2024-05-15T19:04:04.491Z,1715799844.491 [Supervisor](DEBUG): Initializing supervisor. 2024-05-15T19:04:04.495Z,1715799844.495 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2024-05-15T19:04:04.495Z,1715799844.495 [SyncHandler](INFO): Protected caller Thread ID is 840 2024-05-15T19:04:04.496Z,1715799844.496 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2024-05-15T19:04:04.497Z,1715799844.497 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2024-05-15T19:04:04.497Z,1715799844.497 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 841 2024-05-15T19:04:04.501Z,1715799844.501 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2024-05-15T19:04:04.519Z,1715799844.519 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2024-05-15T19:04:04.520Z,1715799844.520 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2024-05-15T19:04:04.520Z,1715799844.520 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 842 2024-05-15T19:04:04.525Z,1715799844.525 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2024-05-15T19:04:04.525Z,1715799844.525 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2024-05-15T19:04:04.526Z,1715799844.526 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 843 2024-05-15T19:04:04.528Z,1715799844.528 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2024-05-15T19:04:04.529Z,1715799844.529 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2024-05-15T19:04:04.529Z,1715799844.529 [logger ThreadHandler](INFO): Protected caller Thread ID is 844 2024-05-15T19:04:04.533Z,1715799844.533 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2024-05-15T19:04:04.533Z,1715799844.533 [Supervisor](INFO): Looking for Config files in directory: Config/ 2024-05-15T19:04:04.537Z,1715799844.537 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2024-05-15T19:04:04.644Z,1715799844.644 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2024-05-15T19:04:04.646Z,1715799844.646 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2024-05-15T19:04:05.423Z,1715799845.423 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2024-05-15T19:04:05.425Z,1715799845.425 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2024-05-15T19:04:05.670Z,1715799845.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2024-05-15T19:04:05.672Z,1715799845.672 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2024-05-15T19:04:05.763Z,1715799845.763 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2024-05-15T19:04:05.907Z,1715799845.907 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2024-05-15T19:04:05.909Z,1715799845.909 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2024-05-15T19:04:06.001Z,1715799846.001 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2024-05-15T19:04:06.120Z,1715799846.120 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2024-05-15T19:04:06.121Z,1715799846.121 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2024-05-15T19:04:06.532Z,1715799846.532 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2024-05-15T19:04:06.534Z,1715799846.534 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2024-05-15T19:04:07.087Z,1715799847.087 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2024-05-15T19:04:07.088Z,1715799847.088 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2024-05-15T19:04:07.331Z,1715799847.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2024-05-15T19:04:07.332Z,1715799847.332 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2024-05-15T19:04:07.547Z,1715799847.547 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2024-05-15T19:04:07.548Z,1715799847.548 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2024-05-15T19:04:08.259Z,1715799848.259 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2024-05-15T19:04:08.691Z,1715799848.691 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2024-05-15T19:04:09.298Z,1715799849.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2024-05-15T19:04:09.300Z,1715799849.300 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2024-05-15T19:04:09.543Z,1715799849.543 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2024-05-15T19:04:09.545Z,1715799849.545 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2024-05-15T19:04:09.951Z,1715799849.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2024-05-15T19:04:09.951Z,1715799849.951 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2024-05-15T19:04:10.333Z,1715799850.333 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2024-05-15T19:04:10.335Z,1715799850.335 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/ 2024-05-15T19:04:10.337Z,1715799850.337 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg 2024-05-15T19:04:10.432Z,1715799850.432 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg 2024-05-15T19:04:10.608Z,1715799850.608 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg 2024-05-15T19:04:10.727Z,1715799850.727 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg 2024-05-15T19:04:10.824Z,1715799850.824 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg 2024-05-15T19:04:10.931Z,1715799850.931 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg 2024-05-15T19:04:11.055Z,1715799851.055 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg 2024-05-15T19:04:11.327Z,1715799851.327 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2024-05-15T19:04:11.329Z,1715799851.329 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg 2024-05-15T19:04:11.435Z,1715799851.435 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg 2024-05-15T19:04:11.538Z,1715799851.538 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg 2024-05-15T19:04:11.692Z,1715799851.692 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg 2024-05-15T19:04:11.802Z,1715799851.802 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2024-05-15T19:04:11.822Z,1715799851.822 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2024-05-15T19:04:11.966Z,1715799851.966 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2024-05-15T19:04:11.968Z,1715799851.968 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2024-05-15T19:04:12.040Z,1715799852.040 [VerticalControl](DEBUG): Construct VerticalControl. 2024-05-15T19:04:12.100Z,1715799852.100 [VerticalControl] Loaded 2024-05-15T19:04:12.101Z,1715799852.101 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2024-05-15T19:04:12.103Z,1715799852.103 [HorizontalControl](DEBUG): Construct HorizontalControl. 2024-05-15T19:04:12.151Z,1715799852.151 [HorizontalControl] Loaded 2024-05-15T19:04:12.151Z,1715799852.151 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2024-05-15T19:04:12.153Z,1715799852.153 [SpeedControl](DEBUG): Construct SpeedControl. 2024-05-15T19:04:12.156Z,1715799852.156 [SpeedControl] Loaded 2024-05-15T19:04:12.157Z,1715799852.157 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2024-05-15T19:04:12.159Z,1715799852.159 [LoopControl](DEBUG): Construct LoopControl. 2024-05-15T19:04:12.160Z,1715799852.160 [LoopControl] Loaded 2024-05-15T19:04:12.160Z,1715799852.160 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2024-05-15T19:04:12.160Z,1715799852.160 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2024-05-15T19:04:12.161Z,1715799852.161 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2024-05-15T19:04:12.230Z,1715799852.230 [DepthRateCalculator] Loaded 2024-05-15T19:04:12.230Z,1715799852.230 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2024-05-15T19:04:12.235Z,1715799852.235 [PitchRateCalculator] Loaded 2024-05-15T19:04:12.235Z,1715799852.235 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2024-05-15T19:04:12.245Z,1715799852.245 [SpeedCalculator] Loaded 2024-05-15T19:04:12.246Z,1715799852.246 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2024-05-15T19:04:12.250Z,1715799852.250 [YawRateCalculator] Loaded 2024-05-15T19:04:12.250Z,1715799852.250 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2024-05-15T19:04:12.268Z,1715799852.268 [ElevatorOffsetCalculator] Loaded 2024-05-15T19:04:12.268Z,1715799852.268 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2024-05-15T19:04:12.269Z,1715799852.269 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2024-05-15T19:04:12.270Z,1715799852.270 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2024-05-15T19:04:12.313Z,1715799852.313 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2024-05-15T19:04:12.313Z,1715799852.313 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2024-05-15T19:04:12.394Z,1715799852.394 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2024-05-15T19:04:12.394Z,1715799852.394 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2024-05-15T19:04:12.785Z,1715799852.785 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2024-05-15T19:04:12.786Z,1715799852.786 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2024-05-15T19:04:12.995Z,1715799852.995 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2024-05-15T19:04:12.995Z,1715799852.995 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2024-05-15T19:04:14.273Z,1715799854.273 [AHRS_M2] Loaded 2024-05-15T19:04:14.274Z,1715799854.274 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2024-05-15T19:04:14.526Z,1715799854.526 [BackseatComponent] Loaded 2024-05-15T19:04:14.526Z,1715799854.526 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2024-05-15T19:04:14.527Z,1715799854.527 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409C34E0 2024-05-15T19:04:14.528Z,1715799854.528 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 926 2024-05-15T19:04:14.530Z,1715799854.530 [LcmUniversalReporter] Loaded 2024-05-15T19:04:14.531Z,1715799854.531 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2024-05-15T19:04:15.370Z,1715799855.370 [BPC1] Loaded 2024-05-15T19:04:15.370Z,1715799855.370 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2024-05-15T19:04:15.512Z,1715799855.512 [DataOverHttps] Loaded 2024-05-15T19:04:15.513Z,1715799855.513 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2024-05-15T19:04:15.514Z,1715799855.514 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409F34E0 2024-05-15T19:04:15.514Z,1715799855.514 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 928 2024-05-15T19:04:15.537Z,1715799855.537 [Depth_Keller] Loaded 2024-05-15T19:04:15.537Z,1715799855.537 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2024-05-15T19:04:15.600Z,1715799855.600 [NAL9602] Loaded 2024-05-15T19:04:15.600Z,1715799855.600 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2024-05-15T19:04:15.629Z,1715799855.629 [Onboard] Loaded 2024-05-15T19:04:15.630Z,1715799855.630 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2024-05-15T19:04:15.631Z,1715799855.631 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A234E0 2024-05-15T19:04:15.631Z,1715799855.631 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 929 2024-05-15T19:04:15.645Z,1715799855.645 [Power24vConverter] Loaded 2024-05-15T19:04:15.645Z,1715799855.645 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2024-05-15T19:04:15.660Z,1715799855.660 [Radio_Surface] Loaded 2024-05-15T19:04:15.660Z,1715799855.660 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2024-05-15T19:04:15.661Z,1715799855.661 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A534E0 2024-05-15T19:04:15.661Z,1715799855.661 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 930 2024-05-15T19:04:15.708Z,1715799855.708 [RDI_Pathfinder] Loaded 2024-05-15T19:04:15.708Z,1715799855.708 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread. 2024-05-15T19:04:15.801Z,1715799855.801 [DAT] Loaded 2024-05-15T19:04:15.801Z,1715799855.801 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2024-05-15T19:04:15.802Z,1715799855.802 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A834E0 2024-05-15T19:04:15.803Z,1715799855.803 [DAT ThreadHandler](INFO): Protected caller Thread ID is 931 2024-05-15T19:04:15.803Z,1715799855.803 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2024-05-15T19:04:15.804Z,1715799855.804 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2024-05-15T19:04:15.940Z,1715799855.940 [DeadReckonUsingMultipleVelocitySources] Loaded 2024-05-15T19:04:15.940Z,1715799855.940 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2024-05-15T19:04:15.954Z,1715799855.954 [NavChart] Loaded 2024-05-15T19:04:15.954Z,1715799855.954 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2024-05-15T19:04:15.960Z,1715799855.960 [UniversalFixResidualReporter] Loaded 2024-05-15T19:04:15.960Z,1715799855.960 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2024-05-15T19:04:15.960Z,1715799855.960 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2024-05-15T19:04:15.962Z,1715799855.962 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2024-05-15T19:04:16.130Z,1715799856.130 [SBIT](DEBUG): Construct Startup Built In Test. 2024-05-15T19:04:16.140Z,1715799856.140 [SBIT] Loaded 2024-05-15T19:04:16.140Z,1715799856.140 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2024-05-15T19:04:16.143Z,1715799856.143 [IBIT](DEBUG): Construct Initiated Built In Test. 2024-05-15T19:04:16.155Z,1715799856.155 [IBIT] Loaded 2024-05-15T19:04:16.156Z,1715799856.156 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2024-05-15T19:04:16.161Z,1715799856.161 [CBIT](DEBUG): Construct Continuous Built In Test. 2024-05-15T19:04:16.266Z,1715799856.266 [CBIT] Loaded 2024-05-15T19:04:16.266Z,1715799856.266 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2024-05-15T19:04:16.267Z,1715799856.267 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2024-05-15T19:04:16.267Z,1715799856.267 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2024-05-15T19:04:16.430Z,1715799856.430 [BuoyancyServo] Loaded 2024-05-15T19:04:16.430Z,1715799856.430 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2024-05-15T19:04:16.453Z,1715799856.453 [ElevatorServo] Loaded 2024-05-15T19:04:16.454Z,1715799856.454 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2024-05-15T19:04:16.486Z,1715799856.486 [DockingStepper] Loaded 2024-05-15T19:04:16.486Z,1715799856.486 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread. 2024-05-15T19:04:16.508Z,1715799856.508 [MassServo] Loaded 2024-05-15T19:04:16.509Z,1715799856.509 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2024-05-15T19:04:16.529Z,1715799856.529 [RudderServo] Loaded 2024-05-15T19:04:16.529Z,1715799856.529 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2024-05-15T19:04:16.548Z,1715799856.548 [ThrusterServo] Loaded 2024-05-15T19:04:16.548Z,1715799856.548 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread. 2024-05-15T19:04:16.549Z,1715799856.549 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2024-05-15T19:04:16.549Z,1715799856.549 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2024-05-15T19:04:16.565Z,1715799856.565 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2024-05-15T19:04:16.566Z,1715799856.566 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2024-05-15T19:04:16.866Z,1715799856.866 [CTD_Seabird] Loaded 2024-05-15T19:04:16.867Z,1715799856.867 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2024-05-15T19:04:16.868Z,1715799856.868 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BD84E0 2024-05-15T19:04:16.868Z,1715799856.868 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 933 2024-05-15T19:04:16.904Z,1715799856.904 [ESPComponent] Loaded 2024-05-15T19:04:16.904Z,1715799856.904 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2024-05-15T19:04:16.926Z,1715799856.926 [PAR_Licor] Loaded 2024-05-15T19:04:16.926Z,1715799856.926 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2024-05-15T19:04:16.971Z,1715799856.971 [WetLabsBB2FL] Loaded 2024-05-15T19:04:16.971Z,1715799856.971 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2024-05-15T19:04:16.972Z,1715799856.972 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C084E0 2024-05-15T19:04:16.973Z,1715799856.973 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 934 2024-05-15T19:04:16.994Z,1715799856.994 [WetLabsUBAT] Loaded 2024-05-15T19:04:16.994Z,1715799856.994 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread. 2024-05-15T19:04:16.995Z,1715799856.995 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C384E0 2024-05-15T19:04:16.996Z,1715799856.996 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 935 2024-05-15T19:04:16.996Z,1715799856.996 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2024-05-15T19:04:17.003Z,1715799857.003 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2024-05-15T19:04:17.005Z,1715799857.005 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2024-05-15T19:04:17.017Z,1715799857.017 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2024-05-15T19:04:17.018Z,1715799857.018 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C684E0 2024-05-15T19:04:17.018Z,1715799857.018 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 936 2024-05-15T19:04:17.023Z,1715799857.023 [Supervisor](INFO): Main Thread ID is 831 2024-05-15T19:04:17.023Z,1715799857.023 [Supervisor](DEBUG): Running supervisor. 2024-05-15T19:04:17.024Z,1715799857.024 [CommandExec ThreadHandler](INFO): Handler Thread ID is 937 2024-05-15T19:04:17.024Z,1715799857.024 [CommandExec](INFO): Initializing the command executive. 2024-05-15T19:04:17.026Z,1715799857.026 [CommandLine ThreadHandler](INFO): Handler Thread ID is 938 2024-05-15T19:04:17.028Z,1715799857.028 [controlThread ThreadHandler](INFO): Handler Thread ID is 939 2024-05-15T19:04:17.028Z,1715799857.028 [controlThread](DEBUG): Initializing ControlThread 2024-05-15T19:04:17.029Z,1715799857.029 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2024-05-15T19:04:17.031Z,1715799857.031 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2024-05-15T19:04:17.031Z,1715799857.031 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2024-05-15T19:04:17.032Z,1715799857.032 [LoopControl](DEBUG): Initialize LoopControlComponent. 2024-05-15T19:04:17.032Z,1715799857.032 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2024-05-15T19:04:17.032Z,1715799857.032 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2024-05-15T19:04:17.033Z,1715799857.033 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2024-05-15T19:04:17.033Z,1715799857.033 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2024-05-15T19:04:17.033Z,1715799857.033 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2024-05-15T19:04:17.040Z,1715799857.040 [NavChart](DEBUG): Initialize NavChart Navigation. 2024-05-15T19:04:17.040Z,1715799857.040 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2024-05-15T19:04:17.040Z,1715799857.040 [SBIT](INFO): Initialize SBIT Component. 2024-05-15T19:04:17.041Z,1715799857.041 [SBIT](IMPORTANT): git: 2024-04-25-3-g5d6336dfa 2024-05-15T19:04:17.041Z,1715799857.041 [SBIT](INFO): git hash: 5d6336dfa5cb8e4efa2bf355f819331ef86c015f 2024-05-15T19:04:17.041Z,1715799857.041 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-05-15T19:04:17.042Z,1715799857.042 [SBIT](INFO): Kernel Reporting Different Version From Configuration. Kernel Expected: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021 2024-05-15T19:04:17.044Z,1715799857.044 [SBIT](INFO): Beginning SBIT in 99.000000 seconds. 2024-05-15T19:04:17.044Z,1715799857.044 [IBIT](INFO): Initialize IBIT Component. 2024-05-15T19:04:17.045Z,1715799857.045 [CBIT](DEBUG): Initialize CBIT Component. 2024-05-15T19:04:17.046Z,1715799857.046 [logger ThreadHandler](INFO): Handler Thread ID is 940 2024-05-15T19:04:17.058Z,1715799857.058 [CBIT](DEBUG): Initialized mux pins. 2024-05-15T19:04:17.059Z,1715799857.059 [CBIT](DEBUG): Initializing the watchdog timer. 2024-05-15T19:04:17.063Z,1715799857.063 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 941 2024-05-15T19:04:17.071Z,1715799857.071 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 942 2024-05-15T19:04:17.073Z,1715799857.073 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2024-05-15T19:04:17.079Z,1715799857.079 [Onboard ThreadHandler](INFO): Handler Thread ID is 943 2024-05-15T19:04:17.083Z,1715799857.083 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2024-05-15T19:04:17.084Z,1715799857.084 [CBIT](DEBUG): Initializing heartbeat. 2024-05-15T19:04:17.100Z,1715799857.100 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 944 2024-05-15T19:04:17.119Z,1715799857.119 [DAT ThreadHandler](INFO): Handler Thread ID is 945 2024-05-15T19:04:17.120Z,1715799857.120 [DAT](INFO): Powering up 2024-05-15T19:04:17.120Z,1715799857.120 [DAT](DEBUG): Initializing DAT. 2024-05-15T19:04:17.128Z,1715799857.128 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 947 2024-05-15T19:04:17.128Z,1715799857.128 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2024-05-15T19:04:17.132Z,1715799857.132 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 949 2024-05-15T19:04:17.135Z,1715799857.135 [WetLabsBB2FL](INFO): Powering up 2024-05-15T19:04:17.136Z,1715799857.136 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 951 2024-05-15T19:04:17.139Z,1715799857.139 [WetLabsUBAT](INFO): Powering up 2024-05-15T19:04:17.140Z,1715799857.140 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 953 2024-05-15T19:04:17.149Z,1715799857.149 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2024-05-15T19:04:17.149Z,1715799857.149 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2024-05-15T19:04:17.149Z,1715799857.149 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2024-05-15T19:04:17.149Z,1715799857.149 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2024-05-15T19:04:17.150Z,1715799857.150 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2024-05-15T19:04:17.150Z,1715799857.150 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2024-05-15T19:04:17.150Z,1715799857.150 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2024-05-15T19:04:17.150Z,1715799857.150 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2024-05-15T19:04:17.155Z,1715799857.155 [CBIT](DEBUG): Deactivating GF circuits. 2024-05-15T19:04:17.155Z,1715799857.155 [CBIT](DEBUG): Deactivating emergency mode. 2024-05-15T19:04:17.194Z,1715799857.194 [CBIT](DEBUG): Backplane powered. 2024-05-15T19:04:17.199Z,1715799857.199 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-05-15T19:04:17.200Z,1715799857.200 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2024-05-15T19:04:17.200Z,1715799857.200 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2024-05-15T19:04:17.206Z,1715799857.206 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2024-05-15T19:04:17.285Z,1715799857.285 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2024-05-15T19:04:17.290Z,1715799857.290 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-15T19:04:17.323Z,1715799857.323 [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 } } } 2024-05-15T19:04:17.323Z,1715799857.323 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2024-05-15T19:04:17.324Z,1715799857.324 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2024-05-15T19:04:17.329Z,1715799857.329 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2024-05-15T19:04:17.503Z,1715799857.503 [Radio_Surface](INFO): Powering up 2024-05-15T19:04:17.647Z,1715799857.647 [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 2024-05-15T19:04:17.653Z,1715799857.653 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2024-05-15T19:04:17.654Z,1715799857.654 [Default:A.Wait](DEBUG): Construct Wait. 2024-05-15T19:04:17.677Z,1715799857.677 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-15T19:04:17.717Z,1715799857.717 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2024-05-15T19:04:17.720Z,1715799857.720 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2024-05-15T19:04:17.746Z,1715799857.746 [Default:E.Execute](DEBUG): Construct Execute. 2024-05-15T19:04:17.749Z,1715799857.749 [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" } } 2024-05-15T19:04:17.755Z,1715799857.755 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,RDI_Pathfinder,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter, 2024-05-15T19:04:17.775Z,1715799857.775 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2024-05-15T19:04:17.928Z,1715799857.928 [Depth_Keller](ERROR): Pressure or depth reading out of range: 1650.297119 decibar, 0.000000 m 2024-05-15T19:04:17.929Z,1715799857.929 [Power24vConverter](INFO): Powering up. 2024-05-15T19:04:17.930Z,1715799857.930 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2024-05-15T19:04:17.945Z,1715799857.945 [DepthRateCalculator](ERROR): Depth measurement is not active 2024-05-15T19:04:17.991Z,1715799857.991 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2024-05-15T19:04:17.999Z,1715799857.999 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2024-05-15T19:04:17.000Z,1715799858.000 [ElevatorServo](DEBUG): Initializing EZServoServo. 2024-05-15T19:04:18.007Z,1715799858.007 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2024-05-15T19:04:18.008Z,1715799858.008 [DockingStepper](INFO): Start 2024-05-15T19:04:18.008Z,1715799858.008 [DockingStepper](DEBUG): Initializing EZServoServo. 2024-05-15T19:04:18.017Z,1715799858.017 [DockingStepper](DEBUG): Initializing DockingStepper. 2024-05-15T19:04:18.017Z,1715799858.017 [MassServo](DEBUG): Initializing EZServoServo. 2024-05-15T19:04:18.023Z,1715799858.023 [MassServo](DEBUG): Initializing MassServo. 2024-05-15T19:04:18.024Z,1715799858.024 [RudderServo](DEBUG): Initializing EZServoServo. 2024-05-15T19:04:18.031Z,1715799858.031 [RudderServo](DEBUG): Initializing RudderServo. 2024-05-15T19:04:18.032Z,1715799858.032 [ThrusterServo](DEBUG): Initializing EZServoServo. 2024-05-15T19:04:18.039Z,1715799858.039 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2024-05-15T19:04:18.239Z,1715799858.239 [DockingStepper](INFO): Starting 2024-05-15T19:04:18.590Z,1715799858.590 [DockingStepper](INFO): Starting 2024-05-15T19:04:19.123Z,1715799859.123 [DockingStepper](INFO): Starting 2024-05-15T19:04:19.172Z,1715799859.172 [DockingStepper](INFO): Init string: /1z14960aE13561N3m50 2024-05-15T19:04:19.416Z,1715799859.416 [DockingStepper](INFO): Starting 2024-05-15T19:04:19.747Z,1715799859.747 [WetLabsBB2FL](INFO): Powering down 2024-05-15T19:04:19.802Z,1715799859.802 [DockingStepper](INFO): Starting 2024-05-15T19:04:20.206Z,1715799860.206 [DockingStepper](INFO): Starting 2024-05-15T19:04:20.659Z,1715799860.659 [DockingStepper](INFO): Starting 2024-05-15T19:04:21.116Z,1715799861.116 [DockingStepper](INFO): Starting 2024-05-15T19:04:21.144Z,1715799861.144 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2024-05-15T19:04:21.520Z,1715799861.520 [DockingStepper](INFO): Starting 2024-05-15T19:04:22.407Z,1715799862.407 [DockingStepper](INFO): Pause 2024-05-15T19:04:24.159Z,1715799864.159 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit. 2024-05-15T19:04:26.463Z,1715799866.463 [WetLabsUBAT](INFO): Powering down 2024-05-15T19:04:30.727Z,1715799870.727 [DAT](INFO): DAT read: 2024-05-15T19:04:30.728Z,1715799870.728 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2024-05-15T19:04:32.239Z,1715799872.239 [DAT](INFO): DAT read: MF Frequency Band 2024-05-15T19:04:32.241Z,1715799872.241 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2024-05-15T19:04:32.241Z,1715799872.241 [DAT](INFO): DAT read: May 15 2024 19:02:42 2024-05-15T19:04:33.500Z,1715799873.500 [DAT](INFO): DAT read: Features enabled [Bearing] 2024-05-15T19:04:33.501Z,1715799873.501 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2024-05-15T19:04:33.501Z,1715799873.501 [DAT](INFO): commRate: 800 2024-05-15T19:04:35.571Z,1715799875.571 [DAT](INFO): entering command mode 2024-05-15T19:04:35.767Z,1715799875.767 [DAT](INFO): DAT read: 2024-05-15T19:04:35.768Z,1715799875.768 [DAT](INFO): DAT read: user:1> 2024-05-15T19:04:35.768Z,1715799875.768 [DAT](INFO): setting verbose to 3 2024-05-15T19:04:36.019Z,1715799876.019 [DAT](INFO): DAT read: user:1> 2024-05-15T19:04:36.020Z,1715799876.020 [DAT](INFO): DAT read: Verbose | 3 2024-05-15T19:04:36.021Z,1715799876.021 [DAT](INFO): set verbose to 3 2024-05-15T19:04:36.021Z,1715799876.021 [DAT](INFO): setting DatVerbose to 27440 2024-05-15T19:04:36.271Z,1715799876.271 [DAT](INFO): DAT read: user:2> 2024-05-15T19:04:36.272Z,1715799876.272 [DAT](INFO): DAT read: DatVerbose | 27440 2024-05-15T19:04:36.272Z,1715799876.272 [DAT](INFO): set DatVerbose to 27440 2024-05-15T19:04:36.273Z,1715799876.273 [DAT](INFO): setting transmit power to 8 2024-05-15T19:04:36.523Z,1715799876.523 [DAT](INFO): DAT read: user:3> 2024-05-15T19:04:36.524Z,1715799876.524 [DAT](INFO): DAT read: TxPower | 8 (Max) 2024-05-15T19:04:36.525Z,1715799876.525 [DAT](INFO): set transmit power to 8 2024-05-15T19:04:36.525Z,1715799876.525 [DAT](INFO): setting local address to 10 2024-05-15T19:04:36.775Z,1715799876.775 [DAT](INFO): DAT read: user:4> 2024-05-15T19:04:36.776Z,1715799876.776 [DAT](INFO): DAT read: LocalAddr | 10 2024-05-15T19:04:36.776Z,1715799876.776 [DAT](INFO): set local address to 10 2024-05-15T19:04:36.777Z,1715799876.777 [DAT](INFO): Setting time to: 19:4:36 And date to:5/15/2024 2024-05-15T19:04:37.027Z,1715799877.027 [DAT](INFO): DAT read: user:5> 2024-05-15T19:04:37.028Z,1715799877.028 [DAT](INFO): DAT read: Wed May 15, 2024 19:04:36 2024-05-15T19:04:37.029Z,1715799877.029 [DAT](INFO): Local DAT time set to Wed May 15, 2024 19:04:36 2024-05-15T19:04:45.740Z,1715799885.740 [NAL9602](INFO): Powering up NAL9602 2024-05-15T19:04:56.648Z,1715799896.648 [NAL9602](INFO): NAL9602 initialized 2024-05-15T19:05:00.168Z,1715799900.168 [CommandExec](IMPORTANT): got command docking standby 2024-05-15T19:05:00.168Z,1715799900.168 [CommandExec](IMPORTANT): Switching docking moudle to STANDBY. 2024-05-15T19:05:00.729Z,1715799900.729 [DockingStepper](INFO): Resume 2024-05-15T19:05:01.132Z,1715799901.132 [DockingStepper](INFO): Resuming 2024-05-15T19:05:01.589Z,1715799901.589 [DockingStepper](INFO): Start 2024-05-15T19:05:01.589Z,1715799901.589 [DockingStepper](DEBUG): Initializing EZServoServo. 2024-05-15T19:05:01.704Z,1715799901.704 [DockingStepper](DEBUG): Initializing DockingStepper. 2024-05-15T19:05:01.969Z,1715799901.969 [DockingStepper](INFO): Starting 2024-05-15T19:05:02.335Z,1715799902.335 [DockingStepper](INFO): Starting 2024-05-15T19:05:02.741Z,1715799902.741 [DockingStepper](INFO): Starting 2024-05-15T19:05:02.788Z,1715799902.788 [DockingStepper](INFO): Init string: /1z14960aE13561N3m50 2024-05-15T19:05:03.149Z,1715799903.149 [DockingStepper](INFO): Starting 2024-05-15T19:05:03.592Z,1715799903.592 [DockingStepper](INFO): Starting 2024-05-15T19:05:03.985Z,1715799903.985 [DockingStepper](INFO): Starting 2024-05-15T19:05:04.360Z,1715799904.360 [DockingStepper](INFO): Starting 2024-05-15T19:05:04.387Z,1715799904.387 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2024-05-15T19:05:04.772Z,1715799904.772 [DockingStepper](INFO): Starting 2024-05-15T19:05:25.331Z,1715799925.331 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T19:05:40.279Z,1715799940.279 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T19:05:55.632Z,1715799955.632 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T19:05:56.601Z,1715799956.601 [SBIT](IMPORTANT): Beginning Startup BIT 2024-05-15T19:05:56.605Z,1715799956.605 [CBIT](IMPORTANT): Beginning ground fault scan 2024-05-15T19:06:07.587Z,1715799967.587 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.007061 CHAN A1 (24V): 0.004112 CHAN A2 (12V): -0.006264 CHAN A3 (5V): -0.002127 CHAN B0 (3.3V): 0.001161 CHAN B1 (3.15aV): 0.000372 CHAN B2 (3.15bV): -0.000229 CHAN B3 (GND): 0.001944 OPEN: -0.002445 Full Scale: +/- 1 mA 2024-05-15T19:06:10.989Z,1715799970.989 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T19:06:27.144Z,1715799987.144 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T19:06:42.527Z,1715800002.527 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T19:06:50.372Z,1715800010.372 [SBIT](IMPORTANT): SBIT PASSED 2024-05-15T19:06:50.372Z,1715800010.372 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2024-05-15T19:06:50.373Z,1715800010.373 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=2 count; 2024-05-15T19:06:50.373Z,1715800010.373 [SBIT](IMPORTANT): DockingStepper.closedValue=16500 count; 2024-05-15T19:06:50.373Z,1715800010.373 [SBIT](IMPORTANT): DockingStepper.loadAtStartup=1 bool; 2024-05-15T19:06:50.374Z,1715800010.374 [SBIT](IMPORTANT): DockingStepper.openValue=7500 count; 2024-05-15T19:06:50.374Z,1715800010.374 [SBIT](IMPORTANT): DockingStepper.simulateHardware=0 bool; 2024-05-15T19:06:50.374Z,1715800010.374 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2024-05-15T19:06:50.374Z,1715800010.374 [SBIT](IMPORTANT): ESPComponent.loadAtStartup=1 bool; 2024-05-15T19:06:50.374Z,1715800010.374 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=2 minute; 2024-05-15T19:06:50.374Z,1715800010.374 [SBIT](IMPORTANT): ESPComponent.simulateHardware=1 bool; 2024-05-15T19:06:50.374Z,1715800010.374 [SBIT](IMPORTANT): Express linearApproximation WetLabsUBAT.flow_rate 0.300000 liter_per_second; 2024-05-15T19:06:50.375Z,1715800010.375 [SBIT](IMPORTANT): Express linearApproximation downwelling_photosynthetic_photon_flux_in_sea_water 100.000000 micromole_per_second_per_square_meter; 2024-05-15T19:06:50.375Z,1715800010.375 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=0 bool; 2024-05-15T19:06:50.375Z,1715800010.375 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=700 cubic_centimeter; 2024-05-15T19:06:50.375Z,1715800010.375 [SBIT](IMPORTANT): VerticalControl.kpDepth=0.09 radian_per_meter; 2024-05-15T19:06:50.375Z,1715800010.375 [SBIT](IMPORTANT): VerticalControl.kpPitchElevator=0.5 none; 2024-05-15T19:06:50.375Z,1715800010.375 [SBIT](IMPORTANT): VerticalControl.massDefault=-19.999430 millimeter; 2024-05-15T19:06:50.375Z,1715800010.375 [SBIT](IMPORTANT): VerticalControl.stopDepthExcursion=20 meter; 2024-05-15T19:06:50.659Z,1715800010.659 [MissionManager](IMPORTANT): Started mission Startup 2024-05-15T19:06:50.660Z,1715800010.660 [Startup] Running Loop=1 2024-05-15T19:06:50.660Z,1715800010.660 [Startup](DEBUG): Aggregate::initialize Startup 2024-05-15T19:06:50.660Z,1715800010.660 [Startup:A.GoToSurface] Running Loop=1 2024-05-15T19:06:50.660Z,1715800010.660 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-15T19:06:50.660Z,1715800010.660 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-15T19:06:50.661Z,1715800010.661 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-15T19:06:50.661Z,1715800010.661 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-15T19:06:50.662Z,1715800010.662 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-15T19:06:50.662Z,1715800010.662 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-15T19:06:50.668Z,1715800010.668 [Startup:StartupSatComms] Running Loop=1 2024-05-15T19:06:50.668Z,1715800010.668 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2024-05-15T19:06:50.668Z,1715800010.668 [Startup:StartupSatComms:A] Running Loop=1 2024-05-15T19:06:51.030Z,1715800011.030 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2024-05-15T19:06:51.044Z,1715800011.044 [CommandExec](IMPORTANT): got command show stack 2024-05-15T19:06:51.044Z,1715800011.044 [CommandExec](IMPORTANT): Behavior Stack: 2024-05-15T19:06:51.044Z,1715800011.044 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface 2024-05-15T19:06:51.044Z,1715800011.044 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A 2024-05-15T19:07:09.470Z,1715800029.470 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005707 2024-05-15T19:07:17.057Z,1715800037.057 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1 2024-05-15T19:07:17.057Z,1715800037.057 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-05-15T19:07:17.200Z,1715800037.200 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-05-15T19:07:17.652Z,1715800037.652 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-05-15T19:07:17.652Z,1715800037.652 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1 2024-05-15T19:07:50.998Z,1715800070.998 [Startup:StartupSatComms:A](INFO): Timed out from 2024-05-15T19:06:50.7Z 2024-05-15T19:07:50.998Z,1715800070.998 [Startup:StartupSatComms:A] Stopped 2024-05-15T19:07:50.998Z,1715800070.998 [Startup:StartupSatComms:B] Running Loop=1 2024-05-15T19:07:51.408Z,1715800071.408 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-15T19:08:00.503Z,1715800080.503 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20240515T185712/Courier0003.lzma 2024-05-15T19:08:01.505Z,1715800081.505 [DataOverHttps](INFO): Moved sent file to Logs/20240515T185712/Courier0003.lzma.bak 2024-05-15T19:08:01.506Z,1715800081.506 [DataOverHttps](INFO): SBD MOMSN=21023358 2024-05-15T19:08:18.143Z,1715800098.143 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20240515T190404/Courier0000.lzma 2024-05-15T19:08:19.146Z,1715800099.146 [DataOverHttps](INFO): Moved sent file to Logs/20240515T190404/Courier0000.lzma.bak 2024-05-15T19:08:19.146Z,1715800099.146 [DataOverHttps](INFO): SBD MOMSN=21023360 2024-05-15T19:08:37.523Z,1715800117.523 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20240515T185712/Express0004.lzma 2024-05-15T19:08:38.526Z,1715800118.526 [DataOverHttps](INFO): Moved sent file to Logs/20240515T185712/Express0004.lzma.bak 2024-05-15T19:08:38.526Z,1715800118.526 [DataOverHttps](INFO): SBD MOMSN=21023363 2024-05-15T19:08:51.382Z,1715800131.382 [Startup:StartupSatComms:B](INFO): Timed out from 2024-05-15T19:07:50.0Z 2024-05-15T19:08:51.382Z,1715800131.382 [Startup:StartupSatComms:B] Stopped 2024-05-15T19:08:51.382Z,1715800131.382 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2024-05-15T19:08:51.382Z,1715800131.382 [Startup:StartupSatComms] Stopped 2024-05-15T19:08:51.382Z,1715800131.382 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2024-05-15T19:08:51.383Z,1715800131.383 [Startup](INFO): Completed Startup 2024-05-15T19:08:51.383Z,1715800131.383 [MissionManager](INFO): Startup is completed. 2024-05-15T19:08:51.384Z,1715800131.384 [MissionManager](INFO): Uninitializing Mission Startup 2024-05-15T19:08:51.384Z,1715800131.384 [Startup] Stopped 2024-05-15T19:08:51.384Z,1715800131.384 [Startup](DEBUG): Aggregate::uninitialize Startup 2024-05-15T19:08:51.384Z,1715800131.384 [Startup:A.GoToSurface] Stopped 2024-05-15T19:08:51.384Z,1715800131.384 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-15T19:08:51.848Z,1715800131.848 [MissionManager](IMPORTANT): Started mission Default 2024-05-15T19:08:51.848Z,1715800131.848 [Default] Running Loop=1 2024-05-15T19:08:51.848Z,1715800131.848 [Default](DEBUG): Aggregate::initialize Default 2024-05-15T19:08:51.848Z,1715800131.848 [Default:B.GoToSurface] Running Loop=1 2024-05-15T19:08:51.848Z,1715800131.848 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-15T19:08:51.849Z,1715800131.849 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-15T19:08:51.849Z,1715800131.849 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-15T19:08:51.849Z,1715800131.849 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-15T19:08:51.850Z,1715800131.850 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-15T19:08:51.850Z,1715800131.850 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-15T19:08:51.850Z,1715800131.850 [Default:A.Wait] Running Loop=1 2024-05-15T19:08:51.850Z,1715800131.850 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-05-15T19:08:56.762Z,1715800136.762 [DataOverHttps](INFO): Sending 1286 bytes from file Logs/20240515T190404/Express0001.lzma 2024-05-15T19:08:57.761Z,1715800137.761 [DataOverHttps](INFO): Moved sent file to Logs/20240515T190404/Express0001.lzma.bak 2024-05-15T19:08:57.761Z,1715800137.761 [DataOverHttps](INFO): SBD MOMSN=21023365 2024-05-15T19:09:05.202Z,1715800145.202 [Default:A.Wait](INFO): Done Waiting. 2024-05-15T19:09:05.203Z,1715800145.203 [Default:A.Wait] Stopped 2024-05-15T19:09:05.203Z,1715800145.203 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-05-15T19:09:05.562Z,1715800145.562 [Default:CheckIn] Running Loop=1 2024-05-15T19:09:05.562Z,1715800145.562 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-15T19:09:05.562Z,1715800145.562 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-15T19:09:05.941Z,1715800145.941 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2024-05-15T19:09:13.993Z,1715800153.993 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:09:19.660Z,1715800159.660 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:09:32.585Z,1715800172.585 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:09:45.567Z,1715800185.567 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:09:58.434Z,1715800198.434 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:10:00.057Z,1715800200.057 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2024-05-15T19:10:11.438Z,1715800211.438 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:10:13.745Z,1715800213.745 [CommandExec](IMPORTANT): got command show stack 2024-05-15T19:10:13.745Z,1715800213.745 [CommandExec](IMPORTANT): Behavior Stack: 2024-05-15T19:10:13.745Z,1715800213.745 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface 2024-05-15T19:10:13.745Z,1715800213.745 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS 2024-05-15T19:10:17.936Z,1715800217.936 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2 2024-05-15T19:10:17.936Z,1715800217.936 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-05-15T19:10:18.077Z,1715800218.077 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-05-15T19:10:18.512Z,1715800218.512 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-05-15T19:10:18.512Z,1715800218.512 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2 2024-05-15T19:10:20.735Z,1715800220.735 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191019.00,A,3648.15672,N,12147.27835,W,0.797,0.00,150524,,,A*77 2024-05-15T19:10:20.738Z,1715800220.738 [NAL9602](INFO): GPS fix at 20240515T191019: (36.802612, -121.787972) 2024-05-15T19:10:20.750Z,1715800220.750 [Default:CheckIn:Read_GPS] Stopped 2024-05-15T19:10:20.750Z,1715800220.750 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-15T19:10:21.164Z,1715800221.164 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-15T19:10:24.598Z,1715800224.598 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:10:31.525Z,1715800231.525 [DataOverHttps](INFO): Sending 224 bytes from file Logs/20240515T190404/Courier0004.lzma 2024-05-15T19:10:32.525Z,1715800232.525 [DataOverHttps](INFO): Moved sent file to Logs/20240515T190404/Courier0004.lzma.bak 2024-05-15T19:10:32.525Z,1715800232.525 [DataOverHttps](INFO): SBD MOMSN=21023407 2024-05-15T19:10:37.959Z,1715800237.959 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:10:51.526Z,1715800251.526 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:10:53.181Z,1715800253.181 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-15T19:11:06.096Z,1715800266.096 [CommandExec](IMPORTANT): got command get Dock.dock_voltage_present 2024-05-15T19:11:06.097Z,1715800266.097 [CommandExec](IMPORTANT): Dock.dock_voltage_present 1 bool 2024-05-15T19:11:06.835Z,1715800266.835 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2024-05-15T19:11:08.344Z,1715800268.344 [DataOverHttps](INFO): Sending 442 bytes from file Logs/20240515T190404/Express0005.lzma 2024-05-15T19:11:09.330Z,1715800269.330 [DataOverHttps](INFO): Moved sent file to Logs/20240515T190404/Express0005.lzma.bak 2024-05-15T19:11:09.330Z,1715800269.330 [DataOverHttps](INFO): SBD MOMSN=21023410 2024-05-15T19:11:15.816Z,1715800275.816 [Default:CheckIn:Read_Iridium] Stopped 2024-05-15T19:11:15.816Z,1715800275.816 [Default:CheckIn:C.Wait] Running Loop=1 2024-05-15T19:11:15.816Z,1715800275.816 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2024-05-15T19:11:22.616Z,1715800282.616 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T19:11:30.726Z,1715800290.726 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/OnDock.tl 2024-05-15T19:11:30.726Z,1715800290.726 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl 2024-05-15T19:11:30.726Z,1715800290.726 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl 2024-05-15T19:11:30.730Z,1715800290.730 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl 2024-05-15T19:11:31.368Z,1715800291.368 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 30 5 Restarting DHCP... ! /mnt/mmc/LRAUV/Tools/dhcp.sh Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . 2024-05-15T19:11:31.375Z,1715800291.375 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h 2024-05-15T19:11:31.379Z,1715800291.379 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 300.000000 s 2024-05-15T19:11:31.407Z,1715800291.407 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s 2024-05-15T19:11:31.419Z,1715800291.419 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min 2024-05-15T19:11:31.426Z,1715800291.426 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count 2024-05-15T19:11:31.434Z,1715800291.434 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 201 count 2024-05-15T19:11:31.447Z,1715800291.447 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m 2024-05-15T19:11:31.454Z,1715800291.454 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m 2024-05-15T19:11:31.458Z,1715800291.458 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km 2024-05-15T19:11:31.474Z,1715800291.474 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool 2024-05-15T19:11:31.477Z,1715800291.477 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 30.000000 min 2024-05-15T19:11:31.525Z,1715800291.525 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h 2024-05-15T19:11:31.525Z,1715800291.525 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2024-05-15T19:11:31.526Z,1715800291.526 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2024-05-15T19:11:31.574Z,1715800291.574 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2024-05-15T19:11:31.857Z,1715800291.857 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2024-05-15T19:11:31.862Z,1715800291.862 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m 2024-05-15T19:11:31.882Z,1715800291.882 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2024-05-15T19:11:31.885Z,1715800291.885 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m 2024-05-15T19:11:31.929Z,1715800291.929 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 2024-05-15T19:11:31.930Z,1715800291.930 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2024-05-15T19:11:31.984Z,1715800291.984 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2024-05-15T19:11:32.018Z,1715800292.018 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2024-05-15T19:11:32.093Z,1715800292.093 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-05-15T19:11:32.093Z,1715800292.093 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-05-15T19:11:32.094Z,1715800292.094 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-05-15T19:11:32.186Z,1715800292.186 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-05-15T19:11:32.212Z,1715800292.212 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2024-05-15T19:11:32.215Z,1715800292.215 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-05-15T19:11:32.222Z,1715800292.222 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2024-05-15T19:11:32.222Z,1715800292.222 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2024-05-15T19:11:32.223Z,1715800292.223 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2024-05-15T19:11:32.677Z,1715800292.677 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2024-05-15T19:11:32.703Z,1715800292.703 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool 2024-05-15T19:11:32.730Z,1715800292.730 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool 2024-05-15T19:11:32.742Z,1715800292.742 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool 2024-05-15T19:11:32.784Z,1715800292.784 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool 2024-05-15T19:11:32.808Z,1715800292.808 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool 2024-05-15T19:11:32.832Z,1715800292.832 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait. 2024-05-15T19:11:32.995Z,1715800292.995 [OnDock:restartDHCP:B.Execute](DEBUG): Construct Execute. 2024-05-15T19:11:33.014Z,1715800293.014 [OnDock:L.Execute](DEBUG): Construct Execute. 2024-05-15T19:11:33.026Z,1715800293.026 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute. 2024-05-15T19:11:33.032Z,1715800293.032 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait. 2024-05-15T19:11:33.034Z,1715800293.034 [OnDock:O.Docked](DEBUG): Construct. 2024-05-15T19:11:33.034Z,1715800293.034 [OnDock:O.Docked](DEBUG): Initializing internal variables to default values. 2024-05-15T19:11:33.115Z,1715800293.115 [OnDock:Detach:B.Undock](DEBUG): Construct. 2024-05-15T19:11:33.115Z,1715800293.115 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2024-05-15T19:11:33.273Z,1715800293.273 [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 { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 30 minute """ How long to wait between ifconfig runs """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists readData { while ( Sensor:DataOverHttps.connectionStatus == true ) Universal:platform_communications } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } aggregate restartDHCP { run when ( called ) syslog important "Restarting DHCP..." behavior Guidance:Execute { run in sequence set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh" } } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } # Kick DHCP again, in case it took us a while to close the arm in Docked call refId="restartDHCP" aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } # Get our 10.89 IP back once we're on the surface call refId="restartDHCP" } } 2024-05-15T19:11:33.275Z,1715800293.275 [CommandExec](IMPORTANT): Running ./Missions/Engineering/OnDock.tl 2024-05-15T19:11:33.587Z,1715800293.587 [Default] Stopped 2024-05-15T19:11:33.587Z,1715800293.587 [Default](DEBUG): Aggregate::uninitialize Default 2024-05-15T19:11:33.587Z,1715800293.587 [Default:B.GoToSurface] Stopped 2024-05-15T19:11:33.587Z,1715800293.587 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-15T19:11:33.595Z,1715800293.595 [Default:CheckIn] Stopped 2024-05-15T19:11:33.596Z,1715800293.596 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-05-15T19:11:33.596Z,1715800293.596 [Default:CheckIn:C.Wait] Stopped 2024-05-15T19:11:33.596Z,1715800293.596 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2024-05-15T19:11:33.596Z,1715800293.596 [MissionManager](IMPORTANT): Started mission OnDock 2024-05-15T19:11:33.596Z,1715800293.596 [OnDock] Running Loop=1 2024-05-15T19:11:33.596Z,1715800293.596 [OnDock](DEBUG): Aggregate::initialize OnDock 2024-05-15T19:11:33.596Z,1715800293.596 [OnDock:StandardEnvelopes] Running Loop=1 2024-05-15T19:11:33.597Z,1715800293.597 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes 2024-05-15T19:11:33.597Z,1715800293.597 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-15T19:11:33.597Z,1715800293.597 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2024-05-15T19:11:33.597Z,1715800293.597 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-15T19:11:33.597Z,1715800293.597 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2024-05-15T19:11:33.597Z,1715800293.597 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-15T19:11:33.597Z,1715800293.597 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2024-05-15T19:11:33.597Z,1715800293.597 [OnDock:BackseatDriver] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:PowerOnly] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:PowerOnly:A] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:PowerOnly:B] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:PowerOnly:C] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:PowerOnly:D] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:PowerOnly:E.Wait] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:H] Running Loop=1 2024-05-15T19:11:33.598Z,1715800293.598 [OnDock:I.] Running Loop=1 2024-05-15T19:11:33.599Z,1715800293.599 [OnDock:I.](INFO): Initializing TrackAcousticContact. 2024-05-15T19:11:33.599Z,1715800293.599 [OnDock:PeriodicCheck] Running Loop=1 2024-05-15T19:11:33.599Z,1715800293.599 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck 2024-05-15T19:11:33.599Z,1715800293.599 [OnDock:PeriodicCheck:CheckIP] Running Loop=1 2024-05-15T19:11:33.599Z,1715800293.599 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP 2024-05-15T19:11:33.608Z,1715800293.608 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1 2024-05-15T19:11:33.608Z,1715800293.608 [OnDock:B] Running Loop=1 2024-05-15T19:11:33.608Z,1715800293.608 [OnDock:PeriodicCheck] Running Loop=1 2024-05-15T19:11:33.608Z,1715800293.608 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig 2024-05-15T19:11:33.609Z,1715800293.609 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped 2024-05-15T19:11:33.609Z,1715800293.609 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1 2024-05-15T19:11:33.609Z,1715800293.609 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component. 2024-05-15T19:11:33.609Z,1715800293.609 [OnDock:I.] Running Loop=1 2024-05-15T19:11:33.609Z,1715800293.609 [OnDock:H] Running Loop=1 2024-05-15T19:11:33.610Z,1715800293.610 [OnDock:H](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-15T19:11:33.610Z,1715800293.610 [OnDock:PowerOnly] Running Loop=1 2024-05-15T19:11:33.611Z,1715800293.611 [OnDock:PowerOnly:D] Stopped 2024-05-15T19:11:33.611Z,1715800293.611 [OnDock:PowerOnly:C] Stopped 2024-05-15T19:11:33.611Z,1715800293.611 [OnDock:PowerOnly:B] Stopped 2024-05-15T19:11:33.611Z,1715800293.611 [OnDock:PowerOnly:A] Stopped 2024-05-15T19:11:33.611Z,1715800293.611 [OnDock:BackseatDriver] Running Loop=1 2024-05-15T19:11:33.620Z,1715800293.620 [OnDock:B] Stopped 2024-05-15T19:11:33.620Z,1715800293.620 [OnDock:C] Running Loop=1 2024-05-15T19:11:33.620Z,1715800293.620 [OnDock:StandardEnvelopes] Running Loop=1 2024-05-15T19:11:33.620Z,1715800293.620 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-15T19:11:33.621Z,1715800293.621 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE 2024-05-15T19:11:33.645Z,1715800293.645 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-15T19:11:33.646Z,1715800293.646 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-15T19:11:33.659Z,1715800293.659 [HorizontalControl](DEBUG): kpHeading = 0.400000 2024-05-15T19:11:33.668Z,1715800293.668 [HorizontalControl](DEBUG): kiHeading = 0.001000 2024-05-15T19:11:33.668Z,1715800293.668 [HorizontalControl](DEBUG): kdHeading = 0.050000 2024-05-15T19:11:33.693Z,1715800293.693 [CommandExec](IMPORTANT): got command ! ifconfig 2024-05-15T19:11:34.080Z,1715800294.080 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:4B inet addr:10.89.10.2 Bcast:10.89.255.255 Mask:255.255.0.0 UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:1332 errors:0 dropped:0 overruns:0 frame:0 TX packets:1886 errors:0 dropped:0 overruns:0 carrier:0 collisions:26 txqueuelen:1000 RX bytes:340783 (332.7 Kb) TX bytes:2184779 (2.0 Mb) Interrupt:29 lo Link encap:Local Loopback inet addr:127.0.0.1 Mask:255.0.0.0 UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1 RX packets:352 errors:0 dropped:0 overruns:0 frame:0 TX packets:352 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:26048 (25.4 Kb) TX bytes:26048 (25.4 Kb) 2024-05-15T19:11:34.835Z,1715800294.835 [OnDock:C] Stopped 2024-05-15T19:11:34.835Z,1715800294.835 [OnDock:D] Running Loop=1 2024-05-15T19:11:35.146Z,1715800295.146 [OnDock:D] Stopped 2024-05-15T19:11:35.147Z,1715800295.147 [OnDock:E] Running Loop=1 2024-05-15T19:11:35.510Z,1715800295.510 [OnDock:E] Stopped 2024-05-15T19:11:35.510Z,1715800295.510 [OnDock:K] Running Loop=1 2024-05-15T19:11:35.919Z,1715800295.919 [OnDock:K](IMPORTANT): Restarting logs 2024-05-15T19:11:35.919Z,1715800295.919 [OnDock:K] Stopped 2024-05-15T19:11:35.919Z,1715800295.919 [OnDock:L.Execute] Running Loop=1 2024-05-15T19:11:35.966Z,1715800295.966 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.