802017.595 [lab_test_optim:B] Stopped 2024-02-13T05:26:57.595Z,1707802017.595 [lab_test_optim:C] Stopped 2024-02-13T05:26:57.595Z,1707802017.595 [lab_test_optim:D] Stopped 2024-02-13T05:26:57.595Z,1707802017.595 [lab_test_optim:G.Wait] Stopped 2024-02-13T05:26:57.595Z,1707802017.595 [lab_test_optim:G.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:26:57.934Z,1707802017.934 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T05:26:57.934Z,1707802017.934 [Default] Running Loop=1 2024-02-13T05:26:57.934Z,1707802017.934 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T05:26:57.934Z,1707802017.934 [Default:B.GoToSurface] Running Loop=1 2024-02-13T05:26:57.934Z,1707802017.934 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T05:26:57.935Z,1707802017.935 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T05:26:57.935Z,1707802017.935 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T05:26:57.935Z,1707802017.935 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T05:26:57.936Z,1707802017.936 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T05:26:57.936Z,1707802017.936 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T05:26:57.936Z,1707802017.936 [Default:A.Wait] Running Loop=1 2024-02-13T05:26:57.936Z,1707802017.936 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:26:58.957Z,1707802018.957 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T05:26:58.958Z,1707802018.958 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T05:27:11.277Z,1707802031.277 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T05:27:11.277Z,1707802031.277 [Default:A.Wait] Stopped 2024-02-13T05:27:11.277Z,1707802031.277 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:27:11.674Z,1707802031.674 [Default:CheckIn] Running Loop=1 2024-02-13T05:27:11.674Z,1707802031.674 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T05:27:11.674Z,1707802031.674 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T05:27:17.131Z,1707802037.131 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T05:27:17.132Z,1707802037.132 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T05:27:17.132Z,1707802037.132 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T05:29:41.961Z,1707802181.961 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7 2024-02-13T05:29:41.961Z,1707802181.961 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:29:41.962Z,1707802181.962 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 7 2024-02-13T05:29:41.962Z,1707802181.962 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:29:42.073Z,1707802182.073 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:29:42.073Z,1707802182.073 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:29:42.434Z,1707802182.434 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:29:42.434Z,1707802182.434 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7 2024-02-13T05:29:42.435Z,1707802182.435 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:29:42.435Z,1707802182.435 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 7 2024-02-13T05:29:42.767Z,1707802182.767 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:29:58.904Z,1707802198.904 [NAL9602](FAULT): GPS failed to acquire within timeout. 2024-02-13T05:29:58.904Z,1707802198.904 [NAL9602] Data Fault, FailCount= 2 2024-02-13T05:29:58.904Z,1707802198.904 [NAL9602](ERROR): Data Fault 2024-02-13T05:29:59.026Z,1707802199.026 [CBIT](ERROR): Data Fault in component: NAL9602 2024-02-13T05:29:59.307Z,1707802199.307 [NAL9602](INFO): Powering down 2024-02-13T05:30:00.218Z,1707802200.218 [CBIT](INFO): Clearing failed state for component NAL9602 2024-02-13T05:30:00.218Z,1707802200.218 [NAL9602] No Fault, FailCount= 2 2024-02-13T05:30:07.541Z,1707802207.541 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:30:07.542Z,1707802207.542 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:30:07.542Z,1707802207.542 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:30:07.544Z,1707802207.544 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:30:08.035Z,1707802208.035 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T05:30:08.045Z,1707802208.045 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T05:30:08.047Z,1707802208.047 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T05:30:08.049Z,1707802208.049 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T05:30:08.051Z,1707802208.051 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T05:30:08.053Z,1707802208.053 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T05:30:08.056Z,1707802208.056 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T05:30:08.058Z,1707802208.058 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T05:30:08.060Z,1707802208.060 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T05:30:08.062Z,1707802208.062 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T05:30:08.064Z,1707802208.064 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T05:30:08.066Z,1707802208.066 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T05:30:08.068Z,1707802208.068 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T05:30:08.070Z,1707802208.070 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T05:30:08.071Z,1707802208.071 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T05:30:08.071Z,1707802208.071 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T05:30:08.072Z,1707802208.072 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T05:30:08.131Z,1707802208.131 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T05:30:08.133Z,1707802208.133 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T05:30:08.144Z,1707802208.144 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T05:30:08.169Z,1707802208.169 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T05:30:08.217Z,1707802208.217 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T05:30:08.233Z,1707802208.233 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:30:08.266Z,1707802208.266 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T05:30:08.281Z,1707802208.281 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T05:30:08.306Z,1707802208.306 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:30:08.345Z,1707802208.345 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T05:30:08.351Z,1707802208.351 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T05:30:08.364Z,1707802208.364 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T05:30:08.364Z,1707802208.364 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T05:30:22.414Z,1707802222.414 [CommandExec](IMPORTANT): got command run 2024-02-13T05:30:22.416Z,1707802222.416 [CommandExec](IMPORTANT): Running 2024-02-13T05:30:22.745Z,1707802222.745 [Default] Stopped 2024-02-13T05:30:22.745Z,1707802222.745 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T05:30:22.745Z,1707802222.745 [Default:B.GoToSurface] Stopped 2024-02-13T05:30:22.745Z,1707802222.745 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T05:30:22.745Z,1707802222.745 [Default:CheckIn] Stopped 2024-02-13T05:30:22.745Z,1707802222.745 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T05:30:22.745Z,1707802222.745 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T05:30:22.745Z,1707802222.745 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T05:30:22.746Z,1707802222.746 [lab_test_optim] Running Loop=1 2024-02-13T05:30:22.746Z,1707802222.746 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T05:30:22.746Z,1707802222.746 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:30:22.746Z,1707802222.746 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T05:30:22.746Z,1707802222.746 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T05:30:22.746Z,1707802222.746 [lab_test_optim:B] Running Loop=1 2024-02-13T05:30:22.746Z,1707802222.746 [lab_test_optim:C] Running Loop=1 2024-02-13T05:30:22.746Z,1707802222.746 [lab_test_optim:D] Running Loop=1 2024-02-13T05:30:22.747Z,1707802222.747 [lab_test_optim:Startup] Running Loop=1 2024-02-13T05:30:22.747Z,1707802222.747 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T05:30:22.747Z,1707802222.747 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T05:30:22.748Z,1707802222.748 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T05:30:22.748Z,1707802222.748 [lab_test_optim:Startup:A] Stopped 2024-02-13T05:30:22.748Z,1707802222.748 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T05:30:22.748Z,1707802222.748 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:30:22.748Z,1707802222.748 [lab_test_optim:D] Stopped 2024-02-13T05:30:22.748Z,1707802222.748 [lab_test_optim:C] Stopped 2024-02-13T05:30:22.748Z,1707802222.748 [lab_test_optim:B] Running Loop=1 2024-02-13T05:30:22.748Z,1707802222.748 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:30:22.749Z,1707802222.749 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T05:30:22.858Z,1707802222.858 [BackseatComponent](INFO): Powering up 2024-02-13T05:30:22.859Z,1707802222.859 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T05:30:29.611Z,1707802229.611 [NAL9602](INFO): Powering up NAL9602 2024-02-13T05:30:40.520Z,1707802240.520 [NAL9602](INFO): NAL9602 initialized 2024-02-13T05:30:53.480Z,1707802253.480 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T05:30:53.480Z,1707802253.480 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T05:30:53.481Z,1707802253.481 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:30:53.481Z,1707802253.481 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T05:30:53.481Z,1707802253.481 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T05:30:53.481Z,1707802253.481 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:30:53.481Z,1707802253.481 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T05:30:53.881Z,1707802253.881 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T05:30:53.881Z,1707802253.881 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T05:30:53.881Z,1707802253.881 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:30:54.289Z,1707802254.289 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T05:30:54.290Z,1707802254.290 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T05:30:54.290Z,1707802254.290 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T05:30:54.290Z,1707802254.290 [lab_test_optim:C] Running Loop=1 2024-02-13T05:30:54.290Z,1707802254.290 [lab_test_optim:C] Running Loop=1 2024-02-13T05:30:54.291Z,1707802254.291 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T05:30:54.660Z,1707802254.660 [PowerOnly](INFO): Powering down loadControl 2024-02-13T05:30:54.690Z,1707802254.690 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T05:30:54.691Z,1707802254.691 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T05:30:54.691Z,1707802254.691 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:30:55.072Z,1707802255.072 [lab_test_optim:C] Stopped 2024-02-13T05:30:56.300Z,1707802256.300 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T05:30:56.300Z,1707802256.300 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T05:30:56.300Z,1707802256.300 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:30:56.350Z,1707802256.350 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T05:30:56.713Z,1707802256.713 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T05:30:56.713Z,1707802256.713 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T05:30:57.105Z,1707802257.105 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T05:30:57.105Z,1707802257.105 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T05:30:57.105Z,1707802257.105 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T05:30:57.105Z,1707802257.105 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T05:30:57.106Z,1707802257.106 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T05:30:57.106Z,1707802257.106 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T05:30:57.107Z,1707802257.107 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T05:30:57.108Z,1707802257.108 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:30:57.109Z,1707802257.109 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T05:30:57.147Z,1707802257.147 [lab_test_optim:C] Running Loop=1 2024-02-13T05:30:57.489Z,1707802257.489 [PowerOnly](INFO): Powering up loadControl 2024-02-13T05:30:57.515Z,1707802257.515 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T05:30:57.515Z,1707802257.515 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:30:57.515Z,1707802257.515 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T05:30:57.515Z,1707802257.515 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T05:30:57.515Z,1707802257.515 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:30:57.515Z,1707802257.515 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T05:30:57.900Z,1707802257.900 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T05:30:57.900Z,1707802257.900 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:30:57.900Z,1707802257.900 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T05:30:57.900Z,1707802257.900 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T05:30:57.900Z,1707802257.900 [lab_test_optim:Startup] Stopped 2024-02-13T05:30:57.900Z,1707802257.900 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T05:30:57.900Z,1707802257.900 [lab_test_optim:Run] Running Loop=1 2024-02-13T05:30:57.901Z,1707802257.901 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T05:30:57.901Z,1707802257.901 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T05:30:58.305Z,1707802258.305 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T05:30:58.305Z,1707802258.305 [lab_test_optim:Run:A] Stopped 2024-02-13T05:30:58.305Z,1707802258.305 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T05:30:58.706Z,1707802258.706 [lab_test_optim:Run:B] Stopped 2024-02-13T05:30:58.707Z,1707802258.707 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T05:30:59.118Z,1707802259.118 [lab_test_optim:Run:C] Stopped 2024-02-13T05:30:59.118Z,1707802259.118 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T05:30:59.541Z,1707802259.541 [lab_test_optim:Run:D] Stopped 2024-02-13T05:30:59.541Z,1707802259.541 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T05:30:59.541Z,1707802259.541 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T05:30:59.541Z,1707802259.541 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T05:30:59.541Z,1707802259.541 [lab_test_optim:D] Running Loop=1 2024-02-13T05:30:59.541Z,1707802259.541 [lab_test_optim:D] Running Loop=1 2024-02-13T05:30:59.542Z,1707802259.542 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T05:30:59.948Z,1707802259.948 [lab_test_optim:Run:setRed] Stopped 2024-02-13T05:30:59.948Z,1707802259.948 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T05:30:59.948Z,1707802259.948 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T05:30:59.948Z,1707802259.948 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T05:30:59.948Z,1707802259.948 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T05:30:59.948Z,1707802259.948 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T05:31:00.376Z,1707802260.376 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T05:31:00.376Z,1707802260.376 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T05:31:00.779Z,1707802260.779 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T05:31:00.779Z,1707802260.779 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T05:31:00.779Z,1707802260.779 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T05:31:00.779Z,1707802260.779 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T05:31:00.779Z,1707802260.779 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T05:31:00.779Z,1707802260.779 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T05:31:01.164Z,1707802261.164 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T05:31:01.164Z,1707802261.164 [lab_test_optim:Run:G] Stopped 2024-02-13T05:31:01.164Z,1707802261.164 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T05:31:01.165Z,1707802261.165 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:31:17.265Z,1707802277.265 [BackseatComponent](IMPORTANT): ikshana: running backseat application. 2024-02-13T05:31:20.199Z,1707802280.199 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T05:32:01.753Z,1707802321.753 [lab_test_optim:Run:H.Wait](INFO): Done Waiting. 2024-02-13T05:32:01.753Z,1707802321.753 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T05:32:01.753Z,1707802321.753 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:32:01.782Z,1707802321.782 [lab_test_optim:Run](INFO): Completed lab_test_optim:Run 2024-02-13T05:32:01.782Z,1707802321.782 [lab_test_optim:Run] Stopped 2024-02-13T05:32:01.782Z,1707802321.782 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T05:32:01.782Z,1707802321.782 [lab_test_optim:G.Wait] Running Loop=1 2024-02-13T05:32:01.783Z,1707802321.783 [lab_test_optim:G.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:32:42.940Z,1707802362.940 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8 2024-02-13T05:32:42.940Z,1707802362.940 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:32:42.941Z,1707802362.941 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 8 2024-02-13T05:32:42.941Z,1707802362.941 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:32:43.026Z,1707802363.026 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:32:43.027Z,1707802363.027 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:32:43.470Z,1707802363.470 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:32:43.470Z,1707802363.470 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8 2024-02-13T05:32:43.471Z,1707802363.471 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:32:43.471Z,1707802363.471 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 8 2024-02-13T05:32:43.778Z,1707802363.778 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:35:43.939Z,1707802543.939 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9 2024-02-13T05:35:43.939Z,1707802543.939 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:35:43.940Z,1707802543.940 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 9 2024-02-13T05:35:43.940Z,1707802543.940 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:35:44.020Z,1707802544.020 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:35:44.020Z,1707802544.020 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:35:44.454Z,1707802544.454 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:35:44.454Z,1707802544.454 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9 2024-02-13T05:35:44.455Z,1707802544.455 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:35:44.455Z,1707802544.455 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 9 2024-02-13T05:35:44.759Z,1707802544.759 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:36:10.534Z,1707802570.534 [CommandExec](IMPORTANT): got command stop 2024-02-13T05:36:10.535Z,1707802570.535 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T05:36:10.626Z,1707802570.626 [MissionManager](INFO): MissionManager is completed. 2024-02-13T05:36:10.626Z,1707802570.626 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T05:36:10.626Z,1707802570.626 [lab_test_optim] Stopped 2024-02-13T05:36:10.626Z,1707802570.626 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T05:36:10.626Z,1707802570.626 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T05:36:10.626Z,1707802570.626 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T05:36:10.626Z,1707802570.626 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T05:36:10.627Z,1707802570.627 [lab_test_optim:B] Stopped 2024-02-13T05:36:10.627Z,1707802570.627 [lab_test_optim:C] Stopped 2024-02-13T05:36:10.627Z,1707802570.627 [lab_test_optim:D] Stopped 2024-02-13T05:36:10.627Z,1707802570.627 [lab_test_optim:G.Wait] Stopped 2024-02-13T05:36:10.627Z,1707802570.627 [lab_test_optim:G.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:36:11.032Z,1707802571.032 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T05:36:11.032Z,1707802571.032 [Default] Running Loop=1 2024-02-13T05:36:11.032Z,1707802571.032 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T05:36:11.032Z,1707802571.032 [Default:B.GoToSurface] Running Loop=1 2024-02-13T05:36:11.033Z,1707802571.033 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T05:36:11.033Z,1707802571.033 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T05:36:11.033Z,1707802571.033 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T05:36:11.033Z,1707802571.033 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T05:36:11.034Z,1707802571.034 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T05:36:11.034Z,1707802571.034 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T05:36:11.035Z,1707802571.035 [Default:A.Wait] Running Loop=1 2024-02-13T05:36:11.035Z,1707802571.035 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:36:11.219Z,1707802571.219 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T05:36:11.219Z,1707802571.219 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T05:36:24.367Z,1707802584.367 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T05:36:24.367Z,1707802584.367 [Default:A.Wait] Stopped 2024-02-13T05:36:24.367Z,1707802584.367 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:36:24.751Z,1707802584.751 [Default:CheckIn] Running Loop=1 2024-02-13T05:36:24.751Z,1707802584.751 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T05:36:24.751Z,1707802584.751 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T05:36:29.406Z,1707802589.406 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T05:36:29.407Z,1707802589.407 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T05:36:29.407Z,1707802589.407 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T05:38:23.319Z,1707802703.319 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:38:23.320Z,1707802703.320 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:38:23.320Z,1707802703.320 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:38:23.321Z,1707802703.321 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:38:23.825Z,1707802703.825 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T05:38:23.831Z,1707802703.831 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T05:38:23.833Z,1707802703.833 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T05:38:23.864Z,1707802703.864 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T05:38:23.866Z,1707802703.866 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T05:38:23.868Z,1707802703.868 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T05:38:23.870Z,1707802703.870 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T05:38:23.872Z,1707802703.872 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T05:38:23.874Z,1707802703.874 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T05:38:23.876Z,1707802703.876 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T05:38:23.878Z,1707802703.878 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T05:38:23.880Z,1707802703.880 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T05:38:23.882Z,1707802703.882 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T05:38:23.884Z,1707802703.884 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T05:38:23.885Z,1707802703.885 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T05:38:23.885Z,1707802703.885 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T05:38:23.954Z,1707802703.954 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T05:38:24.040Z,1707802704.040 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T05:38:24.052Z,1707802704.052 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T05:38:24.066Z,1707802704.066 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T05:38:24.090Z,1707802704.090 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T05:38:24.114Z,1707802704.114 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T05:38:24.123Z,1707802704.123 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:38:24.132Z,1707802704.132 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T05:38:24.141Z,1707802704.141 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T05:38:24.148Z,1707802704.148 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:38:24.184Z,1707802704.184 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T05:38:24.190Z,1707802704.190 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T05:38:24.205Z,1707802704.205 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T05:38:24.205Z,1707802704.205 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T05:38:28.782Z,1707802708.782 [CommandExec](IMPORTANT): got command run 2024-02-13T05:38:28.784Z,1707802708.784 [CommandExec](IMPORTANT): Running 2024-02-13T05:38:29.169Z,1707802709.169 [Default] Stopped 2024-02-13T05:38:29.169Z,1707802709.169 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T05:38:29.169Z,1707802709.169 [Default:B.GoToSurface] Stopped 2024-02-13T05:38:29.169Z,1707802709.169 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T05:38:29.169Z,1707802709.169 [Default:CheckIn] Stopped 2024-02-13T05:38:29.169Z,1707802709.169 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T05:38:29.169Z,1707802709.169 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T05:38:29.169Z,1707802709.169 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T05:38:29.186Z,1707802709.186 [lab_test_optim] Running Loop=1 2024-02-13T05:38:29.186Z,1707802709.186 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T05:38:29.186Z,1707802709.186 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:38:29.186Z,1707802709.186 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T05:38:29.186Z,1707802709.186 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T05:38:29.186Z,1707802709.186 [lab_test_optim:B] Running Loop=1 2024-02-13T05:38:29.186Z,1707802709.186 [lab_test_optim:C] Running Loop=1 2024-02-13T05:38:29.187Z,1707802709.187 [lab_test_optim:D] Running Loop=1 2024-02-13T05:38:29.187Z,1707802709.187 [lab_test_optim:Startup] Running Loop=1 2024-02-13T05:38:29.187Z,1707802709.187 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T05:38:29.187Z,1707802709.187 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T05:38:29.188Z,1707802709.188 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T05:38:29.188Z,1707802709.188 [lab_test_optim:Startup:A] Stopped 2024-02-13T05:38:29.188Z,1707802709.188 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T05:38:29.188Z,1707802709.188 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:38:29.188Z,1707802709.188 [lab_test_optim:D] Stopped 2024-02-13T05:38:29.188Z,1707802709.188 [lab_test_optim:C] Stopped 2024-02-13T05:38:29.188Z,1707802709.188 [lab_test_optim:B] Running Loop=1 2024-02-13T05:38:29.188Z,1707802709.188 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:38:29.189Z,1707802709.189 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T05:38:29.322Z,1707802709.322 [BackseatComponent](INFO): Powering up 2024-02-13T05:38:29.323Z,1707802709.323 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T05:38:44.951Z,1707802724.951 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10 2024-02-13T05:38:44.951Z,1707802724.951 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:38:44.952Z,1707802724.952 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 10 2024-02-13T05:38:44.952Z,1707802724.952 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:38:45.044Z,1707802725.044 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:38:45.044Z,1707802725.044 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:38:45.422Z,1707802725.422 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:38:45.422Z,1707802725.422 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10 2024-02-13T05:38:45.423Z,1707802725.423 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:38:45.423Z,1707802725.423 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 10 2024-02-13T05:38:45.736Z,1707802725.736 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:38:59.887Z,1707802739.887 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T05:38:59.887Z,1707802739.887 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T05:38:59.887Z,1707802739.887 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:38:59.887Z,1707802739.887 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T05:38:59.887Z,1707802739.887 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T05:38:59.887Z,1707802739.887 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:38:59.887Z,1707802739.887 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T05:39:00.301Z,1707802740.301 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T05:39:00.301Z,1707802740.301 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T05:39:00.301Z,1707802740.301 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:39:00.681Z,1707802740.681 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T05:39:00.681Z,1707802740.681 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T05:39:00.681Z,1707802740.681 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T05:39:00.681Z,1707802740.681 [lab_test_optim:C] Running Loop=1 2024-02-13T05:39:00.681Z,1707802740.681 [lab_test_optim:C] Running Loop=1 2024-02-13T05:39:00.682Z,1707802740.682 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T05:39:01.080Z,1707802741.080 [PowerOnly](INFO): Powering down loadControl 2024-02-13T05:39:01.089Z,1707802741.089 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T05:39:01.089Z,1707802741.089 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T05:39:01.089Z,1707802741.089 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:39:01.496Z,1707802741.496 [lab_test_optim:C] Stopped 2024-02-13T05:39:02.722Z,1707802742.722 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T05:39:02.722Z,1707802742.722 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T05:39:02.723Z,1707802742.723 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:39:02.723Z,1707802742.723 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T05:39:03.129Z,1707802743.129 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T05:39:03.129Z,1707802743.129 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T05:39:03.508Z,1707802743.508 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T05:39:03.508Z,1707802743.508 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T05:39:03.508Z,1707802743.508 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T05:39:03.508Z,1707802743.508 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T05:39:03.509Z,1707802743.509 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T05:39:03.509Z,1707802743.509 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T05:39:03.509Z,1707802743.509 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T05:39:03.509Z,1707802743.509 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:39:03.509Z,1707802743.509 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T05:39:03.509Z,1707802743.509 [lab_test_optim:C] Running Loop=1 2024-02-13T05:39:03.904Z,1707802743.904 [PowerOnly](INFO): Powering up loadControl 2024-02-13T05:39:03.956Z,1707802743.956 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T05:39:03.956Z,1707802743.956 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:39:03.956Z,1707802743.956 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T05:39:03.956Z,1707802743.956 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T05:39:03.956Z,1707802743.956 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:39:03.956Z,1707802743.956 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T05:39:04.316Z,1707802744.316 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T05:39:04.316Z,1707802744.316 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:39:04.316Z,1707802744.316 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T05:39:04.316Z,1707802744.316 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T05:39:04.316Z,1707802744.316 [lab_test_optim:Startup] Stopped 2024-02-13T05:39:04.316Z,1707802744.316 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T05:39:04.317Z,1707802744.317 [lab_test_optim:Run] Running Loop=1 2024-02-13T05:39:04.317Z,1707802744.317 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T05:39:04.317Z,1707802744.317 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T05:39:04.728Z,1707802744.728 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T05:39:04.728Z,1707802744.728 [lab_test_optim:Run:A] Stopped 2024-02-13T05:39:04.728Z,1707802744.728 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T05:39:05.121Z,1707802745.121 [lab_test_optim:Run:B] Stopped 2024-02-13T05:39:05.121Z,1707802745.121 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T05:39:05.557Z,1707802745.557 [lab_test_optim:Run:C] Stopped 2024-02-13T05:39:05.557Z,1707802745.557 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T05:39:05.956Z,1707802745.956 [lab_test_optim:Run:D] Stopped 2024-02-13T05:39:05.956Z,1707802745.956 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T05:39:05.957Z,1707802745.957 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T05:39:05.957Z,1707802745.957 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T05:39:05.957Z,1707802745.957 [lab_test_optim:D] Running Loop=1 2024-02-13T05:39:05.957Z,1707802745.957 [lab_test_optim:D] Running Loop=1 2024-02-13T05:39:05.957Z,1707802745.957 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T05:39:06.357Z,1707802746.357 [lab_test_optim:Run:setRed] Stopped 2024-02-13T05:39:06.357Z,1707802746.357 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T05:39:06.357Z,1707802746.357 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T05:39:06.357Z,1707802746.357 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T05:39:06.357Z,1707802746.357 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T05:39:06.357Z,1707802746.357 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T05:39:06.773Z,1707802746.773 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T05:39:06.773Z,1707802746.773 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T05:39:07.194Z,1707802747.194 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T05:39:07.194Z,1707802747.194 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T05:39:07.194Z,1707802747.194 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T05:39:07.194Z,1707802747.194 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T05:39:07.194Z,1707802747.194 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T05:39:07.194Z,1707802747.194 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T05:39:07.545Z,1707802747.545 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T05:39:07.545Z,1707802747.545 [lab_test_optim:Run:G] Stopped 2024-02-13T05:39:07.545Z,1707802747.545 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T05:39:07.545Z,1707802747.545 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:39:24.208Z,1707802764.208 [BackseatComponent](IMPORTANT): ikshana: running backseat application. 2024-02-13T05:39:26.971Z,1707802766.971 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T05:40:08.156Z,1707802808.156 [lab_test_optim:Run:H.Wait](INFO): Done Waiting. 2024-02-13T05:40:08.156Z,1707802808.156 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T05:40:08.157Z,1707802808.157 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:40:08.157Z,1707802808.157 [lab_test_optim:Run](INFO): Completed lab_test_optim:Run 2024-02-13T05:40:08.157Z,1707802808.157 [lab_test_optim:Run] Stopped 2024-02-13T05:40:08.157Z,1707802808.157 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T05:40:08.157Z,1707802808.157 [lab_test_optim:G.Wait] Running Loop=1 2024-02-13T05:40:08.157Z,1707802808.157 [lab_test_optim:G.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:40:41.708Z,1707802841.708 [NAL9602](FAULT): GPS failed to acquire within timeout. 2024-02-13T05:40:41.709Z,1707802841.709 [NAL9602] Data Fault, FailCount= 3 2024-02-13T05:40:41.709Z,1707802841.709 [NAL9602](ERROR): Data Fault 2024-02-13T05:40:41.838Z,1707802841.838 [CBIT](ERROR): Data Fault in component: NAL9602 2024-02-13T05:40:42.071Z,1707802842.071 [NAL9602](INFO): Powering down 2024-02-13T05:40:42.508Z,1707802842.508 [NAL9602](FAULT): LCB fault: Hardware Overcurrent Shutdown. 2024-02-13T05:40:42.509Z,1707802842.509 [NAL9602] Hardware Fault, FailCount= 3 2024-02-13T05:40:42.509Z,1707802842.509 [NAL9602](ERROR): Hardware Fault 2024-02-13T05:40:42.979Z,1707802842.979 [CBIT](INFO): Clearing failed state for component NAL9602 2024-02-13T05:40:42.979Z,1707802842.979 [NAL9602] No Fault, FailCount= 3 2024-02-13T05:41:12.400Z,1707802872.400 [NAL9602](INFO): Powering up NAL9602 2024-02-13T05:41:23.351Z,1707802883.351 [NAL9602](INFO): NAL9602 initialized 2024-02-13T05:41:45.983Z,1707802905.983 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11 2024-02-13T05:41:45.983Z,1707802905.983 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:41:45.984Z,1707802905.984 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 11 2024-02-13T05:41:45.984Z,1707802905.984 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:41:46.055Z,1707802906.055 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:41:46.055Z,1707802906.055 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:41:46.486Z,1707802906.486 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:41:46.486Z,1707802906.486 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11 2024-02-13T05:41:46.487Z,1707802906.487 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:41:46.487Z,1707802906.487 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 11 2024-02-13T05:41:46.783Z,1707802906.783 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:43:43.623Z,1707803023.623 [CommandExec](IMPORTANT): got command stop 2024-02-13T05:43:43.623Z,1707803023.623 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T05:43:43.950Z,1707803023.950 [MissionManager](INFO): MissionManager is completed. 2024-02-13T05:43:43.950Z,1707803023.950 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T05:43:43.950Z,1707803023.950 [lab_test_optim] Stopped 2024-02-13T05:43:43.950Z,1707803023.950 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T05:43:43.950Z,1707803023.950 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T05:43:43.950Z,1707803023.950 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T05:43:43.950Z,1707803023.950 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T05:43:43.951Z,1707803023.951 [lab_test_optim:B] Stopped 2024-02-13T05:43:43.951Z,1707803023.951 [lab_test_optim:C] Stopped 2024-02-13T05:43:43.951Z,1707803023.951 [lab_test_optim:D] Stopped 2024-02-13T05:43:43.951Z,1707803023.951 [lab_test_optim:G.Wait] Stopped 2024-02-13T05:43:43.951Z,1707803023.951 [lab_test_optim:G.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:43:44.039Z,1707803024.039 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T05:43:44.040Z,1707803024.040 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T05:43:44.365Z,1707803024.365 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T05:43:44.365Z,1707803024.365 [Default] Running Loop=1 2024-02-13T05:43:44.365Z,1707803024.365 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T05:43:44.365Z,1707803024.365 [Default:B.GoToSurface] Running Loop=1 2024-02-13T05:43:44.365Z,1707803024.365 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T05:43:44.365Z,1707803024.365 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T05:43:44.366Z,1707803024.366 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T05:43:44.366Z,1707803024.366 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T05:43:44.366Z,1707803024.366 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T05:43:44.367Z,1707803024.367 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T05:43:44.367Z,1707803024.367 [Default:A.Wait] Running Loop=1 2024-02-13T05:43:44.367Z,1707803024.367 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:43:57.681Z,1707803037.681 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T05:43:57.681Z,1707803037.681 [Default:A.Wait] Stopped 2024-02-13T05:43:57.681Z,1707803037.681 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:43:58.085Z,1707803038.085 [Default:CheckIn] Running Loop=1 2024-02-13T05:43:58.085Z,1707803038.085 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T05:43:58.085Z,1707803038.085 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T05:44:02.206Z,1707803042.206 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T05:44:02.207Z,1707803042.207 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T05:44:02.207Z,1707803042.207 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T05:44:46.994Z,1707803086.994 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12 2024-02-13T05:44:46.994Z,1707803086.994 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:44:46.995Z,1707803086.995 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 12 2024-02-13T05:44:46.995Z,1707803086.995 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:44:47.065Z,1707803087.065 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:44:47.071Z,1707803087.071 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:44:47.450Z,1707803087.450 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:44:47.450Z,1707803087.450 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12 2024-02-13T05:44:47.451Z,1707803087.451 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:44:47.451Z,1707803087.451 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 12 2024-02-13T05:44:47.796Z,1707803087.796 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:47:29.728Z,1707803249.728 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:47:29.728Z,1707803249.728 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:47:29.728Z,1707803249.728 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:47:29.770Z,1707803249.770 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:47:30.300Z,1707803250.300 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T05:47:30.312Z,1707803250.312 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T05:47:30.314Z,1707803250.314 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T05:47:30.317Z,1707803250.317 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T05:47:30.318Z,1707803250.318 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T05:47:30.320Z,1707803250.320 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T05:47:30.322Z,1707803250.322 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T05:47:30.324Z,1707803250.324 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T05:47:30.327Z,1707803250.327 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T05:47:30.329Z,1707803250.329 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T05:47:30.331Z,1707803250.331 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T05:47:30.333Z,1707803250.333 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T05:47:30.335Z,1707803250.335 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T05:47:30.337Z,1707803250.337 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T05:47:30.337Z,1707803250.337 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T05:47:30.338Z,1707803250.338 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T05:47:30.339Z,1707803250.339 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T05:47:30.393Z,1707803250.393 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T05:47:30.408Z,1707803250.408 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T05:47:30.423Z,1707803250.423 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T05:47:30.447Z,1707803250.447 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T05:47:30.478Z,1707803250.478 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T05:47:30.495Z,1707803250.495 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:47:30.508Z,1707803250.508 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T05:47:30.524Z,1707803250.524 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T05:47:30.536Z,1707803250.536 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:47:30.613Z,1707803250.613 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T05:47:30.634Z,1707803250.634 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T05:47:30.651Z,1707803250.651 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T05:47:30.652Z,1707803250.652 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T05:47:33.883Z,1707803253.883 [CommandExec](IMPORTANT): got command run 2024-02-13T05:47:33.885Z,1707803253.885 [CommandExec](IMPORTANT): Running 2024-02-13T05:47:34.259Z,1707803254.259 [Default] Stopped 2024-02-13T05:47:34.259Z,1707803254.259 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T05:47:34.259Z,1707803254.259 [Default:B.GoToSurface] Stopped 2024-02-13T05:47:34.259Z,1707803254.259 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T05:47:34.259Z,1707803254.259 [Default:CheckIn] Stopped 2024-02-13T05:47:34.260Z,1707803254.260 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T05:47:34.260Z,1707803254.260 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T05:47:34.260Z,1707803254.260 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T05:47:34.260Z,1707803254.260 [lab_test_optim] Running Loop=1 2024-02-13T05:47:34.260Z,1707803254.260 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T05:47:34.260Z,1707803254.260 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:47:34.260Z,1707803254.260 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T05:47:34.260Z,1707803254.260 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T05:47:34.260Z,1707803254.260 [lab_test_optim:B] Running Loop=1 2024-02-13T05:47:34.261Z,1707803254.261 [lab_test_optim:C] Running Loop=1 2024-02-13T05:47:34.261Z,1707803254.261 [lab_test_optim:D] Running Loop=1 2024-02-13T05:47:34.261Z,1707803254.261 [lab_test_optim:Startup] Running Loop=1 2024-02-13T05:47:34.261Z,1707803254.261 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T05:47:34.261Z,1707803254.261 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T05:47:34.262Z,1707803254.262 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T05:47:34.262Z,1707803254.262 [lab_test_optim:Startup:A] Stopped 2024-02-13T05:47:34.262Z,1707803254.262 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T05:47:34.262Z,1707803254.262 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:47:34.262Z,1707803254.262 [lab_test_optim:D] Stopped 2024-02-13T05:47:34.262Z,1707803254.262 [lab_test_optim:C] Stopped 2024-02-13T05:47:34.262Z,1707803254.262 [lab_test_optim:B] Running Loop=1 2024-02-13T05:47:34.263Z,1707803254.263 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:47:34.263Z,1707803254.263 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T05:47:34.290Z,1707803254.290 [BackseatComponent](INFO): Powering up 2024-02-13T05:47:34.290Z,1707803254.290 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T05:47:47.983Z,1707803267.983 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13 2024-02-13T05:47:47.983Z,1707803267.983 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:47:47.984Z,1707803267.984 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 13 2024-02-13T05:47:47.984Z,1707803267.984 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:47:48.066Z,1707803268.066 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:47:48.066Z,1707803268.066 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:47:48.446Z,1707803268.446 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:47:48.446Z,1707803268.446 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13 2024-02-13T05:47:48.447Z,1707803268.447 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:47:48.447Z,1707803268.447 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 13 2024-02-13T05:47:48.766Z,1707803268.766 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:48:04.949Z,1707803284.949 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T05:48:04.949Z,1707803284.949 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T05:48:04.949Z,1707803284.949 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:48:04.949Z,1707803284.949 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T05:48:04.949Z,1707803284.949 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T05:48:04.949Z,1707803284.949 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:48:04.949Z,1707803284.949 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T05:48:05.334Z,1707803285.334 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T05:48:05.334Z,1707803285.334 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T05:48:05.334Z,1707803285.334 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:48:05.736Z,1707803285.736 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T05:48:05.736Z,1707803285.736 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T05:48:05.736Z,1707803285.736 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T05:48:05.737Z,1707803285.737 [lab_test_optim:C] Running Loop=1 2024-02-13T05:48:05.737Z,1707803285.737 [lab_test_optim:C] Running Loop=1 2024-02-13T05:48:05.737Z,1707803285.737 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T05:48:06.133Z,1707803286.133 [PowerOnly](INFO): Powering down loadControl 2024-02-13T05:48:06.188Z,1707803286.188 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T05:48:06.188Z,1707803286.188 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T05:48:06.188Z,1707803286.188 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:48:06.552Z,1707803286.552 [lab_test_optim:C] Stopped 2024-02-13T05:48:07.781Z,1707803287.781 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T05:48:07.781Z,1707803287.781 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T05:48:07.781Z,1707803287.781 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:48:07.781Z,1707803287.781 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T05:48:08.181Z,1707803288.181 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T05:48:08.181Z,1707803288.181 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T05:48:08.561Z,1707803288.561 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T05:48:08.561Z,1707803288.561 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T05:48:08.561Z,1707803288.561 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T05:48:08.561Z,1707803288.561 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T05:48:08.561Z,1707803288.561 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T05:48:08.561Z,1707803288.561 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T05:48:08.562Z,1707803288.562 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T05:48:08.562Z,1707803288.562 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:48:08.562Z,1707803288.562 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T05:48:08.562Z,1707803288.562 [lab_test_optim:C] Running Loop=1 2024-02-13T05:48:08.960Z,1707803288.960 [PowerOnly](INFO): Powering up loadControl 2024-02-13T05:48:09.011Z,1707803289.011 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T05:48:09.011Z,1707803289.011 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:48:09.011Z,1707803289.011 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T05:48:09.011Z,1707803289.011 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T05:48:09.011Z,1707803289.011 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:48:09.011Z,1707803289.011 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T05:48:09.372Z,1707803289.372 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T05:48:09.373Z,1707803289.373 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:48:09.373Z,1707803289.373 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T05:48:09.373Z,1707803289.373 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T05:48:09.373Z,1707803289.373 [lab_test_optim:Startup] Stopped 2024-02-13T05:48:09.373Z,1707803289.373 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T05:48:09.373Z,1707803289.373 [lab_test_optim:Run] Running Loop=1 2024-02-13T05:48:09.373Z,1707803289.373 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T05:48:09.373Z,1707803289.373 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T05:48:09.784Z,1707803289.784 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T05:48:09.785Z,1707803289.785 [lab_test_optim:Run:A] Stopped 2024-02-13T05:48:09.785Z,1707803289.785 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T05:48:10.204Z,1707803290.204 [lab_test_optim:Run:B] Stopped 2024-02-13T05:48:10.204Z,1707803290.204 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T05:48:10.597Z,1707803290.597 [lab_test_optim:Run:C] Stopped 2024-02-13T05:48:10.597Z,1707803290.597 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T05:48:11.009Z,1707803291.009 [lab_test_optim:Run:D] Stopped 2024-02-13T05:48:11.009Z,1707803291.009 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T05:48:11.009Z,1707803291.009 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T05:48:11.009Z,1707803291.009 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T05:48:11.009Z,1707803291.009 [lab_test_optim:D] Running Loop=1 2024-02-13T05:48:11.009Z,1707803291.009 [lab_test_optim:D] Running Loop=1 2024-02-13T05:48:11.011Z,1707803291.011 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T05:48:11.397Z,1707803291.397 [lab_test_optim:Run:setRed] Stopped 2024-02-13T05:48:11.397Z,1707803291.397 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T05:48:11.397Z,1707803291.397 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T05:48:11.397Z,1707803291.397 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T05:48:11.397Z,1707803291.397 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T05:48:11.397Z,1707803291.397 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T05:48:11.833Z,1707803291.833 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T05:48:11.833Z,1707803291.833 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T05:48:12.253Z,1707803292.253 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T05:48:12.253Z,1707803292.253 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T05:48:12.253Z,1707803292.253 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T05:48:12.253Z,1707803292.253 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T05:48:12.254Z,1707803292.254 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T05:48:12.254Z,1707803292.254 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T05:48:12.652Z,1707803292.652 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T05:48:12.652Z,1707803292.652 [lab_test_optim:Run:G] Stopped 2024-02-13T05:48:12.652Z,1707803292.652 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T05:48:12.652Z,1707803292.652 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:48:29.497Z,1707803309.497 [BackseatComponent](IMPORTANT): ikshana: running backseat application. 2024-02-13T05:48:32.451Z,1707803312.451 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T05:49:13.217Z,1707803353.217 [lab_test_optim:Run:H.Wait](INFO): Done Waiting. 2024-02-13T05:49:13.217Z,1707803353.217 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T05:49:13.217Z,1707803353.217 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:49:13.217Z,1707803353.217 [lab_test_optim:Run](INFO): Completed lab_test_optim:Run 2024-02-13T05:49:13.217Z,1707803353.217 [lab_test_optim:Run] Stopped 2024-02-13T05:49:13.218Z,1707803353.218 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T05:49:13.218Z,1707803353.218 [lab_test_optim:G.Wait] Running Loop=1 2024-02-13T05:49:13.218Z,1707803353.218 [lab_test_optim:G.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:50:48.999Z,1707803448.999 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14 2024-02-13T05:50:48.999Z,1707803448.999 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:50:48.000Z,1707803449.000 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 14 2024-02-13T05:50:48.000Z,1707803449.000 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:50:49.079Z,1707803449.079 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:50:49.079Z,1707803449.079 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:50:49.454Z,1707803449.454 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:50:49.454Z,1707803449.454 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14 2024-02-13T05:50:49.455Z,1707803449.455 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:50:49.455Z,1707803449.455 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 14 2024-02-13T05:50:49.810Z,1707803449.810 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:51:21.718Z,1707803481.718 [CommandExec](IMPORTANT): got command stop 2024-02-13T05:51:21.719Z,1707803481.719 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T05:51:21.782Z,1707803481.782 [MissionManager](INFO): MissionManager is completed. 2024-02-13T05:51:21.782Z,1707803481.782 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T05:51:21.782Z,1707803481.782 [lab_test_optim] Stopped 2024-02-13T05:51:21.782Z,1707803481.782 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T05:51:21.782Z,1707803481.782 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T05:51:21.782Z,1707803481.782 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T05:51:21.782Z,1707803481.782 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T05:51:21.783Z,1707803481.783 [lab_test_optim:B] Stopped 2024-02-13T05:51:21.783Z,1707803481.783 [lab_test_optim:C] Stopped 2024-02-13T05:51:21.783Z,1707803481.783 [lab_test_optim:D] Stopped 2024-02-13T05:51:21.783Z,1707803481.783 [lab_test_optim:G.Wait] Stopped 2024-02-13T05:51:21.783Z,1707803481.783 [lab_test_optim:G.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:51:22.168Z,1707803482.168 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T05:51:22.168Z,1707803482.168 [Default] Running Loop=1 2024-02-13T05:51:22.168Z,1707803482.168 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T05:51:22.168Z,1707803482.168 [Default:B.GoToSurface] Running Loop=1 2024-02-13T05:51:22.169Z,1707803482.169 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T05:51:22.169Z,1707803482.169 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T05:51:22.169Z,1707803482.169 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T05:51:22.169Z,1707803482.169 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T05:51:22.178Z,1707803482.178 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T05:51:22.178Z,1707803482.178 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T05:51:22.179Z,1707803482.179 [Default:A.Wait] Running Loop=1 2024-02-13T05:51:22.179Z,1707803482.179 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:51:22.761Z,1707803482.761 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T05:51:22.761Z,1707803482.761 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T05:51:25.347Z,1707803485.347 [NAL9602](FAULT): GPS failed to acquire within timeout. 2024-02-13T05:51:25.348Z,1707803485.348 [NAL9602] Data Fault, FailCount= 4 2024-02-13T05:51:25.348Z,1707803485.348 [NAL9602](ERROR): Data Fault 2024-02-13T05:51:25.466Z,1707803485.466 [CBIT](ERROR): Data Fault in component: NAL9602 2024-02-13T05:51:25.761Z,1707803485.761 [NAL9602](INFO): Powering down 2024-02-13T05:51:26.678Z,1707803486.678 [CBIT](INFO): Clearing failed state for component NAL9602 2024-02-13T05:51:26.678Z,1707803486.678 [NAL9602] No Fault, FailCount= 4 2024-02-13T05:51:35.461Z,1707803495.461 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T05:51:35.461Z,1707803495.461 [Default:A.Wait] Stopped 2024-02-13T05:51:35.461Z,1707803495.461 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:51:35.869Z,1707803495.869 [Default:CheckIn] Running Loop=1 2024-02-13T05:51:35.869Z,1707803495.869 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T05:51:35.869Z,1707803495.869 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T05:51:40.962Z,1707803500.962 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T05:51:40.963Z,1707803500.963 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T05:51:40.963Z,1707803500.963 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T05:51:56.051Z,1707803516.051 [NAL9602](INFO): Powering up NAL9602 2024-02-13T05:52:06.960Z,1707803526.960 [NAL9602](INFO): NAL9602 initialized 2024-02-13T05:53:04.896Z,1707803584.896 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:53:04.896Z,1707803584.896 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:53:04.897Z,1707803584.897 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:53:04.899Z,1707803584.899 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:53:05.630Z,1707803585.630 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T05:53:05.645Z,1707803585.645 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T05:53:05.668Z,1707803585.668 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T05:53:05.674Z,1707803585.674 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T05:53:05.676Z,1707803585.676 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T05:53:05.682Z,1707803585.682 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T05:53:05.684Z,1707803585.684 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T05:53:05.690Z,1707803585.690 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T05:53:05.692Z,1707803585.692 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T05:53:05.699Z,1707803585.699 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T05:53:05.701Z,1707803585.701 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T05:53:05.765Z,1707803585.765 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T05:53:05.777Z,1707803585.777 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T05:53:05.804Z,1707803585.804 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T05:53:05.805Z,1707803585.805 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T05:53:05.805Z,1707803585.805 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T05:53:05.822Z,1707803585.822 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T05:53:05.915Z,1707803585.915 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T05:53:05.917Z,1707803585.917 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T05:53:05.924Z,1707803585.924 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T05:53:05.990Z,1707803585.990 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T05:53:06.014Z,1707803586.014 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T05:53:06.027Z,1707803586.027 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:53:06.039Z,1707803586.039 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T05:53:06.055Z,1707803586.055 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T05:53:06.063Z,1707803586.063 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:53:06.133Z,1707803586.133 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T05:53:06.139Z,1707803586.139 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T05:53:06.155Z,1707803586.155 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T05:53:06.156Z,1707803586.156 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T05:53:14.286Z,1707803594.286 [CommandExec](IMPORTANT): got command run 2024-02-13T05:53:14.288Z,1707803594.288 [CommandExec](IMPORTANT): Running 2024-02-13T05:53:14.440Z,1707803594.440 [Default] Stopped 2024-02-13T05:53:14.440Z,1707803594.440 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T05:53:14.440Z,1707803594.440 [Default:B.GoToSurface] Stopped 2024-02-13T05:53:14.440Z,1707803594.440 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T05:53:14.440Z,1707803594.440 [Default:CheckIn] Stopped 2024-02-13T05:53:14.440Z,1707803594.440 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T05:53:14.440Z,1707803594.440 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T05:53:14.440Z,1707803594.440 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim] Running Loop=1 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim:B] Running Loop=1 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim:C] Running Loop=1 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim:D] Running Loop=1 2024-02-13T05:53:14.441Z,1707803594.441 [lab_test_optim:Startup] Running Loop=1 2024-02-13T05:53:14.442Z,1707803594.442 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T05:53:14.442Z,1707803594.442 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T05:53:14.443Z,1707803594.443 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T05:53:14.443Z,1707803594.443 [lab_test_optim:Startup:A] Stopped 2024-02-13T05:53:14.443Z,1707803594.443 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T05:53:14.443Z,1707803594.443 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:53:14.443Z,1707803594.443 [lab_test_optim:D] Stopped 2024-02-13T05:53:14.443Z,1707803594.443 [lab_test_optim:C] Stopped 2024-02-13T05:53:14.443Z,1707803594.443 [lab_test_optim:B] Running Loop=1 2024-02-13T05:53:14.443Z,1707803594.443 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:53:14.444Z,1707803594.444 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T05:53:14.502Z,1707803594.502 [BackseatComponent](INFO): Powering up 2024-02-13T05:53:14.503Z,1707803594.503 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T05:53:38.671Z,1707803618.671 [DropWeight](CRITICAL): DROP WEIGHT MISSING. 2024-02-13T05:53:38.671Z,1707803618.671 [DropWeight] Hardware Fault, FailCount= 1 2024-02-13T05:53:38.671Z,1707803618.671 [DropWeight](ERROR): Hardware Fault 2024-02-13T05:53:38.768Z,1707803618.768 [CommandExec](FAULT): Scheduling is paused 2024-02-13T05:53:38.768Z,1707803618.768 [CBIT](INFO): Critical error at 20240213T055338 2024-02-13T05:53:38.768Z,1707803618.768 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2024-02-13T05:53:38.771Z,1707803618.771 [CBIT](ERROR): Hardware Fault in component: DropWeight 2024-02-13T05:53:38.771Z,1707803618.771 [CBIT](CRITICAL): Hardware Fault in component: DropWeight 2024-02-13T05:53:39.094Z,1707803619.094 [MissionManager](INFO): MissionManager is completed. 2024-02-13T05:53:39.094Z,1707803619.094 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T05:53:39.094Z,1707803619.094 [lab_test_optim] Stopped 2024-02-13T05:53:39.094Z,1707803619.094 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T05:53:39.094Z,1707803619.094 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T05:53:39.094Z,1707803619.094 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T05:53:39.094Z,1707803619.094 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T05:53:39.095Z,1707803619.095 [lab_test_optim:B] Stopped 2024-02-13T05:53:39.095Z,1707803619.095 [lab_test_optim:Startup] Stopped 2024-02-13T05:53:39.095Z,1707803619.095 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T05:53:39.095Z,1707803619.095 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T05:53:39.095Z,1707803619.095 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:53:39.172Z,1707803619.172 [CBIT](INFO): Critical error at 20240213T055338 2024-02-13T05:53:39.489Z,1707803619.489 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T05:53:39.489Z,1707803619.489 [Default] Running Loop=1 2024-02-13T05:53:39.489Z,1707803619.489 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T05:53:39.489Z,1707803619.489 [Default:B.GoToSurface] Running Loop=1 2024-02-13T05:53:39.489Z,1707803619.489 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T05:53:39.489Z,1707803619.489 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T05:53:39.502Z,1707803619.502 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T05:53:39.502Z,1707803619.502 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T05:53:39.502Z,1707803619.502 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T05:53:39.503Z,1707803619.503 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T05:53:39.503Z,1707803619.503 [Default:A.Wait] Running Loop=1 2024-02-13T05:53:39.503Z,1707803619.503 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:53:40.371Z,1707803620.371 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T05:53:40.371Z,1707803620.371 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T05:53:49.991Z,1707803629.991 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15 2024-02-13T05:53:49.991Z,1707803629.991 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:53:49.992Z,1707803629.992 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 15 2024-02-13T05:53:49.992Z,1707803629.992 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:53:50.058Z,1707803630.058 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:53:50.059Z,1707803630.059 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:53:50.458Z,1707803630.458 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:53:50.459Z,1707803630.459 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15 2024-02-13T05:53:50.459Z,1707803630.459 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:53:50.459Z,1707803630.459 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 15 2024-02-13T05:53:50.794Z,1707803630.794 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:53:52.845Z,1707803632.845 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T05:53:52.845Z,1707803632.845 [Default:A.Wait] Stopped 2024-02-13T05:53:52.845Z,1707803632.845 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:53:53.225Z,1707803633.225 [Default:CheckIn] Running Loop=1 2024-02-13T05:53:53.225Z,1707803633.225 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T05:53:53.225Z,1707803633.225 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T05:53:58.546Z,1707803638.546 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T05:53:58.547Z,1707803638.547 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T05:53:58.547Z,1707803638.547 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T05:55:25.992Z,1707803725.992 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:55:25.992Z,1707803725.992 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:55:25.993Z,1707803725.993 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:55:25.994Z,1707803725.994 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T05:55:26.515Z,1707803726.515 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T05:55:26.521Z,1707803726.521 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T05:55:26.535Z,1707803726.535 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T05:55:26.537Z,1707803726.537 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T05:55:26.539Z,1707803726.539 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T05:55:26.541Z,1707803726.541 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T05:55:26.607Z,1707803726.607 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T05:55:26.609Z,1707803726.609 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T05:55:26.621Z,1707803726.621 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T05:55:26.652Z,1707803726.652 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T05:55:26.661Z,1707803726.661 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T05:55:26.696Z,1707803726.696 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T05:55:26.698Z,1707803726.698 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T05:55:26.700Z,1707803726.700 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T05:55:26.701Z,1707803726.701 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T05:55:26.701Z,1707803726.701 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T05:55:26.718Z,1707803726.718 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T05:55:26.769Z,1707803726.769 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T05:55:26.781Z,1707803726.781 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T05:55:26.792Z,1707803726.792 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T05:55:26.809Z,1707803726.809 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T05:55:26.816Z,1707803726.816 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T05:55:26.821Z,1707803726.821 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:55:26.830Z,1707803726.830 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T05:55:26.835Z,1707803726.835 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T05:55:26.838Z,1707803726.838 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T05:55:26.853Z,1707803726.853 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T05:55:26.855Z,1707803726.855 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T05:55:26.864Z,1707803726.864 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T05:55:26.864Z,1707803726.864 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T05:55:30.710Z,1707803730.710 [CommandExec](IMPORTANT): got command run 2024-02-13T05:55:30.712Z,1707803730.712 [CommandExec](IMPORTANT): Running 2024-02-13T05:55:30.997Z,1707803730.997 [Default] Stopped 2024-02-13T05:55:30.997Z,1707803730.997 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T05:55:30.997Z,1707803730.997 [Default:B.GoToSurface] Stopped 2024-02-13T05:55:30.997Z,1707803730.997 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T05:55:30.997Z,1707803730.997 [Default:CheckIn] Stopped 2024-02-13T05:55:30.997Z,1707803730.997 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T05:55:30.997Z,1707803730.997 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T05:55:30.997Z,1707803730.997 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T05:55:30.997Z,1707803730.997 [lab_test_optim] Running Loop=1 2024-02-13T05:55:30.998Z,1707803730.998 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T05:55:30.998Z,1707803730.998 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:55:30.998Z,1707803730.998 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T05:55:30.998Z,1707803730.998 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T05:55:30.998Z,1707803730.998 [lab_test_optim:B] Running Loop=1 2024-02-13T05:55:30.998Z,1707803730.998 [lab_test_optim:C] Running Loop=1 2024-02-13T05:55:30.998Z,1707803730.998 [lab_test_optim:D] Running Loop=1 2024-02-13T05:55:30.998Z,1707803730.998 [lab_test_optim:Startup] Running Loop=1 2024-02-13T05:55:30.999Z,1707803730.999 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T05:55:30.999Z,1707803730.999 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T05:55:30.999Z,1707803730.999 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T05:55:30.000Z,1707803731.000 [lab_test_optim:Startup:A] Stopped 2024-02-13T05:55:30.000Z,1707803731.000 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T05:55:30.000Z,1707803731.000 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:55:30.000Z,1707803731.000 [lab_test_optim:D] Stopped 2024-02-13T05:55:30.000Z,1707803731.000 [lab_test_optim:C] Stopped 2024-02-13T05:55:30.000Z,1707803731.000 [lab_test_optim:B] Running Loop=1 2024-02-13T05:55:31.000Z,1707803731.000 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T05:55:31.000Z,1707803731.000 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T05:55:31.058Z,1707803731.058 [BackseatComponent](INFO): Powering up 2024-02-13T05:55:31.059Z,1707803731.059 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T05:56:01.713Z,1707803761.713 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T05:56:01.713Z,1707803761.713 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T05:56:01.713Z,1707803761.713 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:56:01.713Z,1707803761.713 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T05:56:01.713Z,1707803761.713 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T05:56:01.744Z,1707803761.744 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:56:01.744Z,1707803761.744 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T05:56:02.109Z,1707803762.109 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T05:56:02.109Z,1707803762.109 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T05:56:02.109Z,1707803762.109 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T05:56:02.512Z,1707803762.512 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T05:56:02.512Z,1707803762.512 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T05:56:02.512Z,1707803762.512 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T05:56:02.512Z,1707803762.512 [lab_test_optim:C] Running Loop=1 2024-02-13T05:56:02.512Z,1707803762.512 [lab_test_optim:C] Running Loop=1 2024-02-13T05:56:02.513Z,1707803762.513 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T05:56:02.897Z,1707803762.897 [PowerOnly](INFO): Powering down loadControl 2024-02-13T05:56:02.909Z,1707803762.909 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T05:56:02.909Z,1707803762.909 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T05:56:02.909Z,1707803762.909 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:56:03.329Z,1707803763.329 [lab_test_optim:C] Stopped 2024-02-13T05:56:04.552Z,1707803764.552 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T05:56:04.552Z,1707803764.552 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T05:56:04.552Z,1707803764.552 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:56:04.552Z,1707803764.552 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T05:56:04.940Z,1707803764.940 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T05:56:04.940Z,1707803764.940 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T05:56:05.344Z,1707803765.344 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T05:56:05.344Z,1707803765.344 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T05:56:05.344Z,1707803765.344 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T05:56:05.344Z,1707803765.344 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T05:56:05.344Z,1707803765.344 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T05:56:05.344Z,1707803765.344 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T05:56:05.345Z,1707803765.345 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T05:56:05.345Z,1707803765.345 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:56:05.345Z,1707803765.345 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T05:56:05.345Z,1707803765.345 [lab_test_optim:C] Running Loop=1 2024-02-13T05:56:05.724Z,1707803765.724 [PowerOnly](INFO): Powering up loadControl 2024-02-13T05:56:05.776Z,1707803765.776 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T05:56:05.776Z,1707803765.776 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T05:56:05.776Z,1707803765.776 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T05:56:05.776Z,1707803765.776 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T05:56:05.776Z,1707803765.776 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:56:05.776Z,1707803765.776 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T05:56:06.141Z,1707803766.141 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T05:56:06.146Z,1707803766.146 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T05:56:06.146Z,1707803766.146 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T05:56:06.146Z,1707803766.146 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T05:56:06.146Z,1707803766.146 [lab_test_optim:Startup] Stopped 2024-02-13T05:56:06.146Z,1707803766.146 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T05:56:06.146Z,1707803766.146 [lab_test_optim:Run] Running Loop=1 2024-02-13T05:56:06.146Z,1707803766.146 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T05:56:06.146Z,1707803766.146 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T05:56:06.552Z,1707803766.552 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T05:56:06.552Z,1707803766.552 [lab_test_optim:Run:A] Stopped 2024-02-13T05:56:06.552Z,1707803766.552 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T05:56:06.969Z,1707803766.969 [lab_test_optim:Run:B] Stopped 2024-02-13T05:56:06.969Z,1707803766.969 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T05:56:07.368Z,1707803767.368 [lab_test_optim:Run:C] Stopped 2024-02-13T05:56:07.368Z,1707803767.368 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T05:56:07.784Z,1707803767.784 [lab_test_optim:Run:D] Stopped 2024-02-13T05:56:07.784Z,1707803767.784 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T05:56:07.784Z,1707803767.784 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T05:56:07.784Z,1707803767.784 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T05:56:07.784Z,1707803767.784 [lab_test_optim:D] Running Loop=1 2024-02-13T05:56:07.784Z,1707803767.784 [lab_test_optim:D] Running Loop=1 2024-02-13T05:56:07.785Z,1707803767.785 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T05:56:08.160Z,1707803768.160 [lab_test_optim:Run:setRed] Stopped 2024-02-13T05:56:08.160Z,1707803768.160 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T05:56:08.160Z,1707803768.160 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T05:56:08.160Z,1707803768.160 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T05:56:08.160Z,1707803768.160 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T05:56:08.160Z,1707803768.160 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T05:56:08.601Z,1707803768.601 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T05:56:08.601Z,1707803768.601 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T05:56:09.013Z,1707803769.013 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T05:56:09.013Z,1707803769.013 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T05:56:09.013Z,1707803769.013 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T05:56:09.013Z,1707803769.013 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T05:56:09.014Z,1707803769.014 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T05:56:09.014Z,1707803769.014 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T05:56:09.372Z,1707803769.372 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T05:56:09.372Z,1707803769.372 [lab_test_optim:Run:G] Stopped 2024-02-13T05:56:09.373Z,1707803769.373 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T05:56:09.373Z,1707803769.373 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:56:25.359Z,1707803785.359 [BackseatComponent](IMPORTANT): ikshana: running backseat application. 2024-02-13T05:56:27.959Z,1707803787.959 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T05:56:51.023Z,1707803811.023 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16 2024-02-13T05:56:51.023Z,1707803811.023 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:56:51.024Z,1707803811.024 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 16 2024-02-13T05:56:51.024Z,1707803811.024 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:56:51.126Z,1707803811.126 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:56:51.127Z,1707803811.127 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:56:51.482Z,1707803811.482 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:56:51.482Z,1707803811.482 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16 2024-02-13T05:56:51.483Z,1707803811.483 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:56:51.483Z,1707803811.483 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 16 2024-02-13T05:56:51.832Z,1707803811.832 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T05:57:09.972Z,1707803829.972 [lab_test_optim:Run:H.Wait](INFO): Done Waiting. 2024-02-13T05:57:09.972Z,1707803829.972 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T05:57:09.973Z,1707803829.973 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T05:57:09.973Z,1707803829.973 [lab_test_optim:Run](INFO): Completed lab_test_optim:Run 2024-02-13T05:57:09.973Z,1707803829.973 [lab_test_optim:Run] Stopped 2024-02-13T05:57:09.973Z,1707803829.973 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T05:57:09.973Z,1707803829.973 [lab_test_optim:G.Wait] Running Loop=1 2024-02-13T05:57:09.973Z,1707803829.973 [lab_test_optim:G.Wait](DEBUG): Initialize Wait Component. 2024-02-13T05:59:52.019Z,1707803992.019 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17 2024-02-13T05:59:52.019Z,1707803992.019 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T05:59:52.020Z,1707803992.020 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 17 2024-02-13T05:59:52.020Z,1707803992.020 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T05:59:52.126Z,1707803992.126 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T05:59:52.126Z,1707803992.126 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T05:59:52.447Z,1707803992.447 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T05:59:52.447Z,1707803992.447 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17 2024-02-13T05:59:52.447Z,1707803992.447 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T05:59:52.447Z,1707803992.447 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 17 2024-02-13T05:59:52.829Z,1707803992.829 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T06:01:15.575Z,1707804075.575 [CommandExec](IMPORTANT): got command stop 2024-02-13T06:01:15.575Z,1707804075.575 [CommandExec](IMPORTANT): Scheduling is paused 2024-02-13T06:01:15.575Z,1707804075.575 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T06:01:15.686Z,1707804075.686 [MissionManager](INFO): MissionManager is completed. 2024-02-13T06:01:15.686Z,1707804075.686 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T06:01:15.686Z,1707804075.686 [lab_test_optim] Stopped 2024-02-13T06:01:15.686Z,1707804075.686 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T06:01:15.686Z,1707804075.686 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T06:01:15.687Z,1707804075.687 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T06:01:15.687Z,1707804075.687 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T06:01:15.687Z,1707804075.687 [lab_test_optim:B] Stopped 2024-02-13T06:01:15.687Z,1707804075.687 [lab_test_optim:C] Stopped 2024-02-13T06:01:15.687Z,1707804075.687 [lab_test_optim:D] Stopped 2024-02-13T06:01:15.687Z,1707804075.687 [lab_test_optim:G.Wait] Stopped 2024-02-13T06:01:15.687Z,1707804075.687 [lab_test_optim:G.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:01:16.048Z,1707804076.048 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T06:01:16.049Z,1707804076.049 [Default] Running Loop=1 2024-02-13T06:01:16.049Z,1707804076.049 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T06:01:16.049Z,1707804076.049 [Default:B.GoToSurface] Running Loop=1 2024-02-13T06:01:16.049Z,1707804076.049 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T06:01:16.049Z,1707804076.049 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T06:01:16.049Z,1707804076.049 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T06:01:16.050Z,1707804076.050 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T06:01:16.050Z,1707804076.050 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T06:01:16.051Z,1707804076.051 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T06:01:16.051Z,1707804076.051 [Default:A.Wait] Running Loop=1 2024-02-13T06:01:16.051Z,1707804076.051 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:01:16.323Z,1707804076.323 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T06:01:16.323Z,1707804076.323 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T06:01:29.364Z,1707804089.364 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T06:01:29.364Z,1707804089.364 [Default:A.Wait] Stopped 2024-02-13T06:01:29.364Z,1707804089.364 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:01:29.777Z,1707804089.777 [Default:CheckIn] Running Loop=1 2024-02-13T06:01:29.777Z,1707804089.777 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T06:01:29.777Z,1707804089.777 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T06:01:34.495Z,1707804094.495 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T06:01:34.495Z,1707804094.495 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T06:01:34.495Z,1707804094.495 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T06:01:57.680Z,1707804117.680 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:01:57.680Z,1707804117.680 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:01:57.681Z,1707804117.681 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:01:57.686Z,1707804117.686 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:01:58.247Z,1707804118.247 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T06:01:58.255Z,1707804118.254 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T06:01:58.257Z,1707804118.257 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T06:01:58.259Z,1707804118.259 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T06:01:58.261Z,1707804118.261 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T06:01:58.263Z,1707804118.263 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T06:01:58.265Z,1707804118.265 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T06:01:58.267Z,1707804118.267 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T06:01:58.269Z,1707804118.269 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T06:01:58.271Z,1707804118.271 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T06:01:58.273Z,1707804118.273 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T06:01:58.275Z,1707804118.275 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T06:01:58.277Z,1707804118.277 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T06:01:58.336Z,1707804118.336 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T06:01:58.336Z,1707804118.336 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T06:01:58.336Z,1707804118.336 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T06:01:58.337Z,1707804118.337 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T06:01:58.419Z,1707804118.419 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T06:01:58.423Z,1707804118.423 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T06:01:58.425Z,1707804118.425 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T06:01:58.475Z,1707804118.475 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T06:01:58.508Z,1707804118.508 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T06:01:58.529Z,1707804118.529 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:01:58.542Z,1707804118.542 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T06:01:58.548Z,1707804118.548 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T06:01:58.559Z,1707804118.559 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:01:58.609Z,1707804118.609 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T06:01:58.610Z,1707804118.610 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T06:01:58.619Z,1707804118.619 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T06:01:58.620Z,1707804118.620 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T06:02:01.442Z,1707804121.442 [CommandExec](IMPORTANT): got command run 2024-02-13T06:02:01.444Z,1707804121.444 [CommandExec](IMPORTANT): Running 2024-02-13T06:02:01.711Z,1707804121.711 [Default] Stopped 2024-02-13T06:02:01.711Z,1707804121.711 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T06:02:01.711Z,1707804121.711 [Default:B.GoToSurface] Stopped 2024-02-13T06:02:01.712Z,1707804121.712 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T06:02:01.712Z,1707804121.712 [Default:CheckIn] Stopped 2024-02-13T06:02:01.712Z,1707804121.712 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T06:02:01.712Z,1707804121.712 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T06:02:01.712Z,1707804121.712 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T06:02:01.712Z,1707804121.712 [lab_test_optim] Running Loop=1 2024-02-13T06:02:01.712Z,1707804121.712 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T06:02:01.712Z,1707804121.712 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:02:01.712Z,1707804121.712 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T06:02:01.713Z,1707804121.713 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T06:02:01.713Z,1707804121.713 [lab_test_optim:B] Running Loop=1 2024-02-13T06:02:01.713Z,1707804121.713 [lab_test_optim:C] Running Loop=1 2024-02-13T06:02:01.713Z,1707804121.713 [lab_test_optim:D] Running Loop=1 2024-02-13T06:02:01.713Z,1707804121.713 [lab_test_optim:Startup] Running Loop=1 2024-02-13T06:02:01.713Z,1707804121.713 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T06:02:01.713Z,1707804121.713 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T06:02:01.718Z,1707804121.718 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T06:02:01.718Z,1707804121.718 [lab_test_optim:Startup:A] Stopped 2024-02-13T06:02:01.718Z,1707804121.718 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T06:02:01.718Z,1707804121.718 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:02:01.719Z,1707804121.719 [lab_test_optim:D] Stopped 2024-02-13T06:02:01.719Z,1707804121.719 [lab_test_optim:C] Stopped 2024-02-13T06:02:01.719Z,1707804121.719 [lab_test_optim:B] Running Loop=1 2024-02-13T06:02:01.719Z,1707804121.719 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:02:01.719Z,1707804121.719 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T06:02:01.850Z,1707804121.850 [BackseatComponent](INFO): Powering up 2024-02-13T06:02:01.851Z,1707804121.851 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T06:02:08.955Z,1707804128.955 [NAL9602](FAULT): GPS failed to acquire within timeout. 2024-02-13T06:02:08.956Z,1707804128.956 [NAL9602] Data Fault, FailCount= 5 2024-02-13T06:02:08.956Z,1707804128.956 [NAL9602](ERROR): Data Fault 2024-02-13T06:02:09.043Z,1707804129.043 [CBIT](ERROR): Data Fault in component: NAL9602 2024-02-13T06:02:09.043Z,1707804129.043 [CBIT](CRITICAL): Data Fault in component: NAL9602 2024-02-13T06:02:09.356Z,1707804129.356 [NAL9602](INFO): Powering down 2024-02-13T06:02:09.456Z,1707804129.456 [CommandExec](FAULT): Scheduling is paused 2024-02-13T06:02:09.456Z,1707804129.456 [CBIT](INFO): Critical error at 20240213T060209 2024-02-13T06:02:09.456Z,1707804129.456 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2024-02-13T06:02:09.790Z,1707804129.790 [MissionManager](INFO): MissionManager is completed. 2024-02-13T06:02:09.790Z,1707804129.790 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T06:02:09.790Z,1707804129.790 [lab_test_optim] Stopped 2024-02-13T06:02:09.790Z,1707804129.790 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T06:02:09.790Z,1707804129.790 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T06:02:09.790Z,1707804129.790 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T06:02:09.790Z,1707804129.790 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T06:02:09.791Z,1707804129.791 [lab_test_optim:B] Stopped 2024-02-13T06:02:09.791Z,1707804129.791 [lab_test_optim:Startup] Stopped 2024-02-13T06:02:09.791Z,1707804129.791 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T06:02:09.791Z,1707804129.791 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T06:02:09.791Z,1707804129.791 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:02:10.180Z,1707804130.180 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T06:02:10.180Z,1707804130.180 [Default] Running Loop=1 2024-02-13T06:02:10.180Z,1707804130.180 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T06:02:10.180Z,1707804130.180 [Default:B.GoToSurface] Running Loop=1 2024-02-13T06:02:10.180Z,1707804130.180 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T06:02:10.180Z,1707804130.180 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T06:02:10.181Z,1707804130.181 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T06:02:10.181Z,1707804130.181 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T06:02:10.181Z,1707804130.181 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T06:02:10.182Z,1707804130.182 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T06:02:10.182Z,1707804130.182 [Default:A.Wait] Running Loop=1 2024-02-13T06:02:10.182Z,1707804130.182 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:02:20.447Z,1707804140.447 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T06:02:20.447Z,1707804140.447 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T06:02:23.508Z,1707804143.508 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T06:02:23.508Z,1707804143.508 [Default:A.Wait] Stopped 2024-02-13T06:02:23.508Z,1707804143.508 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:02:23.916Z,1707804143.916 [Default:CheckIn] Running Loop=1 2024-02-13T06:02:23.916Z,1707804143.916 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T06:02:23.916Z,1707804143.916 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T06:02:38.622Z,1707804158.622 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T06:02:38.623Z,1707804158.623 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T06:02:38.623Z,1707804158.623 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T06:02:52.997Z,1707804172.997 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18 2024-02-13T06:02:52.997Z,1707804172.997 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T06:02:52.999Z,1707804172.999 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 18 2024-02-13T06:02:52.999Z,1707804172.999 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T06:02:53.065Z,1707804173.065 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T06:02:53.065Z,1707804173.065 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T06:02:53.470Z,1707804173.470 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T06:02:53.470Z,1707804173.470 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18 2024-02-13T06:02:53.471Z,1707804173.471 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T06:02:53.471Z,1707804173.471 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 18 2024-02-13T06:02:53.818Z,1707804173.818 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T06:03:43.626Z,1707804223.626 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:03:43.626Z,1707804223.626 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:03:43.626Z,1707804223.626 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:03:43.628Z,1707804223.628 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:03:44.173Z,1707804224.173 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T06:03:44.180Z,1707804224.180 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T06:03:44.182Z,1707804224.182 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T06:03:44.184Z,1707804224.184 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T06:03:44.186Z,1707804224.186 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T06:03:44.188Z,1707804224.188 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T06:03:44.190Z,1707804224.190 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T06:03:44.192Z,1707804224.192 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T06:03:44.194Z,1707804224.194 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T06:03:44.196Z,1707804224.196 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T06:03:44.198Z,1707804224.198 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T06:03:44.200Z,1707804224.200 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T06:03:44.202Z,1707804224.202 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T06:03:44.204Z,1707804224.204 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T06:03:44.205Z,1707804224.205 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T06:03:44.205Z,1707804224.205 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T06:03:44.206Z,1707804224.206 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T06:03:44.335Z,1707804224.335 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T06:03:44.339Z,1707804224.339 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T06:03:44.341Z,1707804224.341 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T06:03:44.381Z,1707804224.381 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T06:03:44.407Z,1707804224.407 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T06:03:44.432Z,1707804224.432 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:03:44.447Z,1707804224.447 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T06:03:44.460Z,1707804224.460 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T06:03:44.465Z,1707804224.465 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:03:44.513Z,1707804224.513 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T06:03:44.514Z,1707804224.514 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T06:03:44.538Z,1707804224.538 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T06:03:44.538Z,1707804224.538 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T06:03:46.410Z,1707804226.410 [CommandExec](IMPORTANT): got command run 2024-02-13T06:03:46.412Z,1707804226.412 [CommandExec](IMPORTANT): Running 2024-02-13T06:03:46.732Z,1707804226.732 [Default] Stopped 2024-02-13T06:03:46.732Z,1707804226.732 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T06:03:46.732Z,1707804226.732 [Default:B.GoToSurface] Stopped 2024-02-13T06:03:46.732Z,1707804226.732 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T06:03:46.732Z,1707804226.732 [Default:CheckIn] Stopped 2024-02-13T06:03:46.732Z,1707804226.732 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T06:03:46.732Z,1707804226.732 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T06:03:46.733Z,1707804226.733 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T06:03:46.733Z,1707804226.733 [lab_test_optim] Running Loop=1 2024-02-13T06:03:46.733Z,1707804226.733 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T06:03:46.733Z,1707804226.733 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:03:46.733Z,1707804226.733 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T06:03:46.733Z,1707804226.733 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T06:03:46.733Z,1707804226.733 [lab_test_optim:B] Running Loop=1 2024-02-13T06:03:46.733Z,1707804226.733 [lab_test_optim:C] Running Loop=1 2024-02-13T06:03:46.733Z,1707804226.733 [lab_test_optim:D] Running Loop=1 2024-02-13T06:03:46.734Z,1707804226.734 [lab_test_optim:Startup] Running Loop=1 2024-02-13T06:03:46.734Z,1707804226.734 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T06:03:46.734Z,1707804226.734 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T06:03:46.735Z,1707804226.735 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T06:03:46.735Z,1707804226.735 [lab_test_optim:Startup:A] Stopped 2024-02-13T06:03:46.735Z,1707804226.735 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T06:03:46.735Z,1707804226.735 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:03:46.735Z,1707804226.735 [lab_test_optim:D] Stopped 2024-02-13T06:03:46.735Z,1707804226.735 [lab_test_optim:C] Stopped 2024-02-13T06:03:46.735Z,1707804226.735 [lab_test_optim:B] Running Loop=1 2024-02-13T06:03:46.735Z,1707804226.735 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:03:46.736Z,1707804226.736 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T06:03:46.830Z,1707804226.830 [BackseatComponent](INFO): Powering up 2024-02-13T06:03:46.831Z,1707804226.831 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T06:04:09.016Z,1707804249.016 [CBIT](INFO): Clearing failed state for component NAL9602 2024-02-13T06:04:09.016Z,1707804249.016 [NAL9602] No Fault, FailCount= 5 2024-02-13T06:04:09.347Z,1707804249.347 [NAL9602](INFO): Powering up NAL9602 2024-02-13T06:04:17.436Z,1707804257.436 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T06:04:17.436Z,1707804257.436 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T06:04:17.436Z,1707804257.436 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:04:17.436Z,1707804257.436 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T06:04:17.436Z,1707804257.436 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T06:04:17.436Z,1707804257.436 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T06:04:17.436Z,1707804257.436 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T06:04:17.840Z,1707804257.840 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T06:04:17.840Z,1707804257.840 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T06:04:17.840Z,1707804257.840 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T06:04:18.244Z,1707804258.244 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T06:04:18.244Z,1707804258.244 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T06:04:18.244Z,1707804258.244 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T06:04:18.244Z,1707804258.244 [lab_test_optim:C] Running Loop=1 2024-02-13T06:04:18.244Z,1707804258.244 [lab_test_optim:C] Running Loop=1 2024-02-13T06:04:18.245Z,1707804258.245 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T06:04:18.640Z,1707804258.640 [PowerOnly](INFO): Powering down loadControl 2024-02-13T06:04:18.657Z,1707804258.657 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T06:04:18.657Z,1707804258.657 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T06:04:18.657Z,1707804258.657 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:04:19.065Z,1707804259.065 [lab_test_optim:C] Stopped 2024-02-13T06:04:20.259Z,1707804260.259 [NAL9602](INFO): NAL9602 initialized 2024-02-13T06:04:20.268Z,1707804260.268 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T06:04:20.268Z,1707804260.268 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T06:04:20.268Z,1707804260.268 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:04:20.268Z,1707804260.268 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T06:04:20.677Z,1707804260.677 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T06:04:20.677Z,1707804260.677 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T06:04:21.092Z,1707804261.092 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T06:04:21.092Z,1707804261.092 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T06:04:21.092Z,1707804261.092 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T06:04:21.092Z,1707804261.092 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T06:04:21.092Z,1707804261.092 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T06:04:21.092Z,1707804261.092 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T06:04:21.092Z,1707804261.092 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T06:04:21.093Z,1707804261.093 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T06:04:21.093Z,1707804261.093 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T06:04:21.093Z,1707804261.093 [lab_test_optim:C] Running Loop=1 2024-02-13T06:04:21.486Z,1707804261.486 [PowerOnly](INFO): Powering up loadControl 2024-02-13T06:04:21.517Z,1707804261.517 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T06:04:21.517Z,1707804261.517 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T06:04:21.517Z,1707804261.517 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T06:04:21.517Z,1707804261.517 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T06:04:21.517Z,1707804261.517 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T06:04:21.517Z,1707804261.517 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T06:04:21.905Z,1707804261.905 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T06:04:21.905Z,1707804261.905 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T06:04:21.905Z,1707804261.905 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T06:04:21.905Z,1707804261.905 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T06:04:21.905Z,1707804261.905 [lab_test_optim:Startup] Stopped 2024-02-13T06:04:21.905Z,1707804261.905 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T06:04:21.905Z,1707804261.905 [lab_test_optim:Run] Running Loop=1 2024-02-13T06:04:21.906Z,1707804261.906 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T06:04:21.906Z,1707804261.906 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T06:04:22.285Z,1707804262.285 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T06:04:22.285Z,1707804262.285 [lab_test_optim:Run:A] Stopped 2024-02-13T06:04:22.285Z,1707804262.285 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T06:04:22.712Z,1707804262.712 [lab_test_optim:Run:B] Stopped 2024-02-13T06:04:22.712Z,1707804262.712 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T06:04:23.112Z,1707804263.112 [lab_test_optim:Run:C] Stopped 2024-02-13T06:04:23.112Z,1707804263.112 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T06:04:23.521Z,1707804263.521 [lab_test_optim:Run:D] Stopped 2024-02-13T06:04:23.521Z,1707804263.521 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T06:04:23.521Z,1707804263.521 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T06:04:23.526Z,1707804263.526 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T06:04:23.526Z,1707804263.526 [lab_test_optim:D] Running Loop=1 2024-02-13T06:04:23.526Z,1707804263.526 [lab_test_optim:D] Running Loop=1 2024-02-13T06:04:23.526Z,1707804263.526 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T06:04:23.912Z,1707804263.912 [lab_test_optim:Run:setRed] Stopped 2024-02-13T06:04:23.912Z,1707804263.912 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T06:04:23.912Z,1707804263.912 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T06:04:23.912Z,1707804263.912 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T06:04:23.912Z,1707804263.912 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T06:04:23.912Z,1707804263.912 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T06:04:24.356Z,1707804264.356 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T06:04:24.356Z,1707804264.356 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T06:04:24.768Z,1707804264.768 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T06:04:24.768Z,1707804264.768 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T06:04:24.768Z,1707804264.768 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T06:04:24.768Z,1707804264.768 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T06:04:24.768Z,1707804264.768 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T06:04:24.768Z,1707804264.768 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T06:04:25.141Z,1707804265.141 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T06:04:25.141Z,1707804265.141 [lab_test_optim:Run:G] Stopped 2024-02-13T06:04:25.141Z,1707804265.141 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T06:04:25.141Z,1707804265.141 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:04:41.889Z,1707804281.889 [BackseatComponent](IMPORTANT): ikshana: running backseat application. 2024-02-13T06:04:44.520Z,1707804284.520 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T06:05:25.744Z,1707804325.744 [lab_test_optim:Run:H.Wait](INFO): Done Waiting. 2024-02-13T06:05:25.744Z,1707804325.744 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T06:05:25.745Z,1707804325.745 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:05:25.745Z,1707804325.745 [lab_test_optim:Run](INFO): Completed lab_test_optim:Run 2024-02-13T06:05:25.745Z,1707804325.745 [lab_test_optim:Run] Stopped 2024-02-13T06:05:25.745Z,1707804325.745 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T06:05:25.745Z,1707804325.745 [lab_test_optim:G.Wait] Running Loop=1 2024-02-13T06:05:25.745Z,1707804325.745 [lab_test_optim:G.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:05:54.007Z,1707804354.007 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19 2024-02-13T06:05:54.007Z,1707804354.007 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T06:05:54.008Z,1707804354.008 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 19 2024-02-13T06:05:54.008Z,1707804354.008 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T06:05:54.075Z,1707804354.075 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T06:05:54.075Z,1707804354.075 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T06:05:54.506Z,1707804354.506 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T06:05:54.506Z,1707804354.506 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19 2024-02-13T06:05:54.507Z,1707804354.507 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T06:05:54.507Z,1707804354.507 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 19 2024-02-13T06:05:54.831Z,1707804354.831 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T06:07:09.651Z,1707804429.651 [CommandExec](IMPORTANT): got command stop 2024-02-13T06:07:09.651Z,1707804429.651 [CommandExec](IMPORTANT): Scheduling is paused 2024-02-13T06:07:09.651Z,1707804429.651 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T06:07:09.970Z,1707804429.970 [MissionManager](INFO): MissionManager is completed. 2024-02-13T06:07:09.970Z,1707804429.970 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T06:07:09.970Z,1707804429.970 [lab_test_optim] Stopped 2024-02-13T06:07:09.970Z,1707804429.970 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T06:07:09.970Z,1707804429.970 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T06:07:09.970Z,1707804429.970 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T06:07:09.970Z,1707804429.970 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T06:07:09.971Z,1707804429.971 [lab_test_optim:B] Stopped 2024-02-13T06:07:09.971Z,1707804429.971 [lab_test_optim:C] Stopped 2024-02-13T06:07:09.971Z,1707804429.971 [lab_test_optim:D] Stopped 2024-02-13T06:07:09.971Z,1707804429.971 [lab_test_optim:G.Wait] Stopped 2024-02-13T06:07:09.971Z,1707804429.971 [lab_test_optim:G.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:07:10.348Z,1707804430.348 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T06:07:10.349Z,1707804430.349 [Default] Running Loop=1 2024-02-13T06:07:10.349Z,1707804430.349 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T06:07:10.349Z,1707804430.349 [Default:B.GoToSurface] Running Loop=1 2024-02-13T06:07:10.349Z,1707804430.349 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T06:07:10.349Z,1707804430.349 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T06:07:10.349Z,1707804430.349 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T06:07:10.350Z,1707804430.350 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T06:07:10.350Z,1707804430.350 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T06:07:10.351Z,1707804430.351 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T06:07:10.351Z,1707804430.351 [Default:A.Wait] Running Loop=1 2024-02-13T06:07:10.351Z,1707804430.351 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:07:10.987Z,1707804430.987 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T06:07:10.987Z,1707804430.987 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T06:07:23.692Z,1707804443.692 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T06:07:23.692Z,1707804443.692 [Default:A.Wait] Stopped 2024-02-13T06:07:23.692Z,1707804443.692 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:07:24.108Z,1707804444.108 [Default:CheckIn] Running Loop=1 2024-02-13T06:07:24.108Z,1707804444.108 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T06:07:24.109Z,1707804444.109 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T06:07:29.186Z,1707804449.186 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T06:07:29.187Z,1707804449.187 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T06:07:29.187Z,1707804449.187 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T06:08:38.371Z,1707804518.371 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:08:38.372Z,1707804518.372 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:08:38.372Z,1707804518.372 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:08:38.373Z,1707804518.373 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:08:38.907Z,1707804518.907 [CBIT](INFO): Clearing failed state for component DropWeight 2024-02-13T06:08:38.907Z,1707804518.907 [DropWeight] No Fault, FailCount= 1 2024-02-13T06:08:38.951Z,1707804518.951 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T06:08:38.976Z,1707804518.976 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T06:08:38.979Z,1707804518.979 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T06:08:38.981Z,1707804518.981 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T06:08:38.992Z,1707804518.992 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T06:08:39.046Z,1707804519.046 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T06:08:39.048Z,1707804519.048 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T06:08:39.063Z,1707804519.063 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T06:08:39.065Z,1707804519.065 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T06:08:39.068Z,1707804519.068 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T06:08:39.086Z,1707804519.086 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T06:08:39.088Z,1707804519.088 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T06:08:39.103Z,1707804519.103 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T06:08:39.105Z,1707804519.105 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T06:08:39.118Z,1707804519.118 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T06:08:39.118Z,1707804519.118 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T06:08:39.119Z,1707804519.119 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T06:08:39.181Z,1707804519.181 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T06:08:39.197Z,1707804519.197 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T06:08:39.224Z,1707804519.224 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T06:08:39.266Z,1707804519.266 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T06:08:39.283Z,1707804519.283 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T06:08:39.296Z,1707804519.296 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:08:39.305Z,1707804519.305 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T06:08:39.317Z,1707804519.317 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T06:08:39.321Z,1707804519.321 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:08:39.336Z,1707804519.336 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T06:08:39.337Z,1707804519.337 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T06:08:39.346Z,1707804519.346 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T06:08:39.347Z,1707804519.347 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T06:08:54.762Z,1707804534.762 [CommandExec](IMPORTANT): got command run 2024-02-13T06:08:54.764Z,1707804534.764 [CommandExec](IMPORTANT): Running 2024-02-13T06:08:54.986Z,1707804534.986 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20 2024-02-13T06:08:54.987Z,1707804534.987 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T06:08:54.988Z,1707804534.988 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 20 2024-02-13T06:08:54.988Z,1707804534.988 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T06:08:54.989Z,1707804534.989 [Default] Stopped 2024-02-13T06:08:54.989Z,1707804534.989 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T06:08:54.989Z,1707804534.989 [Default:B.GoToSurface] Stopped 2024-02-13T06:08:54.989Z,1707804534.989 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T06:08:54.989Z,1707804534.989 [Default:CheckIn] Stopped 2024-02-13T06:08:54.989Z,1707804534.989 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T06:08:54.989Z,1707804534.989 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T06:08:54.989Z,1707804534.989 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T06:08:54.990Z,1707804534.990 [lab_test_optim] Running Loop=1 2024-02-13T06:08:54.990Z,1707804534.990 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T06:08:54.990Z,1707804534.990 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:08:54.990Z,1707804534.990 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T06:08:54.990Z,1707804534.990 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T06:08:54.990Z,1707804534.990 [lab_test_optim:B] Running Loop=1 2024-02-13T06:08:54.991Z,1707804534.991 [lab_test_optim:C] Running Loop=1 2024-02-13T06:08:54.991Z,1707804534.991 [lab_test_optim:D] Running Loop=1 2024-02-13T06:08:54.991Z,1707804534.991 [lab_test_optim:Startup] Running Loop=1 2024-02-13T06:08:54.991Z,1707804534.991 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T06:08:54.991Z,1707804534.991 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T06:08:54.992Z,1707804534.992 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T06:08:54.992Z,1707804534.992 [lab_test_optim:Startup:A] Stopped 2024-02-13T06:08:54.992Z,1707804534.992 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T06:08:54.992Z,1707804534.992 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:08:54.992Z,1707804534.992 [lab_test_optim:D] Stopped 2024-02-13T06:08:54.992Z,1707804534.992 [lab_test_optim:C] Stopped 2024-02-13T06:08:54.992Z,1707804534.992 [lab_test_optim:B] Running Loop=1 2024-02-13T06:08:54.992Z,1707804534.992 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:08:54.993Z,1707804534.993 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T06:08:55.044Z,1707804535.044 [BackseatComponent](INFO): Powering up 2024-02-13T06:08:55.045Z,1707804535.045 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T06:08:55.071Z,1707804535.071 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T06:08:55.072Z,1707804535.072 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T06:08:55.462Z,1707804535.462 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T06:08:55.462Z,1707804535.462 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 20 2024-02-13T06:08:55.463Z,1707804535.463 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T06:08:55.463Z,1707804535.463 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 20 2024-02-13T06:08:55.791Z,1707804535.791 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T06:09:25.685Z,1707804565.685 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T06:09:25.685Z,1707804565.685 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T06:09:25.685Z,1707804565.685 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:09:25.685Z,1707804565.685 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T06:09:25.685Z,1707804565.685 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T06:09:25.685Z,1707804565.685 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T06:09:25.685Z,1707804565.685 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T06:09:26.117Z,1707804566.117 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T06:09:26.117Z,1707804566.117 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T06:09:26.117Z,1707804566.117 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T06:09:26.520Z,1707804566.520 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T06:09:26.520Z,1707804566.520 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T06:09:26.521Z,1707804566.521 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T06:09:26.521Z,1707804566.521 [lab_test_optim:C] Running Loop=1 2024-02-13T06:09:26.521Z,1707804566.521 [lab_test_optim:C] Running Loop=1 2024-02-13T06:09:26.521Z,1707804566.521 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T06:09:26.906Z,1707804566.906 [PowerOnly](INFO): Powering down loadControl 2024-02-13T06:09:26.941Z,1707804566.941 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T06:09:26.942Z,1707804566.942 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T06:09:26.942Z,1707804566.942 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:09:27.305Z,1707804567.305 [lab_test_optim:C] Stopped 2024-02-13T06:09:28.522Z,1707804568.522 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T06:09:28.523Z,1707804568.523 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T06:09:28.523Z,1707804568.523 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:09:28.523Z,1707804568.523 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T06:09:28.941Z,1707804568.941 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T06:09:28.941Z,1707804568.941 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T06:09:29.356Z,1707804569.356 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T06:09:29.356Z,1707804569.356 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T06:09:29.356Z,1707804569.356 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T06:09:29.357Z,1707804569.357 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T06:09:29.357Z,1707804569.357 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T06:09:29.357Z,1707804569.357 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T06:09:29.357Z,1707804569.357 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T06:09:29.357Z,1707804569.357 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T06:09:29.357Z,1707804569.357 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T06:09:29.357Z,1707804569.357 [lab_test_optim:C] Running Loop=1 2024-02-13T06:09:29.728Z,1707804569.728 [PowerOnly](INFO): Powering up loadControl 2024-02-13T06:09:29.764Z,1707804569.764 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T06:09:29.764Z,1707804569.764 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T06:09:29.764Z,1707804569.764 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T06:09:29.764Z,1707804569.764 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T06:09:29.764Z,1707804569.764 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T06:09:29.764Z,1707804569.764 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T06:09:30.133Z,1707804570.133 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T06:09:30.133Z,1707804570.133 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T06:09:30.133Z,1707804570.133 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T06:09:30.133Z,1707804570.133 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T06:09:30.133Z,1707804570.133 [lab_test_optim:Startup] Stopped 2024-02-13T06:09:30.134Z,1707804570.134 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T06:09:30.134Z,1707804570.134 [lab_test_optim:Run] Running Loop=1 2024-02-13T06:09:30.134Z,1707804570.134 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T06:09:30.134Z,1707804570.134 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T06:09:30.536Z,1707804570.536 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T06:09:30.537Z,1707804570.537 [lab_test_optim:Run:A] Stopped 2024-02-13T06:09:30.537Z,1707804570.537 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T06:09:30.962Z,1707804570.962 [lab_test_optim:Run:B] Stopped 2024-02-13T06:09:30.962Z,1707804570.962 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T06:09:31.365Z,1707804571.365 [lab_test_optim:Run:C] Stopped 2024-02-13T06:09:31.365Z,1707804571.365 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T06:09:31.774Z,1707804571.774 [lab_test_optim:Run:D] Stopped 2024-02-13T06:09:31.774Z,1707804571.774 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T06:09:31.774Z,1707804571.774 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T06:09:31.774Z,1707804571.774 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T06:09:31.774Z,1707804571.774 [lab_test_optim:D] Running Loop=1 2024-02-13T06:09:31.774Z,1707804571.774 [lab_test_optim:D] Running Loop=1 2024-02-13T06:09:31.775Z,1707804571.775 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T06:09:32.154Z,1707804572.154 [lab_test_optim:Run:setRed] Stopped 2024-02-13T06:09:32.154Z,1707804572.154 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T06:09:32.154Z,1707804572.154 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T06:09:32.154Z,1707804572.154 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T06:09:32.154Z,1707804572.154 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T06:09:32.154Z,1707804572.154 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T06:09:32.589Z,1707804572.589 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T06:09:32.589Z,1707804572.589 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T06:09:33.005Z,1707804573.005 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T06:09:33.005Z,1707804573.005 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T06:09:33.005Z,1707804573.005 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T06:09:33.030Z,1707804573.030 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T06:09:33.030Z,1707804573.030 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T06:09:33.030Z,1707804573.030 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T06:09:33.389Z,1707804573.389 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T06:09:33.389Z,1707804573.389 [lab_test_optim:Run:G] Stopped 2024-02-13T06:09:33.389Z,1707804573.389 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T06:09:33.389Z,1707804573.389 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:09:50.473Z,1707804590.473 [BackseatComponent](IMPORTANT): ikshana: running backseat application. 2024-02-13T06:09:53.216Z,1707804593.216 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T06:10:33.965Z,1707804633.965 [lab_test_optim:Run:H.Wait](INFO): Done Waiting. 2024-02-13T06:10:33.965Z,1707804633.965 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T06:10:33.965Z,1707804633.965 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:10:33.966Z,1707804633.966 [lab_test_optim:Run](INFO): Completed lab_test_optim:Run 2024-02-13T06:10:33.966Z,1707804633.966 [lab_test_optim:Run] Stopped 2024-02-13T06:10:34.037Z,1707804634.037 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T06:10:34.040Z,1707804634.040 [lab_test_optim:G.Wait] Running Loop=1 2024-02-13T06:10:34.040Z,1707804634.040 [lab_test_optim:G.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:11:18.975Z,1707804678.975 [CommandExec](IMPORTANT): got command stop 2024-02-13T06:11:18.975Z,1707804678.975 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T06:11:19.242Z,1707804679.242 [MissionManager](INFO): MissionManager is completed. 2024-02-13T06:11:19.242Z,1707804679.242 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T06:11:19.242Z,1707804679.242 [lab_test_optim] Stopped 2024-02-13T06:11:19.242Z,1707804679.242 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T06:11:19.242Z,1707804679.242 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T06:11:19.243Z,1707804679.243 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T06:11:19.243Z,1707804679.243 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T06:11:19.243Z,1707804679.243 [lab_test_optim:B] Stopped 2024-02-13T06:11:19.243Z,1707804679.243 [lab_test_optim:C] Stopped 2024-02-13T06:11:19.243Z,1707804679.243 [lab_test_optim:D] Stopped 2024-02-13T06:11:19.243Z,1707804679.243 [lab_test_optim:G.Wait] Stopped 2024-02-13T06:11:19.243Z,1707804679.243 [lab_test_optim:G.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:11:19.392Z,1707804679.392 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T06:11:19.392Z,1707804679.392 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T06:11:19.636Z,1707804679.636 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T06:11:19.636Z,1707804679.636 [Default] Running Loop=1 2024-02-13T06:11:19.636Z,1707804679.636 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T06:11:19.636Z,1707804679.636 [Default:B.GoToSurface] Running Loop=1 2024-02-13T06:11:19.636Z,1707804679.636 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T06:11:19.636Z,1707804679.636 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T06:11:19.637Z,1707804679.637 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T06:11:19.637Z,1707804679.637 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T06:11:19.637Z,1707804679.637 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T06:11:19.642Z,1707804679.642 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T06:11:19.643Z,1707804679.643 [Default:A.Wait] Running Loop=1 2024-02-13T06:11:19.643Z,1707804679.643 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:11:32.989Z,1707804692.989 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T06:11:32.989Z,1707804692.989 [Default:A.Wait] Stopped 2024-02-13T06:11:32.989Z,1707804692.989 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:11:33.361Z,1707804693.361 [Default:CheckIn] Running Loop=1 2024-02-13T06:11:33.361Z,1707804693.361 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T06:11:33.361Z,1707804693.361 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T06:11:37.586Z,1707804697.586 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T06:11:37.587Z,1707804697.587 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T06:11:37.587Z,1707804697.587 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T06:11:55.975Z,1707804715.975 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 21 2024-02-13T06:11:55.975Z,1707804715.975 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T06:11:55.976Z,1707804715.976 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 21 2024-02-13T06:11:55.976Z,1707804715.976 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T06:11:56.042Z,1707804716.042 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T06:11:56.042Z,1707804716.042 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T06:11:56.446Z,1707804716.446 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T06:11:56.446Z,1707804716.446 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 21 2024-02-13T06:11:56.447Z,1707804716.447 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T06:11:56.447Z,1707804716.447 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 21 2024-02-13T06:11:56.783Z,1707804716.783 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T06:12:41.067Z,1707804761.067 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:12:41.068Z,1707804761.068 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:12:41.068Z,1707804761.068 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:12:41.069Z,1707804761.069 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:12:41.585Z,1707804761.585 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T06:12:41.591Z,1707804761.591 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T06:12:41.593Z,1707804761.593 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T06:12:41.652Z,1707804761.652 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T06:12:41.658Z,1707804761.658 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T06:12:41.660Z,1707804761.660 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T06:12:41.666Z,1707804761.666 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T06:12:41.668Z,1707804761.668 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T06:12:41.695Z,1707804761.695 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T06:12:41.697Z,1707804761.697 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T06:12:41.731Z,1707804761.731 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T06:12:41.733Z,1707804761.733 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T06:12:41.759Z,1707804761.759 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T06:12:41.772Z,1707804761.772 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T06:12:41.772Z,1707804761.772 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T06:12:41.772Z,1707804761.772 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T06:12:41.773Z,1707804761.773 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T06:12:41.872Z,1707804761.872 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T06:12:41.884Z,1707804761.884 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T06:12:41.898Z,1707804761.898 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T06:12:41.931Z,1707804761.931 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T06:12:41.965Z,1707804761.965 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T06:12:41.981Z,1707804761.981 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:12:42.040Z,1707804762.040 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T06:12:42.057Z,1707804762.057 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T06:12:42.068Z,1707804762.068 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:12:42.135Z,1707804762.135 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T06:12:42.136Z,1707804762.136 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T06:12:42.159Z,1707804762.159 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T06:12:42.160Z,1707804762.160 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T06:13:14.751Z,1707804794.751 [CommandExec](IMPORTANT): got command run 2024-02-13T06:13:14.752Z,1707804794.752 [CommandExec](IMPORTANT): Running 2024-02-13T06:13:14.795Z,1707804794.795 [Default] Stopped 2024-02-13T06:13:14.795Z,1707804794.795 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T06:13:14.795Z,1707804794.795 [Default:B.GoToSurface] Stopped 2024-02-13T06:13:14.795Z,1707804794.795 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T06:13:14.796Z,1707804794.796 [Default:CheckIn] Stopped 2024-02-13T06:13:14.796Z,1707804794.796 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T06:13:14.796Z,1707804794.796 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T06:13:14.796Z,1707804794.796 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T06:13:14.796Z,1707804794.796 [lab_test_optim] Running Loop=1 2024-02-13T06:13:14.796Z,1707804794.796 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T06:13:14.796Z,1707804794.796 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:13:14.796Z,1707804794.796 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T06:13:14.797Z,1707804794.797 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T06:13:14.797Z,1707804794.797 [lab_test_optim:B] Running Loop=1 2024-02-13T06:13:14.797Z,1707804794.797 [lab_test_optim:C] Running Loop=1 2024-02-13T06:13:14.797Z,1707804794.797 [lab_test_optim:D] Running Loop=1 2024-02-13T06:13:14.797Z,1707804794.797 [lab_test_optim:Startup] Running Loop=1 2024-02-13T06:13:14.797Z,1707804794.797 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T06:13:14.797Z,1707804794.797 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T06:13:14.802Z,1707804794.802 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T06:13:14.802Z,1707804794.802 [lab_test_optim:Startup:A] Stopped 2024-02-13T06:13:14.802Z,1707804794.802 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T06:13:14.803Z,1707804794.803 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:13:14.803Z,1707804794.803 [lab_test_optim:D] Stopped 2024-02-13T06:13:14.803Z,1707804794.803 [lab_test_optim:C] Stopped 2024-02-13T06:13:14.803Z,1707804794.803 [lab_test_optim:B] Running Loop=1 2024-02-13T06:13:14.803Z,1707804794.803 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:13:14.803Z,1707804794.803 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T06:13:14.810Z,1707804794.810 [BackseatComponent](INFO): Powering up 2024-02-13T06:13:14.810Z,1707804794.810 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T06:13:45.485Z,1707804825.485 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T06:13:45.485Z,1707804825.485 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T06:13:45.485Z,1707804825.485 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:13:45.485Z,1707804825.485 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T06:13:45.485Z,1707804825.485 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T06:13:45.485Z,1707804825.485 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T06:13:45.485Z,1707804825.485 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T06:13:45.888Z,1707804825.888 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T06:13:45.888Z,1707804825.888 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T06:13:45.888Z,1707804825.888 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T06:13:46.323Z,1707804826.323 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T06:13:46.324Z,1707804826.324 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T06:13:46.452Z,1707804826.452 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T06:13:46.452Z,1707804826.452 [lab_test_optim:C] Running Loop=1 2024-02-13T06:13:46.453Z,1707804826.453 [lab_test_optim:C] Running Loop=1 2024-02-13T06:13:46.453Z,1707804826.453 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T06:13:46.664Z,1707804826.664 [PowerOnly](INFO): Powering down loadControl 2024-02-13T06:13:46.697Z,1707804826.697 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T06:13:46.697Z,1707804826.697 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T06:13:46.697Z,1707804826.697 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:13:47.076Z,1707804827.076 [lab_test_optim:C] Stopped 2024-02-13T06:13:48.309Z,1707804828.309 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T06:13:48.309Z,1707804828.309 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T06:13:48.309Z,1707804828.309 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:13:48.309Z,1707804828.309 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T06:13:48.721Z,1707804828.721 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T06:13:48.721Z,1707804828.721 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T06:13:49.129Z,1707804829.129 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T06:13:49.129Z,1707804829.129 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T06:13:49.129Z,1707804829.129 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T06:13:49.129Z,1707804829.129 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T06:13:49.129Z,1707804829.129 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T06:13:49.129Z,1707804829.129 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T06:13:49.130Z,1707804829.130 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T06:13:49.130Z,1707804829.130 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T06:13:49.131Z,1707804829.131 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T06:13:49.131Z,1707804829.131 [lab_test_optim:C] Running Loop=1 2024-02-13T06:13:49.492Z,1707804829.492 [PowerOnly](INFO): Powering up loadControl 2024-02-13T06:13:49.528Z,1707804829.528 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T06:13:49.528Z,1707804829.528 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T06:13:49.528Z,1707804829.528 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T06:13:49.528Z,1707804829.528 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T06:13:49.528Z,1707804829.528 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T06:13:49.528Z,1707804829.528 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T06:13:49.909Z,1707804829.909 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T06:13:49.910Z,1707804829.910 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T06:13:49.910Z,1707804829.910 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T06:13:49.910Z,1707804829.910 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T06:13:49.910Z,1707804829.910 [lab_test_optim:Startup] Stopped 2024-02-13T06:13:49.910Z,1707804829.910 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T06:13:49.910Z,1707804829.910 [lab_test_optim:Run] Running Loop=1 2024-02-13T06:13:49.910Z,1707804829.910 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T06:13:49.911Z,1707804829.911 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T06:13:50.325Z,1707804830.325 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T06:13:50.325Z,1707804830.325 [lab_test_optim:Run:A] Stopped 2024-02-13T06:13:50.326Z,1707804830.326 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T06:13:50.713Z,1707804830.713 [lab_test_optim:Run:B] Stopped 2024-02-13T06:13:50.713Z,1707804830.713 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T06:13:51.138Z,1707804831.138 [lab_test_optim:Run:C] Stopped 2024-02-13T06:13:51.138Z,1707804831.138 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T06:13:51.544Z,1707804831.544 [lab_test_optim:Run:D] Stopped 2024-02-13T06:13:51.544Z,1707804831.544 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T06:13:51.544Z,1707804831.544 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T06:13:51.544Z,1707804831.544 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T06:13:51.544Z,1707804831.544 [lab_test_optim:D] Running Loop=1 2024-02-13T06:13:51.544Z,1707804831.544 [lab_test_optim:D] Running Loop=1 2024-02-13T06:13:51.545Z,1707804831.545 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T06:13:51.945Z,1707804831.945 [lab_test_optim:Run:setRed] Stopped 2024-02-13T06:13:51.945Z,1707804831.945 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T06:13:51.945Z,1707804831.945 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T06:13:51.945Z,1707804831.945 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T06:13:51.945Z,1707804831.945 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T06:13:51.945Z,1707804831.945 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T06:13:52.361Z,1707804832.361 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T06:13:52.361Z,1707804832.361 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T06:13:52.771Z,1707804832.771 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T06:13:52.771Z,1707804832.771 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T06:13:52.772Z,1707804832.772 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T06:13:52.772Z,1707804832.772 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T06:13:52.772Z,1707804832.772 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T06:13:52.772Z,1707804832.772 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T06:13:53.166Z,1707804833.166 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T06:13:53.166Z,1707804833.166 [lab_test_optim:Run:G] Stopped 2024-02-13T06:13:53.166Z,1707804833.166 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T06:13:53.166Z,1707804833.166 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:14:09.901Z,1707804849.901 [BackseatComponent](IMPORTANT): ikshana: running backseat application. 2024-02-13T06:14:12.538Z,1707804852.538 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T06:14:22.216Z,1707804862.216 [NAL9602](FAULT): GPS failed to acquire within timeout. 2024-02-13T06:14:22.216Z,1707804862.216 [NAL9602] Data Fault, FailCount= 1 2024-02-13T06:14:22.216Z,1707804862.216 [NAL9602](ERROR): Data Fault 2024-02-13T06:14:22.298Z,1707804862.298 [CBIT](ERROR): Data Fault in component: NAL9602 2024-02-13T06:14:22.654Z,1707804862.654 [NAL9602](INFO): Powering down 2024-02-13T06:14:23.554Z,1707804863.554 [CBIT](INFO): Clearing failed state for component NAL9602 2024-02-13T06:14:23.554Z,1707804863.554 [NAL9602] No Fault, FailCount= 1 2024-02-13T06:14:52.920Z,1707804892.920 [NAL9602](INFO): Powering up NAL9602 2024-02-13T06:14:53.736Z,1707804893.736 [lab_test_optim:Run:H.Wait](INFO): Done Waiting. 2024-02-13T06:14:53.736Z,1707804893.736 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T06:14:53.736Z,1707804893.736 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:14:53.737Z,1707804893.737 [lab_test_optim:Run](INFO): Completed lab_test_optim:Run 2024-02-13T06:14:53.737Z,1707804893.737 [lab_test_optim:Run] Stopped 2024-02-13T06:14:53.737Z,1707804893.737 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T06:14:53.737Z,1707804893.737 [lab_test_optim:G.Wait] Running Loop=1 2024-02-13T06:14:53.737Z,1707804893.737 [lab_test_optim:G.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:14:56.967Z,1707804896.967 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 22 2024-02-13T06:14:56.967Z,1707804896.967 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T06:14:56.968Z,1707804896.968 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 22 2024-02-13T06:14:56.968Z,1707804896.968 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T06:14:57.042Z,1707804897.042 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T06:14:57.042Z,1707804897.042 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T06:14:57.490Z,1707804897.490 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T06:14:57.490Z,1707804897.490 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 22 2024-02-13T06:14:57.491Z,1707804897.491 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T06:14:57.491Z,1707804897.491 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 22 2024-02-13T06:14:57.775Z,1707804897.775 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T06:15:03.853Z,1707804903.853 [NAL9602](INFO): NAL9602 initialized 2024-02-13T06:16:38.871Z,1707804998.871 [CommandExec](IMPORTANT): got command stop 2024-02-13T06:16:38.871Z,1707804998.871 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T06:16:39.234Z,1707804999.234 [MissionManager](INFO): MissionManager is completed. 2024-02-13T06:16:39.234Z,1707804999.234 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T06:16:39.234Z,1707804999.234 [lab_test_optim] Stopped 2024-02-13T06:16:39.234Z,1707804999.234 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T06:16:39.234Z,1707804999.234 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T06:16:39.234Z,1707804999.234 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T06:16:39.234Z,1707804999.234 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T06:16:39.235Z,1707804999.235 [lab_test_optim:B] Stopped 2024-02-13T06:16:39.235Z,1707804999.235 [lab_test_optim:C] Stopped 2024-02-13T06:16:39.235Z,1707804999.235 [lab_test_optim:D] Stopped 2024-02-13T06:16:39.235Z,1707804999.235 [lab_test_optim:G.Wait] Stopped 2024-02-13T06:16:39.235Z,1707804999.235 [lab_test_optim:G.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:16:39.353Z,1707804999.353 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T06:16:39.353Z,1707804999.353 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T06:16:39.605Z,1707804999.605 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T06:16:39.605Z,1707804999.605 [Default] Running Loop=1 2024-02-13T06:16:39.605Z,1707804999.605 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T06:16:39.605Z,1707804999.605 [Default:B.GoToSurface] Running Loop=1 2024-02-13T06:16:39.605Z,1707804999.605 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T06:16:39.606Z,1707804999.606 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T06:16:39.606Z,1707804999.606 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T06:16:39.607Z,1707804999.607 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T06:16:39.607Z,1707804999.607 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T06:16:39.607Z,1707804999.607 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T06:16:39.608Z,1707804999.608 [Default:A.Wait] Running Loop=1 2024-02-13T06:16:39.608Z,1707804999.608 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:16:52.941Z,1707805012.941 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T06:16:52.941Z,1707805012.941 [Default:A.Wait] Stopped 2024-02-13T06:16:52.941Z,1707805012.941 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:16:53.333Z,1707805013.333 [Default:CheckIn] Running Loop=1 2024-02-13T06:16:53.333Z,1707805013.333 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T06:16:53.333Z,1707805013.333 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T06:16:57.515Z,1707805017.515 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T06:16:57.515Z,1707805017.515 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T06:16:57.515Z,1707805017.515 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T06:17:57.959Z,1707805077.959 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 23 2024-02-13T06:17:57.959Z,1707805077.959 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T06:17:57.960Z,1707805077.960 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 23 2024-02-13T06:17:57.960Z,1707805077.960 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T06:17:58.033Z,1707805078.033 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T06:17:58.034Z,1707805078.034 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T06:17:58.450Z,1707805078.450 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T06:17:58.450Z,1707805078.450 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 23 2024-02-13T06:17:58.451Z,1707805078.451 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T06:17:58.451Z,1707805078.451 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 23 2024-02-13T06:17:58.789Z,1707805078.789 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T06:19:14.233Z,1707805154.233 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:19:14.233Z,1707805154.233 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:19:14.233Z,1707805154.233 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:19:14.239Z,1707805154.239 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl 2024-02-13T06:19:15.369Z,1707805155.369 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for 2024-02-13T06:19:15.383Z,1707805155.383 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min 2024-02-13T06:19:15.385Z,1707805155.385 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min 2024-02-13T06:19:15.391Z,1707805155.391 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s 2024-02-13T06:19:15.393Z,1707805155.393 [MissionManager](INFO): DefineArg lab_test_optim.UseMission = 1 bool 2024-02-13T06:19:15.399Z,1707805155.399 [MissionManager](INFO): DefineArg lab_test_optim.UseHardcode = 0 bool 2024-02-13T06:19:15.401Z,1707805155.401 [MissionManager](INFO): DefineArg lab_test_optim.InitialSampleTime = 1.000000 s 2024-02-13T06:19:15.408Z,1707805155.408 [MissionManager](INFO): DefineArg lab_test_optim.SleepCycles = 3.000000 count 2024-02-13T06:19:15.522Z,1707805155.522 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count 2024-02-13T06:19:15.524Z,1707805155.524 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32 2024-02-13T06:19:15.542Z,1707805155.542 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32 2024-02-13T06:19:15.545Z,1707805155.545 [MissionManager](INFO): DefineOutput lab_test_optim.CyclesWaited = 0.000000 count 2024-02-13T06:19:15.555Z,1707805155.555 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool 2024-02-13T06:19:15.557Z,1707805155.557 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool 2024-02-13T06:19:15.557Z,1707805155.557 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-02-13T06:19:15.574Z,1707805155.574 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-02-13T06:19:15.575Z,1707805155.575 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-02-13T06:19:15.673Z,1707805155.673 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-02-13T06:19:15.693Z,1707805155.693 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2024-02-13T06:19:15.703Z,1707805155.703 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-02-13T06:19:15.764Z,1707805155.764 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait. 2024-02-13T06:19:15.792Z,1707805155.792 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Construct Wait. 2024-02-13T06:19:15.804Z,1707805155.804 [lab_test_optim:Startup:UseBackdoor:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:19:15.813Z,1707805155.813 [lab_test_optim:Startup:UseBackdoor:D.Execute](DEBUG): Construct Execute. 2024-02-13T06:19:15.826Z,1707805155.826 [lab_test_optim:Startup:UseBackdoor:G.Execute](DEBUG): Construct Execute. 2024-02-13T06:19:15.829Z,1707805155.829 [lab_test_optim:Startup:UseHardcode:A.Execute](DEBUG): Construct Execute. 2024-02-13T06:19:15.865Z,1707805155.865 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait. 2024-02-13T06:19:15.871Z,1707805155.871 [lab_test_optim:G.Wait](DEBUG): Construct Wait. 2024-02-13T06:19:15.887Z,1707805155.887 [MissionManager](DEBUG): mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } 2024-02-13T06:19:15.888Z,1707805155.888 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim 2024-02-13T06:19:29.314Z,1707805169.314 [CommandExec](IMPORTANT): got command run 2024-02-13T06:19:29.316Z,1707805169.316 [CommandExec](IMPORTANT): Running 2024-02-13T06:19:29.370Z,1707805169.370 [MassServo](ERROR): getPosition uart error serial timeout 2024-02-13T06:19:29.371Z,1707805169.371 [MassServo](FAULT): Invalid EZ Servo response:"\377" 2024-02-13T06:19:29.371Z,1707805169.371 [MassServo] Communications Fault, FailCount= 1 2024-02-13T06:19:29.371Z,1707805169.371 [MassServo](ERROR): Communications Fault 2024-02-13T06:19:29.424Z,1707805169.424 [CBIT](ERROR): Communications Fault in component: MassServo 2024-02-13T06:19:29.696Z,1707805169.696 [Default] Stopped 2024-02-13T06:19:29.696Z,1707805169.696 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T06:19:29.696Z,1707805169.696 [Default:B.GoToSurface] Stopped 2024-02-13T06:19:29.696Z,1707805169.696 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T06:19:29.696Z,1707805169.696 [Default:CheckIn] Stopped 2024-02-13T06:19:29.697Z,1707805169.697 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T06:19:29.697Z,1707805169.697 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T06:19:29.697Z,1707805169.697 [MissionManager](IMPORTANT): Started mission lab_test_optim 2024-02-13T06:19:29.697Z,1707805169.697 [lab_test_optim] Running Loop=1 2024-02-13T06:19:29.697Z,1707805169.697 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim 2024-02-13T06:19:29.697Z,1707805169.697 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:19:29.697Z,1707805169.697 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver 2024-02-13T06:19:29.697Z,1707805169.697 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-02-13T06:19:29.698Z,1707805169.698 [lab_test_optim:B] Running Loop=1 2024-02-13T06:19:29.698Z,1707805169.698 [lab_test_optim:C] Running Loop=1 2024-02-13T06:19:29.698Z,1707805169.698 [lab_test_optim:D] Running Loop=1 2024-02-13T06:19:29.698Z,1707805169.698 [lab_test_optim:Startup] Running Loop=1 2024-02-13T06:19:29.698Z,1707805169.698 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup 2024-02-13T06:19:29.698Z,1707805169.698 [lab_test_optim:Startup:A] Running Loop=1 2024-02-13T06:19:29.699Z,1707805169.699 [lab_test_optim:Startup:A](IMPORTANT): Waiting 30.000000 s for backseat to start up... 2024-02-13T06:19:29.699Z,1707805169.699 [lab_test_optim:Startup:A] Stopped 2024-02-13T06:19:29.699Z,1707805169.699 [lab_test_optim:Startup:B.Wait] Running Loop=1 2024-02-13T06:19:29.699Z,1707805169.699 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:19:29.699Z,1707805169.699 [lab_test_optim:D] Stopped 2024-02-13T06:19:29.699Z,1707805169.699 [lab_test_optim:C] Stopped 2024-02-13T06:19:29.699Z,1707805169.699 [lab_test_optim:B] Running Loop=1 2024-02-13T06:19:29.700Z,1707805169.700 [lab_test_optim:BackseatDriver] Running Loop=1 2024-02-13T06:19:29.700Z,1707805169.700 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat 2024-02-13T06:19:29.750Z,1707805169.750 [BackseatComponent](INFO): Powering up 2024-02-13T06:19:29.750Z,1707805169.750 [BackseatComponent](INFO): Subscribing to LCM channels. 2024-02-13T06:19:29.759Z,1707805169.759 [MassServo](DEBUG): Uninitialize Mass Servo. 2024-02-13T06:19:29.759Z,1707805169.759 [MassServo](INFO): Powering down 2024-02-13T06:19:30.482Z,1707805170.482 [MassServo](DEBUG): Initializing EZServoServo. 2024-02-13T06:19:30.599Z,1707805170.599 [MassServo](DEBUG): Initializing MassServo. 2024-02-13T06:19:30.603Z,1707805170.603 [CBIT](INFO): Clearing failed state for component MassServo 2024-02-13T06:19:30.603Z,1707805170.603 [MassServo] No Fault, FailCount= 1 2024-02-13T06:20:00.373Z,1707805200.373 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting. 2024-02-13T06:20:00.373Z,1707805200.373 [lab_test_optim:Startup:B.Wait] Stopped 2024-02-13T06:20:00.373Z,1707805200.373 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:20:00.373Z,1707805200.373 [lab_test_optim:Startup:UseMission] Running Loop=1 2024-02-13T06:20:00.373Z,1707805200.373 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseMission 2024-02-13T06:20:00.373Z,1707805200.373 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T06:20:00.373Z,1707805200.373 [lab_test_optim:Startup:UseMission:B] Running Loop=1 2024-02-13T06:20:00.785Z,1707805200.785 [lab_test_optim:Startup:UseMission:B] Stopped 2024-02-13T06:20:00.785Z,1707805200.785 [lab_test_optim:Startup:UseMission:C] Running Loop=1 2024-02-13T06:20:00.785Z,1707805200.785 [lab_test_optim:Startup:UseMission:A] Running Loop=1 2024-02-13T06:20:01.196Z,1707805201.196 [lab_test_optim:Startup:UseMission:C](IMPORTANT): Disabling Optim recording after 1.000000 s 2024-02-13T06:20:01.196Z,1707805201.196 [lab_test_optim:Startup:UseMission:C] Stopped 2024-02-13T06:20:01.196Z,1707805201.196 [lab_test_optim:Startup:UseMission:D] Running Loop=1 2024-02-13T06:20:01.196Z,1707805201.196 [lab_test_optim:C] Running Loop=1 2024-02-13T06:20:01.196Z,1707805201.196 [lab_test_optim:C] Running Loop=1 2024-02-13T06:20:01.197Z,1707805201.197 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1 2024-02-13T06:20:01.590Z,1707805201.590 [PowerOnly](INFO): Powering down loadControl 2024-02-13T06:20:01.628Z,1707805201.628 [lab_test_optim:Startup:UseMission:D] Stopped 2024-02-13T06:20:01.628Z,1707805201.628 [lab_test_optim:Startup:UseMission:E.Wait] Running Loop=1 2024-02-13T06:20:01.628Z,1707805201.628 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:20:02.072Z,1707805202.072 [lab_test_optim:C] Stopped 2024-02-13T06:20:03.226Z,1707805203.226 [lab_test_optim:Startup:UseMission:E.Wait](INFO): Done Waiting. 2024-02-13T06:20:03.226Z,1707805203.226 [lab_test_optim:Startup:UseMission:E.Wait] Stopped 2024-02-13T06:20:03.226Z,1707805203.226 [lab_test_optim:Startup:UseMission:E.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:20:03.226Z,1707805203.226 [lab_test_optim:Startup:UseMission:F] Running Loop=1 2024-02-13T06:20:03.616Z,1707805203.616 [lab_test_optim:Startup:UseMission:F] Stopped 2024-02-13T06:20:03.617Z,1707805203.617 [lab_test_optim:Startup:UseMission:G] Running Loop=1 2024-02-13T06:20:04.010Z,1707805204.010 [lab_test_optim:Startup:UseMission:G](IMPORTANT): Powering up Optim to try to tide over gap to handoff... 2024-02-13T06:20:04.010Z,1707805204.010 [lab_test_optim:Startup:UseMission:G] Stopped 2024-02-13T06:20:04.011Z,1707805204.011 [lab_test_optim:Startup:UseMission](INFO): Completed lab_test_optim:Startup:UseMission 2024-02-13T06:20:04.011Z,1707805204.011 [lab_test_optim:Startup:UseMission] Stopped 2024-02-13T06:20:04.011Z,1707805204.011 [lab_test_optim:Startup:UseMission](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseMission 2024-02-13T06:20:04.011Z,1707805204.011 [lab_test_optim:Startup:UseMission:A] Stopped 2024-02-13T06:20:04.011Z,1707805204.011 [lab_test_optim:Startup:UseBackdoor] Running Loop=1 2024-02-13T06:20:04.011Z,1707805204.011 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseBackdoor 2024-02-13T06:20:04.011Z,1707805204.011 [lab_test_optim:Startup:UseBackdoor:A.Execute] Running Loop=1 2024-02-13T06:20:04.011Z,1707805204.011 [lab_test_optim:C] Running Loop=1 2024-02-13T06:20:04.400Z,1707805204.400 [PowerOnly](INFO): Powering up loadControl 2024-02-13T06:20:04.433Z,1707805204.433 [lab_test_optim:Startup:UseBackdoor] Stopped 2024-02-13T06:20:04.433Z,1707805204.433 [lab_test_optim:Startup:UseBackdoor](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseBackdoor 2024-02-13T06:20:04.433Z,1707805204.433 [lab_test_optim:Startup:UseBackdoor:A.Execute] Stopped 2024-02-13T06:20:04.433Z,1707805204.433 [lab_test_optim:Startup:UseHardcode] Running Loop=1 2024-02-13T06:20:04.433Z,1707805204.433 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::initialize lab_test_optim:Startup:UseHardcode 2024-02-13T06:20:04.433Z,1707805204.433 [lab_test_optim:Startup:UseHardcode:A.Execute] Running Loop=1 2024-02-13T06:20:04.840Z,1707805204.840 [lab_test_optim:Startup:UseHardcode] Stopped 2024-02-13T06:20:04.840Z,1707805204.840 [lab_test_optim:Startup:UseHardcode](DEBUG): Aggregate::uninitialize lab_test_optim:Startup:UseHardcode 2024-02-13T06:20:04.840Z,1707805204.840 [lab_test_optim:Startup:UseHardcode:A.Execute] Stopped 2024-02-13T06:20:04.840Z,1707805204.840 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup 2024-02-13T06:20:04.840Z,1707805204.840 [lab_test_optim:Startup] Stopped 2024-02-13T06:20:04.841Z,1707805204.841 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup 2024-02-13T06:20:04.841Z,1707805204.841 [lab_test_optim:Run] Running Loop=1 2024-02-13T06:20:04.841Z,1707805204.841 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run 2024-02-13T06:20:04.841Z,1707805204.841 [lab_test_optim:Run:A] Running Loop=1 2024-02-13T06:20:05.250Z,1707805205.250 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal 2024-02-13T06:20:05.250Z,1707805205.250 [lab_test_optim:Run:A] Stopped 2024-02-13T06:20:05.250Z,1707805205.250 [lab_test_optim:Run:B] Running Loop=1 2024-02-13T06:20:05.642Z,1707805205.642 [lab_test_optim:Run:B] Stopped 2024-02-13T06:20:05.642Z,1707805205.642 [lab_test_optim:Run:C] Running Loop=1 2024-02-13T06:20:06.030Z,1707805206.030 [lab_test_optim:Run:C] Stopped 2024-02-13T06:20:06.030Z,1707805206.030 [lab_test_optim:Run:D] Running Loop=1 2024-02-13T06:20:06.446Z,1707805206.446 [lab_test_optim:Run:D] Stopped 2024-02-13T06:20:06.446Z,1707805206.446 [lab_test_optim:Run:setRed] Running Loop=1 2024-02-13T06:20:06.446Z,1707805206.446 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed 2024-02-13T06:20:06.447Z,1707805206.447 [lab_test_optim:Run:setRed:A] Running Loop=1 2024-02-13T06:20:06.447Z,1707805206.447 [lab_test_optim:D] Running Loop=1 2024-02-13T06:20:06.447Z,1707805206.447 [lab_test_optim:D] Running Loop=1 2024-02-13T06:20:06.447Z,1707805206.447 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog 2024-02-13T06:20:06.837Z,1707805206.837 [lab_test_optim:Run:setRed] Stopped 2024-02-13T06:20:06.837Z,1707805206.837 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed 2024-02-13T06:20:06.837Z,1707805206.837 [lab_test_optim:Run:setRed:A] Stopped 2024-02-13T06:20:06.837Z,1707805206.837 [lab_test_optim:Run:setWhite] Running Loop=1 2024-02-13T06:20:06.837Z,1707805206.837 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite 2024-02-13T06:20:06.837Z,1707805206.837 [lab_test_optim:Run:setWhite:A] Running Loop=1 2024-02-13T06:20:07.284Z,1707805207.284 [lab_test_optim:Run:setWhite:A] Stopped 2024-02-13T06:20:07.284Z,1707805207.284 [lab_test_optim:Run:setWhite:B] Running Loop=1 2024-02-13T06:20:07.697Z,1707805207.697 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 2024-02-13T06:20:07.697Z,1707805207.697 [lab_test_optim:Run:setWhite:B] Stopped 2024-02-13T06:20:07.697Z,1707805207.697 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite 2024-02-13T06:20:07.698Z,1707805207.698 [lab_test_optim:Run:setWhite] Stopped 2024-02-13T06:20:07.698Z,1707805207.698 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite 2024-02-13T06:20:07.698Z,1707805207.698 [lab_test_optim:Run:G] Running Loop=1 2024-02-13T06:20:08.062Z,1707805208.062 [lab_test_optim:Run:G](IMPORTANT): Recording for 1.000000 min 2024-02-13T06:20:08.062Z,1707805208.062 [lab_test_optim:Run:G] Stopped 2024-02-13T06:20:08.062Z,1707805208.062 [lab_test_optim:Run:H.Wait] Running Loop=1 2024-02-13T06:20:08.062Z,1707805208.062 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:20:24.396Z,1707805224.396 [BackseatComponent](IMPORTANT): ikshana: running backseat application. 2024-02-13T06:20:27.083Z,1707805227.083 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.data_dir_logging_rate with code: 1881 2024-02-13T06:20:59.031Z,1707805259.031 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 24 2024-02-13T06:20:59.031Z,1707805259.031 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-02-13T06:20:59.032Z,1707805259.032 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 24 2024-02-13T06:20:59.032Z,1707805259.032 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault 2024-02-13T06:20:59.108Z,1707805259.108 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-02-13T06:20:59.108Z,1707805259.108 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator 2024-02-13T06:20:59.546Z,1707805259.546 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-02-13T06:20:59.546Z,1707805259.546 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 24 2024-02-13T06:20:59.546Z,1707805259.546 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator 2024-02-13T06:20:59.546Z,1707805259.546 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 24 2024-02-13T06:20:59.827Z,1707805259.827 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-02-13T06:21:03.956Z,1707805263.956 [CommandExec](IMPORTANT): got command stop 2024-02-13T06:21:03.956Z,1707805263.956 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-02-13T06:21:04.318Z,1707805264.318 [MissionManager](INFO): MissionManager is completed. 2024-02-13T06:21:04.318Z,1707805264.318 [MissionManager](INFO): Uninitializing Mission lab_test_optim 2024-02-13T06:21:04.318Z,1707805264.318 [lab_test_optim] Stopped 2024-02-13T06:21:04.318Z,1707805264.318 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim 2024-02-13T06:21:04.318Z,1707805264.318 [lab_test_optim:BackseatDriver] Stopped 2024-02-13T06:21:04.318Z,1707805264.318 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver 2024-02-13T06:21:04.318Z,1707805264.318 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped 2024-02-13T06:21:04.319Z,1707805264.319 [lab_test_optim:B] Stopped 2024-02-13T06:21:04.319Z,1707805264.319 [lab_test_optim:C] Stopped 2024-02-13T06:21:04.319Z,1707805264.319 [lab_test_optim:D] Stopped 2024-02-13T06:21:04.319Z,1707805264.319 [lab_test_optim:Run] Stopped 2024-02-13T06:21:04.319Z,1707805264.319 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run 2024-02-13T06:21:04.319Z,1707805264.319 [lab_test_optim:Run:H.Wait] Stopped 2024-02-13T06:21:04.319Z,1707805264.319 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:21:04.708Z,1707805264.708 [MissionManager](IMPORTANT): Started mission Default 2024-02-13T06:21:04.708Z,1707805264.708 [Default] Running Loop=1 2024-02-13T06:21:04.708Z,1707805264.708 [Default](DEBUG): Aggregate::initialize Default 2024-02-13T06:21:04.708Z,1707805264.708 [Default:B.GoToSurface] Running Loop=1 2024-02-13T06:21:04.708Z,1707805264.708 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-02-13T06:21:04.708Z,1707805264.708 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-02-13T06:21:04.709Z,1707805264.709 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-02-13T06:21:04.709Z,1707805264.709 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-02-13T06:21:04.709Z,1707805264.709 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-02-13T06:21:04.710Z,1707805264.710 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-02-13T06:21:04.710Z,1707805264.710 [Default:A.Wait] Running Loop=1 2024-02-13T06:21:04.711Z,1707805264.711 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-02-13T06:21:06.083Z,1707805266.083 [BackseatComponent](INFO): Sent LCM shutdown request. 2024-02-13T06:21:06.083Z,1707805266.083 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.). 2024-02-13T06:21:18.010Z,1707805278.010 [Default:A.Wait](INFO): Done Waiting. 2024-02-13T06:21:18.010Z,1707805278.010 [Default:A.Wait] Stopped 2024-02-13T06:21:18.010Z,1707805278.010 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-02-13T06:21:18.413Z,1707805278.413 [Default:CheckIn] Running Loop=1 2024-02-13T06:21:18.413Z,1707805278.413 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-02-13T06:21:18.413Z,1707805278.413 [Default:CheckIn:Read_GPS] Running Loop=1 2024-02-13T06:21:24.274Z,1707805284.274 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec). 2024-02-13T06:21:24.275Z,1707805284.275 [BackseatComponent](INFO): Unsubscribing from LCM channels. 2024-02-13T06:21:24.275Z,1707805284.275 [LcmUniversalReporter](INFO): Deactivating messaging. 2024-02-13T06:21:34.979Z,1707805294.979 [CommandExec](IMPORTANT): got command quit 2024-02-13T06:21:35.982Z,1707805295.982 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:35.982Z,1707805295.982 [CommandExec](INFO): Uninitializing the command executive. 2024-02-13T06:21:35.982Z,1707805295.982 [CommandExec](INFO): Uninitializing the command scheduler. 2024-02-13T06:21:35.982Z,1707805295.982 [CommandExec ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:36.158Z,1707805296.158 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup. Bye! 2024-02-13T06:21:36.158Z,1707805296.158 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler 2024-02-13T06:21:36.158Z,1707805296.158 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:36.159Z,1707805296.159 [NavChartDb](INFO): Join timeout helper Thread ID is 3908 2024-02-13T06:21:36.346Z,1707805296.346 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:36.347Z,1707805296.347 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:36.366Z,1707805296.366 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler 2024-02-13T06:21:36.366Z,1707805296.366 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:36.366Z,1707805296.366 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3909 2024-02-13T06:21:36.822Z,1707805296.822 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:36.822Z,1707805296.822 [WetLabsBB2FL](INFO): Powering down 2024-02-13T06:21:36.823Z,1707805296.823 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:36.830Z,1707805296.830 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler 2024-02-13T06:21:36.830Z,1707805296.830 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:36.830Z,1707805296.830 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3910 2024-02-13T06:21:37.526Z,1707805297.526 [CTD_Seabird](INFO): Powering down 2024-02-13T06:21:37.544Z,1707805297.544 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:37.544Z,1707805297.544 [CTD_Seabird](INFO): Powering down 2024-02-13T06:21:37.558Z,1707805297.558 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:37.563Z,1707805297.563 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler 2024-02-13T06:21:37.563Z,1707805297.563 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:37.564Z,1707805297.564 [Radio_Surface](INFO): Join timeout helper Thread ID is 3911 2024-02-13T06:21:37.946Z,1707805297.946 [Radio_Surface](INFO): Powering down 2024-02-13T06:21:37.947Z,1707805297.947 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:37.947Z,1707805297.947 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:37.966Z,1707805297.966 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler 2024-02-13T06:21:37.966Z,1707805297.966 [Onboard ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:37.966Z,1707805297.966 [Onboard](INFO): Join timeout helper Thread ID is 3912 2024-02-13T06:21:39.660Z,1707805299.660 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:39.660Z,1707805299.660 [Onboard ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:39.675Z,1707805299.675 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler 2024-02-13T06:21:39.675Z,1707805299.675 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:39.675Z,1707805299.675 [DataOverHttps](INFO): Join timeout helper Thread ID is 3913 2024-02-13T06:21:41.734Z,1707805301.734 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:41.737Z,1707805301.737 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.739Z,1707805301.739 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler 2024-02-13T06:21:41.739Z,1707805301.739 [BackseatComponent ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.739Z,1707805301.739 [BackseatComponent](INFO): Join timeout helper Thread ID is 3914 2024-02-13T06:21:41.842Z,1707805301.842 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:41.843Z,1707805301.843 [BackseatComponent ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.858Z,1707805301.858 [ComponentRegistry](INFO): Shutting down logger ThreadHandler 2024-02-13T06:21:41.859Z,1707805301.859 [logger ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.859Z,1707805301.859 [logger](INFO): Join timeout helper Thread ID is 3915 2024-02-13T06:21:41.894Z,1707805301.894 [logger ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:41.894Z,1707805301.894 [logger ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.898Z,1707805301.898 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler 2024-02-13T06:21:41.899Z,1707805301.899 [CommandLine ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.899Z,1707805301.899 [CommandLine](INFO): Join timeout helper Thread ID is 3916 2024-02-13T06:21:41.938Z,1707805301.938 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:41.938Z,1707805301.938 [CommandLine ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.958Z,1707805301.958 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler 2024-02-13T06:21:41.959Z,1707805301.959 [CommandExec ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.959Z,1707805301.959 [CommandExec](INFO): Join timeout helper Thread ID is 3917 2024-02-13T06:21:41.960Z,1707805301.960 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler 2024-02-13T06:21:41.960Z,1707805301.960 [controlThread ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:41.961Z,1707805301.961 [controlThread](INFO): Join timeout helper Thread ID is 3918 2024-02-13T06:21:42.043Z,1707805302.043 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread. 2024-02-13T06:21:42.044Z,1707805302.044 [controlThread](DEBUG): Uninitializing ControlThread 2024-02-13T06:21:42.044Z,1707805302.044 [AHRS_M2](INFO): Powering down 2024-02-13T06:21:42.115Z,1707805302.115 [MultiRay](INFO): Powering down. 2024-02-13T06:21:42.116Z,1707805302.116 [NAL9602](INFO): Powering down 2024-02-13T06:21:42.118Z,1707805302.118 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator. 2024-02-13T06:21:42.119Z,1707805302.119 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator. 2024-02-13T06:21:42.119Z,1707805302.119 [NavChart](DEBUG): Uninitialize NavChart Navigation. 2024-02-13T06:21:42.120Z,1707805302.120 [MissionManager](INFO): Uninitializing Mission Default 2024-02-13T06:21:42.120Z,1707805302.120 [Default] Stopped 2024-02-13T06:21:42.120Z,1707805302.120 [Default](DEBUG): Aggregate::uninitialize Default 2024-02-13T06:21:42.120Z,1707805302.120 [Default:B.GoToSurface] Stopped 2024-02-13T06:21:42.120Z,1707805302.120 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-02-13T06:21:42.120Z,1707805302.120 [Default:CheckIn] Stopped 2024-02-13T06:21:42.120Z,1707805302.120 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-02-13T06:21:42.120Z,1707805302.120 [Default:CheckIn:Read_GPS] Stopped 2024-02-13T06:21:42.123Z,1707805302.123 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent. 2024-02-13T06:21:42.123Z,1707805302.123 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent. 2024-02-13T06:21:42.124Z,1707805302.124 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent. 2024-02-13T06:21:42.124Z,1707805302.124 [LoopControl](DEBUG): Uninitialize LoopControlComponent. 2024-02-13T06:21:42.124Z,1707805302.124 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2024-02-13T06:21:42.124Z,1707805302.124 [BuoyancyServo](INFO): Powering down 2024-02-13T06:21:42.138Z,1707805302.138 [ElevatorServo](DEBUG): Uninitialize Elevator Servo. 2024-02-13T06:21:42.138Z,1707805302.138 [ElevatorServo](INFO): Powering down 2024-02-13T06:21:42.139Z,1707805302.139 [MassServo](DEBUG): Uninitialize Mass Servo. 2024-02-13T06:21:42.139Z,1707805302.139 [MassServo](INFO): Powering down 2024-02-13T06:21:42.140Z,1707805302.140 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2024-02-13T06:21:42.140Z,1707805302.140 [RudderServo](INFO): Powering down 2024-02-13T06:21:42.141Z,1707805302.141 [ThrusterHE](DEBUG): Uninitialize Thruster Servo. 2024-02-13T06:21:42.141Z,1707805302.141 [ThrusterHE](INFO): Powering down 2024-02-13T06:21:42.142Z,1707805302.142 [SBIT](DEBUG): Uninitialize SBIT Component. 2024-02-13T06:21:42.142Z,1707805302.142 [IBIT](DEBUG): Uninitialize IBIT Component. 2024-02-13T06:21:42.142Z,1707805302.142 [CBIT](DEBUG): Uninitialize CBIT Component. 2024-02-13T06:21:42.143Z,1707805302.143 [CBIT](DEBUG): Powering off loads. 2024-02-13T06:21:42.154Z,1707805302.154 [CBIT](DEBUG): Disabling WDT. 2024-02-13T06:21:42.166Z,1707805302.166 [CBIT](DEBUG): Opening all GF detection circuits. 2024-02-13T06:21:42.166Z,1707805302.166 [controlThread ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:42.188Z,1707805302.188 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:42.192Z,1707805302.192 [Onboard ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:42.198Z,1707805302.198 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:42.243Z,1707805302.243 [BackseatComponent ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:42.291Z,1707805302.291 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:42.295Z,1707805302.295 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:42.462Z,1707805302.462 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2024-02-13T06:21:42.510Z,1707805302.510 [logger ThreadHandler](INFO): Thread cancelled.