2025-04-07T17:54:57.404Z,1744048497.404 [Supervisor](DEBUG): Initializing supervisor.
2025-04-07T17:54:57.409Z,1744048497.409 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-04-07T17:54:57.409Z,1744048497.409 [SyncHandler](INFO): Protected caller Thread ID is 1807
2025-04-07T17:54:57.410Z,1744048497.410 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-04-07T17:54:57.410Z,1744048497.410 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-04-07T17:54:57.411Z,1744048497.411 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1808
2025-04-07T17:54:57.415Z,1744048497.415 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-04-07T17:54:57.436Z,1744048497.436 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-04-07T17:54:57.437Z,1744048497.437 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-04-07T17:54:57.437Z,1744048497.437 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1809
2025-04-07T17:54:57.441Z,1744048497.441 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-04-07T17:54:57.442Z,1744048497.442 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-04-07T17:54:57.443Z,1744048497.443 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1810
2025-04-07T17:54:57.445Z,1744048497.445 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-04-07T17:54:57.446Z,1744048497.446 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-04-07T17:54:57.446Z,1744048497.446 [logger ThreadHandler](INFO): Protected caller Thread ID is 1811
2025-04-07T17:54:57.450Z,1744048497.450 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-04-07T17:54:57.450Z,1744048497.450 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-04-07T17:54:57.452Z,1744048497.452 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-04-07T17:54:57.673Z,1744048497.673 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-04-07T17:54:57.674Z,1744048497.674 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-04-07T17:54:57.791Z,1744048497.791 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-04-07T17:54:57.791Z,1744048497.791 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-04-07T17:54:57.897Z,1744048497.897 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-04-07T17:54:57.897Z,1744048497.897 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-04-07T17:54:58.394Z,1744048498.394 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-04-07T17:54:58.395Z,1744048498.395 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-04-07T17:54:58.755Z,1744048498.755 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-04-07T17:54:58.755Z,1744048498.755 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-04-07T17:54:59.130Z,1744048499.130 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-04-07T17:54:59.131Z,1744048499.131 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-04-07T17:54:59.344Z,1744048499.344 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-04-07T17:54:59.344Z,1744048499.344 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-04-07T17:54:59.741Z,1744048499.741 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-04-07T17:54:59.833Z,1744048499.833 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-04-07T17:55:00.257Z,1744048500.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-04-07T17:55:00.257Z,1744048500.257 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-04-07T17:55:00.560Z,1744048500.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-04-07T17:55:00.560Z,1744048500.560 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-04-07T17:55:01.127Z,1744048501.127 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-04-07T17:55:01.127Z,1744048501.127 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-04-07T17:55:01.381Z,1744048501.381 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-04-07T17:55:01.382Z,1744048501.382 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-04-07T17:55:01.636Z,1744048501.636 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-04-07T17:55:01.636Z,1744048501.636 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-04-07T17:55:01.787Z,1744048501.787 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-04-07T17:55:01.788Z,1744048501.788 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-04-07T17:55:02.670Z,1744048502.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-04-07T17:55:02.672Z,1744048502.672 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2025-04-07T17:55:02.673Z,1744048502.673 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2025-04-07T17:55:02.768Z,1744048502.768 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2025-04-07T17:55:02.911Z,1744048502.911 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2025-04-07T17:55:03.191Z,1744048503.191 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-04-07T17:55:03.192Z,1744048503.192 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2025-04-07T17:55:03.326Z,1744048503.326 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2025-04-07T17:55:03.432Z,1744048503.432 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2025-04-07T17:55:03.536Z,1744048503.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2025-04-07T17:55:03.654Z,1744048503.654 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2025-04-07T17:55:03.748Z,1744048503.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2025-04-07T17:55:03.845Z,1744048503.845 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2025-04-07T17:55:03.946Z,1744048503.946 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2025-04-07T17:55:04.124Z,1744048504.124 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-04-07T17:55:04.134Z,1744048504.134 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-04-07T17:55:04.187Z,1744048504.187 [DepthRateCalculator] Loaded
2025-04-07T17:55:04.188Z,1744048504.188 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-04-07T17:55:04.193Z,1744048504.193 [PitchRateCalculator] Loaded
2025-04-07T17:55:04.193Z,1744048504.193 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-04-07T17:55:04.204Z,1744048504.204 [SpeedCalculator] Loaded
2025-04-07T17:55:04.204Z,1744048504.204 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-04-07T17:55:04.209Z,1744048504.209 [YawRateCalculator] Loaded
2025-04-07T17:55:04.209Z,1744048504.209 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-04-07T17:55:04.231Z,1744048504.231 [ElevatorOffsetCalculator] Loaded
2025-04-07T17:55:04.231Z,1744048504.231 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-04-07T17:55:04.232Z,1744048504.232 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-04-07T17:55:04.232Z,1744048504.232 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-04-07T17:55:04.261Z,1744048504.261 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-04-07T17:55:04.262Z,1744048504.262 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-04-07T17:55:04.272Z,1744048504.272 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-04-07T17:55:04.273Z,1744048504.273 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-04-07T17:55:04.799Z,1744048504.799 [AHRS_M2] Loaded
2025-04-07T17:55:04.799Z,1744048504.799 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-04-07T17:55:04.837Z,1744048504.837 [BackseatComponent] Loaded
2025-04-07T17:55:04.837Z,1744048504.837 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-04-07T17:55:04.839Z,1744048504.839 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408754E0
2025-04-07T17:55:04.839Z,1744048504.839 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1893
2025-04-07T17:55:04.842Z,1744048504.842 [LcmUniversalReporter] Loaded
2025-04-07T17:55:04.842Z,1744048504.842 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-04-07T17:55:06.163Z,1744048506.163 [BPC1] Loaded
2025-04-07T17:55:06.163Z,1744048506.163 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-04-07T17:55:06.258Z,1744048506.258 [DAT] Loaded
2025-04-07T17:55:06.258Z,1744048506.258 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-04-07T17:55:06.259Z,1744048506.259 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408A54E0
2025-04-07T17:55:06.260Z,1744048506.260 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1894
2025-04-07T17:55:06.334Z,1744048506.334 [DataOverHttps] Loaded
2025-04-07T17:55:06.334Z,1744048506.334 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-04-07T17:55:06.335Z,1744048506.335 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408D54E0
2025-04-07T17:55:06.336Z,1744048506.336 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1895
2025-04-07T17:55:06.358Z,1744048506.358 [Depth_Keller] Loaded
2025-04-07T17:55:06.358Z,1744048506.358 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-04-07T17:55:06.363Z,1744048506.363 [DropWeight] Loaded
2025-04-07T17:55:06.363Z,1744048506.363 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-04-07T17:55:06.385Z,1744048506.385 [MultiRay](INFO): Found secondary power supply at: /dev/loadC7
2025-04-07T17:55:06.385Z,1744048506.385 [MultiRay] Loaded
2025-04-07T17:55:06.385Z,1744048506.385 [ComponentRegistry](DEBUG): SyncComponent "MultiRay" handled in the control thread.
2025-04-07T17:55:06.449Z,1744048506.449 [NAL9602] Loaded
2025-04-07T17:55:06.449Z,1744048506.449 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-04-07T17:55:06.478Z,1744048506.478 [Onboard] Loaded
2025-04-07T17:55:06.478Z,1744048506.478 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-04-07T17:55:06.479Z,1744048506.479 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409054E0
2025-04-07T17:55:06.480Z,1744048506.480 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1896
2025-04-07T17:55:06.486Z,1744048506.486 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2025-04-07T17:55:06.499Z,1744048506.499 [PowerOnly] Loaded
2025-04-07T17:55:06.499Z,1744048506.499 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2025-04-07T17:55:06.513Z,1744048506.513 [Power24vConverter] Loaded
2025-04-07T17:55:06.513Z,1744048506.513 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-04-07T17:55:06.530Z,1744048506.530 [Radio_Surface] Loaded
2025-04-07T17:55:06.530Z,1744048506.530 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-04-07T17:55:06.531Z,1744048506.531 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409354E0
2025-04-07T17:55:06.532Z,1744048506.532 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1897
2025-04-07T17:55:06.556Z,1744048506.556 [Waterlinked] Loaded
2025-04-07T17:55:06.557Z,1744048506.557 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread.
2025-04-07T17:55:06.557Z,1744048506.557 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-04-07T17:55:06.557Z,1744048506.557 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-04-07T17:55:06.671Z,1744048506.671 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-04-07T17:55:06.672Z,1744048506.672 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-04-07T17:55:06.685Z,1744048506.685 [NavChart] Loaded
2025-04-07T17:55:06.686Z,1744048506.686 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-04-07T17:55:06.691Z,1744048506.691 [UniversalFixResidualReporter] Loaded
2025-04-07T17:55:06.691Z,1744048506.691 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-04-07T17:55:06.692Z,1744048506.692 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-04-07T17:55:06.692Z,1744048506.692 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-04-07T17:55:06.859Z,1744048506.859 [SBIT](DEBUG): Construct Startup Built In Test.
2025-04-07T17:55:06.874Z,1744048506.874 [SBIT] Loaded
2025-04-07T17:55:06.874Z,1744048506.874 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-04-07T17:55:06.877Z,1744048506.877 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-04-07T17:55:06.890Z,1744048506.890 [IBIT] Loaded
2025-04-07T17:55:06.890Z,1744048506.890 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-04-07T17:55:06.895Z,1744048506.895 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-04-07T17:55:06.976Z,1744048506.976 [CBIT] Loaded
2025-04-07T17:55:06.976Z,1744048506.976 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-04-07T17:55:07.008Z,1744048507.008 [GFScanner] Loaded
2025-04-07T17:55:07.008Z,1744048507.008 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-04-07T17:55:07.008Z,1744048507.008 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-04-07T17:55:07.009Z,1744048507.009 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-04-07T17:55:07.178Z,1744048507.178 [CTD_Seabird] Loaded
2025-04-07T17:55:07.179Z,1744048507.179 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-04-07T17:55:07.180Z,1744048507.180 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A474E0
2025-04-07T17:55:07.180Z,1744048507.180 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1898
2025-04-07T17:55:07.203Z,1744048507.203 [PAR_Licor] Loaded
2025-04-07T17:55:07.203Z,1744048507.203 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-04-07T17:55:07.248Z,1744048507.248 [WetLabsBB2FL] Loaded
2025-04-07T17:55:07.248Z,1744048507.248 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-04-07T17:55:07.250Z,1744048507.250 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A774E0
2025-04-07T17:55:07.250Z,1744048507.250 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1899
2025-04-07T17:55:07.251Z,1744048507.251 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-04-07T17:55:07.251Z,1744048507.251 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-04-07T17:55:07.392Z,1744048507.392 [BuoyancyServo] Loaded
2025-04-07T17:55:07.393Z,1744048507.393 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-04-07T17:55:07.417Z,1744048507.417 [ElevatorServo] Loaded
2025-04-07T17:55:07.417Z,1744048507.417 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-04-07T17:55:07.441Z,1744048507.441 [MassServo] Loaded
2025-04-07T17:55:07.441Z,1744048507.441 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-04-07T17:55:07.463Z,1744048507.463 [RudderServo] Loaded
2025-04-07T17:55:07.463Z,1744048507.463 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-04-07T17:55:07.482Z,1744048507.482 [ThrusterHE] Loaded
2025-04-07T17:55:07.482Z,1744048507.482 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-04-07T17:55:07.482Z,1744048507.482 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-04-07T17:55:07.483Z,1744048507.483 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-04-07T17:55:07.538Z,1744048507.538 [VerticalControl](DEBUG): Construct VerticalControl.
2025-04-07T17:55:07.590Z,1744048507.590 [VerticalControl] Loaded
2025-04-07T17:55:07.591Z,1744048507.591 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-04-07T17:55:07.594Z,1744048507.594 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-04-07T17:55:07.639Z,1744048507.639 [HorizontalControl] Loaded
2025-04-07T17:55:07.639Z,1744048507.639 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-04-07T17:55:07.641Z,1744048507.641 [SpeedControl](DEBUG): Construct SpeedControl.
2025-04-07T17:55:07.643Z,1744048507.643 [SpeedControl] Loaded
2025-04-07T17:55:07.643Z,1744048507.643 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-04-07T17:55:07.646Z,1744048507.646 [LoopControl](DEBUG): Construct LoopControl.
2025-04-07T17:55:07.647Z,1744048507.647 [LoopControl] Loaded
2025-04-07T17:55:07.647Z,1744048507.647 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-04-07T17:55:07.647Z,1744048507.647 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-04-07T17:55:07.648Z,1744048507.648 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-04-07T17:55:07.784Z,1744048507.784 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-04-07T17:55:07.785Z,1744048507.785 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-04-07T17:55:07.967Z,1744048507.967 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-04-07T17:55:07.968Z,1744048507.968 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-04-07T17:55:08.323Z,1744048508.323 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-04-07T17:55:08.324Z,1744048508.324 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-04-07T17:55:08.383Z,1744048508.383 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-04-07T17:55:08.390Z,1744048508.390 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-04-07T17:55:08.393Z,1744048508.393 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-04-07T17:55:08.404Z,1744048508.404 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-04-07T17:55:08.405Z,1744048508.405 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-04-07T17:55:08.406Z,1744048508.406 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1900
2025-04-07T17:55:08.410Z,1744048508.410 [Supervisor](INFO): Main Thread ID is 830
2025-04-07T17:55:08.410Z,1744048508.410 [Supervisor](DEBUG): Running supervisor.
2025-04-07T17:55:08.411Z,1744048508.411 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1901
2025-04-07T17:55:08.411Z,1744048508.411 [CommandExec](INFO): Initializing the command executive.
2025-04-07T17:55:08.413Z,1744048508.413 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1902
2025-04-07T17:55:08.415Z,1744048508.415 [controlThread ThreadHandler](INFO): Handler Thread ID is 1903
2025-04-07T17:55:08.416Z,1744048508.416 [controlThread](DEBUG): Initializing ControlThread
2025-04-07T17:55:08.416Z,1744048508.416 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-04-07T17:55:08.417Z,1744048508.417 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-04-07T17:55:08.417Z,1744048508.417 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-04-07T17:55:08.418Z,1744048508.418 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-04-07T17:55:08.418Z,1744048508.418 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-04-07T17:55:08.422Z,1744048508.422 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-04-07T17:55:08.422Z,1744048508.422 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-04-07T17:55:08.423Z,1744048508.423 [SBIT](INFO): Initialize SBIT Component.
2025-04-07T17:55:08.423Z,1744048508.423 [SBIT](IMPORTANT): git: 2025-04-02-2-g1635786d1
2025-04-07T17:55:08.423Z,1744048508.423 [SBIT](INFO): git hash: 1635786d188a1b3aba7073e6184020eb8609012e
2025-04-07T17:55:08.423Z,1744048508.423 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-04-07T17:55:08.425Z,1744048508.425 [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
2025-04-07T17:55:08.426Z,1744048508.426 [SBIT](INFO): Beginning SBIT in 61.000000 seconds.
2025-04-07T17:55:08.426Z,1744048508.426 [IBIT](INFO): Initialize IBIT Component.
2025-04-07T17:55:08.427Z,1744048508.427 [CBIT](DEBUG): Initialize CBIT Component.
2025-04-07T17:55:08.428Z,1744048508.428 [logger ThreadHandler](INFO): Handler Thread ID is 1904
2025-04-07T17:55:08.441Z,1744048508.441 [CBIT](DEBUG): Initialized mux pins.
2025-04-07T17:55:08.441Z,1744048508.441 [CBIT](DEBUG): Initializing the watchdog timer.
2025-04-07T17:55:08.453Z,1744048508.453 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1905
2025-04-07T17:55:08.465Z,1744048508.465 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-04-07T17:55:08.465Z,1744048508.465 [CBIT](DEBUG): Initializing heartbeat.
2025-04-07T17:55:08.466Z,1744048508.466 [DAT ThreadHandler](INFO): Handler Thread ID is 1906
2025-04-07T17:55:08.467Z,1744048508.467 [DAT](INFO): Powering up
2025-04-07T17:55:08.467Z,1744048508.467 [DAT](DEBUG): Initializing DAT.
2025-04-07T17:55:08.470Z,1744048508.470 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1908
2025-04-07T17:55:08.472Z,1744048508.472 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-04-07T17:55:08.493Z,1744048508.493 [Onboard ThreadHandler](INFO): Handler Thread ID is 1909
2025-04-07T17:55:08.511Z,1744048508.511 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1910
2025-04-07T17:55:08.531Z,1744048508.531 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1911
2025-04-07T17:55:08.531Z,1744048508.531 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-04-07T17:55:08.537Z,1744048508.537 [CBIT](DEBUG): Deactivating emergency mode.
2025-04-07T17:55:08.539Z,1744048508.539 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1913
2025-04-07T17:55:08.541Z,1744048508.541 [WetLabsBB2FL](INFO): Powering up
2025-04-07T17:55:08.543Z,1744048508.543 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1915
2025-04-07T17:55:08.545Z,1744048508.545 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-04-07T17:55:08.545Z,1744048508.545 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-04-07T17:55:08.545Z,1744048508.545 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-04-07T17:55:08.546Z,1744048508.546 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-04-07T17:55:08.546Z,1744048508.546 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-04-07T17:55:08.546Z,1744048508.546 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-04-07T17:55:08.546Z,1744048508.546 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-04-07T17:55:08.546Z,1744048508.546 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-04-07T17:55:08.577Z,1744048508.577 [CBIT](DEBUG): Backplane powered.
2025-04-07T17:55:08.577Z,1744048508.577 [GFScanner](DEBUG): Initializing GFScanner
2025-04-07T17:55:08.577Z,1744048508.577 [GFScanner](DEBUG): Deactivating GF circuits.
2025-04-07T17:55:08.586Z,1744048508.586 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-04-07T17:55:08.588Z,1744048508.588 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-04-07T17:55:08.589Z,1744048508.589 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-04-07T17:55:08.589Z,1744048508.589 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-04-07T17:55:08.590Z,1744048508.590 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-04-07T17:55:08.591Z,1744048508.591 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-04-07T17:55:08.591Z,1744048508.591 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-04-07T17:55:08.592Z,1744048508.592 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-04-07T17:55:08.638Z,1744048508.638 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-04-07T17:55:08.659Z,1744048508.659 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-07T17:55:08.683Z,1744048508.683 [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
    }
  }
}


2025-04-07T17:55:08.683Z,1744048508.683 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-04-07T17:55:08.684Z,1744048508.684 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-04-07T17:55:08.684Z,1744048508.684 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-04-07T17:55:08.881Z,1744048508.881 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-04-07T17:55:08.887Z,1744048508.887 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-04-07T17:55:08.888Z,1744048508.888 [Default:A.Wait](DEBUG): Construct Wait.
2025-04-07T17:55:08.890Z,1744048508.890 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-07T17:55:08.917Z,1744048508.917 [Radio_Surface](INFO): Powering up
2025-04-07T17:55:08.928Z,1744048508.928 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-04-07T17:55:08.943Z,1744048508.943 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-04-07T17:55:08.949Z,1744048508.949 [Default:E.Execute](DEBUG): Construct Execute.
2025-04-07T17:55:08.952Z,1744048508.952 [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"
  }
}


2025-04-07T17:55:08.957Z,1744048508.957 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,MultiRay,NAL9602,PowerOnly,Power24vConverter,Waterlinked,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-04-07T17:55:08.966Z,1744048508.966 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-04-07T17:55:09.021Z,1744048509.021 [Depth_Keller](INFO): Initializing.
2025-04-07T17:55:09.022Z,1744048509.022 [MultiRay](INFO): Powering up MultiRay Lights
2025-04-07T17:55:09.023Z,1744048509.023 [MultiRay](INFO): Powering up secondary power supply.
2025-04-07T17:55:09.062Z,1744048509.062 [Power24vConverter](INFO): Powering up.
2025-04-07T17:55:09.082Z,1744048509.082 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-04-07T17:55:09.100Z,1744048509.100 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-04-07T17:55:09.105Z,1744048509.105 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-04-07T17:55:09.106Z,1744048509.106 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-07T17:55:09.117Z,1744048509.117 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-07T17:55:09.118Z,1744048509.118 [MassServo](DEBUG): Initializing EZServoServo.
2025-04-07T17:55:09.125Z,1744048509.125 [MassServo](DEBUG): Initializing MassServo.
2025-04-07T17:55:09.126Z,1744048509.126 [RudderServo](DEBUG): Initializing EZServoServo.
2025-04-07T17:55:09.133Z,1744048509.133 [RudderServo](DEBUG): Initializing RudderServo.
2025-04-07T17:55:09.134Z,1744048509.134 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-07T17:55:09.141Z,1744048509.141 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-07T17:55:09.422Z,1744048509.422 [Depth_Keller](ERROR): Pressure or depth reading out of range: 816.065491 decibar, 0.000000 m
2025-04-07T17:55:09.467Z,1744048509.467 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-04-07T17:55:11.153Z,1744048511.153 [WetLabsBB2FL](INFO): Powering down
2025-04-07T17:55:14.866Z,1744048514.866 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-04-07T17:55:15.561Z,1744048515.561 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-04-07T17:55:20.058Z,1744048520.058 [DAT](INFO): DAT read: 

2025-04-07T17:55:20.059Z,1744048520.059 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-04-07T17:55:21.574Z,1744048521.574 [DAT](INFO): DAT read: MF Frequency Band

2025-04-07T17:55:21.575Z,1744048521.575 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-04-07T17:55:21.576Z,1744048521.576 [DAT](INFO): DAT read: Apr  7 2025 17:55:17 

2025-04-07T17:55:22.582Z,1744048522.582 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-04-07T17:55:22.583Z,1744048522.583 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-04-07T17:55:22.584Z,1744048522.584 [DAT](INFO): commRate: 800
2025-04-07T17:55:24.649Z,1744048524.649 [DAT](INFO): entering command mode
2025-04-07T17:55:24.850Z,1744048524.850 [DAT](INFO): DAT read: 

2025-04-07T17:55:24.850Z,1744048524.850 [DAT](INFO): DAT read: user:1>

2025-04-07T17:55:24.851Z,1744048524.851 [DAT](INFO): setting verbose to 3
2025-04-07T17:55:25.102Z,1744048525.102 [DAT](INFO): DAT read: user:1>

2025-04-07T17:55:25.103Z,1744048525.103 [DAT](INFO): DAT read: Verbose         | 3           

2025-04-07T17:55:25.103Z,1744048525.103 [DAT](INFO): set verbose to 3
2025-04-07T17:55:25.103Z,1744048525.103 [DAT](INFO): setting DatVerbose to 27440
2025-04-07T17:55:25.354Z,1744048525.354 [DAT](INFO): DAT read: user:2>

2025-04-07T17:55:25.355Z,1744048525.355 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-04-07T17:55:25.355Z,1744048525.355 [DAT](INFO): set DatVerbose to 27440
2025-04-07T17:55:25.355Z,1744048525.355 [DAT](INFO): setting transmit power to 8
2025-04-07T17:55:25.606Z,1744048525.606 [DAT](INFO): DAT read: user:3>

2025-04-07T17:55:25.607Z,1744048525.607 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-04-07T17:55:25.607Z,1744048525.607 [DAT](INFO): set transmit power to 8
2025-04-07T17:55:25.607Z,1744048525.607 [DAT](INFO): setting local address to 9
2025-04-07T17:55:25.858Z,1744048525.858 [DAT](INFO): DAT read: user:4>

2025-04-07T17:55:25.859Z,1744048525.859 [DAT](INFO): DAT read: LocalAddr       | 9           

2025-04-07T17:55:25.859Z,1744048525.859 [DAT](INFO): set local address to 9
2025-04-07T17:55:25.862Z,1744048525.862 [DAT](INFO): Setting time to: 17:55:25 And date to:4/7/2025
2025-04-07T17:55:26.110Z,1744048526.110 [DAT](INFO): DAT read: user:5>

2025-04-07T17:55:26.111Z,1744048526.111 [DAT](INFO): DAT read: Mon Apr 7, 2025  17:55:25  

2025-04-07T17:55:26.111Z,1744048526.111 [DAT](INFO): Local DAT time set to Mon Apr 7, 2025  17:55:25  

2025-04-07T17:55:36.488Z,1744048536.488 [NAL9602](INFO): Powering up NAL9602
2025-04-07T17:55:46.285Z,1744048546.285 [Waterlinked](INFO): Powering down
2025-04-07T17:55:47.383Z,1744048547.383 [NAL9602](INFO): NAL9602 initialized
2025-04-07T17:56:10.048Z,1744048570.048 [SBIT](IMPORTANT): Beginning Startup BIT
2025-04-07T17:56:10.069Z,1744048570.069 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-04-07T17:56:14.555Z,1744048574.555 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006293
CHAN A1 (24V): 0.000277
CHAN A2 (12V): -0.005888
CHAN A3 (5V): -0.003205
CHAN B0 (3.3V): -0.000817
CHAN B1 (3.15aV): -0.000838
CHAN B2 (3.15bV): -0.001497
CHAN B3 (GND): -0.000477
OPEN: 0.004780
Full Scale: +/- 1 mA
2025-04-07T17:57:04.227Z,1744048624.227 [SBIT](IMPORTANT): SBIT PASSED
2025-04-07T17:57:04.227Z,1744048624.227 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-04-07T17:57:04.228Z,1744048624.228 [SBIT](IMPORTANT): Express linearApproximation DATMMP.acoustic_contact_range 15.000000 meter;

2025-04-07T17:57:04.228Z,1744048624.228 [SBIT](IMPORTANT): Express linearApproximation TrackAcousticContact.range_to_contact 15.000000 meter;

2025-04-07T17:57:04.229Z,1744048624.229 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool;

2025-04-07T17:57:04.229Z,1744048624.229 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool;

2025-04-07T17:57:04.229Z,1744048624.229 [SBIT](IMPORTANT): MultiRay.brightnessWhite=100 none;

2025-04-07T17:57:04.229Z,1744048624.229 [SBIT](IMPORTANT): MultiRay.loadAtStartup=1 bool;

2025-04-07T17:57:04.229Z,1744048624.229 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2025-04-07T17:57:04.229Z,1744048624.229 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=0 bool;

2025-04-07T17:57:04.229Z,1744048624.229 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=241.314617 cubic_centimeter;

2025-04-07T17:57:04.230Z,1744048624.230 [SBIT](IMPORTANT): VerticalControl.massDefault=10.352381 millimeter;

2025-04-07T17:57:04.633Z,1744048624.633 [MissionManager](IMPORTANT): Started mission Startup
2025-04-07T17:57:04.634Z,1744048624.634 [Startup] Running Loop=1
2025-04-07T17:57:04.634Z,1744048624.634 [Startup](DEBUG): Aggregate::initialize Startup
2025-04-07T17:57:04.634Z,1744048624.634 [Startup:A.GoToSurface] Running Loop=1
2025-04-07T17:57:04.634Z,1744048624.634 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-07T17:57:04.634Z,1744048624.634 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-07T17:57:04.635Z,1744048624.635 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-07T17:57:04.635Z,1744048624.635 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-07T17:57:04.635Z,1744048624.635 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-07T17:57:04.636Z,1744048624.636 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-07T17:57:04.636Z,1744048624.636 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-07T17:57:04.638Z,1744048624.638 [Startup:StartupSatComms] Running Loop=1
2025-04-07T17:57:04.638Z,1744048624.638 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-04-07T17:57:04.638Z,1744048624.638 [Startup:StartupSatComms:A] Running Loop=1
2025-04-07T17:57:05.004Z,1744048625.004 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-04-07T17:58:04.780Z,1744048684.780 [Startup:StartupSatComms:A](INFO): Timed out from 2025-04-07T17:57:04.6Z
2025-04-07T17:58:04.780Z,1744048684.780 [Startup:StartupSatComms:A] Stopped
2025-04-07T17:58:04.780Z,1744048684.780 [Startup:StartupSatComms:B] Running Loop=1
2025-04-07T17:58:05.176Z,1744048685.176 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-07T17:58:08.810Z,1744048688.810 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-04-07T17:58:08.810Z,1744048688.810 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-04-07T17:58:08.821Z,1744048688.821 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-04-07T17:58:09.222Z,1744048689.222 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-04-07T17:58:09.222Z,1744048689.222 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-04-07T17:58:33.252Z,1744048713.252 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005024
2025-04-07T17:58:40.641Z,1744048720.641 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250407T174842/Courier0000.lzma
2025-04-07T17:58:41.643Z,1744048721.643 [DataOverHttps](INFO): Moved sent file to Logs/20250407T174842/Courier0000.lzma.bak
2025-04-07T17:58:41.644Z,1744048721.644 [DataOverHttps](IMPORTANT): SBD MOMSN=24562234, MTMSN=20250407T175841
2025-04-07T17:58:48.710Z,1744048728.710 [CommandExec](IMPORTANT): got command show stack
2025-04-07T17:58:48.710Z,1744048728.710 [CommandExec](IMPORTANT): Behavior Stack:

2025-04-07T17:58:48.711Z,1744048728.711 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2025-04-07T17:58:48.711Z,1744048728.711 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2025-04-07T17:58:48.949Z,1744048728.949 [DataOverHttps](INFO): Received command: run Engineering/lab_test_optim.tl
2025-04-07T17:58:49.060Z,1744048729.060 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/lab_test_optim.tl
2025-04-07T17:58:49.060Z,1744048729.060 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl
2025-04-07T17:58:49.061Z,1744048729.061 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl
2025-04-07T17:58:49.062Z,1744048729.062 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl
2025-04-07T17:58:49.364Z,1744048729.364 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lab_test_optim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="RecordTime">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="BackseatWait">
        <Units:second />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="LightMode">
        <Units:count />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="BrightnessWhite">
        <Units:none_int />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="BrightnessRed">
        <Units:none_int />
        <Value>100</Value>
    </DefineArg>
    <DefineOutput Name="RecordingEnabled">
        <False />
    </DefineOutput>
    <DefineOutput Name="LightsEnabled">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="RecordingEnabled" />
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="LightsEnabled" />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Aggregate Id="Startup">
        <Sequence />
        <Syslog Severity="Important">
            Waiting 
            <Arg Name="BackseatWait" />
            <Units:second />
             for backseat to start up...
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="BackseatWait" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="Run">
        <Sequence />
        <Syslog Severity="Important">Trying to run Optim and Multiray forreal</Syslog>
        <Assign>
            <Sequence />
            <Arg Name="RecordingEnabled" />
            <True />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LightsEnabled" />
            <True />
        </Assign>
        <Assign>
            <Sequence />
            <Sensor:MultiRay.lightModeCommand />
            <Arg Name="LightMode" />
        </Assign>
        <Aggregate Id="setRed">
            <Sequence />
            <Break>
                <Arg Name="LightMode" />
                <Ne>
                    <Units:count />
                    <Value>1</Value>
                </Ne>
            </Break>
            <Assign>
                <Sequence />
                <Sensor:MultiRay.brightnessRed />
                <Arg Name="BrightnessRed" />
            </Assign>
            <Syslog Severity="Info">
                Setting multiray red brightness to
                <Arg Name="BrightnessRed" />
                <Units:count />
            </Syslog>
        </Aggregate>
        <Aggregate Id="setWhite">
            <Sequence />
            <Break>
                <Arg Name="LightMode" />
                <Ne>
                    <Units:count />
                    <Value>2</Value>
                </Ne>
            </Break>
            <Assign>
                <Sequence />
                <Sensor:MultiRay.brightnessWhite />
                <Arg Name="BrightnessWhite" />
            </Assign>
            <Syslog Severity="Info">
                Setting muliray white brightness to
                <Arg Name="BrightnessWhite" />
                <Units:count />
            </Syslog>
        </Aggregate>
        <Syslog Severity="Important">
            Recording for 
            <Arg Name="RecordTime" />
            <Units:minute />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="RecordTime" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="MissionTimeout" />
        </Setting>
    </Guidance:Wait>
</Mission>

2025-04-07T17:58:49.373Z,1744048729.373 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min
2025-04-07T17:58:49.376Z,1744048729.376 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min
2025-04-07T17:58:49.379Z,1744048729.379 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s
2025-04-07T17:58:49.382Z,1744048729.382 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count
2025-04-07T17:58:49.385Z,1744048729.385 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32
2025-04-07T17:58:49.388Z,1744048729.388 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32
2025-04-07T17:58:49.391Z,1744048729.391 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool
2025-04-07T17:58:49.394Z,1744048729.394 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool
2025-04-07T17:58:49.395Z,1744048729.395 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-07T17:58:49.395Z,1744048729.395 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-07T17:58:49.396Z,1744048729.396 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-07T17:58:49.416Z,1744048729.416 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-04-07T17:58:49.455Z,1744048729.455 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool
2025-04-07T17:58:49.458Z,1744048729.458 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-07T17:58:49.484Z,1744048729.484 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait.
2025-04-07T17:58:49.535Z,1744048729.535 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait.
2025-04-07T17:58:49.536Z,1744048729.536 [lab_test_optim:G.Wait](DEBUG): Construct Wait.
2025-04-07T17:58:49.550Z,1744048729.550 [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 lab_test_optim {
  arguments {
    MissionTimeout = 15 minute
      """
      Backseat will stay on for this duration, independent of Optim state
      """

    RecordTime = 1 minute
      """
      How long to record after startup sequence (hopefully) turns on Optim camera
      """

    BackseatWait = 30 second
      """
      How long to wait for the backseat to power up before attempting to power the Optim
      """

    LightMode = 2 count
      """
      Mode for Multiray lights. 0 is off, 1 is red, 2 is white
      """

    BrightnessWhite = 100 none_int
      """
      White Multiray LED brightness, 0-100
      """

    BrightnessRed = 100 none_int
      """
      Red Multiray LED brightness, 0-100
      """
  }

  output {
    RecordingEnabled = false

    LightsEnabled = false
  }

  timeout duration=MissionTimeout

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  readData strategy="MinError" {
    while ( RecordingEnabled )

    Sensor:PowerOnly.sampleLoad1
  }

  readData strategy="MinError" {
    while ( LightsEnabled )

    Sensor:MultiRay.lightModeLog
  }

  aggregate Startup {
    run in sequence

    syslog important "Waiting " + BackseatWait~s + " for backseat to start up..."

    behavior Guidance:Wait {
      run in sequence

      set duration = BackseatWait
    }
  }

  aggregate Run {
    run in sequence

    syslog important "Trying to run Optim and Multiray forreal"

    assign in sequence RecordingEnabled = true
    assign in sequence LightsEnabled = true
    assign in sequence Sensor:MultiRay.lightModeCommand = LightMode

    aggregate setRed {
      run in sequence

      break if ( LightMode != 1 count )

      assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed
      syslog info "Setting multiray red brightness to" + BrightnessRed~count
    }

    aggregate setWhite {
      run in sequence

      break if ( LightMode != 2 count )

      assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite
      syslog info "Setting muliray white brightness to" + BrightnessWhite~count
    }

    syslog important "Recording for " + RecordTime~min

    behavior Guidance:Wait {
      run in sequence

      set duration = RecordTime
    }
  }

  behavior Guidance:Wait {
    run in sequence

    set duration = MissionTimeout
  }
}


2025-04-07T17:58:49.552Z,1744048729.552 [CommandExec](IMPORTANT): Running ./Missions/Engineering/lab_test_optim.tl
2025-04-07T17:58:58.952Z,1744048738.952 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250407T174842/Courier0004.lzma
2025-04-07T17:58:59.955Z,1744048739.955 [DataOverHttps](INFO): Moved sent file to Logs/20250407T174842/Courier0004.lzma.bak
2025-04-07T17:58:59.955Z,1744048739.955 [DataOverHttps](INFO): SBD MOMSN=24562241
2025-04-07T17:59:04.986Z,1744048744.986 [Startup:StartupSatComms:B](INFO): Timed out from 2025-04-07T17:58:04.8Z
2025-04-07T17:59:04.986Z,1744048744.986 [Startup:StartupSatComms:B] Stopped
2025-04-07T17:59:04.986Z,1744048744.986 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-04-07T17:59:04.987Z,1744048744.987 [Startup:StartupSatComms] Stopped
2025-04-07T17:59:04.987Z,1744048744.987 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-04-07T17:59:04.988Z,1744048744.988 [Startup](INFO): Completed Startup
2025-04-07T17:59:04.988Z,1744048744.988 [MissionManager](INFO): Startup is completed.
2025-04-07T17:59:04.988Z,1744048744.988 [MissionManager](INFO): Uninitializing Mission Startup
2025-04-07T17:59:04.988Z,1744048744.988 [Startup] Stopped
2025-04-07T17:59:04.988Z,1744048744.988 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-04-07T17:59:04.988Z,1744048744.988 [Startup:A.GoToSurface] Stopped
2025-04-07T17:59:04.988Z,1744048744.988 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-07T17:59:05.378Z,1744048745.378 [MissionManager](IMPORTANT): Started mission lab_test_optim
2025-04-07T17:59:05.378Z,1744048745.378 [lab_test_optim] Running Loop=1
2025-04-07T17:59:05.378Z,1744048745.378 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim
2025-04-07T17:59:05.378Z,1744048745.378 [lab_test_optim:BackseatDriver] Running Loop=1
2025-04-07T17:59:05.379Z,1744048745.379 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver
2025-04-07T17:59:05.379Z,1744048745.379 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-07T17:59:05.379Z,1744048745.379 [lab_test_optim:B] Running Loop=1
2025-04-07T17:59:05.379Z,1744048745.379 [lab_test_optim:C] Running Loop=1
2025-04-07T17:59:05.379Z,1744048745.379 [lab_test_optim:D] Running Loop=1
2025-04-07T17:59:05.379Z,1744048745.379 [lab_test_optim:Startup] Running Loop=1
2025-04-07T17:59:05.379Z,1744048745.379 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup
2025-04-07T17:59:05.379Z,1744048745.379 [lab_test_optim:Startup:A] Running Loop=1
2025-04-07T17:59:05.380Z,1744048745.380 [lab_test_optim:Startup:A](IMPORTANT): Waiting  30.000000 s  for backseat to start up...
2025-04-07T17:59:05.380Z,1744048745.380 [lab_test_optim:Startup:A] Stopped
2025-04-07T17:59:05.380Z,1744048745.380 [lab_test_optim:Startup:B.Wait] Running Loop=1
2025-04-07T17:59:05.380Z,1744048745.380 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component.
2025-04-07T17:59:05.380Z,1744048745.380 [lab_test_optim:D] Stopped
2025-04-07T17:59:05.380Z,1744048745.380 [lab_test_optim:C] Stopped
2025-04-07T17:59:05.380Z,1744048745.380 [lab_test_optim:B] Running Loop=1
2025-04-07T17:59:05.385Z,1744048745.385 [lab_test_optim:BackseatDriver] Running Loop=1
2025-04-07T17:59:05.385Z,1744048745.385 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-04-07T17:59:05.581Z,1744048745.581 [BackseatComponent](INFO): Powering up
2025-04-07T17:59:05.582Z,1744048745.582 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-04-07T17:59:15.817Z,1744048755.817 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250407T175457/Courier0000.lzma
2025-04-07T17:59:16.819Z,1744048756.819 [DataOverHttps](INFO): Moved sent file to Logs/20250407T175457/Courier0000.lzma.bak
2025-04-07T17:59:16.819Z,1744048756.819 [DataOverHttps](INFO): SBD MOMSN=24562243
2025-04-07T17:59:36.108Z,1744048776.108 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting.
2025-04-07T17:59:36.109Z,1744048776.109 [lab_test_optim:Startup:B.Wait] Stopped
2025-04-07T17:59:36.109Z,1744048776.109 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T17:59:36.109Z,1744048776.109 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup
2025-04-07T17:59:36.109Z,1744048776.109 [lab_test_optim:Startup] Stopped
2025-04-07T17:59:36.109Z,1744048776.109 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup
2025-04-07T17:59:36.109Z,1744048776.109 [lab_test_optim:Run] Running Loop=1
2025-04-07T17:59:36.110Z,1744048776.110 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run
2025-04-07T17:59:36.110Z,1744048776.110 [lab_test_optim:Run:A] Running Loop=1
2025-04-07T17:59:36.491Z,1744048776.491 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal
2025-04-07T17:59:36.491Z,1744048776.491 [lab_test_optim:Run:A] Stopped
2025-04-07T17:59:36.492Z,1744048776.492 [lab_test_optim:Run:B] Running Loop=1
2025-04-07T17:59:36.992Z,1744048776.992 [lab_test_optim:Run:B] Stopped
2025-04-07T17:59:36.992Z,1744048776.992 [lab_test_optim:Run:C] Running Loop=1
2025-04-07T17:59:37.424Z,1744048777.424 [lab_test_optim:Run:C] Stopped
2025-04-07T17:59:37.424Z,1744048777.424 [lab_test_optim:Run:D] Running Loop=1
2025-04-07T17:59:37.424Z,1744048777.424 [lab_test_optim:C] Running Loop=1
2025-04-07T17:59:37.425Z,1744048777.425 [lab_test_optim:C] Running Loop=1
2025-04-07T17:59:37.433Z,1744048777.433 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-04-07T17:59:37.696Z,1744048777.696 [PowerOnly](INFO): Powering up loadControl
2025-04-07T17:59:37.740Z,1744048777.740 [lab_test_optim:Run:D] Stopped
2025-04-07T17:59:37.740Z,1744048777.740 [lab_test_optim:Run:setRed] Running Loop=1
2025-04-07T17:59:37.740Z,1744048777.740 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed
2025-04-07T17:59:37.740Z,1744048777.740 [lab_test_optim:Run:setRed:A] Running Loop=1
2025-04-07T17:59:37.740Z,1744048777.740 [lab_test_optim:D] Running Loop=1
2025-04-07T17:59:37.740Z,1744048777.740 [lab_test_optim:D] Running Loop=1
2025-04-07T17:59:37.741Z,1744048777.741 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-04-07T17:59:38.115Z,1744048778.115 [lab_test_optim:Run:setRed] Stopped
2025-04-07T17:59:38.115Z,1744048778.115 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed
2025-04-07T17:59:38.115Z,1744048778.115 [lab_test_optim:Run:setRed:A] Stopped
2025-04-07T17:59:38.115Z,1744048778.115 [lab_test_optim:Run:setWhite] Running Loop=1
2025-04-07T17:59:38.115Z,1744048778.115 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite
2025-04-07T17:59:38.115Z,1744048778.115 [lab_test_optim:Run:setWhite:A] Running Loop=1
2025-04-07T17:59:38.539Z,1744048778.539 [lab_test_optim:Run:setWhite:A] Stopped
2025-04-07T17:59:38.539Z,1744048778.539 [lab_test_optim:Run:setWhite:B] Running Loop=1
2025-04-07T17:59:39.031Z,1744048779.031 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 
2025-04-07T17:59:39.031Z,1744048779.031 [lab_test_optim:Run:setWhite:B] Stopped
2025-04-07T17:59:39.031Z,1744048779.031 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite
2025-04-07T17:59:39.031Z,1744048779.031 [lab_test_optim:Run:setWhite] Stopped
2025-04-07T17:59:39.031Z,1744048779.031 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite
2025-04-07T17:59:39.031Z,1744048779.031 [lab_test_optim:Run:G] Running Loop=1
2025-04-07T17:59:39.314Z,1744048779.314 [lab_test_optim:Run:G](IMPORTANT): Recording for  1.000000 min 
2025-04-07T17:59:39.314Z,1744048779.314 [lab_test_optim:Run:G] Stopped
2025-04-07T17:59:39.314Z,1744048779.314 [lab_test_optim:Run:H.Wait] Running Loop=1
2025-04-07T17:59:39.314Z,1744048779.314 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component.
2025-04-07T17:59:40.100Z,1744048780.100 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-04-07T17:59:48.902Z,1744048788.902 [CommandExec](IMPORTANT): got command stop
2025-04-07T17:59:48.902Z,1744048788.902 [CommandExec](IMPORTANT): Scheduling is paused
2025-04-07T17:59:48.902Z,1744048788.902 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-04-07T17:59:49.029Z,1744048789.029 [MissionManager](INFO): MissionManager is completed.
2025-04-07T17:59:49.029Z,1744048789.029 [MissionManager](INFO): Uninitializing Mission lab_test_optim
2025-04-07T17:59:49.029Z,1744048789.029 [lab_test_optim] Stopped
2025-04-07T17:59:49.029Z,1744048789.029 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:BackseatDriver] Stopped
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:B] Stopped
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:C] Stopped
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:D] Stopped
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:Run] Stopped
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:Run:H.Wait] Stopped
2025-04-07T17:59:49.030Z,1744048789.030 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T17:59:49.414Z,1744048789.414 [MissionManager](IMPORTANT): Started mission Default
2025-04-07T17:59:49.415Z,1744048789.415 [Default] Running Loop=1
2025-04-07T17:59:49.416Z,1744048789.416 [Default](DEBUG): Aggregate::initialize Default
2025-04-07T17:59:49.416Z,1744048789.416 [Default:B.GoToSurface] Running Loop=1
2025-04-07T17:59:49.445Z,1744048789.445 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-07T17:59:49.445Z,1744048789.445 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-07T17:59:49.446Z,1744048789.446 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-07T17:59:49.446Z,1744048789.446 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-07T17:59:49.446Z,1744048789.446 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-07T17:59:49.446Z,1744048789.446 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-07T17:59:49.447Z,1744048789.447 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-07T17:59:49.447Z,1744048789.447 [Default:A.Wait] Running Loop=1
2025-04-07T17:59:49.447Z,1744048789.447 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-07T17:59:51.454Z,1744048791.454 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-04-07T17:59:51.454Z,1744048791.454 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-04-07T17:59:52.543Z,1744048792.543 [DataOverHttps](IMPORTANT): SBD MTMSN=20250407T175951
2025-04-07T17:59:59.881Z,1744048799.881 [DataOverHttps](INFO): Received command: configset waterlinked.loadatstartup 0 bool persist
2025-04-07T18:00:00.312Z,1744048800.312 [CommandExec](IMPORTANT): got command configSet Waterlinked.loadAtStartup 0 bool persist
2025-04-07T18:00:00.345Z,1744048800.345 [CommandExec](IMPORTANT): configSet Waterlinked.loadAtStartup requires a restart to take effect.
2025-04-07T18:00:02.756Z,1744048802.756 [Default:A.Wait](INFO): Done Waiting.
2025-04-07T18:00:02.756Z,1744048802.756 [Default:A.Wait] Stopped
2025-04-07T18:00:02.756Z,1744048802.756 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:00:03.167Z,1744048803.167 [Default:CheckIn] Running Loop=1
2025-04-07T18:00:03.167Z,1744048803.167 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-07T18:00:03.167Z,1744048803.167 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-07T18:00:03.605Z,1744048803.605 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-07T18:00:09.653Z,1744048809.653 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-04-07T18:00:09.654Z,1744048809.654 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-04-07T18:00:09.654Z,1744048809.654 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-04-07T18:00:36.375Z,1744048836.375 [DataOverHttps](IMPORTANT): SBD MTMSN=20250407T180035
2025-04-07T18:00:43.873Z,1744048843.873 [DataOverHttps](INFO): Received command: run Engineering/multiray_test.tl
2025-04-07T18:00:43.997Z,1744048843.997 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/multiray_test.tl
2025-04-07T18:00:43.998Z,1744048843.998 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:00:43.998Z,1744048843.998 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:00:43.999Z,1744048843.999 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:00:44.245Z,1744048844.245 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/multiray_test.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="multiray_test">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="LightDuration">
        <Units:second />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="LightMode0">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="LightMode1">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="LightMode2">
        <Units:count />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="EnabledMultiray">
        <Sensor:MultiRay.loadAtStartup />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledMultiray" />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
</Mission>

2025-04-07T18:00:44.251Z,1744048844.251 [MissionManager](INFO): DefineArg multiray_test.MissionTimeout = 5.000000 min
2025-04-07T18:00:44.277Z,1744048844.277 [MissionManager](INFO): DefineArg multiray_test.LightDuration = 5.000000 s
2025-04-07T18:00:44.280Z,1744048844.280 [MissionManager](INFO): DefineArg multiray_test.LightMode0 = 0.000000 count
2025-04-07T18:00:44.283Z,1744048844.283 [MissionManager](INFO): DefineArg multiray_test.LightMode1 = 1.000000 count
2025-04-07T18:00:44.287Z,1744048844.287 [MissionManager](INFO): DefineArg multiray_test.LightMode2 = 2.000000 count
2025-04-07T18:00:44.290Z,1744048844.290 [MissionManager](INFO): DefineArg multiray_test.EnabledMultiray = 1 bool
2025-04-07T18:00:44.295Z,1744048844.295 [multiray_test:C.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.298Z,1744048844.298 [multiray_test:E.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.301Z,1744048844.301 [multiray_test:G.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.304Z,1744048844.304 [multiray_test:I.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.352Z,1744048844.352 [multiray_test:K.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.383Z,1744048844.383 [multiray_test:M.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.395Z,1744048844.395 [multiray_test:O.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.403Z,1744048844.403 [multiray_test:Q.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.427Z,1744048844.427 [multiray_test:R.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.444Z,1744048844.444 [multiray_test:T.Wait](DEBUG): Construct Wait.
2025-04-07T18:00:44.458Z,1744048844.458 [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 multiray_test {
  """
  This mission is designed to run in the lab only. Cycles through MultiRay light modes
  """

  arguments {
    MissionTimeout = 5 minute
      """
      How long to let the mission run.
      """

    LightDuration = 5 second
      """
      How long to wait before changing light modes
      """

    LightMode0 = 0 count
      """
      Light mode = 0
      """

    LightMode1 = 1 count
      """
      Light mode = 1
      """

    LightMode2 = 2 count
      """
      Light mode = 2
      """

    EnabledMultiray = Sensor:MultiRay.loadAtStartup
      """
      Automatically set to true if the Multiray is enabled.
      """
  }

  timeout duration=MissionTimeout

  readData strategy="MinError" {
    while ( EnabledMultiray )

    Sensor:MultiRay.lightModeLog
  }

  # <ReadDatum>
  #            <Sensor:MultiRay.lightModeLog/>
  #    </ReadDatum>

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }
}


2025-04-07T18:00:44.459Z,1744048844.459 [CommandExec](IMPORTANT): Running ./Missions/Engineering/multiray_test.tl
2025-04-07T18:00:44.768Z,1744048844.768 [Default] Stopped
2025-04-07T18:00:44.768Z,1744048844.768 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-07T18:00:44.769Z,1744048844.769 [Default:B.GoToSurface] Stopped
2025-04-07T18:00:44.769Z,1744048844.769 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-07T18:00:44.769Z,1744048844.769 [Default:CheckIn] Stopped
2025-04-07T18:00:44.769Z,1744048844.769 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-07T18:00:44.769Z,1744048844.769 [Default:CheckIn:Read_GPS] Stopped
2025-04-07T18:00:44.769Z,1744048844.769 [MissionManager](IMPORTANT): Started mission multiray_test
2025-04-07T18:00:44.770Z,1744048844.770 [multiray_test] Running Loop=1
2025-04-07T18:00:44.770Z,1744048844.770 [multiray_test](DEBUG): Aggregate::initialize multiray_test
2025-04-07T18:00:44.770Z,1744048844.770 [multiray_test:A] Running Loop=1
2025-04-07T18:00:44.770Z,1744048844.770 [multiray_test:B] Running Loop=1
2025-04-07T18:00:44.770Z,1744048844.770 [multiray_test:B] Stopped
2025-04-07T18:00:44.770Z,1744048844.770 [multiray_test:C.Wait] Running Loop=1
2025-04-07T18:00:44.771Z,1744048844.771 [multiray_test:C.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:00:44.771Z,1744048844.771 [multiray_test:A] Running Loop=1
2025-04-07T18:00:44.771Z,1744048844.771 [multiray_test:A](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-04-07T18:00:46.358Z,1744048846.358 [MultiRay](IMPORTANT): MultiRay all lights OFF
2025-04-07T18:00:50.426Z,1744048850.426 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-04-07T18:00:50.463Z,1744048850.463 [multiray_test:C.Wait](INFO): Done Waiting.
2025-04-07T18:00:50.463Z,1744048850.463 [multiray_test:C.Wait] Stopped
2025-04-07T18:00:50.463Z,1744048850.463 [multiray_test:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:00:50.463Z,1744048850.463 [multiray_test:D] Running Loop=1
2025-04-07T18:00:50.839Z,1744048850.839 [multiray_test:D] Stopped
2025-04-07T18:00:50.839Z,1744048850.839 [multiray_test:E.Wait] Running Loop=1
2025-04-07T18:00:50.840Z,1744048850.840 [multiray_test:E.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:00:53.255Z,1744048853.255 [MultiRay](IMPORTANT): Multiray red lights ON
2025-04-07T18:00:54.454Z,1744048854.454 [CommandExec](IMPORTANT): got command stop
2025-04-07T18:00:54.454Z,1744048854.454 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-04-07T18:00:54.519Z,1744048854.519 [MissionManager](INFO): MissionManager is completed.
2025-04-07T18:00:54.519Z,1744048854.519 [MissionManager](INFO): Uninitializing Mission multiray_test
2025-04-07T18:00:54.519Z,1744048854.519 [multiray_test] Stopped
2025-04-07T18:00:54.519Z,1744048854.519 [multiray_test](DEBUG): Aggregate::uninitialize multiray_test
2025-04-07T18:00:54.519Z,1744048854.519 [multiray_test:A] Stopped
2025-04-07T18:00:54.519Z,1744048854.519 [multiray_test:E.Wait] Stopped
2025-04-07T18:00:54.519Z,1744048854.519 [multiray_test:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:00:54.899Z,1744048854.899 [MissionManager](IMPORTANT): Started mission Default
2025-04-07T18:00:54.899Z,1744048854.899 [Default] Running Loop=1
2025-04-07T18:00:54.899Z,1744048854.899 [Default](DEBUG): Aggregate::initialize Default
2025-04-07T18:00:54.899Z,1744048854.899 [Default:B.GoToSurface] Running Loop=1
2025-04-07T18:00:54.900Z,1744048854.900 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-07T18:00:54.900Z,1744048854.900 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-07T18:00:54.900Z,1744048854.900 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-07T18:00:54.900Z,1744048854.900 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-07T18:00:54.901Z,1744048854.901 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-07T18:00:54.901Z,1744048854.901 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-07T18:00:54.902Z,1744048854.902 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-07T18:00:54.902Z,1744048854.902 [Default:A.Wait] Running Loop=1
2025-04-07T18:00:54.902Z,1744048854.902 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:01:08.216Z,1744048868.216 [Default:A.Wait](INFO): Done Waiting.
2025-04-07T18:01:08.216Z,1744048868.216 [Default:A.Wait] Stopped
2025-04-07T18:01:08.216Z,1744048868.216 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:01:08.610Z,1744048868.610 [Default:CheckIn] Running Loop=1
2025-04-07T18:01:08.610Z,1744048868.610 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-07T18:01:08.611Z,1744048868.611 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-07T18:01:09.902Z,1744048869.902 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-04-07T18:01:09.902Z,1744048869.902 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-04-07T18:01:09.913Z,1744048869.913 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-04-07T18:01:10.326Z,1744048870.326 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-04-07T18:01:10.326Z,1744048870.326 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-04-07T18:01:19.526Z,1744048879.526 [PowerOnly](INFO): Powering down loadControl
2025-04-07T18:01:20.331Z,1744048880.331 [DataOverHttps](IMPORTANT): SBD MTMSN=20250407T180119
2025-04-07T18:01:27.769Z,1744048887.769 [DataOverHttps](INFO): Received command: run Engineering/multiray_test.tl
2025-04-07T18:01:27.872Z,1744048887.872 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:27.873Z,1744048887.873 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:27.873Z,1744048887.873 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:27.874Z,1744048887.874 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:28.159Z,1744048888.159 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/multiray_test.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="multiray_test">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="LightDuration">
        <Units:second />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="LightMode0">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="LightMode1">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="LightMode2">
        <Units:count />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="EnabledMultiray">
        <Sensor:MultiRay.loadAtStartup />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledMultiray" />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
</Mission>

2025-04-07T18:01:28.164Z,1744048888.164 [MissionManager](INFO): DefineArg multiray_test.MissionTimeout = 5.000000 min
2025-04-07T18:01:28.166Z,1744048888.166 [MissionManager](INFO): DefineArg multiray_test.LightDuration = 5.000000 s
2025-04-07T18:01:28.210Z,1744048888.210 [MissionManager](INFO): DefineArg multiray_test.LightMode0 = 0.000000 count
2025-04-07T18:01:28.212Z,1744048888.212 [MissionManager](INFO): DefineArg multiray_test.LightMode1 = 1.000000 count
2025-04-07T18:01:28.216Z,1744048888.216 [MissionManager](INFO): DefineArg multiray_test.LightMode2 = 2.000000 count
2025-04-07T18:01:28.219Z,1744048888.219 [MissionManager](INFO): DefineArg multiray_test.EnabledMultiray = 1 bool
2025-04-07T18:01:28.222Z,1744048888.222 [multiray_test:C.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.225Z,1744048888.225 [multiray_test:E.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.270Z,1744048888.270 [multiray_test:G.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.272Z,1744048888.272 [multiray_test:I.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.287Z,1744048888.287 [multiray_test:K.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.296Z,1744048888.296 [multiray_test:M.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.309Z,1744048888.309 [multiray_test:O.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.312Z,1744048888.312 [multiray_test:Q.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.319Z,1744048888.319 [multiray_test:R.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.325Z,1744048888.325 [multiray_test:T.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:28.342Z,1744048888.342 [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 multiray_test {
  """
  This mission is designed to run in the lab only. Cycles through MultiRay light modes
  """

  arguments {
    MissionTimeout = 5 minute
      """
      How long to let the mission run.
      """

    LightDuration = 5 second
      """
      How long to wait before changing light modes
      """

    LightMode0 = 0 count
      """
      Light mode = 0
      """

    LightMode1 = 1 count
      """
      Light mode = 1
      """

    LightMode2 = 2 count
      """
      Light mode = 2
      """

    EnabledMultiray = Sensor:MultiRay.loadAtStartup
      """
      Automatically set to true if the Multiray is enabled.
      """
  }

  timeout duration=MissionTimeout

  readData strategy="MinError" {
    while ( EnabledMultiray )

    Sensor:MultiRay.lightModeLog
  }

  # <ReadDatum>
  #            <Sensor:MultiRay.lightModeLog/>
  #    </ReadDatum>

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }
}


2025-04-07T18:01:28.344Z,1744048888.344 [CommandExec](IMPORTANT): Running ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:28.462Z,1744048888.462 [Default] Stopped
2025-04-07T18:01:28.462Z,1744048888.462 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-07T18:01:28.462Z,1744048888.462 [Default:B.GoToSurface] Stopped
2025-04-07T18:01:28.462Z,1744048888.462 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-07T18:01:28.463Z,1744048888.463 [Default:CheckIn] Stopped
2025-04-07T18:01:28.463Z,1744048888.463 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-07T18:01:28.463Z,1744048888.463 [Default:CheckIn:Read_GPS] Stopped
2025-04-07T18:01:28.463Z,1744048888.463 [MissionManager](IMPORTANT): Started mission multiray_test
2025-04-07T18:01:28.463Z,1744048888.463 [multiray_test] Running Loop=1
2025-04-07T18:01:28.463Z,1744048888.463 [multiray_test](DEBUG): Aggregate::initialize multiray_test
2025-04-07T18:01:28.463Z,1744048888.463 [multiray_test:A] Running Loop=1
2025-04-07T18:01:28.464Z,1744048888.464 [multiray_test:B] Running Loop=1
2025-04-07T18:01:28.464Z,1744048888.464 [multiray_test:B] Stopped
2025-04-07T18:01:28.464Z,1744048888.464 [multiray_test:C.Wait] Running Loop=1
2025-04-07T18:01:28.464Z,1744048888.464 [multiray_test:C.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:01:28.464Z,1744048888.464 [multiray_test:A] Running Loop=1
2025-04-07T18:01:28.465Z,1744048888.465 [multiray_test:A](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-04-07T18:01:28.772Z,1744048888.772 [DataOverHttps](IMPORTANT): SBD MTMSN=20250407T180128
2025-04-07T18:01:30.026Z,1744048890.026 [MultiRay](IMPORTANT): MultiRay all lights OFF
2025-04-07T18:01:34.156Z,1744048894.156 [multiray_test:C.Wait](INFO): Done Waiting.
2025-04-07T18:01:34.156Z,1744048894.156 [multiray_test:C.Wait] Stopped
2025-04-07T18:01:34.156Z,1744048894.156 [multiray_test:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:01:34.156Z,1744048894.156 [multiray_test:D] Running Loop=1
2025-04-07T18:01:34.571Z,1744048894.571 [multiray_test:D] Stopped
2025-04-07T18:01:34.571Z,1744048894.571 [multiray_test:E.Wait] Running Loop=1
2025-04-07T18:01:34.571Z,1744048894.571 [multiray_test:E.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:01:37.372Z,1744048897.372 [MultiRay](IMPORTANT): Multiray red lights ON
2025-04-07T18:01:38.984Z,1744048898.984 [CommandExec](IMPORTANT): got command get PowerOnly.loadControl
2025-04-07T18:01:38.985Z,1744048898.985 [CommandExec](IMPORTANT): PowerOnly.loadControl /dev/loadC3
2025-04-07T18:01:39.897Z,1744048899.897 [DataOverHttps](INFO): Received command: strobe off
2025-04-07T18:01:39.926Z,1744048899.926 [CommandExec](IMPORTANT): got command strobe off
2025-04-07T18:01:39.927Z,1744048899.927 [CommandExec](IMPORTANT): Deactivating strobe
2025-04-07T18:01:40.023Z,1744048900.023 [multiray_test:E.Wait](INFO): Done Waiting.
2025-04-07T18:01:40.023Z,1744048900.023 [multiray_test:E.Wait] Stopped
2025-04-07T18:01:40.023Z,1744048900.023 [multiray_test:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:01:40.023Z,1744048900.023 [multiray_test:F] Running Loop=1
2025-04-07T18:01:40.416Z,1744048900.416 [multiray_test:F] Stopped
2025-04-07T18:01:40.416Z,1744048900.416 [multiray_test:G.Wait] Running Loop=1
2025-04-07T18:01:40.416Z,1744048900.416 [multiray_test:G.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:01:40.899Z,1744048900.899 [DataOverHttps](IMPORTANT): SBD MTMSN=20250407T180139
2025-04-07T18:01:41.983Z,1744048901.983 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-04-07T18:01:42.998Z,1744048902.998 [CommandExec](IMPORTANT): got command stop
2025-04-07T18:01:42.998Z,1744048902.998 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-04-07T18:01:43.220Z,1744048903.220 [MissionManager](INFO): MissionManager is completed.
2025-04-07T18:01:43.220Z,1744048903.220 [MissionManager](INFO): Uninitializing Mission multiray_test
2025-04-07T18:01:43.220Z,1744048903.220 [multiray_test] Stopped
2025-04-07T18:01:43.220Z,1744048903.220 [multiray_test](DEBUG): Aggregate::uninitialize multiray_test
2025-04-07T18:01:43.220Z,1744048903.220 [multiray_test:A] Stopped
2025-04-07T18:01:43.220Z,1744048903.220 [multiray_test:G.Wait] Stopped
2025-04-07T18:01:43.220Z,1744048903.220 [multiray_test:G.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:01:43.623Z,1744048903.623 [MissionManager](IMPORTANT): Started mission Default
2025-04-07T18:01:43.623Z,1744048903.623 [Default] Running Loop=1
2025-04-07T18:01:43.623Z,1744048903.623 [Default](DEBUG): Aggregate::initialize Default
2025-04-07T18:01:43.623Z,1744048903.623 [Default:B.GoToSurface] Running Loop=1
2025-04-07T18:01:43.623Z,1744048903.623 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-07T18:01:43.623Z,1744048903.623 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-07T18:01:43.624Z,1744048903.624 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-07T18:01:43.624Z,1744048903.624 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-07T18:01:43.624Z,1744048903.624 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-07T18:01:43.625Z,1744048903.625 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-07T18:01:43.629Z,1744048903.629 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-07T18:01:43.630Z,1744048903.630 [Default:A.Wait] Running Loop=1
2025-04-07T18:01:43.630Z,1744048903.630 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:01:48.793Z,1744048908.793 [DataOverHttps](INFO): Received command: run Engineering/multiray_test.tl
2025-04-07T18:01:48.924Z,1744048908.924 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:48.945Z,1744048908.945 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:48.945Z,1744048908.945 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:48.946Z,1744048908.946 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:49.171Z,1744048909.171 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/multiray_test.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="multiray_test">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="LightDuration">
        <Units:second />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="LightMode0">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="LightMode1">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="LightMode2">
        <Units:count />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="EnabledMultiray">
        <Sensor:MultiRay.loadAtStartup />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledMultiray" />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode1" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode2" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
    <Assign>
        <Sequence />
        <Sensor:MultiRay.lightModeCommand />
        <Arg Name="LightMode0" />
    </Assign>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="LightDuration" />
        </Setting>
    </Guidance:Wait>
</Mission>

2025-04-07T18:01:49.176Z,1744048909.176 [MissionManager](INFO): DefineArg multiray_test.MissionTimeout = 5.000000 min
2025-04-07T18:01:49.178Z,1744048909.178 [MissionManager](INFO): DefineArg multiray_test.LightDuration = 5.000000 s
2025-04-07T18:01:49.180Z,1744048909.180 [MissionManager](INFO): DefineArg multiray_test.LightMode0 = 0.000000 count
2025-04-07T18:01:49.183Z,1744048909.183 [MissionManager](INFO): DefineArg multiray_test.LightMode1 = 1.000000 count
2025-04-07T18:01:49.185Z,1744048909.185 [MissionManager](INFO): DefineArg multiray_test.LightMode2 = 2.000000 count
2025-04-07T18:01:49.188Z,1744048909.188 [MissionManager](INFO): DefineArg multiray_test.EnabledMultiray = 1 bool
2025-04-07T18:01:49.192Z,1744048909.192 [multiray_test:C.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.195Z,1744048909.195 [multiray_test:E.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.198Z,1744048909.198 [multiray_test:G.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.201Z,1744048909.201 [multiray_test:I.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.203Z,1744048909.203 [multiray_test:K.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.206Z,1744048909.206 [multiray_test:M.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.209Z,1744048909.209 [multiray_test:O.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.211Z,1744048909.211 [multiray_test:Q.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.214Z,1744048909.214 [multiray_test:R.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.293Z,1744048909.293 [multiray_test:T.Wait](DEBUG): Construct Wait.
2025-04-07T18:01:49.308Z,1744048909.308 [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 multiray_test {
  """
  This mission is designed to run in the lab only. Cycles through MultiRay light modes
  """

  arguments {
    MissionTimeout = 5 minute
      """
      How long to let the mission run.
      """

    LightDuration = 5 second
      """
      How long to wait before changing light modes
      """

    LightMode0 = 0 count
      """
      Light mode = 0
      """

    LightMode1 = 1 count
      """
      Light mode = 1
      """

    LightMode2 = 2 count
      """
      Light mode = 2
      """

    EnabledMultiray = Sensor:MultiRay.loadAtStartup
      """
      Automatically set to true if the Multiray is enabled.
      """
  }

  timeout duration=MissionTimeout

  readData strategy="MinError" {
    while ( EnabledMultiray )

    Sensor:MultiRay.lightModeLog
  }

  # <ReadDatum>
  #            <Sensor:MultiRay.lightModeLog/>
  #    </ReadDatum>

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }

  assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0

  behavior Guidance:Wait {
    run in sequence

    set duration = LightDuration
  }
}


2025-04-07T18:01:49.318Z,1744048909.318 [CommandExec](IMPORTANT): Running ./Missions/Engineering/multiray_test.tl
2025-04-07T18:01:49.320Z,1744048909.320 [Default] Stopped
2025-04-07T18:01:49.320Z,1744048909.320 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-07T18:01:49.320Z,1744048909.320 [Default:A.Wait] Stopped
2025-04-07T18:01:49.320Z,1744048909.320 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:01:49.320Z,1744048909.320 [Default:B.GoToSurface] Stopped
2025-04-07T18:01:49.320Z,1744048909.320 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-07T18:01:49.320Z,1744048909.320 [MissionManager](IMPORTANT): Started mission multiray_test
2025-04-07T18:01:49.320Z,1744048909.320 [multiray_test] Running Loop=1
2025-04-07T18:01:49.321Z,1744048909.321 [multiray_test](DEBUG): Aggregate::initialize multiray_test
2025-04-07T18:01:49.321Z,1744048909.321 [multiray_test:A] Running Loop=1
2025-04-07T18:01:49.322Z,1744048909.322 [multiray_test:B] Running Loop=1
2025-04-07T18:01:49.322Z,1744048909.322 [multiray_test:B] Stopped
2025-04-07T18:01:49.323Z,1744048909.323 [multiray_test:C.Wait] Running Loop=1
2025-04-07T18:01:49.323Z,1744048909.323 [multiray_test:C.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:01:49.323Z,1744048909.323 [multiray_test:A] Running Loop=1
2025-04-07T18:01:49.323Z,1744048909.323 [multiray_test:A](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-04-07T18:01:50.910Z,1744048910.910 [MultiRay](IMPORTANT): MultiRay all lights OFF
2025-04-07T18:01:54.924Z,1744048914.924 [multiray_test:C.Wait](INFO): Done Waiting.
2025-04-07T18:01:54.924Z,1744048914.924 [multiray_test:C.Wait] Stopped
2025-04-07T18:01:54.924Z,1744048914.924 [multiray_test:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:01:54.924Z,1744048914.924 [multiray_test:D] Running Loop=1
2025-04-07T18:01:55.331Z,1744048915.331 [multiray_test:D] Stopped
2025-04-07T18:01:55.331Z,1744048915.331 [multiray_test:E.Wait] Running Loop=1
2025-04-07T18:01:55.331Z,1744048915.331 [multiray_test:E.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:01:57.743Z,1744048917.743 [MultiRay](IMPORTANT): Multiray red lights ON
2025-04-07T18:02:00.984Z,1744048920.984 [multiray_test:E.Wait](INFO): Done Waiting.
2025-04-07T18:02:00.984Z,1744048920.984 [multiray_test:E.Wait] Stopped
2025-04-07T18:02:00.984Z,1744048920.984 [multiray_test:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:02:00.984Z,1744048920.984 [multiray_test:F] Running Loop=1
2025-04-07T18:02:01.387Z,1744048921.387 [multiray_test:F] Stopped
2025-04-07T18:02:01.387Z,1744048921.387 [multiray_test:G.Wait] Running Loop=1
2025-04-07T18:02:01.387Z,1744048921.387 [multiray_test:G.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:02:02.999Z,1744048922.999 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-04-07T18:02:07.047Z,1744048927.047 [multiray_test:G.Wait](INFO): Done Waiting.
2025-04-07T18:02:07.047Z,1744048927.047 [multiray_test:G.Wait] Stopped
2025-04-07T18:02:07.047Z,1744048927.047 [multiray_test:G.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:02:07.047Z,1744048927.047 [multiray_test:H] Running Loop=1
2025-04-07T18:02:07.455Z,1744048927.455 [multiray_test:H] Stopped
2025-04-07T18:02:07.455Z,1744048927.455 [multiray_test:I.Wait] Running Loop=1
2025-04-07T18:02:07.455Z,1744048927.455 [multiray_test:I.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:02:08.247Z,1744048928.247 [MultiRay](IMPORTANT): MultiRay all lights OFF
2025-04-07T18:02:08.698Z,1744048928.698 [CommandExec](IMPORTANT): got command stop
2025-04-07T18:02:08.698Z,1744048928.698 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-04-07T18:02:08.915Z,1744048928.915 [MissionManager](INFO): MissionManager is completed.
2025-04-07T18:02:08.915Z,1744048928.915 [MissionManager](INFO): Uninitializing Mission multiray_test
2025-04-07T18:02:08.915Z,1744048928.915 [multiray_test] Stopped
2025-04-07T18:02:08.916Z,1744048928.916 [multiray_test](DEBUG): Aggregate::uninitialize multiray_test
2025-04-07T18:02:08.916Z,1744048928.916 [multiray_test:A] Stopped
2025-04-07T18:02:08.916Z,1744048928.916 [multiray_test:I.Wait] Stopped
2025-04-07T18:02:08.916Z,1744048928.916 [multiray_test:I.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:02:09.079Z,1744048929.079 [MissionManager](IMPORTANT): Started mission Default
2025-04-07T18:02:09.079Z,1744048929.079 [Default] Running Loop=1
2025-04-07T18:02:09.079Z,1744048929.079 [Default](DEBUG): Aggregate::initialize Default
2025-04-07T18:02:09.079Z,1744048929.079 [Default:B.GoToSurface] Running Loop=1
2025-04-07T18:02:09.079Z,1744048929.079 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-07T18:02:09.079Z,1744048929.079 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-07T18:02:09.080Z,1744048929.080 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-07T18:02:09.080Z,1744048929.080 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-07T18:02:09.080Z,1744048929.080 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-07T18:02:09.081Z,1744048929.081 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-07T18:02:09.081Z,1744048929.081 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-07T18:02:09.081Z,1744048929.081 [Default:A.Wait] Running Loop=1
2025-04-07T18:02:09.081Z,1744048929.081 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:02:22.396Z,1744048942.396 [Default:A.Wait](INFO): Done Waiting.
2025-04-07T18:02:22.396Z,1744048942.396 [Default:A.Wait] Stopped
2025-04-07T18:02:22.396Z,1744048942.396 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:02:22.811Z,1744048942.811 [Default:CheckIn] Running Loop=1
2025-04-07T18:02:22.811Z,1744048942.811 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-07T18:02:22.811Z,1744048942.811 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-07T18:02:25.266Z,1744048945.266 [DataOverHttps](IMPORTANT): SBD MTMSN=20250407T180224
2025-04-07T18:02:32.821Z,1744048952.821 [DataOverHttps](INFO): Received command: run Engineering/lab_test_optim.tl
2025-04-07T18:02:32.955Z,1744048952.955 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/lab_test_optim.tl
2025-04-07T18:02:32.955Z,1744048952.955 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl
2025-04-07T18:02:32.955Z,1744048952.955 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl
2025-04-07T18:02:32.956Z,1744048952.956 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl
2025-04-07T18:02:33.224Z,1744048953.224 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lab_test_optim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="RecordTime">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="BackseatWait">
        <Units:second />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="LightMode">
        <Units:count />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="BrightnessWhite">
        <Units:none_int />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="BrightnessRed">
        <Units:none_int />
        <Value>100</Value>
    </DefineArg>
    <DefineOutput Name="RecordingEnabled">
        <False />
    </DefineOutput>
    <DefineOutput Name="LightsEnabled">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Parallel />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="RecordingEnabled" />
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="LightsEnabled" />
        </While>
        <Sensor:MultiRay.lightModeLog />
    </ReadData>
    <Aggregate Id="Startup">
        <Sequence />
        <Syslog Severity="Important">
            Waiting 
            <Arg Name="BackseatWait" />
            <Units:second />
             for backseat to start up...
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="BackseatWait" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="Run">
        <Sequence />
        <Syslog Severity="Important">Trying to run Optim and Multiray forreal</Syslog>
        <Assign>
            <Sequence />
            <Arg Name="RecordingEnabled" />
            <True />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LightsEnabled" />
            <True />
        </Assign>
        <Assign>
            <Sequence />
            <Sensor:MultiRay.lightModeCommand />
            <Arg Name="LightMode" />
        </Assign>
        <Aggregate Id="setRed">
            <Sequence />
            <Break>
                <Arg Name="LightMode" />
                <Ne>
                    <Units:count />
                    <Value>1</Value>
                </Ne>
            </Break>
            <Assign>
                <Sequence />
                <Sensor:MultiRay.brightnessRed />
                <Arg Name="BrightnessRed" />
            </Assign>
            <Syslog Severity="Info">
                Setting multiray red brightness to
                <Arg Name="BrightnessRed" />
                <Units:count />
            </Syslog>
        </Aggregate>
        <Aggregate Id="setWhite">
            <Sequence />
            <Break>
                <Arg Name="LightMode" />
                <Ne>
                    <Units:count />
                    <Value>2</Value>
                </Ne>
            </Break>
            <Assign>
                <Sequence />
                <Sensor:MultiRay.brightnessWhite />
                <Arg Name="BrightnessWhite" />
            </Assign>
            <Syslog Severity="Info">
                Setting muliray white brightness to
                <Arg Name="BrightnessWhite" />
                <Units:count />
            </Syslog>
        </Aggregate>
        <Syslog Severity="Important">
            Recording for 
            <Arg Name="RecordTime" />
            <Units:minute />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="RecordTime" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Arg Name="MissionTimeout" />
        </Setting>
    </Guidance:Wait>
</Mission>

2025-04-07T18:02:33.228Z,1744048953.228 [MissionManager](INFO): DefineArg lab_test_optim.MissionTimeout = 15.000000 min
2025-04-07T18:02:33.230Z,1744048953.230 [MissionManager](INFO): DefineArg lab_test_optim.RecordTime = 1.000000 min
2025-04-07T18:02:33.232Z,1744048953.232 [MissionManager](INFO): DefineArg lab_test_optim.BackseatWait = 30.000000 s
2025-04-07T18:02:33.234Z,1744048953.234 [MissionManager](INFO): DefineArg lab_test_optim.LightMode = 2.000000 count
2025-04-07T18:02:33.237Z,1744048953.237 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32
2025-04-07T18:02:33.239Z,1744048953.239 [MissionManager](INFO): DefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32
2025-04-07T18:02:33.241Z,1744048953.241 [MissionManager](INFO): DefineOutput lab_test_optim.RecordingEnabled = 0 bool
2025-04-07T18:02:33.243Z,1744048953.243 [MissionManager](INFO): DefineOutput lab_test_optim.LightsEnabled = 0 bool
2025-04-07T18:02:33.243Z,1744048953.243 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-07T18:02:33.243Z,1744048953.243 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-07T18:02:33.244Z,1744048953.244 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-07T18:02:33.400Z,1744048953.400 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-04-07T18:02:33.412Z,1744048953.412 [MissionManager](INFO): DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool
2025-04-07T18:02:33.421Z,1744048953.421 [lab_test_optim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-07T18:02:33.438Z,1744048953.438 [lab_test_optim:Startup:B.Wait](DEBUG): Construct Wait.
2025-04-07T18:02:33.473Z,1744048953.473 [lab_test_optim:Run:H.Wait](DEBUG): Construct Wait.
2025-04-07T18:02:33.477Z,1744048953.477 [lab_test_optim:G.Wait](DEBUG): Construct Wait.
2025-04-07T18:02:33.482Z,1744048953.482 [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 lab_test_optim {
  arguments {
    MissionTimeout = 15 minute
      """
      Backseat will stay on for this duration, independent of Optim state
      """

    RecordTime = 1 minute
      """
      How long to record after startup sequence (hopefully) turns on Optim camera
      """

    BackseatWait = 30 second
      """
      How long to wait for the backseat to power up before attempting to power the Optim
      """

    LightMode = 2 count
      """
      Mode for Multiray lights. 0 is off, 1 is red, 2 is white
      """

    BrightnessWhite = 100 none_int
      """
      White Multiray LED brightness, 0-100
      """

    BrightnessRed = 100 none_int
      """
      Red Multiray LED brightness, 0-100
      """
  }

  output {
    RecordingEnabled = false

    LightsEnabled = false
  }

  timeout duration=MissionTimeout

  insert Insert/BackseatDriver.tl
  assign in parallel BackseatDriver:EnableBackseat = true

  readData strategy="MinError" {
    while ( RecordingEnabled )

    Sensor:PowerOnly.sampleLoad1
  }

  readData strategy="MinError" {
    while ( LightsEnabled )

    Sensor:MultiRay.lightModeLog
  }

  aggregate Startup {
    run in sequence

    syslog important "Waiting " + BackseatWait~s + " for backseat to start up..."

    behavior Guidance:Wait {
      run in sequence

      set duration = BackseatWait
    }
  }

  aggregate Run {
    run in sequence

    syslog important "Trying to run Optim and Multiray forreal"

    assign in sequence RecordingEnabled = true
    assign in sequence LightsEnabled = true
    assign in sequence Sensor:MultiRay.lightModeCommand = LightMode

    aggregate setRed {
      run in sequence

      break if ( LightMode != 1 count )

      assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed
      syslog info "Setting multiray red brightness to" + BrightnessRed~count
    }

    aggregate setWhite {
      run in sequence

      break if ( LightMode != 2 count )

      assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite
      syslog info "Setting muliray white brightness to" + BrightnessWhite~count
    }

    syslog important "Recording for " + RecordTime~min

    behavior Guidance:Wait {
      run in sequence

      set duration = RecordTime
    }
  }

  behavior Guidance:Wait {
    run in sequence

    set duration = MissionTimeout
  }
}


2025-04-07T18:02:33.484Z,1744048953.484 [CommandExec](IMPORTANT): Running ./Missions/Engineering/lab_test_optim.tl
2025-04-07T18:02:33.712Z,1744048953.712 [Default] Stopped
2025-04-07T18:02:33.712Z,1744048953.712 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-07T18:02:33.712Z,1744048953.712 [Default:B.GoToSurface] Stopped
2025-04-07T18:02:33.712Z,1744048953.712 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-07T18:02:33.712Z,1744048953.712 [Default:CheckIn] Stopped
2025-04-07T18:02:33.712Z,1744048953.712 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-07T18:02:33.712Z,1744048953.712 [Default:CheckIn:Read_GPS] Stopped
2025-04-07T18:02:33.712Z,1744048953.712 [MissionManager](IMPORTANT): Started mission lab_test_optim
2025-04-07T18:02:33.713Z,1744048953.713 [lab_test_optim] Running Loop=1
2025-04-07T18:02:33.713Z,1744048953.713 [lab_test_optim](DEBUG): Aggregate::initialize lab_test_optim
2025-04-07T18:02:33.713Z,1744048953.713 [lab_test_optim:BackseatDriver] Running Loop=1
2025-04-07T18:02:33.713Z,1744048953.713 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::initialize lab_test_optim:BackseatDriver
2025-04-07T18:02:33.713Z,1744048953.713 [lab_test_optim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-07T18:02:33.713Z,1744048953.713 [lab_test_optim:B] Running Loop=1
2025-04-07T18:02:33.713Z,1744048953.713 [lab_test_optim:C] Running Loop=1
2025-04-07T18:02:33.713Z,1744048953.713 [lab_test_optim:D] Running Loop=1
2025-04-07T18:02:33.714Z,1744048953.714 [lab_test_optim:Startup] Running Loop=1
2025-04-07T18:02:33.714Z,1744048953.714 [lab_test_optim:Startup](DEBUG): Aggregate::initialize lab_test_optim:Startup
2025-04-07T18:02:33.714Z,1744048953.714 [lab_test_optim:Startup:A] Running Loop=1
2025-04-07T18:02:33.715Z,1744048953.715 [lab_test_optim:Startup:A](IMPORTANT): Waiting  30.000000 s  for backseat to start up...
2025-04-07T18:02:33.715Z,1744048953.715 [lab_test_optim:Startup:A] Stopped
2025-04-07T18:02:33.715Z,1744048953.715 [lab_test_optim:Startup:B.Wait] Running Loop=1
2025-04-07T18:02:33.715Z,1744048953.715 [lab_test_optim:Startup:B.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:02:33.715Z,1744048953.715 [lab_test_optim:D] Stopped
2025-04-07T18:02:33.715Z,1744048953.715 [lab_test_optim:C] Stopped
2025-04-07T18:02:33.715Z,1744048953.715 [lab_test_optim:B] Running Loop=1
2025-04-07T18:02:33.715Z,1744048953.715 [lab_test_optim:BackseatDriver] Running Loop=1
2025-04-07T18:02:33.716Z,1744048953.716 [lab_test_optim:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-04-07T18:02:33.909Z,1744048953.909 [BackseatComponent](INFO): Powering up
2025-04-07T18:02:33.910Z,1744048953.910 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-04-07T18:03:04.467Z,1744048984.467 [lab_test_optim:Startup:B.Wait](INFO): Done Waiting.
2025-04-07T18:03:04.467Z,1744048984.467 [lab_test_optim:Startup:B.Wait] Stopped
2025-04-07T18:03:04.467Z,1744048984.467 [lab_test_optim:Startup:B.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:03:04.467Z,1744048984.467 [lab_test_optim:Startup](INFO): Completed lab_test_optim:Startup
2025-04-07T18:03:04.467Z,1744048984.467 [lab_test_optim:Startup] Stopped
2025-04-07T18:03:04.467Z,1744048984.467 [lab_test_optim:Startup](DEBUG): Aggregate::uninitialize lab_test_optim:Startup
2025-04-07T18:03:04.468Z,1744048984.467 [lab_test_optim:Run] Running Loop=1
2025-04-07T18:03:04.468Z,1744048984.468 [lab_test_optim:Run](DEBUG): Aggregate::initialize lab_test_optim:Run
2025-04-07T18:03:04.468Z,1744048984.468 [lab_test_optim:Run:A] Running Loop=1
2025-04-07T18:03:04.845Z,1744048984.845 [lab_test_optim:Run:A](IMPORTANT): Trying to run Optim and Multiray forreal
2025-04-07T18:03:04.845Z,1744048984.845 [lab_test_optim:Run:A] Stopped
2025-04-07T18:03:04.846Z,1744048984.846 [lab_test_optim:Run:B] Running Loop=1
2025-04-07T18:03:05.235Z,1744048985.235 [lab_test_optim:Run:B] Stopped
2025-04-07T18:03:05.235Z,1744048985.235 [lab_test_optim:Run:C] Running Loop=1
2025-04-07T18:03:05.632Z,1744048985.632 [lab_test_optim:Run:C] Stopped
2025-04-07T18:03:05.632Z,1744048985.632 [lab_test_optim:Run:D] Running Loop=1
2025-04-07T18:03:05.632Z,1744048985.632 [lab_test_optim:C] Running Loop=1
2025-04-07T18:03:05.632Z,1744048985.632 [lab_test_optim:C] Running Loop=1
2025-04-07T18:03:05.632Z,1744048985.632 [lab_test_optim:C](DEBUG): Initialize ReadDataComponent to sense PowerOnly.sampleLoad1
2025-04-07T18:03:06.015Z,1744048986.015 [PowerOnly](INFO): Powering up loadControl
2025-04-07T18:03:06.068Z,1744048986.068 [lab_test_optim:Run:D] Stopped
2025-04-07T18:03:06.068Z,1744048986.068 [lab_test_optim:Run:setRed] Running Loop=1
2025-04-07T18:03:06.068Z,1744048986.068 [lab_test_optim:Run:setRed](DEBUG): Aggregate::initialize lab_test_optim:Run:setRed
2025-04-07T18:03:06.068Z,1744048986.068 [lab_test_optim:Run:setRed:A] Running Loop=1
2025-04-07T18:03:06.068Z,1744048986.068 [lab_test_optim:D] Running Loop=1
2025-04-07T18:03:06.068Z,1744048986.068 [lab_test_optim:D] Running Loop=1
2025-04-07T18:03:06.069Z,1744048986.069 [lab_test_optim:D](DEBUG): Initialize ReadDataComponent to sense MultiRay.lightModeLog
2025-04-07T18:03:06.455Z,1744048986.455 [lab_test_optim:Run:setRed] Stopped
2025-04-07T18:03:06.455Z,1744048986.455 [lab_test_optim:Run:setRed](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setRed
2025-04-07T18:03:06.456Z,1744048986.456 [lab_test_optim:Run:setRed:A] Stopped
2025-04-07T18:03:06.456Z,1744048986.456 [lab_test_optim:Run:setWhite] Running Loop=1
2025-04-07T18:03:06.456Z,1744048986.456 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::initialize lab_test_optim:Run:setWhite
2025-04-07T18:03:06.456Z,1744048986.456 [lab_test_optim:Run:setWhite:A] Running Loop=1
2025-04-07T18:03:06.879Z,1744048986.879 [lab_test_optim:Run:setWhite:A] Stopped
2025-04-07T18:03:06.879Z,1744048986.879 [lab_test_optim:Run:setWhite:B] Running Loop=1
2025-04-07T18:03:07.292Z,1744048987.292 [lab_test_optim:Run:setWhite:B](INFO): Setting muliray white brightness to 100.000000 count 
2025-04-07T18:03:07.292Z,1744048987.292 [lab_test_optim:Run:setWhite:B] Stopped
2025-04-07T18:03:07.292Z,1744048987.292 [lab_test_optim:Run:setWhite](INFO): Completed lab_test_optim:Run:setWhite
2025-04-07T18:03:07.292Z,1744048987.292 [lab_test_optim:Run:setWhite] Stopped
2025-04-07T18:03:07.292Z,1744048987.292 [lab_test_optim:Run:setWhite](DEBUG): Aggregate::uninitialize lab_test_optim:Run:setWhite
2025-04-07T18:03:07.292Z,1744048987.292 [lab_test_optim:Run:G] Running Loop=1
2025-04-07T18:03:07.664Z,1744048987.664 [lab_test_optim:Run:G](IMPORTANT): Recording for  1.000000 min 
2025-04-07T18:03:07.664Z,1744048987.664 [lab_test_optim:Run:G] Stopped
2025-04-07T18:03:07.664Z,1744048987.664 [lab_test_optim:Run:H.Wait] Running Loop=1
2025-04-07T18:03:07.664Z,1744048987.664 [lab_test_optim:Run:H.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:03:08.442Z,1744048988.442 [MultiRay](IMPORTANT): MultiRay white lights ON
2025-04-07T18:03:18.894Z,1744048998.894 [CommandExec](IMPORTANT): got command stop
2025-04-07T18:03:18.894Z,1744048998.894 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-04-07T18:03:18.985Z,1744048998.985 [MissionManager](INFO): MissionManager is completed.
2025-04-07T18:03:18.985Z,1744048998.985 [MissionManager](INFO): Uninitializing Mission lab_test_optim
2025-04-07T18:03:18.985Z,1744048998.985 [lab_test_optim] Stopped
2025-04-07T18:03:18.985Z,1744048998.985 [lab_test_optim](DEBUG): Aggregate::uninitialize lab_test_optim
2025-04-07T18:03:18.985Z,1744048998.985 [lab_test_optim:BackseatDriver] Stopped
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:BackseatDriver](DEBUG): Aggregate::uninitialize lab_test_optim:BackseatDriver
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:BackseatDriver:A.BackseatDriver] Stopped
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:B] Stopped
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:C] Stopped
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:D] Stopped
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:Run] Stopped
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:Run](DEBUG): Aggregate::uninitialize lab_test_optim:Run
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:Run:H.Wait] Stopped
2025-04-07T18:03:18.986Z,1744048998.986 [lab_test_optim:Run:H.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:03:19.379Z,1744048999.379 [MissionManager](IMPORTANT): Started mission Default
2025-04-07T18:03:19.379Z,1744048999.379 [Default] Running Loop=1
2025-04-07T18:03:19.379Z,1744048999.379 [Default](DEBUG): Aggregate::initialize Default
2025-04-07T18:03:19.380Z,1744048999.380 [Default:B.GoToSurface] Running Loop=1
2025-04-07T18:03:19.380Z,1744048999.380 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-07T18:03:19.380Z,1744048999.380 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-07T18:03:19.380Z,1744048999.380 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-07T18:03:19.381Z,1744048999.381 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-07T18:03:19.381Z,1744048999.381 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-07T18:03:19.382Z,1744048999.382 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-07T18:03:19.382Z,1744048999.382 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-07T18:03:19.382Z,1744048999.382 [Default:A.Wait] Running Loop=1
2025-04-07T18:03:19.382Z,1744048999.382 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-07T18:03:20.238Z,1744049000.238 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-04-07T18:03:20.239Z,1744049000.239 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-04-07T18:03:25.015Z,1744049005.015 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-07T18:03:25.018Z,1744049005.018 [BPC1](INFO): Received data from all battery sticks.
2025-04-07T18:03:26.100Z,1744049006.100 [CommandExec](IMPORTANT): got command failComponent hardware MultiRay
2025-04-07T18:03:26.100Z,1744049006.100 [MultiRay] Hardware Fault, FailCount= 1
2025-04-07T18:03:26.100Z,1744049006.100 [MultiRay](ERROR): Hardware Fault
2025-04-07T18:03:26.100Z,1744049006.100 [CommandExec](IMPORTANT): MultiRay failureMode is Hardware Fault
2025-04-07T18:03:26.215Z,1744049006.215 [MultiRay](INFO): Powering down.
2025-04-07T18:03:26.281Z,1744049006.281 [CBIT](ERROR): Hardware Fault in component: MultiRay
2025-04-07T18:03:27.056Z,1744049007.056 [CBIT](INFO): Clearing failed state for component MultiRay
2025-04-07T18:03:27.056Z,1744049007.056 [MultiRay] No Fault, FailCount= 1
2025-04-07T18:03:27.430Z,1744049007.430 [MultiRay](INFO): Powering up MultiRay Lights
2025-04-07T18:03:27.430Z,1744049007.430 [MultiRay](INFO): Powering up secondary power supply.
2025-04-07T18:03:32.692Z,1744049012.692 [Default:A.Wait](INFO): Done Waiting.
2025-04-07T18:03:32.692Z,1744049012.692 [Default:A.Wait] Stopped
2025-04-07T18:03:32.692Z,1744049012.692 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-07T18:03:33.124Z,1744049013.124 [Default:CheckIn] Running Loop=1
2025-04-07T18:03:33.125Z,1744049013.125 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-07T18:03:33.145Z,1744049013.145 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-07T18:03:38.417Z,1744049018.417 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-04-07T18:03:38.418Z,1744049018.418 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-04-07T18:03:38.418Z,1744049018.418 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-04-07T18:04:10.691Z,1744049050.691 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2025-04-07T18:04:10.691Z,1744049050.691 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-04-07T18:04:10.702Z,1744049050.702 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-04-07T18:04:11.098Z,1744049051.098 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-04-07T18:04:11.098Z,1744049051.098 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2025-04-07T18:04:49.457Z,1744049089.457 [PowerOnly](INFO): Powering down loadControl
2025-04-07T18:05:48.426Z,1744049148.426 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-04-07T18:05:48.426Z,1744049148.426 [NAL9602] Data Fault, FailCount= 1
2025-04-07T18:05:48.426Z,1744049148.426 [NAL9602](ERROR): Data Fault
2025-04-07T18:05:48.443Z,1744049148.443 [CBIT](ERROR): Data Fault in component: NAL9602
2025-04-07T18:05:48.836Z,1744049148.836 [NAL9602](INFO): Powering down
2025-04-07T18:05:49.659Z,1744049149.659 [CBIT](INFO): Clearing failed state for component NAL9602
2025-04-07T18:05:49.659Z,1744049149.659 [NAL9602] No Fault, FailCount= 1
2025-04-07T18:06:19.135Z,1744049179.135 [NAL9602](INFO): Powering up NAL9602
2025-04-07T18:06:30.043Z,1744049190.043 [NAL9602](INFO): NAL9602 initialized
2025-04-07T18:07:11.711Z,1744049231.711 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2025-04-07T18:07:11.711Z,1744049231.711 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-04-07T18:07:11.730Z,1744049231.730 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-04-07T18:07:12.206Z,1744049232.206 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-04-07T18:07:12.206Z,1744049232.206 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2025-04-07T18:08:33.352Z,1744049313.352 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-04-07T18:03:33.1Z
2025-04-07T18:08:33.352Z,1744049313.352 [Default:CheckIn:Read_GPS] Stopped
2025-04-07T18:08:33.352Z,1744049313.352 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-07T18:08:33.760Z,1744049313.760 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-07T18:08:33.887Z,1744049313.887 [CommandExec](IMPORTANT): got command restart application
2025-04-07T18:08:34.905Z,1744049314.905 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:34.905Z,1744049314.905 [CommandExec](INFO): Uninitializing the command executive.
2025-04-07T18:08:34.905Z,1744049314.905 [CommandExec](INFO): Uninitializing the command scheduler.
2025-04-07T18:08:34.906Z,1744049314.906 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:35.041Z,1744049315.041 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-04-07T18:08:35.041Z,1744049315.041 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-04-07T18:08:35.041Z,1744049315.041 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:35.042Z,1744049315.042 [NavChartDb](INFO): Join timeout helper Thread ID is 2008
2025-04-07T18:08:35.261Z,1744049315.261 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:35.261Z,1744049315.261 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:35.269Z,1744049315.269 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-04-07T18:08:35.269Z,1744049315.269 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:35.269Z,1744049315.269 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 2009
2025-04-07T18:08:35.293Z,1744049315.293 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:35.293Z,1744049315.293 [WetLabsBB2FL](INFO): Powering down
2025-04-07T18:08:35.294Z,1744049315.294 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:35.295Z,1744049315.295 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-04-07T18:08:35.295Z,1744049315.295 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:35.296Z,1744049315.296 [CTD_Seabird](INFO): Join timeout helper Thread ID is 2010
2025-04-07T18:08:35.922Z,1744049315.922 [CTD_Seabird](INFO): Powering down
2025-04-07T18:08:35.933Z,1744049315.933 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:35.933Z,1744049315.933 [CTD_Seabird](INFO): Powering down
2025-04-07T18:08:35.945Z,1744049315.945 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:35.953Z,1744049315.953 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-04-07T18:08:35.953Z,1744049315.953 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:35.954Z,1744049315.954 [Radio_Surface](INFO): Join timeout helper Thread ID is 2011
2025-04-07T18:08:36.257Z,1744049316.257 [Radio_Surface](INFO): Powering down
2025-04-07T18:08:36.258Z,1744049316.258 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:36.258Z,1744049316.258 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:36.277Z,1744049316.277 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-04-07T18:08:36.277Z,1744049316.277 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:36.277Z,1744049316.277 [Onboard](INFO): Join timeout helper Thread ID is 2012
2025-04-07T18:08:39.169Z,1744049319.169 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:39.170Z,1744049319.170 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:39.178Z,1744049319.178 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-04-07T18:08:39.178Z,1744049319.178 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:39.178Z,1744049319.178 [DataOverHttps](INFO): Join timeout helper Thread ID is 2013
2025-04-07T18:08:40.209Z,1744049320.209 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:40.217Z,1744049320.217 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.234Z,1744049320.234 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-04-07T18:08:40.234Z,1744049320.234 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.234Z,1744049320.234 [DAT](INFO): Join timeout helper Thread ID is 2014
2025-04-07T18:08:40.237Z,1744049320.237 [DAT](INFO): Powering down
2025-04-07T18:08:40.310Z,1744049320.310 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:40.310Z,1744049320.310 [DAT](INFO): Powering down
2025-04-07T18:08:40.311Z,1744049320.311 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.322Z,1744049320.322 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-04-07T18:08:40.322Z,1744049320.322 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.322Z,1744049320.322 [BackseatComponent](INFO): Join timeout helper Thread ID is 2015
2025-04-07T18:08:40.333Z,1744049320.333 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:40.334Z,1744049320.334 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.342Z,1744049320.342 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-04-07T18:08:40.342Z,1744049320.342 [logger ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.342Z,1744049320.342 [logger](INFO): Join timeout helper Thread ID is 2016
2025-04-07T18:08:40.353Z,1744049320.353 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:40.353Z,1744049320.353 [logger ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.362Z,1744049320.362 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-04-07T18:08:40.362Z,1744049320.362 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.362Z,1744049320.362 [CommandLine](INFO): Join timeout helper Thread ID is 2017
2025-04-07T18:08:40.389Z,1744049320.389 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:40.389Z,1744049320.389 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.402Z,1744049320.402 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-04-07T18:08:40.402Z,1744049320.402 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.402Z,1744049320.402 [CommandExec](INFO): Join timeout helper Thread ID is 2018
2025-04-07T18:08:40.403Z,1744049320.403 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-04-07T18:08:40.403Z,1744049320.403 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.404Z,1744049320.404 [controlThread](INFO): Join timeout helper Thread ID is 2019
2025-04-07T18:08:40.581Z,1744049320.581 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-07T18:08:40.581Z,1744049320.581 [controlThread](DEBUG): Uninitializing ControlThread
2025-04-07T18:08:40.582Z,1744049320.582 [AHRS_M2](INFO): Powering down
2025-04-07T18:08:40.662Z,1744049320.662 [MultiRay](INFO): Powering down.
2025-04-07T18:08:40.663Z,1744049320.663 [NAL9602](INFO): Powering down
2025-04-07T18:08:40.664Z,1744049320.664 [Waterlinked](INFO): Powering down
2025-04-07T18:08:40.666Z,1744049320.666 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-04-07T18:08:40.667Z,1744049320.667 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-04-07T18:08:40.667Z,1744049320.667 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-04-07T18:08:40.668Z,1744049320.668 [MissionManager](INFO): Uninitializing Mission Default
2025-04-07T18:08:40.668Z,1744049320.668 [Default] Stopped
2025-04-07T18:08:40.668Z,1744049320.668 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-07T18:08:40.668Z,1744049320.668 [Default:B.GoToSurface] Stopped
2025-04-07T18:08:40.668Z,1744049320.668 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-07T18:08:40.668Z,1744049320.668 [Default:CheckIn] Stopped
2025-04-07T18:08:40.668Z,1744049320.668 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-07T18:08:40.668Z,1744049320.668 [Default:CheckIn:Read_Iridium] Stopped
2025-04-07T18:08:40.671Z,1744049320.671 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-04-07T18:08:40.672Z,1744049320.672 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-04-07T18:08:40.672Z,1744049320.672 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-04-07T18:08:40.672Z,1744049320.672 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-04-07T18:08:40.673Z,1744049320.673 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-04-07T18:08:40.673Z,1744049320.673 [BuoyancyServo](INFO): Powering down
2025-04-07T18:08:40.685Z,1744049320.685 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-07T18:08:40.685Z,1744049320.685 [ElevatorServo](INFO): Powering down
2025-04-07T18:08:40.686Z,1744049320.686 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-04-07T18:08:40.686Z,1744049320.686 [MassServo](INFO): Powering down
2025-04-07T18:08:40.687Z,1744049320.687 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-04-07T18:08:40.687Z,1744049320.687 [RudderServo](INFO): Powering down
2025-04-07T18:08:40.688Z,1744049320.688 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-07T18:08:40.688Z,1744049320.688 [ThrusterHE](INFO): Powering down
2025-04-07T18:08:40.689Z,1744049320.689 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-04-07T18:08:40.689Z,1744049320.689 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-04-07T18:08:40.690Z,1744049320.690 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-04-07T18:08:40.690Z,1744049320.690 [CBIT](DEBUG): Powering off loads.
2025-04-07T18:08:40.701Z,1744049320.701 [CBIT](DEBUG): Disabling WDT.
2025-04-07T18:08:40.713Z,1744049320.713 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-04-07T18:08:40.713Z,1744049320.713 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-04-07T18:08:40.714Z,1744049320.714 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.745Z,1744049320.745 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.748Z,1744049320.748 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.755Z,1744049320.755 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.762Z,1744049320.762 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.806Z,1744049320.806 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.849Z,1744049320.849 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-04-07T18:08:40.849Z,1744049320.849 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-04-07T18:08:40.864Z,1744049320.864 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.869Z,1744049320.869 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.923Z,1744049320.923 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-07T18:08:40.971Z,1744049320.971 [logger ThreadHandler](INFO): Thread cancelled.