2024-05-10T21:10:46.797Z,1715375446.797 [Supervisor](DEBUG): Initializing supervisor. 2024-05-10T21:10:46.801Z,1715375446.801 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2024-05-10T21:10:46.802Z,1715375446.802 [SyncHandler](INFO): Protected caller Thread ID is 830 2024-05-10T21:10:46.802Z,1715375446.802 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2024-05-10T21:10:46.803Z,1715375446.803 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2024-05-10T21:10:46.803Z,1715375446.803 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 831 2024-05-10T21:10:46.808Z,1715375446.808 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2024-05-10T21:10:46.827Z,1715375446.827 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2024-05-10T21:10:46.828Z,1715375446.828 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2024-05-10T21:10:46.829Z,1715375446.829 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 832 2024-05-10T21:10:46.833Z,1715375446.833 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2024-05-10T21:10:46.834Z,1715375446.834 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2024-05-10T21:10:46.835Z,1715375446.835 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 833 2024-05-10T21:10:46.837Z,1715375446.837 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2024-05-10T21:10:46.838Z,1715375446.838 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2024-05-10T21:10:46.838Z,1715375446.838 [logger ThreadHandler](INFO): Protected caller Thread ID is 834 2024-05-10T21:10:46.842Z,1715375446.842 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2024-05-10T21:10:46.843Z,1715375446.843 [Supervisor](INFO): Looking for Config files in directory: Config/ 2024-05-10T21:10:46.848Z,1715375446.848 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2024-05-10T21:10:46.961Z,1715375446.961 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2024-05-10T21:10:46.963Z,1715375446.963 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2024-05-10T21:10:47.240Z,1715375447.240 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2024-05-10T21:10:47.242Z,1715375447.242 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2024-05-10T21:10:47.568Z,1715375447.568 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2024-05-10T21:10:47.569Z,1715375447.569 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2024-05-10T21:10:47.696Z,1715375447.696 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2024-05-10T21:10:47.698Z,1715375447.698 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2024-05-10T21:10:48.600Z,1715375448.600 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2024-05-10T21:10:48.602Z,1715375448.602 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2024-05-10T21:10:49.196Z,1715375449.196 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2024-05-10T21:10:49.198Z,1715375449.198 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2024-05-10T21:10:49.833Z,1715375449.833 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2024-05-10T21:10:49.834Z,1715375449.834 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2024-05-10T21:10:50.677Z,1715375450.677 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2024-05-10T21:10:50.698Z,1715375450.698 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2024-05-10T21:10:51.163Z,1715375451.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2024-05-10T21:10:51.165Z,1715375451.165 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2024-05-10T21:10:51.603Z,1715375451.603 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2024-05-10T21:10:51.605Z,1715375451.605 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2024-05-10T21:10:51.872Z,1715375451.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2024-05-10T21:10:51.873Z,1715375451.873 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2024-05-10T21:10:52.038Z,1715375452.038 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2024-05-10T21:10:52.039Z,1715375452.039 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2024-05-10T21:10:52.137Z,1715375452.137 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2024-05-10T21:10:52.232Z,1715375452.232 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2024-05-10T21:10:52.460Z,1715375452.460 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2024-05-10T21:10:52.461Z,1715375452.461 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2024-05-10T21:10:52.734Z,1715375452.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2024-05-10T21:10:52.736Z,1715375452.736 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/ 2024-05-10T21:10:52.739Z,1715375452.739 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg 2024-05-10T21:10:52.839Z,1715375452.839 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg 2024-05-10T21:10:53.133Z,1715375453.133 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2024-05-10T21:10:53.134Z,1715375453.134 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg 2024-05-10T21:10:53.250Z,1715375453.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg 2024-05-10T21:10:53.447Z,1715375453.447 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg 2024-05-10T21:10:53.565Z,1715375453.565 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg 2024-05-10T21:10:53.698Z,1715375453.698 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg 2024-05-10T21:10:53.833Z,1715375453.833 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg 2024-05-10T21:10:53.960Z,1715375453.960 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg 2024-05-10T21:10:54.154Z,1715375454.154 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg 2024-05-10T21:10:54.270Z,1715375454.270 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg 2024-05-10T21:10:54.386Z,1715375454.386 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg 2024-05-10T21:10:54.492Z,1715375454.492 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2024-05-10T21:10:54.504Z,1715375454.504 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2024-05-10T21:10:54.732Z,1715375454.732 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2024-05-10T21:10:54.733Z,1715375454.733 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2024-05-10T21:10:54.930Z,1715375454.930 [BuoyancyServo] Loaded 2024-05-10T21:10:54.930Z,1715375454.930 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2024-05-10T21:10:54.952Z,1715375454.952 [ElevatorServo] Loaded 2024-05-10T21:10:54.952Z,1715375454.952 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2024-05-10T21:10:54.974Z,1715375454.974 [MassServo] Loaded 2024-05-10T21:10:54.974Z,1715375454.974 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2024-05-10T21:10:54.996Z,1715375454.996 [RudderServo] Loaded 2024-05-10T21:10:54.996Z,1715375454.996 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2024-05-10T21:10:55.012Z,1715375455.012 [ThrusterHE] Loaded 2024-05-10T21:10:55.013Z,1715375455.013 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2024-05-10T21:10:55.013Z,1715375455.013 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2024-05-10T21:10:55.015Z,1715375455.015 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2024-05-10T21:10:55.196Z,1715375455.196 [SBIT](DEBUG): Construct Startup Built In Test. 2024-05-10T21:10:55.211Z,1715375455.211 [SBIT] Loaded 2024-05-10T21:10:55.212Z,1715375455.212 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2024-05-10T21:10:55.215Z,1715375455.215 [IBIT](DEBUG): Construct Initiated Built In Test. 2024-05-10T21:10:55.237Z,1715375455.237 [IBIT] Loaded 2024-05-10T21:10:55.237Z,1715375455.237 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2024-05-10T21:10:55.243Z,1715375455.243 [CBIT](DEBUG): Construct Continuous Built In Test. 2024-05-10T21:10:55.473Z,1715375455.473 [CBIT] Loaded 2024-05-10T21:10:55.473Z,1715375455.473 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2024-05-10T21:10:55.473Z,1715375455.473 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2024-05-10T21:10:55.474Z,1715375455.474 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2024-05-10T21:10:55.703Z,1715375455.703 [CTD_Seabird] Loaded 2024-05-10T21:10:55.703Z,1715375455.703 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2024-05-10T21:10:55.704Z,1715375455.704 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406784E0 2024-05-10T21:10:55.705Z,1715375455.705 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 919 2024-05-10T21:10:55.738Z,1715375455.738 [ESPComponent] Loaded 2024-05-10T21:10:55.738Z,1715375455.738 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2024-05-10T21:10:55.759Z,1715375455.759 [PAR_Licor] Loaded 2024-05-10T21:10:55.759Z,1715375455.759 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2024-05-10T21:10:55.804Z,1715375455.804 [WetLabsBB2FL] Loaded 2024-05-10T21:10:55.804Z,1715375455.804 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2024-05-10T21:10:55.805Z,1715375455.805 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406A84E0 2024-05-10T21:10:55.806Z,1715375455.806 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 920 2024-05-10T21:10:55.806Z,1715375455.806 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2024-05-10T21:10:55.808Z,1715375455.808 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2024-05-10T21:10:56.438Z,1715375456.438 [DepthRateCalculator] Loaded 2024-05-10T21:10:56.438Z,1715375456.438 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2024-05-10T21:10:56.444Z,1715375456.444 [PitchRateCalculator] Loaded 2024-05-10T21:10:56.445Z,1715375456.445 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2024-05-10T21:10:56.456Z,1715375456.456 [SpeedCalculator] Loaded 2024-05-10T21:10:56.456Z,1715375456.456 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2024-05-10T21:10:56.461Z,1715375456.461 [YawRateCalculator] Loaded 2024-05-10T21:10:56.461Z,1715375456.461 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2024-05-10T21:10:56.482Z,1715375456.482 [ElevatorOffsetCalculator] Loaded 2024-05-10T21:10:56.482Z,1715375456.482 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2024-05-10T21:10:56.483Z,1715375456.483 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2024-05-10T21:10:56.483Z,1715375456.483 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2024-05-10T21:10:56.928Z,1715375456.928 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2024-05-10T21:10:56.929Z,1715375456.929 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2024-05-10T21:10:56.973Z,1715375456.973 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2024-05-10T21:10:56.974Z,1715375456.974 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2024-05-10T21:10:57.116Z,1715375457.116 [DeadReckonUsingMultipleVelocitySources] Loaded 2024-05-10T21:10:57.116Z,1715375457.116 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2024-05-10T21:10:57.131Z,1715375457.131 [NavChart] Loaded 2024-05-10T21:10:57.131Z,1715375457.131 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2024-05-10T21:10:57.137Z,1715375457.137 [UniversalFixResidualReporter] Loaded 2024-05-10T21:10:57.138Z,1715375457.138 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2024-05-10T21:10:57.138Z,1715375457.138 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2024-05-10T21:10:57.139Z,1715375457.139 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2024-05-10T21:10:57.989Z,1715375457.989 [AHRS_M2] Loaded 2024-05-10T21:10:57.990Z,1715375457.990 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2024-05-10T21:10:58.240Z,1715375458.240 [BackseatComponent] Loaded 2024-05-10T21:10:58.241Z,1715375458.241 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2024-05-10T21:10:58.242Z,1715375458.242 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A534E0 2024-05-10T21:10:58.242Z,1715375458.242 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 921 2024-05-10T21:10:58.245Z,1715375458.245 [LcmUniversalReporter] Loaded 2024-05-10T21:10:58.245Z,1715375458.245 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2024-05-10T21:10:59.014Z,1715375459.014 [BPC1] Loaded 2024-05-10T21:10:59.014Z,1715375459.014 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2024-05-10T21:10:59.157Z,1715375459.157 [DataOverHttps] Loaded 2024-05-10T21:10:59.158Z,1715375459.158 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2024-05-10T21:10:59.159Z,1715375459.159 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A834E0 2024-05-10T21:10:59.159Z,1715375459.159 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 922 2024-05-10T21:10:59.181Z,1715375459.181 [Depth_Keller] Loaded 2024-05-10T21:10:59.181Z,1715375459.181 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2024-05-10T21:10:59.186Z,1715375459.186 [DropWeight] Loaded 2024-05-10T21:10:59.187Z,1715375459.187 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2024-05-10T21:10:59.227Z,1715375459.227 [DVL_micro] Loaded 2024-05-10T21:10:59.228Z,1715375459.228 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread. 2024-05-10T21:10:59.290Z,1715375459.290 [NAL9602] Loaded 2024-05-10T21:10:59.290Z,1715375459.290 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2024-05-10T21:10:59.318Z,1715375459.318 [Onboard] Loaded 2024-05-10T21:10:59.318Z,1715375459.318 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2024-05-10T21:10:59.319Z,1715375459.319 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40AB34E0 2024-05-10T21:10:59.320Z,1715375459.320 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 923 2024-05-10T21:10:59.332Z,1715375459.332 [Power24vConverter] Loaded 2024-05-10T21:10:59.333Z,1715375459.333 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2024-05-10T21:10:59.347Z,1715375459.347 [Radio_Surface] Loaded 2024-05-10T21:10:59.347Z,1715375459.347 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2024-05-10T21:10:59.348Z,1715375459.348 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AE34E0 2024-05-10T21:10:59.348Z,1715375459.348 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 924 2024-05-10T21:10:59.363Z,1715375459.363 [Sonardyne_Nano] Loaded 2024-05-10T21:10:59.363Z,1715375459.363 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2024-05-10T21:10:59.461Z,1715375459.461 [DAT] Loaded 2024-05-10T21:10:59.461Z,1715375459.461 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2024-05-10T21:10:59.462Z,1715375459.462 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40B134E0 2024-05-10T21:10:59.463Z,1715375459.463 [DAT ThreadHandler](INFO): Protected caller Thread ID is 925 2024-05-10T21:10:59.463Z,1715375459.463 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2024-05-10T21:10:59.464Z,1715375459.464 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2024-05-10T21:10:59.549Z,1715375459.549 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2024-05-10T21:10:59.551Z,1715375459.551 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2024-05-10T21:10:59.626Z,1715375459.626 [VerticalControl](DEBUG): Construct VerticalControl. 2024-05-10T21:10:59.681Z,1715375459.681 [VerticalControl] Loaded 2024-05-10T21:10:59.681Z,1715375459.681 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2024-05-10T21:10:59.684Z,1715375459.684 [HorizontalControl](DEBUG): Construct HorizontalControl. 2024-05-10T21:10:59.730Z,1715375459.730 [HorizontalControl] Loaded 2024-05-10T21:10:59.731Z,1715375459.731 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2024-05-10T21:10:59.733Z,1715375459.733 [SpeedControl](DEBUG): Construct SpeedControl. 2024-05-10T21:10:59.735Z,1715375459.735 [SpeedControl] Loaded 2024-05-10T21:10:59.735Z,1715375459.735 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2024-05-10T21:10:59.738Z,1715375459.738 [LoopControl](DEBUG): Construct LoopControl. 2024-05-10T21:10:59.739Z,1715375459.739 [LoopControl] Loaded 2024-05-10T21:10:59.739Z,1715375459.739 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2024-05-10T21:10:59.740Z,1715375459.740 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2024-05-10T21:10:59.740Z,1715375459.740 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2024-05-10T21:10:59.756Z,1715375459.756 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2024-05-10T21:10:59.757Z,1715375459.757 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2024-05-10T21:11:00.179Z,1715375460.179 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2024-05-10T21:11:00.186Z,1715375460.186 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2024-05-10T21:11:00.189Z,1715375460.189 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2024-05-10T21:11:00.201Z,1715375460.201 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2024-05-10T21:11:00.202Z,1715375460.202 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C374E0 2024-05-10T21:11:00.202Z,1715375460.202 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 926 2024-05-10T21:11:00.207Z,1715375460.207 [Supervisor](INFO): Main Thread ID is 823 2024-05-10T21:11:00.207Z,1715375460.207 [Supervisor](DEBUG): Running supervisor. 2024-05-10T21:11:00.208Z,1715375460.208 [CommandExec ThreadHandler](INFO): Handler Thread ID is 927 2024-05-10T21:11:00.209Z,1715375460.209 [CommandExec](INFO): Initializing the command executive. 2024-05-10T21:11:00.210Z,1715375460.210 [CommandLine ThreadHandler](INFO): Handler Thread ID is 928 2024-05-10T21:11:00.212Z,1715375460.212 [controlThread ThreadHandler](INFO): Handler Thread ID is 929 2024-05-10T21:11:00.213Z,1715375460.213 [controlThread](DEBUG): Initializing ControlThread 2024-05-10T21:11:00.214Z,1715375460.214 [SBIT](INFO): Initialize SBIT Component. 2024-05-10T21:11:00.215Z,1715375460.215 [SBIT](IMPORTANT): git: 2024-05-10 2024-05-10T21:11:00.215Z,1715375460.215 [SBIT](INFO): git hash: a134c88d686ec779525c21b16fbeda2a3b596732 2024-05-10T21:11:00.215Z,1715375460.215 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-05-10T21:11:00.217Z,1715375460.217 [SBIT](INFO): Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021 2024-05-10T21:11:00.218Z,1715375460.218 [SBIT](INFO): Beginning SBIT in 39.000000 seconds. 2024-05-10T21:11:00.218Z,1715375460.218 [IBIT](INFO): Initialize IBIT Component. 2024-05-10T21:11:00.219Z,1715375460.219 [CBIT](DEBUG): Initialize CBIT Component. 2024-05-10T21:11:00.220Z,1715375460.220 [logger ThreadHandler](INFO): Handler Thread ID is 930 2024-05-10T21:11:00.232Z,1715375460.232 [CBIT](DEBUG): Initialized mux pins. 2024-05-10T21:11:00.232Z,1715375460.232 [CBIT](DEBUG): Initializing the watchdog timer. 2024-05-10T21:11:00.240Z,1715375460.240 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 931 2024-05-10T21:11:00.241Z,1715375460.241 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2024-05-10T21:11:00.246Z,1715375460.246 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 933 2024-05-10T21:11:00.252Z,1715375460.252 [WetLabsBB2FL](INFO): Powering up 2024-05-10T21:11:00.253Z,1715375460.253 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 935 2024-05-10T21:11:00.256Z,1715375460.256 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2024-05-10T21:11:00.257Z,1715375460.257 [CBIT](DEBUG): Initializing heartbeat. 2024-05-10T21:11:00.265Z,1715375460.265 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 936 2024-05-10T21:11:00.266Z,1715375460.266 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2024-05-10T21:11:00.280Z,1715375460.280 [Onboard ThreadHandler](INFO): Handler Thread ID is 937 2024-05-10T21:11:00.297Z,1715375460.297 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 938 2024-05-10T21:11:00.323Z,1715375460.323 [DAT ThreadHandler](INFO): Handler Thread ID is 939 2024-05-10T21:11:00.323Z,1715375460.323 [DAT](INFO): Powering up 2024-05-10T21:11:00.324Z,1715375460.324 [DAT](DEBUG): Initializing DAT. 2024-05-10T21:11:00.328Z,1715375460.328 [CBIT](DEBUG): Deactivating GF circuits. 2024-05-10T21:11:00.328Z,1715375460.328 [CBIT](DEBUG): Deactivating emergency mode. 2024-05-10T21:11:00.336Z,1715375460.336 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 941 2024-05-10T21:11:00.345Z,1715375460.345 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK1NORSO.000 2024-05-10T21:11:00.346Z,1715375460.346 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK1NORSO.000 2024-05-10T21:11:00.346Z,1715375460.346 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK2NORS.000 2024-05-10T21:11:00.346Z,1715375460.346 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK2NORS.000 2024-05-10T21:11:00.346Z,1715375460.346 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK3HORRO.000 2024-05-10T21:11:00.346Z,1715375460.346 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK3HORRO.000 2024-05-10T21:11:00.368Z,1715375460.368 [CBIT](DEBUG): Backplane powered. 2024-05-10T21:11:00.372Z,1715375460.372 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2024-05-10T21:11:00.373Z,1715375460.373 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2024-05-10T21:11:00.373Z,1715375460.373 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2024-05-10T21:11:00.373Z,1715375460.373 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2024-05-10T21:11:00.374Z,1715375460.374 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2024-05-10T21:11:00.375Z,1715375460.375 [NavChart](DEBUG): Initialize NavChart Navigation. 2024-05-10T21:11:00.375Z,1715375460.375 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2024-05-10T21:11:00.386Z,1715375460.386 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2024-05-10T21:11:00.388Z,1715375460.388 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2024-05-10T21:11:00.389Z,1715375460.389 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2024-05-10T21:11:00.389Z,1715375460.389 [LoopControl](DEBUG): Initialize LoopControlComponent. 2024-05-10T21:11:00.390Z,1715375460.390 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-05-10T21:11:00.391Z,1715375460.391 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2024-05-10T21:11:00.391Z,1715375460.391 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2024-05-10T21:11:00.402Z,1715375460.402 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2024-05-10T21:11:00.504Z,1715375460.504 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2024-05-10T21:11:00.517Z,1715375460.517 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-10T21:11:00.554Z,1715375460.554 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission Startup { behavior Guidance:GoToSurface { run in progression } aggregate StartupSatComms { run in sequence readDatum { timeout duration=P1M Universal:latitude_fix } readDatum { timeout duration=P1M Universal:platform_communications } } } 2024-05-10T21:11:00.555Z,1715375460.555 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2024-05-10T21:11:00.555Z,1715375460.555 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2024-05-10T21:11:00.562Z,1715375460.562 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2024-05-10T21:11:00.704Z,1715375460.704 [Radio_Surface](INFO): Powering up 2024-05-10T21:11:00.865Z,1715375460.865 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into: 0 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs 2024-05-10T21:11:00.870Z,1715375460.870 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2024-05-10T21:11:00.881Z,1715375460.881 [Default:A.Wait](DEBUG): Construct Wait. 2024-05-10T21:11:00.886Z,1715375460.886 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-10T21:11:00.935Z,1715375460.935 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2024-05-10T21:11:00.954Z,1715375460.954 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2024-05-10T21:11:00.976Z,1715375460.976 [Default:E.Execute](DEBUG): Construct Execute. 2024-05-10T21:11:00.979Z,1715375460.979 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission Default { arguments { ElapsedSinceDefaultStarted = 0 minute } behavior Guidance:Wait { """ Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. """ run in sequence set duration = 13 second } behavior Guidance:GoToSurface { run in progression } aggregate CheckIn { run in sequence repeat=288 readDatum id="Read_GPS" { timeout duration=P5M Universal:time_fix } readDatum id="Read_Iridium" { timeout duration=P4H { behavior Guidance:Execute { run in sequence set command = "Burn on" } syslog critical "Dropped weight due to communications timeout." } Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started ) syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute } syslog important "Restarting logs and Default mission." behavior Guidance:Execute { run in sequence set command = "restart logs" } } 2024-05-10T21:11:00.984Z,1715375460.984 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter, 2024-05-10T21:11:00.993Z,1715375460.993 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2024-05-10T21:11:01.113Z,1715375461.113 [Depth_Keller](ERROR): Pressure or depth reading out of range: 1895.444336 decibar, 0.000000 m 2024-05-10T21:11:01.121Z,1715375461.121 [Power24vConverter](INFO): Powering up. 2024-05-10T21:11:01.122Z,1715375461.122 [Sonardyne_Nano](INFO): Initializing. 2024-05-10T21:11:01.148Z,1715375461.148 [DepthRateCalculator](ERROR): Depth measurement is not active 2024-05-10T21:11:01.202Z,1715375461.202 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2024-05-10T21:11:01.212Z,1715375461.212 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2024-05-10T21:11:01.213Z,1715375461.213 [ElevatorServo](DEBUG): Initializing EZServoServo. 2024-05-10T21:11:01.220Z,1715375461.220 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2024-05-10T21:11:01.221Z,1715375461.221 [MassServo](DEBUG): Initializing EZServoServo. 2024-05-10T21:11:01.228Z,1715375461.228 [MassServo](DEBUG): Initializing MassServo. 2024-05-10T21:11:01.229Z,1715375461.229 [RudderServo](DEBUG): Initializing EZServoServo. 2024-05-10T21:11:01.236Z,1715375461.236 [RudderServo](DEBUG): Initializing RudderServo. 2024-05-10T21:11:01.237Z,1715375461.237 [ThrusterHE](DEBUG): Initializing EZServoServo. 2024-05-10T21:11:01.245Z,1715375461.245 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2024-05-10T21:11:02.361Z,1715375462.361 [WetLabsBB2FL](INFO): Powering down 2024-05-10T21:11:03.422Z,1715375463.422 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2024-05-10T21:11:04.661Z,1715375464.661 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2407 2024-05-10T21:11:06.882Z,1715375466.882 [ThrusterHE](ERROR): Zero Speed Commanded. 2024-05-10T21:11:07.272Z,1715375467.272 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit. 2024-05-10T21:11:13.180Z,1715375473.180 [DAT](INFO): DAT read: 2024-05-10T21:11:13.182Z,1715375473.182 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2024-05-10T21:11:14.945Z,1715375474.945 [DAT](INFO): DAT read: MF Frequency Band 2024-05-10T21:11:14.946Z,1715375474.946 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2024-05-10T21:11:14.947Z,1715375474.947 [DAT](INFO): DAT read: May 10 2024 20:54:02 2024-05-10T21:11:15.957Z,1715375475.957 [DAT](INFO): DAT read: Features enabled [Bearing] 2024-05-10T21:11:15.958Z,1715375475.958 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC 2024-05-10T21:11:15.958Z,1715375475.958 [DAT](INFO): commRate: 1200 2024-05-10T21:11:18.024Z,1715375478.024 [DAT](INFO): entering command mode 2024-05-10T21:11:18.224Z,1715375478.224 [DAT](INFO): DAT read: 2024-05-10T21:11:18.225Z,1715375478.225 [DAT](INFO): DAT read: user:1> 2024-05-10T21:11:18.225Z,1715375478.225 [DAT](INFO): setting verbose to 3 2024-05-10T21:11:18.476Z,1715375478.476 [DAT](INFO): DAT read: user:1> 2024-05-10T21:11:18.478Z,1715375478.478 [DAT](INFO): DAT read: Verbose | 3 2024-05-10T21:11:18.478Z,1715375478.478 [DAT](INFO): set verbose to 3 2024-05-10T21:11:18.478Z,1715375478.478 [DAT](INFO): setting DatVerbose to 27440 2024-05-10T21:11:18.730Z,1715375478.730 [DAT](INFO): DAT read: user:2> 2024-05-10T21:11:18.731Z,1715375478.731 [DAT](INFO): DAT read: DatVerbose | 27440 2024-05-10T21:11:18.732Z,1715375478.732 [DAT](INFO): set DatVerbose to 27440 2024-05-10T21:11:18.733Z,1715375478.733 [DAT](INFO): setting transmit power to 8 2024-05-10T21:11:18.980Z,1715375478.980 [DAT](INFO): DAT read: user:3> 2024-05-10T21:11:18.981Z,1715375478.981 [DAT](INFO): DAT read: TxPower | 8 (Max) 2024-05-10T21:11:18.982Z,1715375478.982 [DAT](INFO): set transmit power to 8 2024-05-10T21:11:18.982Z,1715375478.982 [DAT](INFO): setting local address to 5 2024-05-10T21:11:19.233Z,1715375479.233 [DAT](INFO): DAT read: user:4> 2024-05-10T21:11:19.234Z,1715375479.234 [DAT](INFO): DAT read: LocalAddr | 5 2024-05-10T21:11:19.234Z,1715375479.234 [DAT](INFO): set local address to 5 2024-05-10T21:11:19.235Z,1715375479.235 [DAT](INFO): Setting time to: 21:11:19 And date to:5/10/2024 2024-05-10T21:11:19.484Z,1715375479.484 [DAT](INFO): DAT read: user:5> 2024-05-10T21:11:19.485Z,1715375479.485 [DAT](INFO): DAT read: Fri May 10, 2024 21:11:19 2024-05-10T21:11:19.486Z,1715375479.486 [DAT](INFO): Local DAT time set to Fri May 10, 2024 21:11:19 2024-05-10T21:11:29.696Z,1715375489.696 [NAL9602](INFO): Powering up NAL9602 2024-05-10T21:11:39.798Z,1715375499.798 [SBIT](IMPORTANT): Beginning Startup BIT 2024-05-10T21:11:39.803Z,1715375499.803 [CBIT](IMPORTANT): Beginning ground fault scan 2024-05-10T21:11:40.595Z,1715375500.595 [NAL9602](INFO): NAL9602 initialized 2024-05-10T21:11:50.781Z,1715375510.781 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.025373 CHAN A1 (24V): 0.058959 CHAN A2 (12V): -0.009171 CHAN A3 (5V): -0.021502 CHAN B0 (3.3V): -0.012999 CHAN B1 (3.15aV): -0.009227 CHAN B2 (3.15bV): -0.006026 CHAN B3 (GND): -0.016007 OPEN: 0.007468 Full Scale: +/- 1 mA 2024-05-10T21:11:54.736Z,1715375514.736 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=11806, MT Status=1, MTMSN=3424 2024-05-10T21:11:54.737Z,1715375514.737 [NAL9602](INFO): Data available in MT queue 2024-05-10T21:11:55.433Z,1715375515.433 [NAL9602](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 5 m;set transit.MinOffshore 0.5 km;run 2024-05-10T21:11:55.523Z,1715375515.523 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2024-05-10T21:11:55.523Z,1715375515.523 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl 2024-05-10T21:11:55.523Z,1715375515.523 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl 2024-05-10T21:11:55.529Z,1715375515.529 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl 2024-05-10T21:11:56.373Z,1715375516.373 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into: 60 30 NaN NaN 0 0 10 1 20 1 7 1 2024-05-10T21:11:56.378Z,1715375516.378 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min 2024-05-10T21:11:56.381Z,1715375516.381 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min 2024-05-10T21:11:56.405Z,1715375516.405 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg 2024-05-10T21:11:56.412Z,1715375516.412 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg 2024-05-10T21:11:56.415Z,1715375516.415 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m 2024-05-10T21:11:56.423Z,1715375516.423 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m 2024-05-10T21:11:56.448Z,1715375516.448 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m 2024-05-10T21:11:56.451Z,1715375516.451 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s 2024-05-10T21:11:56.458Z,1715375516.458 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m 2024-05-10T21:11:56.491Z,1715375516.491 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km 2024-05-10T21:11:56.510Z,1715375516.510 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m 2024-05-10T21:11:56.515Z,1715375516.515 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool 2024-05-10T21:11:56.534Z,1715375516.534 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool 2024-05-10T21:11:56.534Z,1715375516.534 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl 2024-05-10T21:11:56.534Z,1715375516.534 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl 2024-05-10T21:11:56.535Z,1715375516.535 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl 2024-05-10T21:11:56.815Z,1715375516.815 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 2024-05-10T21:11:56.825Z,1715375516.825 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h 2024-05-10T21:11:56.829Z,1715375516.829 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min 2024-05-10T21:11:56.831Z,1715375516.831 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg 2024-05-10T21:11:56.835Z,1715375516.835 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s 2024-05-10T21:11:56.838Z,1715375516.838 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s 2024-05-10T21:11:56.842Z,1715375516.842 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s 2024-05-10T21:11:56.849Z,1715375516.849 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min 2024-05-10T21:11:56.852Z,1715375516.852 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min 2024-05-10T21:11:56.858Z,1715375516.858 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-10T21:11:56.951Z,1715375516.951 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2024-05-10T21:11:56.960Z,1715375516.960 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2024-05-10T21:11:56.961Z,1715375516.961 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2024-05-10T21:11:57.127Z,1715375517.127 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2024-05-10T21:11:57.140Z,1715375517.140 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m 2024-05-10T21:11:57.143Z,1715375517.143 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2024-05-10T21:11:57.150Z,1715375517.150 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m 2024-05-10T21:11:57.157Z,1715375517.157 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m 2024-05-10T21:11:57.158Z,1715375517.158 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2024-05-10T21:11:57.178Z,1715375517.178 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2024-05-10T21:11:57.200Z,1715375517.200 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2024-05-10T21:11:57.219Z,1715375517.219 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-05-10T21:11:57.228Z,1715375517.228 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-05-10T21:11:57.229Z,1715375517.229 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-05-10T21:11:57.312Z,1715375517.312 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-05-10T21:11:57.324Z,1715375517.324 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool 2024-05-10T21:11:57.327Z,1715375517.327 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-05-10T21:11:57.344Z,1715375517.344 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2024-05-10T21:11:57.344Z,1715375517.344 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2024-05-10T21:11:57.346Z,1715375517.346 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2024-05-10T21:11:57.574Z,1715375517.574 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2024-05-10T21:11:57.582Z,1715375517.582 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool 2024-05-10T21:11:57.585Z,1715375517.585 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool 2024-05-10T21:11:57.596Z,1715375517.596 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool 2024-05-10T21:11:57.599Z,1715375517.599 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool 2024-05-10T21:11:57.602Z,1715375517.602 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool 2024-05-10T21:11:57.622Z,1715375517.622 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait. 2024-05-10T21:11:57.628Z,1715375517.628 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy. 2024-05-10T21:11:57.636Z,1715375517.636 [transit:MassHold.Pitch](DEBUG): Construct. 2024-05-10T21:11:57.653Z,1715375517.653 [transit:Transit:A.Pitch](DEBUG): Construct. 2024-05-10T21:11:57.663Z,1715375517.663 [transit:Transit:B.SetSpeed](DEBUG): Construct. 2024-05-10T21:11:57.667Z,1715375517.667 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint. 2024-05-10T21:11:57.747Z,1715375517.747 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission transit { """ Vehicle transits to desired waypoint and can be commanded to use/hold mass or buoyancy. """ arguments { MissionTimeout = 60 minute """ Maximum duration of mission """ NeedCommsTime = 30 minute """ How often to surface for commumications """ Latitude = NaN degree """ Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. """ Longitude = NaN degree """ Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. """ Northings = 0 meter """ Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Eastings = 0 meter """ Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Depth = 10 meter """ Depth of flat and level flight during the mission. """ Speed = 1 meter_per_second """ Speed of vehicle (relative to water) during the mission. """ MaxDepth = 20 meter """ Maximum depth for the entire mission. """ MinOffshore = 1 kilometer """ Minimum distance offshore for the entire mission. """ MinAltitude = 7 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ } timeout duration=MissionTimeout insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl behavior Guidance:Buoyancy id="BuoyancyHold" { run while ( BuoyancyHold ) set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch id="MassHold" { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } aggregate Transit { run in sequence behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } behavior Guidance:Waypoint id="Wpt1" { run in sequence set latitude = Latitude set longitude = Longitude set northingsDelta = Northings set eastingsDelta = Eastings } call id="PhoneHome" refId="NeedComms" } } 2024-05-10T21:11:57.758Z,1715375517.758 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2024-05-10T21:12:02.172Z,1715375522.172 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211159.00,A,3648.15092,N,12147.22558,W,0.175,0.00,100524,,,A*7D 2024-05-10T21:12:02.175Z,1715375522.175 [NAL9602](INFO): GPS fix at 20240510T211159: (36.802515, -121.787093) 2024-05-10T21:12:05.079Z,1715375525.079 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 15 minute 2024-05-10T21:12:05.089Z,1715375525.089 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree 2024-05-10T21:12:05.090Z,1715375525.090 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree 2024-05-10T21:12:05.091Z,1715375525.091 [CommandExec](IMPORTANT): got command set transit.Depth 5 meter 2024-05-10T21:12:05.092Z,1715375525.092 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.5 kilometer 2024-05-10T21:12:05.092Z,1715375525.092 [CommandExec](IMPORTANT): got command run 2024-05-10T21:12:05.094Z,1715375525.094 [CommandExec](IMPORTANT): Running 2024-05-10T21:12:33.670Z,1715375553.670 [SBIT](IMPORTANT): SBIT PASSED 2024-05-10T21:12:33.670Z,1715375553.670 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2024-05-10T21:12:33.671Z,1715375553.671 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=3 minute; 2024-05-10T21:12:33.671Z,1715375553.671 [SBIT](IMPORTANT): ElevatorServo.offsetAngle=0.7 degree; 2024-05-10T21:12:33.671Z,1715375553.671 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=150 cubic_centimeter; 2024-05-10T21:12:33.671Z,1715375553.671 [SBIT](IMPORTANT): VerticalControl.massDefault=0.5 centimeter; 2024-05-10T21:12:34.062Z,1715375554.062 [MissionManager](IMPORTANT): Started mission Startup 2024-05-10T21:12:34.063Z,1715375554.063 [Startup] Running Loop=1 2024-05-10T21:12:34.063Z,1715375554.063 [Startup](DEBUG): Aggregate::initialize Startup 2024-05-10T21:12:34.063Z,1715375554.063 [Startup:A.GoToSurface] Running Loop=1 2024-05-10T21:12:34.063Z,1715375554.063 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-10T21:12:34.063Z,1715375554.063 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-10T21:12:34.076Z,1715375554.076 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-10T21:12:34.077Z,1715375554.077 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-10T21:12:34.077Z,1715375554.077 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-10T21:12:34.077Z,1715375554.077 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-05-10T21:12:34.078Z,1715375554.078 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-10T21:12:34.079Z,1715375554.079 [Startup:StartupSatComms] Running Loop=1 2024-05-10T21:12:34.079Z,1715375554.079 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2024-05-10T21:12:34.079Z,1715375554.079 [Startup:StartupSatComms:A] Running Loop=1 2024-05-10T21:12:34.457Z,1715375554.457 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-10T21:12:34.468Z,1715375554.468 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2024-05-10T21:12:36.075Z,1715375556.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211233.00,A,3648.15432,N,12147.22555,W,0.039,0.00,100524,,,A*78 2024-05-10T21:12:36.077Z,1715375556.077 [NAL9602](INFO): GPS fix at 20240510T211233: (36.802572, -121.787092) 2024-05-10T21:12:36.086Z,1715375556.086 [Startup:StartupSatComms:A] Stopped 2024-05-10T21:12:36.086Z,1715375556.086 [Startup:StartupSatComms:B] Running Loop=1 2024-05-10T21:12:36.508Z,1715375556.508 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-10T21:12:59.971Z,1715375579.971 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=11807, MT Status=1, MTMSN=3425 2024-05-10T21:13:00.232Z,1715375580.232 [NAL9602](INFO): Sent 18 bytes from file Logs/20240510T195653/Courier0025.lzma 2024-05-10T21:13:00.232Z,1715375580.232 [NAL9602](INFO): Packets left to send: 0 2024-05-10T21:13:00.480Z,1715375580.480 [NAL9602](INFO): Received command: strobe off 2024-05-10T21:13:00.558Z,1715375580.558 [CommandExec](IMPORTANT): got command strobe off 2024-05-10T21:13:00.558Z,1715375580.558 [CommandExec](IMPORTANT): Deactivating strobe 2024-05-10T21:13:20.679Z,1715375600.679 [NAL9602](INFO): SBD MO Status=1, MOMSN=11808, MT Status=0, MTMSN=0 2024-05-10T21:13:20.728Z,1715375600.728 [NAL9602](INFO): Sent 272 bytes from file Logs/20240510T211046/Courier0000.lzma 2024-05-10T21:13:20.728Z,1715375600.728 [NAL9602](INFO): Packets left to send: 0 2024-05-10T21:13:30.462Z,1715375610.462 [NAL9602](INFO): SBD MO Status=1, MOMSN=11809, MT Status=0, MTMSN=0 2024-05-10T21:13:30.516Z,1715375610.516 [NAL9602](INFO): Sent 278 bytes from file Logs/20240510T195653/Express0023.lzma 2024-05-10T21:13:30.516Z,1715375610.516 [NAL9602](INFO): Packets left to send: 0 2024-05-10T21:13:36.144Z,1715375616.144 [Startup:StartupSatComms:B](INFO): Timed out from 2024-05-10T21:12:36.1Z 2024-05-10T21:13:36.144Z,1715375616.144 [Startup:StartupSatComms:B] Stopped 2024-05-10T21:13:36.145Z,1715375616.145 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2024-05-10T21:13:36.145Z,1715375616.145 [Startup:StartupSatComms] Stopped 2024-05-10T21:13:36.145Z,1715375616.145 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2024-05-10T21:13:36.146Z,1715375616.146 [Startup](INFO): Completed Startup 2024-05-10T21:13:36.146Z,1715375616.146 [MissionManager](INFO): Startup is completed. 2024-05-10T21:13:36.146Z,1715375616.146 [MissionManager](INFO): Uninitializing Mission Startup 2024-05-10T21:13:36.146Z,1715375616.146 [Startup] Stopped 2024-05-10T21:13:36.146Z,1715375616.146 [Startup](DEBUG): Aggregate::uninitialize Startup 2024-05-10T21:13:36.146Z,1715375616.146 [Startup:A.GoToSurface] Stopped 2024-05-10T21:13:36.146Z,1715375616.146 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-10T21:13:36.547Z,1715375616.547 [MissionManager](IMPORTANT): Started mission transit 2024-05-10T21:13:36.547Z,1715375616.547 [transit] Running Loop=1 2024-05-10T21:13:36.547Z,1715375616.547 [transit](DEBUG): Aggregate::initialize transit 2024-05-10T21:13:36.547Z,1715375616.547 [transit:StandardEnvelopes] Running Loop=1 2024-05-10T21:13:36.547Z,1715375616.547 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes 2024-05-10T21:13:36.547Z,1715375616.547 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-10T21:13:36.547Z,1715375616.547 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2024-05-10T21:13:36.548Z,1715375616.548 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-10T21:13:36.548Z,1715375616.548 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2024-05-10T21:13:36.549Z,1715375616.549 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-10T21:13:36.549Z,1715375616.549 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2024-05-10T21:13:36.549Z,1715375616.549 [transit:BackseatDriver] Running Loop=1 2024-05-10T21:13:36.549Z,1715375616.549 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver 2024-05-10T21:13:36.549Z,1715375616.549 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-05-10T21:13:36.549Z,1715375616.549 [transit:PowerOnly] Running Loop=1 2024-05-10T21:13:36.549Z,1715375616.549 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly 2024-05-10T21:13:36.549Z,1715375616.549 [transit:PowerOnly:A] Running Loop=1 2024-05-10T21:13:36.549Z,1715375616.549 [transit:PowerOnly:B] Running Loop=1 2024-05-10T21:13:36.549Z,1715375616.549 [transit:PowerOnly:C] Running Loop=1 2024-05-10T21:13:36.549Z,1715375616.549 [transit:PowerOnly:D] Running Loop=1 2024-05-10T21:13:36.550Z,1715375616.550 [transit:PowerOnly:E.Wait] Running Loop=1 2024-05-10T21:13:36.550Z,1715375616.550 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2024-05-10T21:13:36.550Z,1715375616.550 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2024-05-10T21:13:36.550Z,1715375616.550 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component. 2024-05-10T21:13:36.550Z,1715375616.550 [transit:MassHold.Pitch] Running Loop=1 2024-05-10T21:13:36.550Z,1715375616.550 [transit:MassHold.Pitch](DEBUG): Initialize. 2024-05-10T21:13:36.550Z,1715375616.550 [transit:B] Running Loop=1 2024-05-10T21:13:36.551Z,1715375616.551 [transit:MassHold.Pitch] Running Loop=1 2024-05-10T21:13:36.551Z,1715375616.551 [transit:BuoyancyHold.Buoyancy] Running Loop=1 2024-05-10T21:13:36.552Z,1715375616.552 [transit:PowerOnly] Running Loop=1 2024-05-10T21:13:36.552Z,1715375616.552 [transit:PowerOnly:D] Stopped 2024-05-10T21:13:36.552Z,1715375616.552 [transit:PowerOnly:C] Stopped 2024-05-10T21:13:36.552Z,1715375616.552 [transit:PowerOnly:B] Stopped 2024-05-10T21:13:36.552Z,1715375616.552 [transit:PowerOnly:A] Stopped 2024-05-10T21:13:36.552Z,1715375616.552 [transit:BackseatDriver] Running Loop=1 2024-05-10T21:13:36.553Z,1715375616.553 [transit:StandardEnvelopes] Running Loop=1 2024-05-10T21:13:36.553Z,1715375616.553 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-10T21:13:36.553Z,1715375616.553 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-10T21:13:36.554Z,1715375616.554 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-10T21:13:36.555Z,1715375616.555 [transit:B] Stopped 2024-05-10T21:13:36.555Z,1715375616.555 [transit:C] Running Loop=1 2024-05-10T21:13:36.963Z,1715375616.963 [transit:C] Stopped 2024-05-10T21:13:36.964Z,1715375616.964 [transit:E] Running Loop=1 2024-05-10T21:13:37.351Z,1715375617.351 [transit:E] Stopped 2024-05-10T21:13:37.351Z,1715375617.351 [transit:F] Running Loop=1 2024-05-10T21:13:37.744Z,1715375617.744 [NAL9602](INFO): SBD MO Status=2, MOMSN=11810, MT Status=2, MTMSN=0 2024-05-10T21:13:37.744Z,1715375617.744 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:13:37.755Z,1715375617.755 [transit:F] Stopped 2024-05-10T21:13:37.755Z,1715375617.755 [transit:G] Running Loop=1 2024-05-10T21:13:38.161Z,1715375618.161 [transit:G] Stopped 2024-05-10T21:13:38.162Z,1715375618.162 [transit:Transit] Running Loop=1 2024-05-10T21:13:38.162Z,1715375618.162 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit 2024-05-10T21:13:38.162Z,1715375618.162 [transit:Transit:A.Pitch] Running Loop=1 2024-05-10T21:13:38.162Z,1715375618.162 [transit:Transit:A.Pitch](DEBUG): Initialize. 2024-05-10T21:13:38.162Z,1715375618.162 [transit:Transit:B.SetSpeed] Running Loop=1 2024-05-10T21:13:38.162Z,1715375618.162 [transit:Transit:B.SetSpeed](DEBUG): Initialize. 2024-05-10T21:13:38.162Z,1715375618.162 [transit:Transit:Wpt1.Waypoint] Running Loop=1 2024-05-10T21:13:38.162Z,1715375618.162 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent. 2024-05-10T21:13:38.164Z,1715375618.164 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2024-05-10T21:13:38.165Z,1715375618.165 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2024-05-10T21:13:38.583Z,1715375618.583 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000 2024-05-10T21:13:38.584Z,1715375618.584 [transit:Transit:B.SetSpeed] Running Loop=1 2024-05-10T21:13:38.584Z,1715375618.584 [transit:Transit:A.Pitch] Running Loop=1 2024-05-10T21:13:38.593Z,1715375618.593 [HorizontalControl](DEBUG): kpHeading = 0.400000 2024-05-10T21:13:38.594Z,1715375618.594 [HorizontalControl](DEBUG): kiHeading = 0.001000 2024-05-10T21:13:38.594Z,1715375618.594 [HorizontalControl](DEBUG): kdHeading = 0.050000 2024-05-10T21:14:08.463Z,1715375648.463 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-10T21:16:07.646Z,1715375767.646 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file). 2024-05-10T21:17:15.635Z,1715375835.635 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004520 2024-05-10T21:18:35.903Z,1715375915.903 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2024-05-10T21:18:35.906Z,1715375915.907 [BPC1](INFO): Received data from all battery sticks. 2024-05-10T21:19:33.328Z,1715375973.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:20:35.576Z,1715376035.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:21:06.700Z,1715376066.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:21:09.712Z,1715376069.712 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.339386 2024-05-10T21:21:50.609Z,1715376110.609 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003461 2024-05-10T21:22:05.308Z,1715376125.308 [ThrusterHE](FAULT): Could not get status:serial timeout 2024-05-10T21:23:09.508Z,1715376189.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:23:40.652Z,1715376220.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:24:11.778Z,1715376251.778 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:24:42.900Z,1715376282.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:25:14.024Z,1715376314.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:25:19.044Z,1715376319.044 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743393 2024-05-10T21:26:15.268Z,1715376375.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:26:46.400Z,1715376406.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:26:49.068Z,1715376409.068 [CommandExec](IMPORTANT): got command stop 2024-05-10T21:26:49.069Z,1715376409.069 [CommandExec](IMPORTANT): Scheduling is paused 2024-05-10T21:26:49.069Z,1715376409.069 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop 2024-05-10T21:26:49.189Z,1715376409.189 [MissionManager](INFO): MissionManager is completed. 2024-05-10T21:26:49.189Z,1715376409.189 [MissionManager](INFO): Uninitializing Mission transit 2024-05-10T21:26:49.189Z,1715376409.189 [transit] Stopped 2024-05-10T21:26:49.190Z,1715376409.190 [transit](DEBUG): Aggregate::uninitialize transit 2024-05-10T21:26:49.190Z,1715376409.190 [transit:StandardEnvelopes] Stopped 2024-05-10T21:26:49.190Z,1715376409.190 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes 2024-05-10T21:26:49.190Z,1715376409.190 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2024-05-10T21:26:49.190Z,1715376409.190 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2024-05-10T21:26:49.190Z,1715376409.190 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped 2024-05-10T21:26:49.190Z,1715376409.190 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2024-05-10T21:26:49.190Z,1715376409.190 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2024-05-10T21:26:49.190Z,1715376409.190 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2024-05-10T21:26:49.190Z,1715376409.190 [transit:BackseatDriver] Stopped 2024-05-10T21:26:49.190Z,1715376409.190 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver 2024-05-10T21:26:49.190Z,1715376409.190 [transit:BackseatDriver:A.BackseatDriver] Stopped 2024-05-10T21:26:49.190Z,1715376409.190 [transit:PowerOnly] Stopped 2024-05-10T21:26:49.191Z,1715376409.191 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly 2024-05-10T21:26:49.191Z,1715376409.191 [transit:PowerOnly:E.Wait] Stopped 2024-05-10T21:26:49.191Z,1715376409.191 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component. 2024-05-10T21:26:49.191Z,1715376409.191 [transit:BuoyancyHold.Buoyancy] Stopped 2024-05-10T21:26:49.191Z,1715376409.191 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2024-05-10T21:26:49.191Z,1715376409.191 [transit:MassHold.Pitch] Stopped 2024-05-10T21:26:49.191Z,1715376409.191 [transit:Transit] Stopped 2024-05-10T21:26:49.191Z,1715376409.191 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit 2024-05-10T21:26:49.191Z,1715376409.191 [transit:Transit:A.Pitch] Stopped 2024-05-10T21:26:49.191Z,1715376409.191 [transit:Transit:B.SetSpeed] Stopped 2024-05-10T21:26:49.191Z,1715376409.191 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize. 2024-05-10T21:26:49.191Z,1715376409.191 [transit:Transit:Wpt1.Waypoint] Stopped 2024-05-10T21:26:49.191Z,1715376409.191 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent. 2024-05-10T21:26:49.594Z,1715376409.594 [MissionManager](IMPORTANT): Started mission Default 2024-05-10T21:26:49.594Z,1715376409.594 [Default] Running Loop=1 2024-05-10T21:26:49.594Z,1715376409.594 [Default](DEBUG): Aggregate::initialize Default 2024-05-10T21:26:49.595Z,1715376409.595 [Default:B.GoToSurface] Running Loop=1 2024-05-10T21:26:49.595Z,1715376409.595 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-10T21:26:49.595Z,1715376409.595 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-10T21:26:49.595Z,1715376409.595 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-10T21:26:49.595Z,1715376409.595 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-10T21:26:49.596Z,1715376409.596 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-10T21:26:49.596Z,1715376409.596 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-05-10T21:26:49.597Z,1715376409.597 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-10T21:26:49.597Z,1715376409.597 [Default:A.Wait] Running Loop=1 2024-05-10T21:26:49.597Z,1715376409.597 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-05-10T21:27:02.927Z,1715376422.927 [Default:A.Wait](INFO): Done Waiting. 2024-05-10T21:27:02.927Z,1715376422.927 [Default:A.Wait] Stopped 2024-05-10T21:27:02.927Z,1715376422.927 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-05-10T21:27:03.325Z,1715376423.325 [Default:CheckIn] Running Loop=1 2024-05-10T21:27:03.326Z,1715376423.326 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-10T21:27:03.326Z,1715376423.326 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-10T21:27:03.733Z,1715376423.733 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2024-05-10T21:27:05.342Z,1715376425.342 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212705.00,A,3648.49849,N,12148.96793,W,1.322,89.32,100524,,,A*42 2024-05-10T21:27:05.344Z,1715376425.344 [NAL9602](INFO): GPS fix at 20240510T212705: (36.808308, -121.816132) 2024-05-10T21:27:05.355Z,1715376425.355 [UniversalFixResidualReporter](INFO): Fix residual: 303.7 %DT, over the last 774.4 m. Residual distance 2351.7 m at bearing 103.4 degrees. Fix at (36.8083, -121.8161) with 2662.9 m made good. 2024-05-10T21:27:05.356Z,1715376425.356 [Default:CheckIn:Read_GPS] Stopped 2024-05-10T21:27:05.356Z,1715376425.356 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-10T21:27:05.417Z,1715376425.417 [CBIT](CRITICAL): Navigation error has exceeded threshold. navErrorCriticalReporting is enabled. 2024-05-10T21:27:05.776Z,1715376425.776 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-10T21:27:05.810Z,1715376425.810 [CommandExec](FAULT): Scheduling is paused 2024-05-10T21:27:05.811Z,1715376425.811 [CBIT](INFO): Critical error at 20240510T212705 2024-05-10T21:27:17.528Z,1715376437.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:27:21.180Z,1715376441.180 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=11810, MT Status=1, MTMSN=3426 2024-05-10T21:27:21.244Z,1715376441.244 [NAL9602](INFO): Sent 332 bytes from file Logs/20240510T211046/Courier0004.lzma 2024-05-10T21:27:21.244Z,1715376441.244 [NAL9602](INFO): Packets left to send: 1 2024-05-10T21:27:21.888Z,1715376441.888 [NAL9602](INFO): Received command: stop 2024-05-10T21:27:21.969Z,1715376441.969 [CommandExec](IMPORTANT): got command stop 2024-05-10T21:27:21.969Z,1715376441.969 [CommandExec](IMPORTANT): Scheduling is paused 2024-05-10T21:27:38.234Z,1715376458.234 [NAL9602](INFO): SBD MO Status=1, MOMSN=11811, MT Status=0, MTMSN=0 2024-05-10T21:27:38.288Z,1715376458.288 [NAL9602](INFO): Sent 17 bytes from file Logs/20240510T211046/Courier0004.lzma 2024-05-10T21:27:38.288Z,1715376458.288 [NAL9602](INFO): Packets left to send: 0 2024-05-10T21:27:48.041Z,1715376468.041 [NAL9602](INFO): SBD MO Status=1, MOMSN=11812, MT Status=0, MTMSN=0 2024-05-10T21:27:48.100Z,1715376468.100 [NAL9602](INFO): Sent 18 bytes from file Logs/20240510T195653/Express0026.lzma 2024-05-10T21:27:48.100Z,1715376468.100 [NAL9602](INFO): Packets left to send: 0 2024-05-10T21:27:48.660Z,1715376468.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:28:05.116Z,1715376485.116 [NAL9602](INFO): SBD MO Status=1, MOMSN=11813, MT Status=0, MTMSN=0 2024-05-10T21:28:05.165Z,1715376485.165 [NAL9602](INFO): Sent 332 bytes from file Logs/20240510T211046/Express0001.lzma 2024-05-10T21:28:05.165Z,1715376485.165 [NAL9602](INFO): Packets left to send: 3 2024-05-10T21:28:19.796Z,1715376499.796 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:28:35.051Z,1715376515.051 [NAL9602](INFO): SBD MO Status=1, MOMSN=11814, MT Status=0, MTMSN=0 2024-05-10T21:28:35.111Z,1715376515.111 [NAL9602](INFO): Sent 332 bytes from file Logs/20240510T211046/Express0001.lzma 2024-05-10T21:28:35.111Z,1715376515.111 [NAL9602](INFO): Packets left to send: 2 2024-05-10T21:28:50.920Z,1715376530.920 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:28:54.087Z,1715376534.087 [NAL9602](INFO): SBD MO Status=1, MOMSN=11815, MT Status=0, MTMSN=0 2024-05-10T21:28:54.136Z,1715376534.136 [NAL9602](INFO): Sent 332 bytes from file Logs/20240510T211046/Express0001.lzma 2024-05-10T21:28:54.136Z,1715376534.136 [NAL9602](INFO): Packets left to send: 1 2024-05-10T21:29:11.111Z,1715376551.111 [NAL9602](INFO): SBD MO Status=2, MOMSN=11816, MT Status=2, MTMSN=0 2024-05-10T21:29:11.111Z,1715376551.111 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:29:22.048Z,1715376562.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:29:33.795Z,1715376573.795 [NAL9602](INFO): SBD MO Status=2, MOMSN=11816, MT Status=2, MTMSN=0 2024-05-10T21:29:33.795Z,1715376573.795 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:29:53.176Z,1715376593.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:30:21.934Z,1715376621.934 [NAL9602](INFO): SBD MO Status=2, MOMSN=11816, MT Status=2, MTMSN=0 2024-05-10T21:30:21.934Z,1715376621.934 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:30:24.304Z,1715376624.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:30:44.625Z,1715376644.625 [NAL9602](INFO): SBD MO Status=2, MOMSN=11816, MT Status=2, MTMSN=0 2024-05-10T21:30:44.625Z,1715376644.625 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:30:55.428Z,1715376655.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:31:04.044Z,1715376664.044 [NAL9602](INFO): SBD MO Status=2, MOMSN=11816, MT Status=2, MTMSN=0 2024-05-10T21:31:04.044Z,1715376664.044 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:31:26.572Z,1715376686.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:31:36.021Z,1715376696.021 [NAL9602](INFO): SBD MO Status=2, MOMSN=11816, MT Status=2, MTMSN=0 2024-05-10T21:31:36.022Z,1715376696.022 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:31:53.886Z,1715376713.886 [NAL9602](INFO): SBD MO Status=1, MOMSN=11816, MT Status=0, MTMSN=0 2024-05-10T21:31:53.948Z,1715376713.948 [NAL9602](INFO): Sent 43 bytes from file Logs/20240510T211046/Express0001.lzma 2024-05-10T21:31:53.948Z,1715376713.948 [NAL9602](INFO): Packets left to send: 0 2024-05-10T21:31:57.696Z,1715376717.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:32:09.315Z,1715376729.315 [NAL9602](INFO): SBD MO Status=2, MOMSN=11817, MT Status=2, MTMSN=0 2024-05-10T21:32:09.315Z,1715376729.315 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:32:28.825Z,1715376748.825 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:32:35.612Z,1715376755.612 [NAL9602](INFO): SBD MO Status=2, MOMSN=11817, MT Status=2, MTMSN=0 2024-05-10T21:32:35.612Z,1715376755.612 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:32:51.410Z,1715376771.410 [NAL9602](INFO): SBD MO Status=2, MOMSN=11817, MT Status=2, MTMSN=0 2024-05-10T21:32:51.410Z,1715376771.410 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-10T21:32:59.962Z,1715376779.962 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2024-05-10T21:33:08.434Z,1715376788.434 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=11817, MT Status=1, MTMSN=3427 2024-05-10T21:33:08.488Z,1715376788.488 [NAL9602](INFO): Sent 332 bytes from file Logs/20240510T211046/Express0005.lzma 2024-05-10T21:33:08.488Z,1715376788.488 [NAL9602](INFO): Packets left to send: 1 2024-05-10T21:33:08.992Z,1715376788.992 [NAL9602](INFO): Received command: restart logs