2024-05-07T21:06:44.543Z,1715116004.543 [Supervisor](DEBUG): Initializing supervisor.
2024-05-07T21:06:44.547Z,1715116004.547 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2024-05-07T21:06:44.547Z,1715116004.547 [SyncHandler](INFO): Protected caller Thread ID is 1033
2024-05-07T21:06:44.548Z,1715116004.548 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2024-05-07T21:06:44.549Z,1715116004.549 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2024-05-07T21:06:44.549Z,1715116004.549 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1034
2024-05-07T21:06:44.553Z,1715116004.553 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2024-05-07T21:06:44.572Z,1715116004.572 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2024-05-07T21:06:44.574Z,1715116004.574 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2024-05-07T21:06:44.574Z,1715116004.574 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1035
2024-05-07T21:06:44.578Z,1715116004.578 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2024-05-07T21:06:44.579Z,1715116004.579 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2024-05-07T21:06:44.580Z,1715116004.580 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1036
2024-05-07T21:06:44.582Z,1715116004.582 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2024-05-07T21:06:44.583Z,1715116004.583 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2024-05-07T21:06:44.583Z,1715116004.583 [logger ThreadHandler](INFO): Protected caller Thread ID is 1037
2024-05-07T21:06:44.587Z,1715116004.587 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2024-05-07T21:06:44.587Z,1715116004.587 [Supervisor](INFO): Looking for Config files in directory: Config/
2024-05-07T21:06:44.589Z,1715116004.589 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2024-05-07T21:06:44.824Z,1715116004.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2024-05-07T21:06:44.825Z,1715116004.825 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2024-05-07T21:06:44.948Z,1715116004.948 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2024-05-07T21:06:44.949Z,1715116004.949 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2024-05-07T21:06:45.058Z,1715116005.058 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2024-05-07T21:06:45.059Z,1715116005.059 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2024-05-07T21:06:45.594Z,1715116005.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2024-05-07T21:06:45.595Z,1715116005.595 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2024-05-07T21:06:45.982Z,1715116005.982 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2024-05-07T21:06:45.982Z,1715116005.982 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2024-05-07T21:06:46.360Z,1715116006.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2024-05-07T21:06:46.361Z,1715116006.361 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2024-05-07T21:06:46.572Z,1715116006.572 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2024-05-07T21:06:46.572Z,1715116006.572 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2024-05-07T21:06:46.664Z,1715116006.664 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2024-05-07T21:06:46.759Z,1715116006.759 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2024-05-07T21:06:47.223Z,1715116007.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2024-05-07T21:06:47.224Z,1715116007.224 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2024-05-07T21:06:47.548Z,1715116007.548 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2024-05-07T21:06:47.548Z,1715116007.548 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2024-05-07T21:06:48.158Z,1715116008.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2024-05-07T21:06:48.158Z,1715116008.158 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2024-05-07T21:06:48.406Z,1715116008.406 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2024-05-07T21:06:48.407Z,1715116008.407 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2024-05-07T21:06:48.718Z,1715116008.718 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2024-05-07T21:06:48.719Z,1715116008.719 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2024-05-07T21:06:49.122Z,1715116009.122 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2024-05-07T21:06:49.122Z,1715116009.122 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2024-05-07T21:06:50.633Z,1715116010.633 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2024-05-07T21:06:50.635Z,1715116010.635 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2024-05-07T21:06:50.636Z,1715116010.636 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2024-05-07T21:06:50.732Z,1715116010.732 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2024-05-07T21:06:50.878Z,1715116010.878 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2024-05-07T21:06:51.161Z,1715116011.161 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2024-05-07T21:06:51.162Z,1715116011.162 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2024-05-07T21:06:51.302Z,1715116011.302 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2024-05-07T21:06:51.415Z,1715116011.415 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2024-05-07T21:06:51.522Z,1715116011.522 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2024-05-07T21:06:51.645Z,1715116011.645 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2024-05-07T21:06:51.753Z,1715116011.753 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2024-05-07T21:06:51.851Z,1715116011.851 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2024-05-07T21:06:51.955Z,1715116011.955 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2024-05-07T21:06:52.143Z,1715116012.143 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2024-05-07T21:06:52.150Z,1715116012.150 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2024-05-07T21:06:52.204Z,1715116012.204 [DepthRateCalculator] Loaded
2024-05-07T21:06:52.204Z,1715116012.204 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2024-05-07T21:06:52.210Z,1715116012.210 [PitchRateCalculator] Loaded
2024-05-07T21:06:52.210Z,1715116012.210 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2024-05-07T21:06:52.221Z,1715116012.221 [SpeedCalculator] Loaded
2024-05-07T21:06:52.221Z,1715116012.221 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2024-05-07T21:06:52.226Z,1715116012.226 [YawRateCalculator] Loaded
2024-05-07T21:06:52.226Z,1715116012.226 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2024-05-07T21:06:52.248Z,1715116012.248 [ElevatorOffsetCalculator] Loaded
2024-05-07T21:06:52.249Z,1715116012.249 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2024-05-07T21:06:52.249Z,1715116012.249 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2024-05-07T21:06:52.250Z,1715116012.250 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2024-05-07T21:06:52.278Z,1715116012.278 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2024-05-07T21:06:52.278Z,1715116012.278 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2024-05-07T21:06:52.288Z,1715116012.288 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2024-05-07T21:06:52.289Z,1715116012.289 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2024-05-07T21:06:52.772Z,1715116012.772 [AHRS_M2] Loaded
2024-05-07T21:06:52.772Z,1715116012.772 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2024-05-07T21:06:52.808Z,1715116012.808 [BackseatComponent] Loaded
2024-05-07T21:06:52.808Z,1715116012.808 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2024-05-07T21:06:52.809Z,1715116012.809 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408584E0
2024-05-07T21:06:52.810Z,1715116012.810 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1119
2024-05-07T21:06:52.812Z,1715116012.812 [LcmUniversalReporter] Loaded
2024-05-07T21:06:52.813Z,1715116012.813 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2024-05-07T21:06:53.622Z,1715116013.622 [BPC1] Loaded
2024-05-07T21:06:53.622Z,1715116013.622 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2024-05-07T21:06:53.694Z,1715116013.694 [DataOverHttps] Loaded
2024-05-07T21:06:53.694Z,1715116013.694 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2024-05-07T21:06:53.695Z,1715116013.695 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408884E0
2024-05-07T21:06:53.695Z,1715116013.695 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1120
2024-05-07T21:06:53.716Z,1715116013.716 [Depth_Keller] Loaded
2024-05-07T21:06:53.716Z,1715116013.716 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2024-05-07T21:06:53.721Z,1715116013.721 [DropWeight] Loaded
2024-05-07T21:06:53.722Z,1715116013.722 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2024-05-07T21:06:53.785Z,1715116013.785 [NAL9602] Loaded
2024-05-07T21:06:53.786Z,1715116013.786 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2024-05-07T21:06:53.815Z,1715116013.815 [Onboard] Loaded
2024-05-07T21:06:53.815Z,1715116013.815 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2024-05-07T21:06:53.816Z,1715116013.816 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408B84E0
2024-05-07T21:06:53.817Z,1715116013.817 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1121
2024-05-07T21:06:53.829Z,1715116013.829 [Power24vConverter] Loaded
2024-05-07T21:06:53.830Z,1715116013.830 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2024-05-07T21:06:53.844Z,1715116013.844 [Radio_Surface] Loaded
2024-05-07T21:06:53.844Z,1715116013.844 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2024-05-07T21:06:53.845Z,1715116013.845 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408E84E0
2024-05-07T21:06:53.846Z,1715116013.846 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1122
2024-05-07T21:06:53.859Z,1715116013.859 [Sonardyne_Nano] Loaded
2024-05-07T21:06:53.860Z,1715116013.860 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2024-05-07T21:06:53.951Z,1715116013.951 [DAT] Loaded
2024-05-07T21:06:53.952Z,1715116013.952 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2024-05-07T21:06:53.953Z,1715116013.953 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409184E0
2024-05-07T21:06:53.953Z,1715116013.953 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1123
2024-05-07T21:06:53.976Z,1715116013.976 [Waterlinked] Loaded
2024-05-07T21:06:53.976Z,1715116013.976 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread.
2024-05-07T21:06:53.977Z,1715116013.977 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2024-05-07T21:06:53.977Z,1715116013.977 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2024-05-07T21:06:54.291Z,1715116014.291 [DeadReckonUsingMultipleVelocitySources] Loaded
2024-05-07T21:06:54.292Z,1715116014.292 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2024-05-07T21:06:54.435Z,1715116014.435 [DeadReckonUsingSpeedCalculator] Loaded
2024-05-07T21:06:54.436Z,1715116014.436 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2024-05-07T21:06:54.450Z,1715116014.450 [NavChart] Loaded
2024-05-07T21:06:54.450Z,1715116014.450 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2024-05-07T21:06:54.456Z,1715116014.456 [UniversalFixResidualReporter] Loaded
2024-05-07T21:06:54.456Z,1715116014.456 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2024-05-07T21:06:54.457Z,1715116014.457 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2024-05-07T21:06:54.457Z,1715116014.457 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2024-05-07T21:06:54.670Z,1715116014.670 [SBIT](DEBUG): Construct Startup Built In Test.
2024-05-07T21:06:54.684Z,1715116014.684 [SBIT] Loaded
2024-05-07T21:06:54.685Z,1715116014.685 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2024-05-07T21:06:54.688Z,1715116014.688 [IBIT](DEBUG): Construct Initiated Built In Test.
2024-05-07T21:06:54.701Z,1715116014.701 [IBIT] Loaded
2024-05-07T21:06:54.701Z,1715116014.701 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2024-05-07T21:06:54.707Z,1715116014.707 [CBIT](DEBUG): Construct Continuous Built In Test.
2024-05-07T21:06:54.815Z,1715116014.815 [CBIT] Loaded
2024-05-07T21:06:54.816Z,1715116014.816 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2024-05-07T21:06:54.816Z,1715116014.816 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2024-05-07T21:06:54.817Z,1715116014.817 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2024-05-07T21:06:54.997Z,1715116014.997 [CTD_Seabird] Loaded
2024-05-07T21:06:54.998Z,1715116014.998 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2024-05-07T21:06:54.999Z,1715116014.999 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A204E0
2024-05-07T21:06:54.999Z,1715116014.999 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1124
2024-05-07T21:06:55.021Z,1715116015.021 [PAR_Licor] Loaded
2024-05-07T21:06:55.021Z,1715116015.021 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2024-05-07T21:06:55.067Z,1715116015.067 [WetLabsBB2FL] Loaded
2024-05-07T21:06:55.067Z,1715116015.067 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2024-05-07T21:06:55.068Z,1715116015.068 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A504E0
2024-05-07T21:06:55.069Z,1715116015.069 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1125
2024-05-07T21:06:55.069Z,1715116015.069 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2024-05-07T21:06:55.070Z,1715116015.070 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2024-05-07T21:06:55.211Z,1715116015.211 [BuoyancyServo] Loaded
2024-05-07T21:06:55.211Z,1715116015.211 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2024-05-07T21:06:55.233Z,1715116015.233 [ElevatorServo] Loaded
2024-05-07T21:06:55.234Z,1715116015.234 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2024-05-07T21:06:55.255Z,1715116015.255 [MassServo] Loaded
2024-05-07T21:06:55.256Z,1715116015.256 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2024-05-07T21:06:55.277Z,1715116015.277 [RudderServo] Loaded
2024-05-07T21:06:55.277Z,1715116015.277 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2024-05-07T21:06:55.293Z,1715116015.293 [ThrusterHE] Loaded
2024-05-07T21:06:55.294Z,1715116015.294 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2024-05-07T21:06:55.294Z,1715116015.294 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2024-05-07T21:06:55.295Z,1715116015.295 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2024-05-07T21:06:55.350Z,1715116015.350 [VerticalControl](DEBUG): Construct VerticalControl.
2024-05-07T21:06:55.404Z,1715116015.404 [VerticalControl] Loaded
2024-05-07T21:06:55.404Z,1715116015.404 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2024-05-07T21:06:55.407Z,1715116015.407 [HorizontalControl](DEBUG): Construct HorizontalControl.
2024-05-07T21:06:55.453Z,1715116015.453 [HorizontalControl] Loaded
2024-05-07T21:06:55.453Z,1715116015.453 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2024-05-07T21:06:55.455Z,1715116015.455 [SpeedControl](DEBUG): Construct SpeedControl.
2024-05-07T21:06:55.457Z,1715116015.457 [SpeedControl] Loaded
2024-05-07T21:06:55.457Z,1715116015.457 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2024-05-07T21:06:55.460Z,1715116015.460 [LoopControl](DEBUG): Construct LoopControl.
2024-05-07T21:06:55.461Z,1715116015.461 [LoopControl] Loaded
2024-05-07T21:06:55.461Z,1715116015.461 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2024-05-07T21:06:55.462Z,1715116015.462 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2024-05-07T21:06:55.462Z,1715116015.462 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2024-05-07T21:06:55.588Z,1715116015.588 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2024-05-07T21:06:55.589Z,1715116015.589 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2024-05-07T21:06:55.773Z,1715116015.773 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2024-05-07T21:06:55.774Z,1715116015.774 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2024-05-07T21:06:56.138Z,1715116016.138 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2024-05-07T21:06:56.139Z,1715116016.139 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2024-05-07T21:06:56.199Z,1715116016.199 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2024-05-07T21:06:56.205Z,1715116016.205 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2024-05-07T21:06:56.208Z,1715116016.208 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2024-05-07T21:06:56.220Z,1715116016.220 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2024-05-07T21:06:56.221Z,1715116016.221 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C374E0
2024-05-07T21:06:56.221Z,1715116016.221 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1126
2024-05-07T21:06:56.226Z,1715116016.226 [Supervisor](INFO): Main Thread ID is 831
2024-05-07T21:06:56.226Z,1715116016.226 [Supervisor](DEBUG): Running supervisor.
2024-05-07T21:06:56.227Z,1715116016.227 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1127
2024-05-07T21:06:56.227Z,1715116016.227 [CommandExec](INFO): Initializing the command executive.
2024-05-07T21:06:56.229Z,1715116016.229 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1128
2024-05-07T21:06:56.231Z,1715116016.231 [controlThread ThreadHandler](INFO): Handler Thread ID is 1129
2024-05-07T21:06:56.231Z,1715116016.231 [controlThread](DEBUG): Initializing ControlThread
2024-05-07T21:06:56.232Z,1715116016.232 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2024-05-07T21:06:56.232Z,1715116016.232 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2024-05-07T21:06:56.233Z,1715116016.233 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2024-05-07T21:06:56.233Z,1715116016.233 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2024-05-07T21:06:56.233Z,1715116016.233 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2024-05-07T21:06:56.240Z,1715116016.240 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2024-05-07T21:06:56.241Z,1715116016.241 [NavChart](DEBUG): Initialize NavChart Navigation.
2024-05-07T21:06:56.241Z,1715116016.241 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2024-05-07T21:06:56.242Z,1715116016.242 [SBIT](INFO): Initialize SBIT Component.
2024-05-07T21:06:56.242Z,1715116016.242 [SBIT](IMPORTANT): git: 2024-05-07
2024-05-07T21:06:56.242Z,1715116016.242 [SBIT](INFO): git hash: caae5b805170f9c680da20e21004b1da522ccce4
2024-05-07T21:06:56.243Z,1715116016.243 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2024-05-07T21:06:56.244Z,1715116016.244 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2024-05-07T21:06:56.245Z,1715116016.245 [SBIT](INFO): Beginning SBIT in 77.000000 seconds.
2024-05-07T21:06:56.245Z,1715116016.245 [IBIT](INFO): Initialize IBIT Component.
2024-05-07T21:06:56.246Z,1715116016.246 [CBIT](DEBUG): Initialize CBIT Component.
2024-05-07T21:06:56.247Z,1715116016.247 [logger ThreadHandler](INFO): Handler Thread ID is 1130
2024-05-07T21:06:56.258Z,1715116016.258 [CBIT](DEBUG): Initialized mux pins.
2024-05-07T21:06:56.258Z,1715116016.258 [CBIT](DEBUG): Initializing the watchdog timer.
2024-05-07T21:06:56.266Z,1715116016.266 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1131
2024-05-07T21:06:56.278Z,1715116016.278 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1132
2024-05-07T21:06:56.280Z,1715116016.280 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2024-05-07T21:06:56.282Z,1715116016.282 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2024-05-07T21:06:56.282Z,1715116016.282 [CBIT](DEBUG): Initializing heartbeat.
2024-05-07T21:06:56.290Z,1715116016.290 [Onboard ThreadHandler](INFO): Handler Thread ID is 1133
2024-05-07T21:06:56.307Z,1715116016.307 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1134
2024-05-07T21:06:56.327Z,1715116016.327 [DAT ThreadHandler](INFO): Handler Thread ID is 1135
2024-05-07T21:06:56.327Z,1715116016.327 [DAT](INFO): Powering up
2024-05-07T21:06:56.328Z,1715116016.328 [DAT](DEBUG): Initializing DAT.
2024-05-07T21:06:56.332Z,1715116016.332 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1137
2024-05-07T21:06:56.332Z,1715116016.332 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2024-05-07T21:06:56.339Z,1715116016.339 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1139
2024-05-07T21:06:56.343Z,1715116016.343 [WetLabsBB2FL](INFO): Powering up
2024-05-07T21:06:56.344Z,1715116016.344 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1141
2024-05-07T21:06:56.346Z,1715116016.346 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2024-05-07T21:06:56.346Z,1715116016.346 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2024-05-07T21:06:56.347Z,1715116016.347 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2024-05-07T21:06:56.347Z,1715116016.347 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2024-05-07T21:06:56.347Z,1715116016.347 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2024-05-07T21:06:56.347Z,1715116016.347 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2024-05-07T21:06:56.347Z,1715116016.347 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2024-05-07T21:06:56.347Z,1715116016.347 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2024-05-07T21:06:56.354Z,1715116016.354 [CBIT](DEBUG): Deactivating GF circuits.
2024-05-07T21:06:56.354Z,1715116016.354 [CBIT](DEBUG): Deactivating emergency mode.
2024-05-07T21:06:56.394Z,1715116016.394 [CBIT](DEBUG): Backplane powered.
2024-05-07T21:06:56.399Z,1715116016.399 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2024-05-07T21:06:56.401Z,1715116016.401 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2024-05-07T21:06:56.402Z,1715116016.402 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2024-05-07T21:06:56.402Z,1715116016.402 [LoopControl](DEBUG): Initialize LoopControlComponent.
2024-05-07T21:06:56.403Z,1715116016.403 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2024-05-07T21:06:56.403Z,1715116016.403 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2024-05-07T21:06:56.404Z,1715116016.404 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2024-05-07T21:06:56.405Z,1715116016.405 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2024-05-07T21:06:56.455Z,1715116016.455 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
2024-05-07T21:06:56.460Z,1715116016.460 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2024-05-07T21:06:56.491Z,1715116016.491 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission Startup {
behavior Guidance:GoToSurface {
run in progression
}
aggregate StartupSatComms {
run in sequence
readDatum {
timeout duration=P1M
Universal:latitude_fix
}
readDatum {
timeout duration=P1M
Universal:platform_communications
}
}
}
2024-05-07T21:06:56.492Z,1715116016.492 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2024-05-07T21:06:56.492Z,1715116016.492 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2024-05-07T21:06:56.493Z,1715116016.493 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2024-05-07T21:06:56.696Z,1715116016.696 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
0
13
Burn on
Dropped weight due to communications timeout.
5
Default mission has been running for
Restarting logs and Default mission.
restart logs
2024-05-07T21:06:56.713Z,1715116016.713 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2024-05-07T21:06:56.715Z,1715116016.715 [Default:A.Wait](DEBUG): Construct Wait.
2024-05-07T21:06:56.717Z,1715116016.717 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-05-07T21:06:56.730Z,1715116016.730 [Radio_Surface](INFO): Powering up
2024-05-07T21:06:56.746Z,1715116016.746 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2024-05-07T21:06:56.749Z,1715116016.749 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2024-05-07T21:06:56.755Z,1715116016.755 [Default:E.Execute](DEBUG): Construct Execute.
2024-05-07T21:06:56.770Z,1715116016.770 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission Default {
arguments {
ElapsedSinceDefaultStarted = 0 minute
}
behavior Guidance:Wait {
"""
Wait a moment to see if the scheduler starts a new mission before
starting to actually run Default.
"""
run in sequence
set duration = 13 second
}
behavior Guidance:GoToSurface {
run in progression
}
aggregate CheckIn {
run in sequence repeat=288
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P4H {
behavior Guidance:Execute {
run in sequence
set command = "Burn on"
}
syslog critical "Dropped weight due to communications timeout."
}
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )
syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
}
syslog important "Restarting logs and Default mission."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
2024-05-07T21:06:56.775Z,1715116016.775 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,Waterlinked,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2024-05-07T21:06:56.794Z,1715116016.794 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2024-05-07T21:06:56.853Z,1715116016.853 [Power24vConverter](INFO): Powering up.
2024-05-07T21:06:56.855Z,1715116016.855 [Sonardyne_Nano](INFO): Initializing.
2024-05-07T21:06:56.936Z,1715116016.936 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2024-05-07T21:06:56.942Z,1715116016.942 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2024-05-07T21:06:56.943Z,1715116016.943 [ElevatorServo](DEBUG): Initializing EZServoServo.
2024-05-07T21:06:56.950Z,1715116016.950 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2024-05-07T21:06:56.951Z,1715116016.951 [MassServo](DEBUG): Initializing EZServoServo.
2024-05-07T21:06:56.959Z,1715116016.959 [MassServo](DEBUG): Initializing MassServo.
2024-05-07T21:06:56.959Z,1715116016.959 [RudderServo](DEBUG): Initializing EZServoServo.
2024-05-07T21:06:56.966Z,1715116016.966 [RudderServo](DEBUG): Initializing RudderServo.
2024-05-07T21:06:56.967Z,1715116016.967 [ThrusterHE](DEBUG): Initializing EZServoServo.
2024-05-07T21:06:56.974Z,1715116016.974 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2024-05-07T21:06:58.804Z,1715116018.804 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2024-05-07T21:06:58.954Z,1715116018.954 [WetLabsBB2FL](INFO): Powering down
2024-05-07T21:07:00.091Z,1715116020.091 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2105
2024-05-07T21:07:02.671Z,1715116022.671 [ThrusterHE](ERROR): Zero Speed Commanded.
2024-05-07T21:07:03.363Z,1715116023.363 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2024-05-07T21:07:11.700Z,1715116031.700 [DAT](INFO): commRate: 800
2024-05-07T21:07:13.766Z,1715116033.766 [DAT](INFO): entering command mode
2024-05-07T21:07:13.967Z,1715116033.967 [DAT](INFO): setting verbose to 3
2024-05-07T21:07:14.219Z,1715116034.219 [DAT](INFO): set verbose to 3
2024-05-07T21:07:14.220Z,1715116034.220 [DAT](INFO): setting DatVerbose to 27440
2024-05-07T21:07:14.471Z,1715116034.471 [DAT](INFO): set DatVerbose to 27440
2024-05-07T21:07:14.472Z,1715116034.472 [DAT](INFO): setting transmit power to 8
2024-05-07T21:07:14.723Z,1715116034.723 [DAT](INFO): set transmit power to 8
2024-05-07T21:07:14.724Z,1715116034.724 [DAT](INFO): setting local address to 9
2024-05-07T21:07:14.975Z,1715116034.975 [DAT](INFO): set local address to 9
2024-05-07T21:07:14.976Z,1715116034.976 [DAT](INFO): Setting time to: 21:7:14 And date to:5/7/2024
2024-05-07T21:07:15.227Z,1715116035.227 [DAT](INFO): Local DAT time set to Tue May 7, 2024 21:07:14
2024-05-07T21:07:23.859Z,1715116043.859 [NAL9602](INFO): Powering up NAL9602
2024-05-07T21:07:34.767Z,1715116054.767 [NAL9602](INFO): NAL9602 initialized
2024-05-07T21:07:59.413Z,1715116079.413 [NAL9602](INFO): SBD MO Status=2, MOMSN=17069, MT Status=2, MTMSN=0
2024-05-07T21:07:59.413Z,1715116079.413 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-05-07T21:08:08.705Z,1715116088.705 [NAL9602](INFO): SBD MO Status=0, MOMSN=17069, MT Status=0, MTMSN=0
2024-05-07T21:08:08.705Z,1715116088.705 [NAL9602](INFO): No messages in MT queue
2024-05-07T21:08:13.971Z,1715116093.971 [SBIT](IMPORTANT): Beginning Startup BIT
2024-05-07T21:08:13.975Z,1715116093.975 [CBIT](IMPORTANT): Beginning ground fault scan
2024-05-07T21:08:25.089Z,1715116105.089 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006150
CHAN A1 (24V): 0.000157
CHAN A2 (12V): -0.005226
CHAN A3 (5V): -0.003273
CHAN B0 (3.3V): -0.001755
CHAN B1 (3.15aV): -0.001537
CHAN B2 (3.15bV): -0.001423
CHAN B3 (GND): -0.001040
OPEN: 0.004694
Full Scale: +/- 1 mA
2024-05-07T21:08:32.556Z,1715116112.556 [Waterlinked](ERROR): only read 0 of 1 data item for altitude. Device response::BD, +0.00, , +0.00, 0.00, 0.00
2024-05-07T21:08:33.349Z,1715116113.349 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210832.00,A,3648.14260,N,12147.22814,W,0.097,0.00,070524,,,A*78
2024-05-07T21:08:33.352Z,1715116113.352 [NAL9602](INFO): GPS fix at 20240507T210832: (36.802377, -121.787136)
2024-05-07T21:08:34.242Z,1715116114.242 [Waterlinked](INFO): Powering down
2024-05-07T21:09:05.667Z,1715116145.667 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-07T21:09:08.113Z,1715116148.113 [SBIT](IMPORTANT): SBIT PASSED
2024-05-07T21:09:08.113Z,1715116148.113 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2024-05-07T21:09:08.114Z,1715116148.114 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=0 bool;
2024-05-07T21:09:08.114Z,1715116148.114 [SBIT](IMPORTANT): DAT.loadAtStartup=1 bool;
2024-05-07T21:09:08.114Z,1715116148.114 [SBIT](IMPORTANT): DAT.verbosity=0 count;
2024-05-07T21:09:08.114Z,1715116148.114 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=352.020527 cubic_centimeter;
2024-05-07T21:09:08.114Z,1715116148.114 [SBIT](IMPORTANT): VerticalControl.massDefault=14.385 millimeter;
2024-05-07T21:09:08.521Z,1715116148.521 [MissionManager](IMPORTANT): Started mission Startup
2024-05-07T21:09:08.522Z,1715116148.522 [Startup] Running Loop=1
2024-05-07T21:09:08.522Z,1715116148.522 [Startup](DEBUG): Aggregate::initialize Startup
2024-05-07T21:09:08.522Z,1715116148.522 [Startup:A.GoToSurface] Running Loop=1
2024-05-07T21:09:08.522Z,1715116148.522 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-05-07T21:09:08.523Z,1715116148.523 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-05-07T21:09:08.523Z,1715116148.523 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-05-07T21:09:08.524Z,1715116148.524 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-05-07T21:09:08.524Z,1715116148.524 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-05-07T21:09:08.524Z,1715116148.524 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-05-07T21:09:08.527Z,1715116148.527 [Startup:StartupSatComms] Running Loop=1
2024-05-07T21:09:08.527Z,1715116148.527 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2024-05-07T21:09:08.527Z,1715116148.527 [Startup:StartupSatComms:A] Running Loop=1
2024-05-07T21:09:08.919Z,1715116148.919 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2024-05-07T21:09:10.518Z,1715116150.518 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210909.00,A,3648.14165,N,12147.22841,W,0.039,0.00,070524,,,A*73
2024-05-07T21:09:10.520Z,1715116150.520 [NAL9602](INFO): GPS fix at 20240507T210909: (36.802361, -121.787140)
2024-05-07T21:09:10.532Z,1715116150.532 [Startup:StartupSatComms:A] Stopped
2024-05-07T21:09:10.533Z,1715116150.533 [Startup:StartupSatComms:B] Running Loop=1
2024-05-07T21:09:11.019Z,1715116151.019 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2024-05-07T21:09:27.121Z,1715116167.121 [NAL9602](INFO): SBD MO Status=1, MOMSN=17070, MT Status=0, MTMSN=0
2024-05-07T21:09:27.174Z,1715116167.174 [NAL9602](INFO): Sent 39 bytes from file Logs/20240507T201511/Courier0034.lzma
2024-05-07T21:09:27.174Z,1715116167.174 [NAL9602](INFO): Packets left to send: 0
2024-05-07T21:09:36.882Z,1715116176.882 [NAL9602](INFO): SBD MO Status=1, MOMSN=17071, MT Status=0, MTMSN=0
2024-05-07T21:09:36.933Z,1715116176.933 [NAL9602](INFO): Sent 268 bytes from file Logs/20240507T210644/Courier0000.lzma
2024-05-07T21:09:36.933Z,1715116176.933 [NAL9602](INFO): Packets left to send: 0
2024-05-07T21:09:48.263Z,1715116188.263 [NAL9602](INFO): SBD MO Status=2, MOMSN=17072, MT Status=2, MTMSN=0
2024-05-07T21:09:48.264Z,1715116188.264 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-05-07T21:10:10.560Z,1715116210.560 [Startup:StartupSatComms:B](INFO): Timed out from 2024-05-07T21:09:10.5Z
2024-05-07T21:10:10.560Z,1715116210.560 [Startup:StartupSatComms:B] Stopped
2024-05-07T21:10:10.560Z,1715116210.560 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2024-05-07T21:10:10.560Z,1715116210.560 [Startup:StartupSatComms] Stopped
2024-05-07T21:10:10.560Z,1715116210.560 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2024-05-07T21:10:10.561Z,1715116210.561 [Startup](INFO): Completed Startup
2024-05-07T21:10:10.562Z,1715116210.562 [MissionManager](INFO): Startup is completed.
2024-05-07T21:10:10.562Z,1715116210.562 [MissionManager](INFO): Uninitializing Mission Startup
2024-05-07T21:10:10.562Z,1715116210.562 [Startup] Stopped
2024-05-07T21:10:10.562Z,1715116210.562 [Startup](DEBUG): Aggregate::uninitialize Startup
2024-05-07T21:10:10.562Z,1715116210.562 [Startup:A.GoToSurface] Stopped
2024-05-07T21:10:10.562Z,1715116210.562 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-05-07T21:10:10.952Z,1715116210.952 [MissionManager](IMPORTANT): Started mission Default
2024-05-07T21:10:10.953Z,1715116210.953 [Default] Running Loop=1
2024-05-07T21:10:10.953Z,1715116210.953 [Default](DEBUG): Aggregate::initialize Default
2024-05-07T21:10:10.953Z,1715116210.953 [Default:B.GoToSurface] Running Loop=1
2024-05-07T21:10:10.953Z,1715116210.953 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-05-07T21:10:10.953Z,1715116210.953 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-05-07T21:10:10.954Z,1715116210.954 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-05-07T21:10:10.954Z,1715116210.954 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-05-07T21:10:10.954Z,1715116210.954 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-05-07T21:10:10.955Z,1715116210.955 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-05-07T21:10:10.955Z,1715116210.955 [Default:A.Wait] Running Loop=1
2024-05-07T21:10:10.955Z,1715116210.955 [Default:A.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:10:12.561Z,1715116212.561 [NAL9602](INFO): SBD MO Status=1, MOMSN=17072, MT Status=0, MTMSN=0
2024-05-07T21:10:12.622Z,1715116212.622 [NAL9602](INFO): Sent 194 bytes from file Logs/20240507T201511/Express0035.lzma
2024-05-07T21:10:12.622Z,1715116212.622 [NAL9602](INFO): Packets left to send: 0
2024-05-07T21:10:19.589Z,1715116219.589 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004665
2024-05-07T21:10:24.292Z,1715116224.292 [Default:A.Wait](INFO): Done Waiting.
2024-05-07T21:10:24.293Z,1715116224.293 [Default:A.Wait] Stopped
2024-05-07T21:10:24.293Z,1715116224.293 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:10:24.687Z,1715116224.687 [Default:CheckIn] Running Loop=1
2024-05-07T21:10:24.688Z,1715116224.688 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-05-07T21:10:24.688Z,1715116224.688 [Default:CheckIn:Read_GPS] Running Loop=1
2024-05-07T21:10:25.091Z,1715116225.091 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2024-05-07T21:10:26.705Z,1715116226.705 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211025.00,A,3648.14140,N,12147.23009,W,0.097,0.00,070524,,,A*73
2024-05-07T21:10:26.707Z,1715116226.707 [NAL9602](INFO): GPS fix at 20240507T211025: (36.802357, -121.787168)
2024-05-07T21:10:26.720Z,1715116226.720 [Default:CheckIn:Read_GPS] Stopped
2024-05-07T21:10:26.720Z,1715116226.720 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-05-07T21:10:27.133Z,1715116227.133 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2024-05-07T21:10:34.077Z,1715116234.077 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20240507T210644/Courier0004.lzma
2024-05-07T21:10:35.080Z,1715116235.080 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Courier0004.lzma.bak
2024-05-07T21:10:35.080Z,1715116235.080 [DataOverHttps](INFO): SBD MOMSN=20901169
2024-05-07T21:10:51.115Z,1715116251.115 [DataOverHttps](INFO): Sending 878 bytes from file Logs/20240507T210644/Express0001.lzma
2024-05-07T21:10:52.120Z,1715116252.120 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Express0001.lzma.bak
2024-05-07T21:10:52.120Z,1715116252.120 [DataOverHttps](INFO): SBD MOMSN=20901177
2024-05-07T21:10:59.020Z,1715116259.020 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-07T21:11:07.985Z,1715116267.985 [DataOverHttps](INFO): Sending 104 bytes from file Logs/20240507T210644/Express0005.lzma
2024-05-07T21:11:08.988Z,1715116268.988 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Express0005.lzma.bak
2024-05-07T21:11:08.988Z,1715116268.988 [DataOverHttps](INFO): SBD MOMSN=20901195
2024-05-07T21:11:10.347Z,1715116270.347 [Default:CheckIn:Read_Iridium] Stopped
2024-05-07T21:11:10.348Z,1715116270.348 [Default:CheckIn:C.Wait] Running Loop=1
2024-05-07T21:11:10.348Z,1715116270.348 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:14:07.865Z,1715116447.865 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2024-05-07T21:14:08.142Z,1715116448.142 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2024-05-07T21:14:21.076Z,1715116461.076 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2024-05-07T21:14:21.079Z,1715116461.079 [BPC1](INFO): Received data from all battery sticks.
2024-05-07T21:16:10.970Z,1715116570.970 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2024-05-07T21:16:10.970Z,1715116570.970 [Default:CheckIn:C.Wait] Stopped
2024-05-07T21:16:10.970Z,1715116570.970 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:16:10.970Z,1715116570.970 [Default:CheckIn:D] Running Loop=1
2024-05-07T21:16:11.382Z,1715116571.382 [Default:CheckIn:D] Stopped
2024-05-07T21:16:11.383Z,1715116571.383 [Default:CheckIn:E] Running Loop=1
2024-05-07T21:16:11.789Z,1715116571.789 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 6.007161 min
2024-05-07T21:16:11.789Z,1715116571.789 [Default:CheckIn:E] Stopped
2024-05-07T21:16:11.789Z,1715116571.789 [Default:CheckIn](INFO): Completed Default:CheckIn
2024-05-07T21:16:11.789Z,1715116571.789 [Default:CheckIn] Stopped
2024-05-07T21:16:11.789Z,1715116571.789 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-05-07T21:16:11.789Z,1715116571.789 [Default:CheckIn](INFO): Running loop #2
2024-05-07T21:16:11.790Z,1715116571.790 [Default:CheckIn] Running Loop=2
2024-05-07T21:16:11.790Z,1715116571.790 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-05-07T21:16:11.790Z,1715116571.790 [Default:CheckIn:Read_GPS] Running Loop=1
2024-05-07T21:16:13.793Z,1715116573.793 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211612.00,A,3648.14217,N,12147.23075,W,0.097,0.00,070524,,,A*7B
2024-05-07T21:16:13.795Z,1715116573.795 [NAL9602](INFO): GPS fix at 20240507T211612: (36.802369, -121.787179)
2024-05-07T21:16:13.838Z,1715116573.838 [Default:CheckIn:Read_GPS] Stopped
2024-05-07T21:16:13.838Z,1715116573.838 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-05-07T21:16:21.353Z,1715116581.353 [DataOverHttps](INFO): Sending 203 bytes from file Logs/20240507T210644/Courier0007.lzma
2024-05-07T21:16:22.356Z,1715116582.356 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Courier0007.lzma.bak
2024-05-07T21:16:22.356Z,1715116582.356 [DataOverHttps](INFO): SBD MOMSN=20901261
2024-05-07T21:16:33.592Z,1715116593.592 [NAL9602](INFO): SBD MO Status=0, MOMSN=17073, MT Status=0, MTMSN=0
2024-05-07T21:16:33.592Z,1715116593.592 [NAL9602](INFO): No messages in MT queue
2024-05-07T21:16:38.257Z,1715116598.257 [DataOverHttps](INFO): Sending 163 bytes from file Logs/20240507T210644/Express0008.lzma
2024-05-07T21:16:39.259Z,1715116599.259 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Express0008.lzma.bak
2024-05-07T21:16:39.260Z,1715116599.260 [DataOverHttps](INFO): SBD MOMSN=20901270
2024-05-07T21:16:40.472Z,1715116600.472 [Default:CheckIn:Read_Iridium] Stopped
2024-05-07T21:16:40.472Z,1715116600.472 [Default:CheckIn:C.Wait] Running Loop=1
2024-05-07T21:16:40.472Z,1715116600.472 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:17:04.288Z,1715116624.288 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-07T21:21:41.058Z,1715116901.058 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2024-05-07T21:21:41.058Z,1715116901.058 [Default:CheckIn:C.Wait] Stopped
2024-05-07T21:21:41.059Z,1715116901.059 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:21:41.059Z,1715116901.059 [Default:CheckIn:D] Running Loop=1
2024-05-07T21:21:41.459Z,1715116901.459 [Default:CheckIn:D] Stopped
2024-05-07T21:21:41.459Z,1715116901.459 [Default:CheckIn:E] Running Loop=1
2024-05-07T21:21:41.864Z,1715116901.864 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 11.508434 min
2024-05-07T21:21:41.864Z,1715116901.864 [Default:CheckIn:E] Stopped
2024-05-07T21:21:41.864Z,1715116901.864 [Default:CheckIn](INFO): Completed Default:CheckIn
2024-05-07T21:21:41.864Z,1715116901.864 [Default:CheckIn] Stopped
2024-05-07T21:21:41.864Z,1715116901.864 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-05-07T21:21:41.865Z,1715116901.865 [Default:CheckIn](INFO): Running loop #3
2024-05-07T21:21:41.865Z,1715116901.865 [Default:CheckIn] Running Loop=3
2024-05-07T21:21:41.865Z,1715116901.865 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-05-07T21:21:41.865Z,1715116901.865 [Default:CheckIn:Read_GPS] Running Loop=1
2024-05-07T21:21:43.881Z,1715116903.881 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212143.00,A,3648.15134,N,12147.22284,W,0.117,29.06,070524,,,A*41
2024-05-07T21:21:43.884Z,1715116903.884 [NAL9602](INFO): GPS fix at 20240507T212143: (36.802522, -121.787047)
2024-05-07T21:21:43.897Z,1715116903.897 [Default:CheckIn:Read_GPS] Stopped
2024-05-07T21:21:43.897Z,1715116903.897 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-05-07T21:21:51.029Z,1715116911.029 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20240507T210644/Courier0010.lzma
2024-05-07T21:21:52.032Z,1715116912.032 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Courier0010.lzma.bak
2024-05-07T21:21:52.032Z,1715116912.032 [DataOverHttps](INFO): SBD MOMSN=20901287
2024-05-07T21:21:53.172Z,1715116913.172 [NAL9602](INFO): SBD MO Status=0, MOMSN=17074, MT Status=0, MTMSN=0
2024-05-07T21:21:53.172Z,1715116913.172 [NAL9602](INFO): No messages in MT queue
2024-05-07T21:22:07.877Z,1715116927.877 [DataOverHttps](INFO): Sending 131 bytes from file Logs/20240507T210644/Express0011.lzma
2024-05-07T21:22:08.879Z,1715116928.879 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Express0011.lzma.bak
2024-05-07T21:22:08.880Z,1715116928.880 [DataOverHttps](INFO): SBD MOMSN=20901304
2024-05-07T21:22:10.148Z,1715116930.148 [Default:CheckIn:Read_Iridium] Stopped
2024-05-07T21:22:10.148Z,1715116930.148 [Default:CheckIn:C.Wait] Running Loop=1
2024-05-07T21:22:10.148Z,1715116930.148 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:22:23.868Z,1715116943.868 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-07T21:25:14.960Z,1715117114.960 [DataOverHttps](IMPORTANT): SBD MTMSN=20240507T212514
2024-05-07T21:25:22.418Z,1715117122.418 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MaxDepth 15 m" 2m8to 1 2
2024-05-07T21:25:22.510Z,1715117122.510 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MaxDepth 15 m" 2m8to 1 2.000000
2024-05-07T21:25:22.511Z,1715117122.511 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2m8to
2024-05-07T21:25:22.511Z,1715117122.511 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='2m8to'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MaxDepth 15 m", ASAP
2024-05-07T21:25:23.419Z,1715117123.419 [DataOverHttps](IMPORTANT): SBD MTMSN=20240507T212523
2024-05-07T21:25:30.877Z,1715117130.877 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.5 km;run" 2m8to 2 2
2024-05-07T21:25:30.968Z,1715117130.968 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.5 km;run" 2m8to 2 2.000000
2024-05-07T21:25:30.969Z,1715117130.969 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2m8to
2024-05-07T21:25:30.970Z,1715117130.970 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='2m8to'): "set transit.MinOffshore 0.5 km;run", ASAP
2024-05-07T21:25:31.084Z,1715117131.084 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2024-05-07T21:25:31.085Z,1715117131.085 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2024-05-07T21:25:31.085Z,1715117131.085 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2024-05-07T21:25:31.088Z,1715117131.088 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2024-05-07T21:25:31.770Z,1715117131.770 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
60
30
NaN
NaN
0
0
10
1
20
1
7
1
2024-05-07T21:25:31.799Z,1715117131.799 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2024-05-07T21:25:31.818Z,1715117131.818 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2024-05-07T21:25:31.821Z,1715117131.821 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2024-05-07T21:25:31.828Z,1715117131.828 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2024-05-07T21:25:31.842Z,1715117131.842 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2024-05-07T21:25:31.845Z,1715117131.845 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2024-05-07T21:25:31.852Z,1715117131.852 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2024-05-07T21:25:31.856Z,1715117131.856 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2024-05-07T21:25:31.859Z,1715117131.859 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2024-05-07T21:25:31.870Z,1715117131.870 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2024-05-07T21:25:31.873Z,1715117131.873 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2024-05-07T21:25:31.879Z,1715117131.879 [DataOverHttps](IMPORTANT): SBD MTMSN=20240507T212531
2024-05-07T21:25:31.890Z,1715117131.890 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2024-05-07T21:25:31.892Z,1715117131.892 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2024-05-07T21:25:31.893Z,1715117131.893 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2024-05-07T21:25:31.893Z,1715117131.893 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2024-05-07T21:25:31.899Z,1715117131.899 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2024-05-07T21:25:32.235Z,1715117132.235 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1000
7
30
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2024-05-07T21:25:32.241Z,1715117132.241 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2024-05-07T21:25:32.244Z,1715117132.244 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2024-05-07T21:25:32.247Z,1715117132.247 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2024-05-07T21:25:32.260Z,1715117132.260 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2024-05-07T21:25:32.291Z,1715117132.291 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2024-05-07T21:25:32.296Z,1715117132.296 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2024-05-07T21:25:32.308Z,1715117132.308 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2024-05-07T21:25:32.312Z,1715117132.312 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2024-05-07T21:25:32.335Z,1715117132.335 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-05-07T21:25:32.389Z,1715117132.389 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2024-05-07T21:25:32.394Z,1715117132.394 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2024-05-07T21:25:32.395Z,1715117132.395 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2024-05-07T21:25:32.518Z,1715117132.518 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2024-05-07T21:25:32.524Z,1715117132.524 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2024-05-07T21:25:32.535Z,1715117132.535 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2024-05-07T21:25:32.537Z,1715117132.537 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2024-05-07T21:25:32.578Z,1715117132.578 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2024-05-07T21:25:32.579Z,1715117132.579 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2024-05-07T21:25:32.599Z,1715117132.599 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2024-05-07T21:25:32.650Z,1715117132.650 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2024-05-07T21:25:32.677Z,1715117132.677 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2024-05-07T21:25:32.677Z,1715117132.677 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2024-05-07T21:25:32.698Z,1715117132.698 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2024-05-07T21:25:32.736Z,1715117132.736 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2024-05-07T21:25:32.744Z,1715117132.744 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2024-05-07T21:25:32.751Z,1715117132.751 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2024-05-07T21:25:32.758Z,1715117132.758 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2024-05-07T21:25:32.758Z,1715117132.758 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2024-05-07T21:25:32.759Z,1715117132.759 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2024-05-07T21:25:32.997Z,1715117132.997 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2024-05-07T21:25:33.014Z,1715117133.014 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2024-05-07T21:25:33.017Z,1715117133.017 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2024-05-07T21:25:33.025Z,1715117133.025 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2024-05-07T21:25:33.042Z,1715117133.042 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2024-05-07T21:25:33.050Z,1715117133.050 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2024-05-07T21:25:33.061Z,1715117133.061 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2024-05-07T21:25:33.067Z,1715117133.067 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2024-05-07T21:25:33.075Z,1715117133.075 [transit:MassHold.Pitch](DEBUG): Construct.
2024-05-07T21:25:33.090Z,1715117133.090 [transit:Transit:A.Pitch](DEBUG): Construct.
2024-05-07T21:25:33.097Z,1715117133.097 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2024-05-07T21:25:33.108Z,1715117133.108 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2024-05-07T21:25:33.144Z,1715117133.144 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission transit {
"""
Vehicle transits to desired waypoint and can be commanded to use/hold
mass or buoyancy.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Northings = 0 meter
"""
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Eastings = 0 meter
"""
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Depth = 10 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 20 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
set northingsDelta = Northings
set eastingsDelta = Eastings
}
call id="PhoneHome" refId="NeedComms"
}
}
2024-05-07T21:25:33.145Z,1715117133.145 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2024-05-07T21:25:42.822Z,1715117142.822 [DataOverHttps](INFO): Received command: strobe off
2024-05-07T21:25:45.029Z,1715117145.029 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2024-05-07T21:25:45.030Z,1715117145.030 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 15 minute
2024-05-07T21:25:45.031Z,1715117145.031 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2024-05-07T21:25:45.031Z,1715117145.031 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2024-05-07T21:25:45.032Z,1715117145.032 [CommandExec](IMPORTANT): got command set transit.Depth 5 meter
2024-05-07T21:25:45.033Z,1715117145.033 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2024-05-07T21:25:45.035Z,1715117145.035 [CommandExec](IMPORTANT): got command strobe off
2024-05-07T21:25:45.035Z,1715117145.035 [CommandExec](IMPORTANT): Deactivating strobe
2024-05-07T21:25:46.583Z,1715117146.583 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.5 kilometer
2024-05-07T21:25:46.583Z,1715117146.583 [CommandExec](IMPORTANT): got command run
2024-05-07T21:25:46.585Z,1715117146.585 [CommandExec](IMPORTANT): Running
2024-05-07T21:25:46.711Z,1715117146.711 [Default] Stopped
2024-05-07T21:25:46.712Z,1715117146.712 [Default](DEBUG): Aggregate::uninitialize Default
2024-05-07T21:25:46.712Z,1715117146.712 [Default:B.GoToSurface] Stopped
2024-05-07T21:25:46.712Z,1715117146.712 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-05-07T21:25:46.712Z,1715117146.712 [Default:CheckIn] Stopped
2024-05-07T21:25:46.712Z,1715117146.712 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-05-07T21:25:46.712Z,1715117146.712 [Default:CheckIn:C.Wait] Stopped
2024-05-07T21:25:46.712Z,1715117146.712 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:25:46.712Z,1715117146.712 [MissionManager](IMPORTANT): Started mission transit
2024-05-07T21:25:46.712Z,1715117146.712 [transit] Running Loop=1
2024-05-07T21:25:46.713Z,1715117146.713 [transit](DEBUG): Aggregate::initialize transit
2024-05-07T21:25:46.713Z,1715117146.713 [transit:StandardEnvelopes] Running Loop=1
2024-05-07T21:25:46.713Z,1715117146.713 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2024-05-07T21:25:46.713Z,1715117146.713 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-05-07T21:25:46.713Z,1715117146.713 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2024-05-07T21:25:46.713Z,1715117146.713 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-05-07T21:25:46.713Z,1715117146.713 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2024-05-07T21:25:46.714Z,1715117146.714 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-05-07T21:25:46.714Z,1715117146.714 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2024-05-07T21:25:46.714Z,1715117146.714 [transit:BackseatDriver] Running Loop=1
2024-05-07T21:25:46.714Z,1715117146.714 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2024-05-07T21:25:46.714Z,1715117146.714 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2024-05-07T21:25:46.714Z,1715117146.714 [transit:PowerOnly] Running Loop=1
2024-05-07T21:25:46.714Z,1715117146.714 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2024-05-07T21:25:46.714Z,1715117146.714 [transit:PowerOnly:A] Running Loop=1
2024-05-07T21:25:46.714Z,1715117146.714 [transit:PowerOnly:B] Running Loop=1
2024-05-07T21:25:46.715Z,1715117146.715 [transit:PowerOnly:C] Running Loop=1
2024-05-07T21:25:46.715Z,1715117146.715 [transit:PowerOnly:D] Running Loop=1
2024-05-07T21:25:46.715Z,1715117146.715 [transit:PowerOnly:E.Wait] Running Loop=1
2024-05-07T21:25:46.715Z,1715117146.715 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:25:46.715Z,1715117146.715 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-05-07T21:25:46.715Z,1715117146.715 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2024-05-07T21:25:46.715Z,1715117146.715 [transit:MassHold.Pitch] Running Loop=1
2024-05-07T21:25:46.715Z,1715117146.715 [transit:MassHold.Pitch](DEBUG): Initialize.
2024-05-07T21:25:46.716Z,1715117146.716 [transit:B] Running Loop=1
2024-05-07T21:25:46.716Z,1715117146.716 [transit:MassHold.Pitch] Running Loop=1
2024-05-07T21:25:46.717Z,1715117146.717 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-05-07T21:25:46.717Z,1715117146.717 [transit:PowerOnly] Running Loop=1
2024-05-07T21:25:46.717Z,1715117146.717 [transit:PowerOnly:D] Stopped
2024-05-07T21:25:46.717Z,1715117146.717 [transit:PowerOnly:C] Stopped
2024-05-07T21:25:46.717Z,1715117146.717 [transit:PowerOnly:B] Stopped
2024-05-07T21:25:46.717Z,1715117146.717 [transit:PowerOnly:A] Stopped
2024-05-07T21:25:46.718Z,1715117146.718 [transit:BackseatDriver] Running Loop=1
2024-05-07T21:25:46.718Z,1715117146.718 [transit:StandardEnvelopes] Running Loop=1
2024-05-07T21:25:46.718Z,1715117146.718 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-05-07T21:25:46.719Z,1715117146.719 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-05-07T21:25:46.719Z,1715117146.719 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-05-07T21:25:46.720Z,1715117146.720 [transit:B] Stopped
2024-05-07T21:25:46.720Z,1715117146.720 [transit:C] Running Loop=1
2024-05-07T21:25:47.118Z,1715117147.118 [transit:C] Stopped
2024-05-07T21:25:47.118Z,1715117147.118 [transit:E] Running Loop=1
2024-05-07T21:25:47.530Z,1715117147.530 [transit:E] Stopped
2024-05-07T21:25:47.530Z,1715117147.530 [transit:F] Running Loop=1
2024-05-07T21:25:47.920Z,1715117147.920 [transit:F] Stopped
2024-05-07T21:25:47.920Z,1715117147.920 [transit:G] Running Loop=1
2024-05-07T21:25:48.330Z,1715117148.330 [transit:G] Stopped
2024-05-07T21:25:48.331Z,1715117148.331 [transit:Transit] Running Loop=1
2024-05-07T21:25:48.331Z,1715117148.331 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2024-05-07T21:25:48.331Z,1715117148.331 [transit:Transit:A.Pitch] Running Loop=1
2024-05-07T21:25:48.331Z,1715117148.331 [transit:Transit:A.Pitch](DEBUG): Initialize.
2024-05-07T21:25:48.331Z,1715117148.331 [transit:Transit:B.SetSpeed] Running Loop=1
2024-05-07T21:25:48.331Z,1715117148.331 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2024-05-07T21:25:48.331Z,1715117148.331 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2024-05-07T21:25:48.331Z,1715117148.331 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2024-05-07T21:25:48.333Z,1715117148.333 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2024-05-07T21:25:48.334Z,1715117148.334 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2024-05-07T21:25:48.734Z,1715117148.734 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2024-05-07T21:25:48.735Z,1715117148.735 [transit:Transit:B.SetSpeed] Running Loop=1
2024-05-07T21:25:48.735Z,1715117148.735 [transit:Transit:A.Pitch] Running Loop=1
2024-05-07T21:25:48.743Z,1715117148.743 [HorizontalControl](DEBUG): kpHeading = 0.400000
2024-05-07T21:25:48.743Z,1715117148.743 [HorizontalControl](DEBUG): kiHeading = 0.001000
2024-05-07T21:25:48.744Z,1715117148.744 [HorizontalControl](DEBUG): kdHeading = 0.050000
2024-05-07T21:26:15.648Z,1715117175.648 [DataOverHttps](IMPORTANT): SBD MTMSN=20240507T212615
2024-05-07T21:26:23.534Z,1715117183.534 [DataOverHttps](INFO): Received command: stop
2024-05-07T21:26:23.571Z,1715117183.571 [CommandExec](IMPORTANT): got command stop
2024-05-07T21:26:23.571Z,1715117183.571 [CommandExec](IMPORTANT): Scheduling is paused
2024-05-07T21:26:23.571Z,1715117183.571 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2024-05-07T21:26:23.895Z,1715117183.895 [MissionManager](INFO): MissionManager is completed.
2024-05-07T21:26:23.895Z,1715117183.895 [MissionManager](INFO): Uninitializing Mission transit
2024-05-07T21:26:23.895Z,1715117183.895 [transit] Stopped
2024-05-07T21:26:23.895Z,1715117183.895 [transit](DEBUG): Aggregate::uninitialize transit
2024-05-07T21:26:23.896Z,1715117183.896 [transit:StandardEnvelopes] Stopped
2024-05-07T21:26:23.896Z,1715117183.896 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2024-05-07T21:26:23.896Z,1715117183.896 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2024-05-07T21:26:23.896Z,1715117183.896 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2024-05-07T21:26:23.896Z,1715117183.896 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2024-05-07T21:26:23.896Z,1715117183.896 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2024-05-07T21:26:23.896Z,1715117183.896 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2024-05-07T21:26:23.896Z,1715117183.896 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2024-05-07T21:26:23.896Z,1715117183.896 [transit:BackseatDriver] Stopped
2024-05-07T21:26:23.896Z,1715117183.896 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2024-05-07T21:26:23.896Z,1715117183.896 [transit:BackseatDriver:A.BackseatDriver] Stopped
2024-05-07T21:26:23.896Z,1715117183.896 [transit:PowerOnly] Stopped
2024-05-07T21:26:23.896Z,1715117183.896 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2024-05-07T21:26:23.897Z,1715117183.897 [transit:PowerOnly:E.Wait] Stopped
2024-05-07T21:26:23.897Z,1715117183.897 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:26:23.897Z,1715117183.897 [transit:BuoyancyHold.Buoyancy] Stopped
2024-05-07T21:26:23.897Z,1715117183.897 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2024-05-07T21:26:23.897Z,1715117183.897 [transit:MassHold.Pitch] Stopped
2024-05-07T21:26:23.897Z,1715117183.897 [transit:Transit] Stopped
2024-05-07T21:26:23.897Z,1715117183.897 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2024-05-07T21:26:23.897Z,1715117183.897 [transit:Transit:A.Pitch] Stopped
2024-05-07T21:26:23.897Z,1715117183.897 [transit:Transit:B.SetSpeed] Stopped
2024-05-07T21:26:23.897Z,1715117183.897 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2024-05-07T21:26:23.897Z,1715117183.897 [transit:Transit:Wpt1.Waypoint] Stopped
2024-05-07T21:26:23.897Z,1715117183.897 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2024-05-07T21:26:24.283Z,1715117184.283 [MissionManager](IMPORTANT): Started mission Default
2024-05-07T21:26:24.283Z,1715117184.283 [Default] Running Loop=1
2024-05-07T21:26:24.283Z,1715117184.283 [Default](DEBUG): Aggregate::initialize Default
2024-05-07T21:26:24.283Z,1715117184.283 [Default:B.GoToSurface] Running Loop=1
2024-05-07T21:26:24.283Z,1715117184.283 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-05-07T21:26:24.283Z,1715117184.283 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-05-07T21:26:24.284Z,1715117184.284 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-05-07T21:26:24.284Z,1715117184.284 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-05-07T21:26:24.284Z,1715117184.284 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-05-07T21:26:24.285Z,1715117184.285 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-05-07T21:26:24.285Z,1715117184.285 [Default:A.Wait] Running Loop=1
2024-05-07T21:26:24.285Z,1715117184.285 [Default:A.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:26:37.619Z,1715117197.619 [Default:A.Wait](INFO): Done Waiting.
2024-05-07T21:26:37.619Z,1715117197.619 [Default:A.Wait] Stopped
2024-05-07T21:26:37.619Z,1715117197.619 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:26:38.027Z,1715117198.027 [Default:CheckIn] Running Loop=1
2024-05-07T21:26:38.027Z,1715117198.027 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-05-07T21:26:38.028Z,1715117198.028 [Default:CheckIn:Read_GPS] Running Loop=1
2024-05-07T21:26:40.029Z,1715117200.029 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212639.00,A,3648.44546,N,12147.10256,W,4.821,2.42,070524,,,A*71
2024-05-07T21:26:40.031Z,1715117200.031 [NAL9602](INFO): GPS fix at 20240507T212639: (36.807424, -121.785043)
2024-05-07T21:26:40.063Z,1715117200.063 [Default:CheckIn:Read_GPS] Stopped
2024-05-07T21:26:40.063Z,1715117200.063 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-05-07T21:26:47.041Z,1715117207.041 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20240507T210644/Courier0013.lzma
2024-05-07T21:26:48.044Z,1715117208.044 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Courier0013.lzma.bak
2024-05-07T21:26:48.044Z,1715117208.044 [DataOverHttps](INFO): SBD MOMSN=20901375
2024-05-07T21:26:54.980Z,1715117214.980 [NAL9602](INFO): SBD MO Status=0, MOMSN=17075, MT Status=0, MTMSN=0
2024-05-07T21:26:54.980Z,1715117214.980 [NAL9602](INFO): No messages in MT queue
2024-05-07T21:27:03.922Z,1715117223.922 [DataOverHttps](INFO): Sending 702 bytes from file Logs/20240507T210644/Express0014.lzma
2024-05-07T21:27:04.924Z,1715117224.924 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Express0014.lzma.bak
2024-05-07T21:27:04.924Z,1715117224.924 [DataOverHttps](INFO): SBD MOMSN=20901378
2024-05-07T21:27:06.316Z,1715117226.316 [Default:CheckIn:Read_Iridium] Stopped
2024-05-07T21:27:06.316Z,1715117226.316 [Default:CheckIn:C.Wait] Running Loop=1
2024-05-07T21:27:06.316Z,1715117226.316 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:27:25.675Z,1715117245.675 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-07T21:27:48.872Z,1715117268.872 [DataOverHttps](IMPORTANT): SBD MTMSN=20240507T212748
2024-05-07T21:27:56.358Z,1715117276.358 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MaxDepth 15 m" 2m8xi 1 2
2024-05-07T21:27:56.409Z,1715117276.409 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MaxDepth 15 m" 2m8xi 1 2.000000
2024-05-07T21:27:56.414Z,1715117276.414 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2m8xi
2024-05-07T21:27:56.415Z,1715117276.415 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='2m8xi'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MaxDepth 15 m", ASAP
2024-05-07T21:27:57.359Z,1715117277.359 [DataOverHttps](IMPORTANT): SBD MTMSN=20240507T212757
2024-05-07T21:28:04.814Z,1715117284.814 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.5 km;run" 2m8xi 2 2
2024-05-07T21:28:04.864Z,1715117284.864 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.5 km;run" 2m8xi 2 2.000000
2024-05-07T21:28:04.865Z,1715117284.865 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2m8xi
2024-05-07T21:28:04.866Z,1715117284.866 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='2m8xi'): "set transit.MinOffshore 0.5 km;run", ASAP
2024-05-07T21:28:04.978Z,1715117284.978 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2024-05-07T21:28:04.979Z,1715117284.979 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2024-05-07T21:28:04.979Z,1715117284.979 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2024-05-07T21:28:04.980Z,1715117284.980 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2024-05-07T21:28:05.617Z,1715117285.617 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
60
30
NaN
NaN
0
0
10
1
20
1
7
1
2024-05-07T21:28:05.622Z,1715117285.622 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2024-05-07T21:28:05.624Z,1715117285.624 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2024-05-07T21:28:05.627Z,1715117285.627 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2024-05-07T21:28:05.629Z,1715117285.629 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2024-05-07T21:28:05.655Z,1715117285.655 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2024-05-07T21:28:05.658Z,1715117285.658 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2024-05-07T21:28:05.660Z,1715117285.660 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2024-05-07T21:28:05.662Z,1715117285.662 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2024-05-07T21:28:05.664Z,1715117285.664 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2024-05-07T21:28:05.666Z,1715117285.666 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2024-05-07T21:28:05.668Z,1715117285.668 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2024-05-07T21:28:05.670Z,1715117285.670 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2024-05-07T21:28:05.672Z,1715117285.672 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2024-05-07T21:28:05.673Z,1715117285.673 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2024-05-07T21:28:05.673Z,1715117285.673 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2024-05-07T21:28:05.674Z,1715117285.674 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2024-05-07T21:28:05.984Z,1715117285.984 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1000
7
30
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2024-05-07T21:28:05.988Z,1715117285.988 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2024-05-07T21:28:05.991Z,1715117285.991 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2024-05-07T21:28:05.993Z,1715117285.993 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2024-05-07T21:28:06.015Z,1715117286.015 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2024-05-07T21:28:06.017Z,1715117286.017 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2024-05-07T21:28:06.020Z,1715117286.020 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2024-05-07T21:28:06.022Z,1715117286.022 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2024-05-07T21:28:06.024Z,1715117286.024 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2024-05-07T21:28:06.030Z,1715117286.030 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-05-07T21:28:06.074Z,1715117286.074 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2024-05-07T21:28:06.074Z,1715117286.074 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2024-05-07T21:28:06.075Z,1715117286.075 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2024-05-07T21:28:06.205Z,1715117286.205 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2024-05-07T21:28:06.211Z,1715117286.211 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2024-05-07T21:28:06.213Z,1715117286.213 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2024-05-07T21:28:06.216Z,1715117286.216 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2024-05-07T21:28:06.218Z,1715117286.218 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2024-05-07T21:28:06.219Z,1715117286.219 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2024-05-07T21:28:06.225Z,1715117286.225 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2024-05-07T21:28:06.232Z,1715117286.232 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2024-05-07T21:28:06.240Z,1715117286.240 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2024-05-07T21:28:06.240Z,1715117286.240 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2024-05-07T21:28:06.241Z,1715117286.241 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2024-05-07T21:28:06.287Z,1715117286.287 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2024-05-07T21:28:06.294Z,1715117286.294 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2024-05-07T21:28:06.296Z,1715117286.296 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2024-05-07T21:28:06.310Z,1715117286.310 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2024-05-07T21:28:06.310Z,1715117286.310 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2024-05-07T21:28:06.312Z,1715117286.312 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2024-05-07T21:28:06.414Z,1715117286.414 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2024-05-07T21:28:06.421Z,1715117286.421 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2024-05-07T21:28:06.423Z,1715117286.423 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2024-05-07T21:28:06.425Z,1715117286.425 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2024-05-07T21:28:06.427Z,1715117286.427 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2024-05-07T21:28:06.429Z,1715117286.429 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2024-05-07T21:28:06.435Z,1715117286.435 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2024-05-07T21:28:06.437Z,1715117286.437 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2024-05-07T21:28:06.440Z,1715117286.440 [transit:MassHold.Pitch](DEBUG): Construct.
2024-05-07T21:28:06.447Z,1715117286.447 [transit:Transit:A.Pitch](DEBUG): Construct.
2024-05-07T21:28:06.451Z,1715117286.451 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2024-05-07T21:28:06.453Z,1715117286.453 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2024-05-07T21:28:06.468Z,1715117286.468 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission transit {
"""
Vehicle transits to desired waypoint and can be commanded to use/hold
mass or buoyancy.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Northings = 0 meter
"""
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Eastings = 0 meter
"""
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Depth = 10 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 20 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
set northingsDelta = Northings
set eastingsDelta = Eastings
}
call id="PhoneHome" refId="NeedComms"
}
}
2024-05-07T21:28:06.469Z,1715117286.469 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2024-05-07T21:28:14.836Z,1715117294.836 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2024-05-07T21:28:14.836Z,1715117294.836 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 15 minute
2024-05-07T21:28:14.837Z,1715117294.837 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2024-05-07T21:28:14.838Z,1715117294.838 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2024-05-07T21:28:14.839Z,1715117294.839 [CommandExec](IMPORTANT): got command set transit.Depth 5 meter
2024-05-07T21:28:14.839Z,1715117294.839 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2024-05-07T21:28:16.365Z,1715117296.365 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.5 kilometer
2024-05-07T21:28:16.365Z,1715117296.365 [CommandExec](IMPORTANT): got command run
2024-05-07T21:28:16.367Z,1715117296.367 [CommandExec](IMPORTANT): Running
2024-05-07T21:28:16.628Z,1715117296.628 [Default] Stopped
2024-05-07T21:28:16.628Z,1715117296.628 [Default](DEBUG): Aggregate::uninitialize Default
2024-05-07T21:28:16.628Z,1715117296.628 [Default:B.GoToSurface] Stopped
2024-05-07T21:28:16.628Z,1715117296.628 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-05-07T21:28:16.628Z,1715117296.628 [Default:CheckIn] Stopped
2024-05-07T21:28:16.628Z,1715117296.628 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-05-07T21:28:16.628Z,1715117296.628 [Default:CheckIn:C.Wait] Stopped
2024-05-07T21:28:16.628Z,1715117296.628 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:28:16.629Z,1715117296.629 [MissionManager](IMPORTANT): Started mission transit
2024-05-07T21:28:16.629Z,1715117296.629 [transit] Running Loop=1
2024-05-07T21:28:16.629Z,1715117296.629 [transit](DEBUG): Aggregate::initialize transit
2024-05-07T21:28:16.629Z,1715117296.629 [transit:StandardEnvelopes] Running Loop=1
2024-05-07T21:28:16.629Z,1715117296.629 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2024-05-07T21:28:16.629Z,1715117296.629 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-05-07T21:28:16.629Z,1715117296.629 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2024-05-07T21:28:16.642Z,1715117296.642 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-05-07T21:28:16.642Z,1715117296.642 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2024-05-07T21:28:16.642Z,1715117296.642 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-05-07T21:28:16.642Z,1715117296.642 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2024-05-07T21:28:16.642Z,1715117296.642 [transit:BackseatDriver] Running Loop=1
2024-05-07T21:28:16.642Z,1715117296.642 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2024-05-07T21:28:16.642Z,1715117296.642 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:PowerOnly] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2024-05-07T21:28:16.643Z,1715117296.643 [transit:PowerOnly:A] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:PowerOnly:B] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:PowerOnly:C] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:PowerOnly:D] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:PowerOnly:E.Wait] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:28:16.643Z,1715117296.643 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2024-05-07T21:28:16.643Z,1715117296.643 [transit:MassHold.Pitch] Running Loop=1
2024-05-07T21:28:16.643Z,1715117296.643 [transit:MassHold.Pitch](DEBUG): Initialize.
2024-05-07T21:28:16.644Z,1715117296.644 [transit:B] Running Loop=1
2024-05-07T21:28:16.644Z,1715117296.644 [transit:MassHold.Pitch] Running Loop=1
2024-05-07T21:28:16.645Z,1715117296.645 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-05-07T21:28:16.645Z,1715117296.645 [transit:PowerOnly] Running Loop=1
2024-05-07T21:28:16.645Z,1715117296.645 [transit:PowerOnly:D] Stopped
2024-05-07T21:28:16.645Z,1715117296.645 [transit:PowerOnly:C] Stopped
2024-05-07T21:28:16.645Z,1715117296.645 [transit:PowerOnly:B] Stopped
2024-05-07T21:28:16.645Z,1715117296.645 [transit:PowerOnly:A] Stopped
2024-05-07T21:28:16.645Z,1715117296.645 [transit:BackseatDriver] Running Loop=1
2024-05-07T21:28:16.650Z,1715117296.650 [transit:StandardEnvelopes] Running Loop=1
2024-05-07T21:28:16.650Z,1715117296.650 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-05-07T21:28:16.650Z,1715117296.650 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-05-07T21:28:16.651Z,1715117296.651 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-05-07T21:28:16.651Z,1715117296.651 [transit:B] Stopped
2024-05-07T21:28:16.651Z,1715117296.651 [transit:C] Running Loop=1
2024-05-07T21:28:17.040Z,1715117297.040 [transit:C] Stopped
2024-05-07T21:28:17.040Z,1715117297.040 [transit:E] Running Loop=1
2024-05-07T21:28:17.450Z,1715117297.450 [transit:E] Stopped
2024-05-07T21:28:17.450Z,1715117297.450 [transit:F] Running Loop=1
2024-05-07T21:28:17.851Z,1715117297.851 [transit:F] Stopped
2024-05-07T21:28:17.851Z,1715117297.851 [transit:G] Running Loop=1
2024-05-07T21:28:18.245Z,1715117298.245 [transit:G] Stopped
2024-05-07T21:28:18.245Z,1715117298.245 [transit:Transit] Running Loop=1
2024-05-07T21:28:18.245Z,1715117298.245 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2024-05-07T21:28:18.245Z,1715117298.245 [transit:Transit:A.Pitch] Running Loop=1
2024-05-07T21:28:18.245Z,1715117298.245 [transit:Transit:A.Pitch](DEBUG): Initialize.
2024-05-07T21:28:18.245Z,1715117298.245 [transit:Transit:B.SetSpeed] Running Loop=1
2024-05-07T21:28:18.262Z,1715117298.262 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2024-05-07T21:28:18.262Z,1715117298.262 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2024-05-07T21:28:18.262Z,1715117298.262 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2024-05-07T21:28:18.263Z,1715117298.263 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2024-05-07T21:28:18.264Z,1715117298.264 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2024-05-07T21:28:18.652Z,1715117298.652 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2024-05-07T21:28:18.653Z,1715117298.653 [transit:Transit:B.SetSpeed] Running Loop=1
2024-05-07T21:28:18.653Z,1715117298.653 [transit:Transit:A.Pitch] Running Loop=1
2024-05-07T21:29:16.947Z,1715117356.947 [DataOverHttps](IMPORTANT): SBD MTMSN=20240507T212916
2024-05-07T21:29:24.642Z,1715117364.642 [DataOverHttps](INFO): Received command: stop
2024-05-07T21:29:24.730Z,1715117364.730 [CommandExec](IMPORTANT): got command stop
2024-05-07T21:29:24.731Z,1715117364.731 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2024-05-07T21:29:24.904Z,1715117364.904 [MissionManager](INFO): MissionManager is completed.
2024-05-07T21:29:24.904Z,1715117364.904 [MissionManager](INFO): Uninitializing Mission transit
2024-05-07T21:29:24.905Z,1715117364.905 [transit] Stopped
2024-05-07T21:29:24.905Z,1715117364.905 [transit](DEBUG): Aggregate::uninitialize transit
2024-05-07T21:29:24.905Z,1715117364.905 [transit:StandardEnvelopes] Stopped
2024-05-07T21:29:24.905Z,1715117364.905 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2024-05-07T21:29:24.905Z,1715117364.905 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2024-05-07T21:29:24.905Z,1715117364.905 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2024-05-07T21:29:24.905Z,1715117364.905 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2024-05-07T21:29:24.905Z,1715117364.905 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2024-05-07T21:29:24.905Z,1715117364.905 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2024-05-07T21:29:24.905Z,1715117364.905 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2024-05-07T21:29:24.905Z,1715117364.905 [transit:BackseatDriver] Stopped
2024-05-07T21:29:24.905Z,1715117364.905 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2024-05-07T21:29:24.906Z,1715117364.906 [transit:BackseatDriver:A.BackseatDriver] Stopped
2024-05-07T21:29:24.906Z,1715117364.906 [transit:PowerOnly] Stopped
2024-05-07T21:29:24.906Z,1715117364.906 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2024-05-07T21:29:24.906Z,1715117364.906 [transit:PowerOnly:E.Wait] Stopped
2024-05-07T21:29:24.906Z,1715117364.906 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:29:24.906Z,1715117364.906 [transit:BuoyancyHold.Buoyancy] Stopped
2024-05-07T21:29:24.906Z,1715117364.906 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2024-05-07T21:29:24.906Z,1715117364.906 [transit:MassHold.Pitch] Stopped
2024-05-07T21:29:24.906Z,1715117364.906 [transit:Transit] Stopped
2024-05-07T21:29:24.906Z,1715117364.906 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2024-05-07T21:29:24.906Z,1715117364.906 [transit:Transit:A.Pitch] Stopped
2024-05-07T21:29:24.906Z,1715117364.906 [transit:Transit:B.SetSpeed] Stopped
2024-05-07T21:29:24.907Z,1715117364.907 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2024-05-07T21:29:24.907Z,1715117364.907 [transit:Transit:Wpt1.Waypoint] Stopped
2024-05-07T21:29:24.907Z,1715117364.907 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2024-05-07T21:29:25.313Z,1715117365.313 [MissionManager](IMPORTANT): Started mission Default
2024-05-07T21:29:25.313Z,1715117365.313 [Default] Running Loop=1
2024-05-07T21:29:25.313Z,1715117365.313 [Default](DEBUG): Aggregate::initialize Default
2024-05-07T21:29:25.313Z,1715117365.313 [Default:B.GoToSurface] Running Loop=1
2024-05-07T21:29:25.313Z,1715117365.313 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-05-07T21:29:25.314Z,1715117365.314 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-05-07T21:29:25.314Z,1715117365.314 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-05-07T21:29:25.314Z,1715117365.314 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-05-07T21:29:25.315Z,1715117365.315 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-05-07T21:29:25.315Z,1715117365.315 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-05-07T21:29:25.316Z,1715117365.316 [Default:A.Wait] Running Loop=1
2024-05-07T21:29:25.316Z,1715117365.316 [Default:A.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:29:38.659Z,1715117378.659 [Default:A.Wait](INFO): Done Waiting.
2024-05-07T21:29:38.660Z,1715117378.660 [Default:A.Wait] Stopped
2024-05-07T21:29:38.660Z,1715117378.660 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:29:39.042Z,1715117379.042 [Default:CheckIn] Running Loop=1
2024-05-07T21:29:39.042Z,1715117379.042 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-05-07T21:29:39.042Z,1715117379.042 [Default:CheckIn:Read_GPS] Running Loop=1
2024-05-07T21:29:41.052Z,1715117381.052 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212940.00,A,3648.43944,N,12147.34848,W,7.581,230.97,070524,,,A*75
2024-05-07T21:29:41.054Z,1715117381.054 [NAL9602](INFO): GPS fix at 20240507T212940: (36.807324, -121.789141)
2024-05-07T21:29:41.067Z,1715117381.067 [Default:CheckIn:Read_GPS] Stopped
2024-05-07T21:29:41.067Z,1715117381.067 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-05-07T21:29:49.117Z,1715117389.117 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20240507T210644/Courier0018.lzma
2024-05-07T21:29:50.120Z,1715117390.120 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Courier0018.lzma.bak
2024-05-07T21:29:50.120Z,1715117390.120 [DataOverHttps](INFO): SBD MOMSN=20901420
2024-05-07T21:30:08.774Z,1715117408.774 [DataOverHttps](INFO): Sending 612 bytes from file Logs/20240507T210644/Express0017.lzma
2024-05-07T21:30:09.776Z,1715117409.776 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Express0017.lzma.bak
2024-05-07T21:30:09.776Z,1715117409.776 [DataOverHttps](INFO): SBD MOMSN=20901423
2024-05-07T21:30:11.020Z,1715117411.020 [Default:CheckIn:Read_Iridium] Stopped
2024-05-07T21:30:11.020Z,1715117411.020 [Default:CheckIn:C.Wait] Running Loop=1
2024-05-07T21:30:11.020Z,1715117411.020 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:30:36.040Z,1715117436.040 [NAL9602](INFO): SBD MO Status=2, MOMSN=17076, MT Status=2, MTMSN=0
2024-05-07T21:30:36.040Z,1715117436.040 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-05-07T21:30:53.812Z,1715117453.812 [NAL9602](INFO): SBD MO Status=0, MOMSN=17076, MT Status=0, MTMSN=0
2024-05-07T21:30:53.812Z,1715117453.812 [NAL9602](INFO): No messages in MT queue
2024-05-07T21:31:24.527Z,1715117484.527 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-07T21:35:11.579Z,1715117711.579 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2024-05-07T21:35:11.579Z,1715117711.579 [Default:CheckIn:C.Wait] Stopped
2024-05-07T21:35:11.580Z,1715117711.580 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-05-07T21:35:11.580Z,1715117711.580 [Default:CheckIn:D] Running Loop=1
2024-05-07T21:35:11.983Z,1715117711.983 [Default:CheckIn:D] Stopped
2024-05-07T21:35:11.983Z,1715117711.983 [Default:CheckIn:E] Running Loop=1
2024-05-07T21:35:12.394Z,1715117712.394 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 5.777837 min
2024-05-07T21:35:12.395Z,1715117712.395 [Default:CheckIn:E] Stopped
2024-05-07T21:35:12.395Z,1715117712.395 [Default:CheckIn](INFO): Completed Default:CheckIn
2024-05-07T21:35:12.395Z,1715117712.395 [Default:CheckIn] Stopped
2024-05-07T21:35:12.395Z,1715117712.395 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-05-07T21:35:12.395Z,1715117712.395 [Default:CheckIn](INFO): Running loop #2
2024-05-07T21:35:12.395Z,1715117712.395 [Default:CheckIn] Running Loop=2
2024-05-07T21:35:12.395Z,1715117712.395 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-05-07T21:35:12.395Z,1715117712.395 [Default:CheckIn:Read_GPS] Running Loop=1
2024-05-07T21:35:14.397Z,1715117714.397 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213514.00,A,3648.36138,N,12148.17220,W,1.011,237.39,070524,,,A*7B
2024-05-07T21:35:14.399Z,1715117714.399 [NAL9602](INFO): GPS fix at 20240507T213514: (36.806023, -121.802870)
2024-05-07T21:35:14.432Z,1715117714.432 [Default:CheckIn:Read_GPS] Stopped
2024-05-07T21:35:14.432Z,1715117714.432 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-05-07T21:35:34.365Z,1715117734.365 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20240507T210644/Courier0024.lzma
2024-05-07T21:35:35.368Z,1715117735.368 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Courier0024.lzma.bak
2024-05-07T21:35:35.368Z,1715117735.368 [DataOverHttps](INFO): SBD MOMSN=20901514
2024-05-07T21:35:49.585Z,1715117749.585 [NAL9602](INFO): SBD MO Status=2, MOMSN=17077, MT Status=2, MTMSN=0
2024-05-07T21:35:49.585Z,1715117749.585 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-05-07T21:35:53.998Z,1715117753.998 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20240507T210644/Express0026.lzma
2024-05-07T21:35:57.008Z,1715117757.008 [DataOverHttps](INFO): Moved sent file to Logs/20240507T210644/Express0026.lzma.bak
2024-05-07T21:35:57.008Z,1715117757.008 [DataOverHttps](INFO): SBD MOMSN=20901517
2024-05-07T21:35:58.084Z,1715117758.084 [Default:CheckIn:Read_Iridium] Stopped
2024-05-07T21:35:58.084Z,1715117758.084 [Default:CheckIn:C.Wait] Running Loop=1
2024-05-07T21:35:58.084Z,1715117758.084 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-05-07T21:35:59.684Z,1715117759.684 [NAL9602](INFO): SBD MO Status=0, MOMSN=17077, MT Status=0, MTMSN=0
2024-05-07T21:35:59.684Z,1715117759.684 [NAL9602](INFO): No messages in MT queue
2024-05-07T21:36:30.391Z,1715117790.391 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-07T21:39:03.299Z,1715117943.299 [DataOverHttps](IMPORTANT): SBD MTMSN=20240507T213902
2024-05-07T21:39:10.761Z,1715117950.761 [DataOverHttps](INFO): Received command: restart logs