2024-05-15T20:30:57.637Z,1715805057.637 [Supervisor](DEBUG): Initializing supervisor. 2024-05-15T20:30:57.641Z,1715805057.641 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2024-05-15T20:30:57.641Z,1715805057.641 [SyncHandler](INFO): Protected caller Thread ID is 840 2024-05-15T20:30:57.642Z,1715805057.642 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2024-05-15T20:30:57.643Z,1715805057.643 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2024-05-15T20:30:57.643Z,1715805057.643 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 841 2024-05-15T20:30:57.647Z,1715805057.647 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2024-05-15T20:30:57.664Z,1715805057.664 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2024-05-15T20:30:57.665Z,1715805057.665 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2024-05-15T20:30:57.666Z,1715805057.666 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 842 2024-05-15T20:30:57.670Z,1715805057.670 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2024-05-15T20:30:57.671Z,1715805057.671 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2024-05-15T20:30:57.671Z,1715805057.671 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 843 2024-05-15T20:30:57.673Z,1715805057.673 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2024-05-15T20:30:57.674Z,1715805057.674 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2024-05-15T20:30:57.674Z,1715805057.674 [logger ThreadHandler](INFO): Protected caller Thread ID is 844 2024-05-15T20:30:57.678Z,1715805057.678 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2024-05-15T20:30:57.678Z,1715805057.678 [Supervisor](INFO): Looking for Config files in directory: Config/ 2024-05-15T20:30:57.683Z,1715805057.683 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2024-05-15T20:30:57.790Z,1715805057.790 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2024-05-15T20:30:57.791Z,1715805057.791 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2024-05-15T20:30:58.568Z,1715805058.568 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2024-05-15T20:30:58.570Z,1715805058.570 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2024-05-15T20:30:58.813Z,1715805058.813 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2024-05-15T20:30:58.815Z,1715805058.815 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2024-05-15T20:30:58.907Z,1715805058.907 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2024-05-15T20:30:59.049Z,1715805059.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2024-05-15T20:30:59.051Z,1715805059.051 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2024-05-15T20:30:59.143Z,1715805059.143 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2024-05-15T20:30:59.288Z,1715805059.288 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2024-05-15T20:30:59.289Z,1715805059.289 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2024-05-15T20:30:59.698Z,1715805059.698 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2024-05-15T20:30:59.700Z,1715805059.700 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2024-05-15T20:31:00.249Z,1715805060.249 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2024-05-15T20:31:00.249Z,1715805060.249 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2024-05-15T20:31:00.482Z,1715805060.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2024-05-15T20:31:00.483Z,1715805060.483 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2024-05-15T20:31:00.682Z,1715805060.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2024-05-15T20:31:00.682Z,1715805060.682 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2024-05-15T20:31:02.116Z,1715805062.116 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2024-05-15T20:31:02.118Z,1715805062.118 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2024-05-15T20:31:02.427Z,1715805062.427 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2024-05-15T20:31:02.429Z,1715805062.429 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2024-05-15T20:31:02.671Z,1715805062.671 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2024-05-15T20:31:02.673Z,1715805062.673 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2024-05-15T20:31:03.061Z,1715805063.061 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2024-05-15T20:31:03.062Z,1715805063.062 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2024-05-15T20:31:03.425Z,1715805063.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2024-05-15T20:31:03.426Z,1715805063.426 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/ 2024-05-15T20:31:03.429Z,1715805063.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg 2024-05-15T20:31:03.525Z,1715805063.525 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg 2024-05-15T20:31:03.700Z,1715805063.700 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg 2024-05-15T20:31:03.818Z,1715805063.818 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg 2024-05-15T20:31:03.955Z,1715805063.955 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg 2024-05-15T20:31:04.066Z,1715805064.066 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg 2024-05-15T20:31:04.190Z,1715805064.190 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg 2024-05-15T20:31:04.461Z,1715805064.461 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2024-05-15T20:31:04.462Z,1715805064.462 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg 2024-05-15T20:31:04.568Z,1715805064.568 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg 2024-05-15T20:31:04.672Z,1715805064.672 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg 2024-05-15T20:31:04.825Z,1715805064.825 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg 2024-05-15T20:31:04.935Z,1715805064.935 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2024-05-15T20:31:04.953Z,1715805064.953 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2024-05-15T20:31:05.097Z,1715805065.097 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2024-05-15T20:31:05.099Z,1715805065.099 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2024-05-15T20:31:05.168Z,1715805065.168 [VerticalControl](DEBUG): Construct VerticalControl. 2024-05-15T20:31:05.229Z,1715805065.229 [VerticalControl] Loaded 2024-05-15T20:31:05.230Z,1715805065.230 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2024-05-15T20:31:05.233Z,1715805065.233 [HorizontalControl](DEBUG): Construct HorizontalControl. 2024-05-15T20:31:05.279Z,1715805065.279 [HorizontalControl] Loaded 2024-05-15T20:31:05.279Z,1715805065.279 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2024-05-15T20:31:05.282Z,1715805065.282 [SpeedControl](DEBUG): Construct SpeedControl. 2024-05-15T20:31:05.285Z,1715805065.285 [SpeedControl] Loaded 2024-05-15T20:31:05.285Z,1715805065.285 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2024-05-15T20:31:05.288Z,1715805065.288 [LoopControl](DEBUG): Construct LoopControl. 2024-05-15T20:31:05.288Z,1715805065.288 [LoopControl] Loaded 2024-05-15T20:31:05.289Z,1715805065.289 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2024-05-15T20:31:05.289Z,1715805065.289 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2024-05-15T20:31:05.290Z,1715805065.290 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2024-05-15T20:31:05.359Z,1715805065.359 [DepthRateCalculator] Loaded 2024-05-15T20:31:05.359Z,1715805065.359 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2024-05-15T20:31:05.364Z,1715805065.364 [PitchRateCalculator] Loaded 2024-05-15T20:31:05.364Z,1715805065.364 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2024-05-15T20:31:05.374Z,1715805065.374 [SpeedCalculator] Loaded 2024-05-15T20:31:05.374Z,1715805065.374 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2024-05-15T20:31:05.379Z,1715805065.379 [YawRateCalculator] Loaded 2024-05-15T20:31:05.379Z,1715805065.379 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2024-05-15T20:31:05.397Z,1715805065.397 [ElevatorOffsetCalculator] Loaded 2024-05-15T20:31:05.397Z,1715805065.397 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2024-05-15T20:31:05.398Z,1715805065.398 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2024-05-15T20:31:05.398Z,1715805065.398 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2024-05-15T20:31:05.441Z,1715805065.441 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2024-05-15T20:31:05.442Z,1715805065.442 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2024-05-15T20:31:05.523Z,1715805065.523 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2024-05-15T20:31:05.523Z,1715805065.523 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2024-05-15T20:31:05.911Z,1715805065.911 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2024-05-15T20:31:05.912Z,1715805065.912 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2024-05-15T20:31:06.120Z,1715805066.120 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2024-05-15T20:31:06.120Z,1715805066.120 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2024-05-15T20:31:06.894Z,1715805066.894 [AHRS_M2] Loaded 2024-05-15T20:31:06.895Z,1715805066.895 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2024-05-15T20:31:07.147Z,1715805067.147 [BackseatComponent] Loaded 2024-05-15T20:31:07.147Z,1715805067.147 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2024-05-15T20:31:07.148Z,1715805067.148 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409C34E0 2024-05-15T20:31:07.148Z,1715805067.148 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 927 2024-05-15T20:31:07.151Z,1715805067.151 [LcmUniversalReporter] Loaded 2024-05-15T20:31:07.151Z,1715805067.151 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2024-05-15T20:31:08.395Z,1715805068.395 [BPC1] Loaded 2024-05-15T20:31:08.395Z,1715805068.395 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2024-05-15T20:31:08.537Z,1715805068.537 [DataOverHttps] Loaded 2024-05-15T20:31:08.537Z,1715805068.537 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2024-05-15T20:31:08.538Z,1715805068.538 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409F34E0 2024-05-15T20:31:08.539Z,1715805068.539 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 928 2024-05-15T20:31:08.561Z,1715805068.561 [Depth_Keller] Loaded 2024-05-15T20:31:08.562Z,1715805068.562 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2024-05-15T20:31:08.624Z,1715805068.624 [NAL9602] Loaded 2024-05-15T20:31:08.624Z,1715805068.624 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2024-05-15T20:31:08.653Z,1715805068.653 [Onboard] Loaded 2024-05-15T20:31:08.654Z,1715805068.654 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2024-05-15T20:31:08.655Z,1715805068.655 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A234E0 2024-05-15T20:31:08.655Z,1715805068.655 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 929 2024-05-15T20:31:08.669Z,1715805068.669 [Power24vConverter] Loaded 2024-05-15T20:31:08.669Z,1715805068.669 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2024-05-15T20:31:08.684Z,1715805068.684 [Radio_Surface] Loaded 2024-05-15T20:31:08.684Z,1715805068.684 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2024-05-15T20:31:08.685Z,1715805068.685 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A534E0 2024-05-15T20:31:08.685Z,1715805068.685 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 930 2024-05-15T20:31:08.731Z,1715805068.731 [RDI_Pathfinder] Loaded 2024-05-15T20:31:08.731Z,1715805068.731 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread. 2024-05-15T20:31:08.823Z,1715805068.823 [DAT] Loaded 2024-05-15T20:31:08.824Z,1715805068.824 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2024-05-15T20:31:08.825Z,1715805068.825 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A834E0 2024-05-15T20:31:08.825Z,1715805068.825 [DAT ThreadHandler](INFO): Protected caller Thread ID is 931 2024-05-15T20:31:08.826Z,1715805068.826 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2024-05-15T20:31:08.826Z,1715805068.826 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2024-05-15T20:31:08.960Z,1715805068.960 [DeadReckonUsingMultipleVelocitySources] Loaded 2024-05-15T20:31:08.961Z,1715805068.961 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2024-05-15T20:31:08.974Z,1715805068.974 [NavChart] Loaded 2024-05-15T20:31:08.975Z,1715805068.975 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2024-05-15T20:31:08.980Z,1715805068.980 [UniversalFixResidualReporter] Loaded 2024-05-15T20:31:08.980Z,1715805068.980 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2024-05-15T20:31:08.981Z,1715805068.981 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2024-05-15T20:31:08.983Z,1715805068.983 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2024-05-15T20:31:09.147Z,1715805069.147 [SBIT](DEBUG): Construct Startup Built In Test. 2024-05-15T20:31:09.157Z,1715805069.157 [SBIT] Loaded 2024-05-15T20:31:09.157Z,1715805069.157 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2024-05-15T20:31:09.160Z,1715805069.160 [IBIT](DEBUG): Construct Initiated Built In Test. 2024-05-15T20:31:09.173Z,1715805069.173 [IBIT] Loaded 2024-05-15T20:31:09.173Z,1715805069.173 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2024-05-15T20:31:09.179Z,1715805069.179 [CBIT](DEBUG): Construct Continuous Built In Test. 2024-05-15T20:31:09.282Z,1715805069.282 [CBIT] Loaded 2024-05-15T20:31:09.282Z,1715805069.282 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2024-05-15T20:31:09.283Z,1715805069.283 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2024-05-15T20:31:09.283Z,1715805069.283 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2024-05-15T20:31:09.445Z,1715805069.445 [BuoyancyServo] Loaded 2024-05-15T20:31:09.445Z,1715805069.445 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2024-05-15T20:31:09.468Z,1715805069.468 [ElevatorServo] Loaded 2024-05-15T20:31:09.468Z,1715805069.468 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2024-05-15T20:31:09.499Z,1715805069.499 [DockingStepper] Loaded 2024-05-15T20:31:09.500Z,1715805069.500 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread. 2024-05-15T20:31:09.522Z,1715805069.522 [MassServo] Loaded 2024-05-15T20:31:09.522Z,1715805069.522 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2024-05-15T20:31:09.542Z,1715805069.542 [RudderServo] Loaded 2024-05-15T20:31:09.542Z,1715805069.542 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2024-05-15T20:31:09.561Z,1715805069.561 [ThrusterServo] Loaded 2024-05-15T20:31:09.561Z,1715805069.561 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread. 2024-05-15T20:31:09.562Z,1715805069.562 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2024-05-15T20:31:09.562Z,1715805069.562 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2024-05-15T20:31:09.577Z,1715805069.577 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2024-05-15T20:31:09.578Z,1715805069.578 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2024-05-15T20:31:09.800Z,1715805069.800 [CTD_Seabird] Loaded 2024-05-15T20:31:09.801Z,1715805069.801 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2024-05-15T20:31:09.802Z,1715805069.802 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BD04E0 2024-05-15T20:31:09.802Z,1715805069.802 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 932 2024-05-15T20:31:09.837Z,1715805069.837 [ESPComponent] Loaded 2024-05-15T20:31:09.838Z,1715805069.838 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2024-05-15T20:31:09.860Z,1715805069.860 [PAR_Licor] Loaded 2024-05-15T20:31:09.860Z,1715805069.860 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2024-05-15T20:31:09.904Z,1715805069.904 [WetLabsBB2FL] Loaded 2024-05-15T20:31:09.904Z,1715805069.904 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2024-05-15T20:31:09.905Z,1715805069.905 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C004E0 2024-05-15T20:31:09.906Z,1715805069.906 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 933 2024-05-15T20:31:09.926Z,1715805069.926 [WetLabsUBAT] Loaded 2024-05-15T20:31:09.927Z,1715805069.927 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread. 2024-05-15T20:31:09.928Z,1715805069.928 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C304E0 2024-05-15T20:31:09.928Z,1715805069.928 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 934 2024-05-15T20:31:09.929Z,1715805069.929 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2024-05-15T20:31:09.935Z,1715805069.935 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2024-05-15T20:31:09.938Z,1715805069.938 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2024-05-15T20:31:09.949Z,1715805069.949 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2024-05-15T20:31:09.950Z,1715805069.950 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C604E0 2024-05-15T20:31:09.950Z,1715805069.950 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 935 2024-05-15T20:31:09.955Z,1715805069.955 [Supervisor](INFO): Main Thread ID is 831 2024-05-15T20:31:09.955Z,1715805069.955 [Supervisor](DEBUG): Running supervisor. 2024-05-15T20:31:09.955Z,1715805069.955 [CommandExec ThreadHandler](INFO): Handler Thread ID is 936 2024-05-15T20:31:09.956Z,1715805069.956 [CommandExec](INFO): Initializing the command executive. 2024-05-15T20:31:09.957Z,1715805069.957 [CommandLine ThreadHandler](INFO): Handler Thread ID is 937 2024-05-15T20:31:09.959Z,1715805069.959 [controlThread ThreadHandler](INFO): Handler Thread ID is 938 2024-05-15T20:31:09.960Z,1715805069.960 [controlThread](DEBUG): Initializing ControlThread 2024-05-15T20:31:09.961Z,1715805069.961 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2024-05-15T20:31:09.962Z,1715805069.962 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2024-05-15T20:31:09.963Z,1715805069.963 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2024-05-15T20:31:09.963Z,1715805069.963 [LoopControl](DEBUG): Initialize LoopControlComponent. 2024-05-15T20:31:09.964Z,1715805069.964 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2024-05-15T20:31:09.964Z,1715805069.964 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2024-05-15T20:31:09.964Z,1715805069.964 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2024-05-15T20:31:09.965Z,1715805069.965 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2024-05-15T20:31:09.965Z,1715805069.965 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2024-05-15T20:31:09.970Z,1715805069.970 [NavChart](DEBUG): Initialize NavChart Navigation. 2024-05-15T20:31:09.970Z,1715805069.970 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2024-05-15T20:31:09.971Z,1715805069.971 [SBIT](INFO): Initialize SBIT Component. 2024-05-15T20:31:09.971Z,1715805069.971 [SBIT](IMPORTANT): git: 2024-04-25-8-gd038f3ad8 2024-05-15T20:31:09.971Z,1715805069.971 [SBIT](INFO): git hash: d038f3ad8d1c28abd1f1c526114d3be7769b8b67 2024-05-15T20:31:09.972Z,1715805069.972 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-05-15T20:31:09.973Z,1715805069.973 [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 2024-05-15T20:31:09.974Z,1715805069.974 [SBIT](INFO): Beginning SBIT in 99.000000 seconds. 2024-05-15T20:31:09.975Z,1715805069.975 [IBIT](INFO): Initialize IBIT Component. 2024-05-15T20:31:09.975Z,1715805069.975 [CBIT](DEBUG): Initialize CBIT Component. 2024-05-15T20:31:09.976Z,1715805069.976 [logger ThreadHandler](INFO): Handler Thread ID is 939 2024-05-15T20:31:09.988Z,1715805069.988 [CBIT](DEBUG): Initialized mux pins. 2024-05-15T20:31:09.989Z,1715805069.989 [CBIT](DEBUG): Initializing the watchdog timer. 2024-05-15T20:31:09.997Z,1715805069.997 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 940 2024-05-15T20:31:10.009Z,1715805070.009 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 941 2024-05-15T20:31:10.011Z,1715805070.011 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2024-05-15T20:31:10.013Z,1715805070.013 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2024-05-15T20:31:10.013Z,1715805070.013 [CBIT](DEBUG): Initializing heartbeat. 2024-05-15T20:31:10.021Z,1715805070.021 [Onboard ThreadHandler](INFO): Handler Thread ID is 942 2024-05-15T20:31:10.051Z,1715805070.051 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 943 2024-05-15T20:31:10.069Z,1715805070.069 [DAT ThreadHandler](INFO): Handler Thread ID is 944 2024-05-15T20:31:10.070Z,1715805070.070 [DAT](INFO): Powering up 2024-05-15T20:31:10.070Z,1715805070.070 [DAT](DEBUG): Initializing DAT. 2024-05-15T20:31:10.074Z,1715805070.074 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 946 2024-05-15T20:31:10.074Z,1715805070.074 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2024-05-15T20:31:10.078Z,1715805070.078 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 948 2024-05-15T20:31:10.081Z,1715805070.081 [WetLabsBB2FL](INFO): Powering up 2024-05-15T20:31:10.082Z,1715805070.082 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 950 2024-05-15T20:31:10.085Z,1715805070.085 [CBIT](DEBUG): Deactivating GF circuits. 2024-05-15T20:31:10.085Z,1715805070.085 [CBIT](DEBUG): Deactivating emergency mode. 2024-05-15T20:31:10.086Z,1715805070.086 [WetLabsUBAT](INFO): Powering up 2024-05-15T20:31:10.087Z,1715805070.087 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 952 2024-05-15T20:31:10.098Z,1715805070.098 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2024-05-15T20:31:10.098Z,1715805070.098 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2024-05-15T20:31:10.098Z,1715805070.098 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2024-05-15T20:31:10.098Z,1715805070.098 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2024-05-15T20:31:10.098Z,1715805070.098 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2024-05-15T20:31:10.099Z,1715805070.099 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2024-05-15T20:31:10.099Z,1715805070.099 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2024-05-15T20:31:10.099Z,1715805070.099 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2024-05-15T20:31:10.124Z,1715805070.124 [CBIT](DEBUG): Backplane powered. 2024-05-15T20:31:10.129Z,1715805070.129 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-05-15T20:31:10.130Z,1715805070.130 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2024-05-15T20:31:10.130Z,1715805070.130 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2024-05-15T20:31:10.135Z,1715805070.135 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2024-05-15T20:31:10.213Z,1715805070.213 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2024-05-15T20:31:10.226Z,1715805070.226 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-15T20:31:10.261Z,1715805070.261 [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 } } } 2024-05-15T20:31:10.262Z,1715805070.262 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2024-05-15T20:31:10.262Z,1715805070.262 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2024-05-15T20:31:10.267Z,1715805070.267 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2024-05-15T20:31:10.453Z,1715805070.453 [Radio_Surface](INFO): Powering up 2024-05-15T20:31:10.565Z,1715805070.565 [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 2024-05-15T20:31:10.571Z,1715805070.571 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2024-05-15T20:31:10.572Z,1715805070.572 [Default:A.Wait](DEBUG): Construct Wait. 2024-05-15T20:31:10.590Z,1715805070.590 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-15T20:31:10.627Z,1715805070.627 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2024-05-15T20:31:10.637Z,1715805070.637 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2024-05-15T20:31:10.651Z,1715805070.651 [Default:E.Execute](DEBUG): Construct Execute. 2024-05-15T20:31:10.658Z,1715805070.658 [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" } } 2024-05-15T20:31:10.663Z,1715805070.663 [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, 2024-05-15T20:31:10.690Z,1715805070.690 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2024-05-15T20:31:10.834Z,1715805070.834 [Depth_Keller](ERROR): Pressure or depth reading out of range: -1.000394 decibar, -0.993016 m 2024-05-15T20:31:10.835Z,1715805070.835 [Power24vConverter](INFO): Powering up. 2024-05-15T20:31:10.836Z,1715805070.836 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2024-05-15T20:31:10.854Z,1715805070.854 [DepthRateCalculator](ERROR): Depth measurement is not active 2024-05-15T20:31:10.891Z,1715805070.891 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2024-05-15T20:31:10.897Z,1715805070.897 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2024-05-15T20:31:10.898Z,1715805070.898 [ElevatorServo](DEBUG): Initializing EZServoServo. 2024-05-15T20:31:10.905Z,1715805070.905 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2024-05-15T20:31:10.906Z,1715805070.906 [DockingStepper](INFO): Start 2024-05-15T20:31:10.906Z,1715805070.906 [DockingStepper](DEBUG): Initializing EZServoServo. 2024-05-15T20:31:10.913Z,1715805070.913 [DockingStepper](DEBUG): Initializing DockingStepper. 2024-05-15T20:31:10.914Z,1715805070.914 [MassServo](DEBUG): Initializing EZServoServo. 2024-05-15T20:31:10.921Z,1715805070.921 [MassServo](DEBUG): Initializing MassServo. 2024-05-15T20:31:10.922Z,1715805070.922 [RudderServo](DEBUG): Initializing EZServoServo. 2024-05-15T20:31:10.929Z,1715805070.929 [RudderServo](DEBUG): Initializing RudderServo. 2024-05-15T20:31:10.930Z,1715805070.930 [ThrusterServo](DEBUG): Initializing EZServoServo. 2024-05-15T20:31:10.937Z,1715805070.937 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2024-05-15T20:31:11.124Z,1715805071.124 [DockingStepper](INFO): Starting 2024-05-15T20:31:11.496Z,1715805071.496 [DockingStepper](INFO): Starting 2024-05-15T20:31:12.021Z,1715805072.021 [DockingStepper](INFO): Starting 2024-05-15T20:31:12.070Z,1715805072.070 [DockingStepper](INFO): Init string: /1z14959aE13561N3m50 2024-05-15T20:31:12.317Z,1715805072.317 [DockingStepper](INFO): Starting 2024-05-15T20:31:12.693Z,1715805072.693 [WetLabsBB2FL](INFO): Powering down 2024-05-15T20:31:12.702Z,1715805072.702 [DockingStepper](INFO): Starting 2024-05-15T20:31:13.122Z,1715805073.122 [DockingStepper](INFO): Starting 2024-05-15T20:31:13.565Z,1715805073.565 [DockingStepper](INFO): Starting 2024-05-15T20:31:13.589Z,1715805073.589 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2024-05-15T20:31:14.024Z,1715805074.024 [DockingStepper](INFO): Starting 2024-05-15T20:31:14.781Z,1715805074.781 [DockingStepper](INFO): Pause 2024-05-15T20:31:19.393Z,1715805079.393 [WetLabsUBAT](INFO): Powering down 2024-05-15T20:31:23.677Z,1715805083.677 [DAT](INFO): DAT read: 2024-05-15T20:31:23.678Z,1715805083.678 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2024-05-15T20:31:25.197Z,1715805085.197 [DAT](INFO): DAT read: MF Frequency Band 2024-05-15T20:31:25.199Z,1715805085.199 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2024-05-15T20:31:25.199Z,1715805085.199 [DAT](INFO): DAT read: May 15 2024 20:29:31 2024-05-15T20:31:26.464Z,1715805086.464 [DAT](INFO): DAT read: Features enabled [Bearing] 2024-05-15T20:31:26.467Z,1715805086.467 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2024-05-15T20:31:26.468Z,1715805086.468 [DAT](INFO): commRate: 800 2024-05-15T20:31:28.533Z,1715805088.533 [DAT](INFO): entering command mode 2024-05-15T20:31:28.729Z,1715805088.729 [DAT](INFO): DAT read: 2024-05-15T20:31:28.730Z,1715805088.730 [DAT](INFO): DAT read: user:1> 2024-05-15T20:31:28.730Z,1715805088.730 [DAT](INFO): setting verbose to 3 2024-05-15T20:31:28.981Z,1715805088.981 [DAT](INFO): DAT read: user:1> 2024-05-15T20:31:28.982Z,1715805088.982 [DAT](INFO): DAT read: Verbose | 3 2024-05-15T20:31:28.983Z,1715805088.983 [DAT](INFO): set verbose to 3 2024-05-15T20:31:28.983Z,1715805088.983 [DAT](INFO): setting DatVerbose to 27440 2024-05-15T20:31:29.233Z,1715805089.233 [DAT](INFO): DAT read: user:2> 2024-05-15T20:31:29.234Z,1715805089.234 [DAT](INFO): DAT read: DatVerbose | 27440 2024-05-15T20:31:29.234Z,1715805089.234 [DAT](INFO): set DatVerbose to 27440 2024-05-15T20:31:29.235Z,1715805089.235 [DAT](INFO): setting transmit power to 8 2024-05-15T20:31:29.485Z,1715805089.485 [DAT](INFO): DAT read: user:3> 2024-05-15T20:31:29.486Z,1715805089.486 [DAT](INFO): DAT read: TxPower | 8 (Max) 2024-05-15T20:31:29.486Z,1715805089.486 [DAT](INFO): set transmit power to 8 2024-05-15T20:31:29.487Z,1715805089.487 [DAT](INFO): setting local address to 10 2024-05-15T20:31:29.737Z,1715805089.737 [DAT](INFO): DAT read: user:4> 2024-05-15T20:31:29.738Z,1715805089.738 [DAT](INFO): DAT read: LocalAddr | 10 2024-05-15T20:31:29.739Z,1715805089.739 [DAT](INFO): set local address to 10 2024-05-15T20:31:29.740Z,1715805089.740 [DAT](INFO): Setting time to: 20:31:29 And date to:5/15/2024 2024-05-15T20:31:29.989Z,1715805089.989 [DAT](INFO): DAT read: user:5> 2024-05-15T20:31:29.990Z,1715805089.990 [DAT](INFO): DAT read: Wed May 15, 2024 20:31:29 2024-05-15T20:31:29.990Z,1715805089.990 [DAT](INFO): Local DAT time set to Wed May 15, 2024 20:31:29 2024-05-15T20:31:35.017Z,1715805095.017 [CommandExec](IMPORTANT): got command report mod Dock.dock_voltage_present 2024-05-15T20:31:35.381Z,1715805095.381 [Reporter](INFO): Dock.dock_voltage_present 0 bool 2024-05-15T20:31:38.958Z,1715805098.958 [NAL9602](INFO): Powering up NAL9602 2024-05-15T20:31:49.862Z,1715805109.862 [NAL9602](INFO): NAL9602 initialized 2024-05-15T20:32:49.699Z,1715805169.699 [SBIT](IMPORTANT): Beginning Startup BIT 2024-05-15T20:32:49.703Z,1715805169.703 [CBIT](IMPORTANT): Beginning ground fault scan 2024-05-15T20:33:00.672Z,1715805180.672 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.007312 CHAN A1 (24V): 0.003877 CHAN A2 (12V): -0.005784 CHAN A3 (5V): -0.002278 CHAN B0 (3.3V): 0.000116 CHAN B1 (3.15aV): 0.000616 CHAN B2 (3.15bV): 0.000192 CHAN B3 (GND): 0.002069 OPEN: -0.002572 Full Scale: +/- 1 mA 2024-05-15T20:33:43.821Z,1715805223.821 [SBIT](IMPORTANT): SBIT PASSED 2024-05-15T20:33:43.821Z,1715805223.821 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2024-05-15T20:33:43.822Z,1715805223.822 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=2 count; 2024-05-15T20:33:43.822Z,1715805223.822 [SBIT](IMPORTANT): DockingStepper.closedValue=16500 count; 2024-05-15T20:33:43.822Z,1715805223.822 [SBIT](IMPORTANT): DockingStepper.loadAtStartup=1 bool; 2024-05-15T20:33:43.822Z,1715805223.822 [SBIT](IMPORTANT): DockingStepper.openValue=7500 count; 2024-05-15T20:33:43.822Z,1715805223.822 [SBIT](IMPORTANT): DockingStepper.simulateHardware=0 bool; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): ESPComponent.loadAtStartup=1 bool; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=2 minute; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): ESPComponent.simulateHardware=1 bool; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): Express linearApproximation WetLabsUBAT.flow_rate 0.300000 liter_per_second; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): Express linearApproximation downwelling_photosynthetic_photon_flux_in_sea_water 100.000000 micromole_per_second_per_square_meter; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=0 bool; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=700 cubic_centimeter; 2024-05-15T20:33:43.823Z,1715805223.823 [SBIT](IMPORTANT): VerticalControl.kpDepth=0.09 radian_per_meter; 2024-05-15T20:33:43.824Z,1715805223.824 [SBIT](IMPORTANT): VerticalControl.kpPitchElevator=0.5 none; 2024-05-15T20:33:43.824Z,1715805223.824 [SBIT](IMPORTANT): VerticalControl.massDefault=-19.999430 millimeter; 2024-05-15T20:33:43.824Z,1715805223.824 [SBIT](IMPORTANT): VerticalControl.stopDepthExcursion=20 meter; 2024-05-15T20:33:44.211Z,1715805224.211 [MissionManager](IMPORTANT): Started mission Startup 2024-05-15T20:33:44.211Z,1715805224.211 [Startup] Running Loop=1 2024-05-15T20:33:44.211Z,1715805224.211 [Startup](DEBUG): Aggregate::initialize Startup 2024-05-15T20:33:44.211Z,1715805224.211 [Startup:A.GoToSurface] Running Loop=1 2024-05-15T20:33:44.211Z,1715805224.211 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-15T20:33:44.212Z,1715805224.212 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-15T20:33:44.212Z,1715805224.212 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-15T20:33:44.213Z,1715805224.213 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-15T20:33:44.213Z,1715805224.213 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-15T20:33:44.214Z,1715805224.214 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-15T20:33:44.215Z,1715805224.215 [Startup:StartupSatComms] Running Loop=1 2024-05-15T20:33:44.215Z,1715805224.215 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2024-05-15T20:33:44.215Z,1715805224.215 [Startup:StartupSatComms:A] Running Loop=1 2024-05-15T20:33:44.656Z,1715805224.656 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2024-05-15T20:33:58.125Z,1715805238.125 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005231 2024-05-15T20:34:07.202Z,1715805247.202 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:34:10.064Z,1715805250.064 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1 2024-05-15T20:34:10.064Z,1715805250.064 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-05-15T20:34:10.095Z,1715805250.095 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-05-15T20:34:10.462Z,1715805250.462 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-05-15T20:34:10.463Z,1715805250.463 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1 2024-05-15T20:34:13.672Z,1715805253.672 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:34:26.987Z,1715805266.987 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:34:33.521Z,1715805273.521 [NAL9602](INFO): SBD MO Status=2, MOMSN=37338, MT Status=2, MTMSN=0 2024-05-15T20:34:33.521Z,1715805273.521 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-15T20:34:40.319Z,1715805280.319 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:34:44.376Z,1715805284.376 [Startup:StartupSatComms:A](INFO): Timed out from 2024-05-15T20:33:44.2Z 2024-05-15T20:34:44.376Z,1715805284.376 [Startup:StartupSatComms:A] Stopped 2024-05-15T20:34:44.376Z,1715805284.376 [Startup:StartupSatComms:B] Running Loop=1 2024-05-15T20:34:44.784Z,1715805284.784 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-15T20:34:50.991Z,1715805290.991 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20240515T193437/Courier0022.lzma 2024-05-15T20:34:51.960Z,1715805291.960 [DataOverHttps](INFO): Moved sent file to Logs/20240515T193437/Courier0022.lzma.bak 2024-05-15T20:34:51.960Z,1715805291.960 [DataOverHttps](INFO): SBD MOMSN=21023800 2024-05-15T20:34:52.944Z,1715805292.944 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:35:05.467Z,1715805305.467 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:35:07.962Z,1715805307.962 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20240515T203057/Courier0000.lzma 2024-05-15T20:35:08.964Z,1715805308.964 [DataOverHttps](INFO): Moved sent file to Logs/20240515T203057/Courier0000.lzma.bak 2024-05-15T20:35:08.964Z,1715805308.964 [DataOverHttps](INFO): SBD MOMSN=21023808 2024-05-15T20:35:18.395Z,1715805318.395 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:35:26.853Z,1715805326.853 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20240515T193437/Express0023.lzma 2024-05-15T20:35:27.910Z,1715805327.910 [DataOverHttps](INFO): Moved sent file to Logs/20240515T193437/Express0023.lzma.bak 2024-05-15T20:35:27.910Z,1715805327.910 [DataOverHttps](INFO): SBD MOMSN=21023811 2024-05-15T20:35:31.331Z,1715805331.331 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:35:44.663Z,1715805344.663 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:35:44.684Z,1715805344.684 [Startup:StartupSatComms:B](INFO): Timed out from 2024-05-15T20:34:44.4Z 2024-05-15T20:35:44.684Z,1715805344.684 [Startup:StartupSatComms:B] Stopped 2024-05-15T20:35:44.685Z,1715805344.685 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2024-05-15T20:35:44.685Z,1715805344.685 [Startup:StartupSatComms] Stopped 2024-05-15T20:35:44.685Z,1715805344.685 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2024-05-15T20:35:44.686Z,1715805344.686 [Startup](INFO): Completed Startup 2024-05-15T20:35:44.686Z,1715805344.686 [MissionManager](INFO): Startup is completed. 2024-05-15T20:35:44.686Z,1715805344.686 [MissionManager](INFO): Uninitializing Mission Startup 2024-05-15T20:35:44.686Z,1715805344.686 [Startup] Stopped 2024-05-15T20:35:44.686Z,1715805344.686 [Startup](DEBUG): Aggregate::uninitialize Startup 2024-05-15T20:35:44.686Z,1715805344.686 [Startup:A.GoToSurface] Stopped 2024-05-15T20:35:44.686Z,1715805344.686 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-15T20:35:45.122Z,1715805345.122 [MissionManager](IMPORTANT): Started mission Default 2024-05-15T20:35:45.122Z,1715805345.122 [Default] Running Loop=1 2024-05-15T20:35:45.123Z,1715805345.123 [Default](DEBUG): Aggregate::initialize Default 2024-05-15T20:35:45.123Z,1715805345.123 [Default:B.GoToSurface] Running Loop=1 2024-05-15T20:35:45.123Z,1715805345.123 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-15T20:35:45.123Z,1715805345.123 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-15T20:35:45.123Z,1715805345.123 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-15T20:35:45.124Z,1715805345.124 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-15T20:35:45.124Z,1715805345.124 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-15T20:35:45.124Z,1715805345.124 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-15T20:35:45.124Z,1715805345.124 [Default:A.Wait] Running Loop=1 2024-05-15T20:35:45.124Z,1715805345.124 [Default:A.Wait](DEBUG): Initialize Wait Component. 2024-05-15T20:35:45.192Z,1715805345.192 [DataOverHttps](INFO): Sending 1183 bytes from file Logs/20240515T203057/Express0001.lzma 2024-05-15T20:35:46.192Z,1715805346.192 [DataOverHttps](INFO): Moved sent file to Logs/20240515T203057/Express0001.lzma.bak 2024-05-15T20:35:46.192Z,1715805346.192 [DataOverHttps](INFO): SBD MOMSN=21023813 2024-05-15T20:35:57.592Z,1715805357.592 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:35:58.430Z,1715805358.430 [Default:A.Wait](INFO): Done Waiting. 2024-05-15T20:35:58.430Z,1715805358.430 [Default:A.Wait] Stopped 2024-05-15T20:35:58.430Z,1715805358.430 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2024-05-15T20:35:58.820Z,1715805358.820 [Default:CheckIn] Running Loop=1 2024-05-15T20:35:58.820Z,1715805358.820 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-15T20:35:58.820Z,1715805358.820 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-15T20:35:59.227Z,1715805359.227 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2024-05-15T20:36:10.519Z,1715805370.519 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:36:23.448Z,1715805383.448 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:36:53.400Z,1715805413.400 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2024-05-15T20:37:11.151Z,1715805431.151 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2 2024-05-15T20:37:11.151Z,1715805431.151 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-05-15T20:37:11.184Z,1715805431.184 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-05-15T20:37:11.553Z,1715805431.553 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-05-15T20:37:11.553Z,1715805431.553 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2 2024-05-15T20:37:37.805Z,1715805457.805 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,203736.00,A,3648.15526,N,12147.27816,W,1.944,164.44,150524,,,A*74 2024-05-15T20:37:37.808Z,1715805457.808 [NAL9602](INFO): GPS fix at 20240515T203736: (36.802588, -121.787969) 2024-05-15T20:37:37.919Z,1715805457.919 [Default:CheckIn:Read_GPS] Stopped 2024-05-15T20:37:37.919Z,1715805457.919 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-15T20:37:38.235Z,1715805458.235 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-15T20:37:40.567Z,1715805460.567 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20240515T203057/Courier0004.lzma 2024-05-15T20:37:40.760Z,1715805460.760 [DataOverHttps](INFO): Moved sent file to Logs/20240515T203057/Courier0004.lzma.bak 2024-05-15T20:37:40.760Z,1715805460.760 [DataOverHttps](INFO): SBD MOMSN=21023849 2024-05-15T20:37:49.720Z,1715805469.720 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768, 2024-05-15T20:38:01.815Z,1715805481.815 [DataOverHttps](INFO): Sending 330 bytes from file Logs/20240515T203057/Express0005.lzma 2024-05-15T20:38:02.816Z,1715805482.816 [DataOverHttps](INFO): Moved sent file to Logs/20240515T203057/Express0005.lzma.bak 2024-05-15T20:38:02.816Z,1715805482.816 [DataOverHttps](INFO): SBD MOMSN=21023867 2024-05-15T20:38:05.399Z,1715805485.399 [Default:CheckIn:Read_Iridium] Stopped 2024-05-15T20:38:05.399Z,1715805485.399 [Default:CheckIn:C.Wait] Running Loop=1 2024-05-15T20:38:05.399Z,1715805485.399 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2024-05-15T20:38:10.227Z,1715805490.227 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-15T20:38:30.383Z,1715805510.383 [CommandExec](IMPORTANT): got command docking standby 2024-05-15T20:38:30.384Z,1715805510.384 [CommandExec](IMPORTANT): Switching docking moudle to STANDBY. 2024-05-15T20:38:30.865Z,1715805510.865 [DockingStepper](INFO): Resume 2024-05-15T20:38:31.301Z,1715805511.301 [DockingStepper](INFO): Resuming 2024-05-15T20:38:31.332Z,1715805511.332 [Reporter](INFO): Dock.dock_voltage_present 0 bool 2024-05-15T20:38:31.727Z,1715805511.727 [DockingStepper](INFO): Start 2024-05-15T20:38:31.728Z,1715805511.728 [DockingStepper](DEBUG): Initializing EZServoServo. 2024-05-15T20:38:31.847Z,1715805511.847 [DockingStepper](DEBUG): Initializing DockingStepper. 2024-05-15T20:38:32.075Z,1715805512.075 [DockingStepper](INFO): Starting 2024-05-15T20:38:32.484Z,1715805512.484 [DockingStepper](INFO): Starting 2024-05-15T20:38:32.868Z,1715805512.868 [DockingStepper](INFO): Starting 2024-05-15T20:38:32.919Z,1715805512.919 [DockingStepper](INFO): Init string: /1z14975aE13561N3m50 2024-05-15T20:38:33.269Z,1715805513.269 [DockingStepper](INFO): Starting 2024-05-15T20:38:33.708Z,1715805513.708 [DockingStepper](INFO): Starting 2024-05-15T20:38:34.096Z,1715805514.096 [DockingStepper](INFO): Starting 2024-05-15T20:38:34.484Z,1715805514.484 [DockingStepper](INFO): Starting 2024-05-15T20:38:34.510Z,1715805514.510 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2024-05-15T20:38:34.887Z,1715805514.887 [DockingStepper](INFO): Starting 2024-05-15T20:38:34.893Z,1715805514.893 [Reporter](INFO): Dock.dock_voltage_present 0 bool 2024-05-15T20:38:55.448Z,1715805535.448 [Reporter](INFO): Dock.dock_voltage_present 1 bool 2024-05-15T20:39:03.753Z,1715805543.753 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:39:21.124Z,1715805561.125 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:39:38.908Z,1715805578.908 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:39:55.875Z,1715805595.875 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:40:10.881Z,1715805610.881 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2024-05-15T20:40:13.261Z,1715805613.261 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:40:23.817Z,1715805623.817 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2024-05-15T20:40:29.811Z,1715805629.811 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:40:46.817Z,1715805646.817 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:40:50.555Z,1715805650.555 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2024-05-15T20:41:03.123Z,1715805663.123 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2024-05-15T20:41:03.789Z,1715805663.789 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:41:16.709Z,1715805676.709 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2024-05-15T20:41:21.167Z,1715805681.167 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-15T20:41:24.588Z,1715805684.588 [Reporter](INFO): Dock.dock_voltage_present 0 bool 2024-05-15T20:43:05.907Z,1715805785.907 [Default:CheckIn:C.Wait](INFO): Done Waiting. 2024-05-15T20:43:05.908Z,1715805785.908 [Default:CheckIn:C.Wait] Stopped 2024-05-15T20:43:05.908Z,1715805785.908 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2024-05-15T20:43:05.908Z,1715805785.908 [Default:CheckIn:D] Running Loop=1 2024-05-15T20:43:06.292Z,1715805786.292 [Default:CheckIn:D] Stopped 2024-05-15T20:43:06.292Z,1715805786.292 [Default:CheckIn:E] Running Loop=1 2024-05-15T20:43:06.686Z,1715805786.686 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 7.352819 min 2024-05-15T20:43:06.686Z,1715805786.686 [Default:CheckIn:E] Stopped 2024-05-15T20:43:06.686Z,1715805786.686 [Default:CheckIn](INFO): Completed Default:CheckIn 2024-05-15T20:43:06.687Z,1715805786.687 [Default:CheckIn] Stopped 2024-05-15T20:43:06.687Z,1715805786.687 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-05-15T20:43:06.687Z,1715805786.687 [Default:CheckIn](INFO): Running loop #2 2024-05-15T20:43:06.687Z,1715805786.687 [Default:CheckIn] Running Loop=2 2024-05-15T20:43:06.687Z,1715805786.687 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2024-05-15T20:43:06.687Z,1715805786.687 [Default:CheckIn:Read_GPS] Running Loop=1 2024-05-15T20:43:08.693Z,1715805788.693 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,204307.00,A,3648.16250,N,12147.28505,W,0.253,164.44,150524,,,A*7C 2024-05-15T20:43:08.695Z,1715805788.695 [NAL9602](INFO): GPS fix at 20240515T204307: (36.802708, -121.788084) 2024-05-15T20:43:08.706Z,1715805788.706 [Default:CheckIn:Read_GPS] Stopped 2024-05-15T20:43:08.706Z,1715805788.706 [Default:CheckIn:Read_Iridium] Running Loop=1 2024-05-15T20:43:17.737Z,1715805797.737 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20240515T203057/Courier0007.lzma 2024-05-15T20:43:18.741Z,1715805798.741 [DataOverHttps](INFO): Moved sent file to Logs/20240515T203057/Courier0007.lzma.bak 2024-05-15T20:43:18.742Z,1715805798.742 [DataOverHttps](INFO): SBD MOMSN=21023877 2024-05-15T20:43:37.962Z,1715805817.962 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20240515T203057/Express0008.lzma 2024-05-15T20:43:38.967Z,1715805818.967 [DataOverHttps](INFO): Moved sent file to Logs/20240515T203057/Express0008.lzma.bak 2024-05-15T20:43:38.967Z,1715805818.967 [DataOverHttps](INFO): SBD MOMSN=21023880 2024-05-15T20:43:39.219Z,1715805819.219 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check. 2024-05-15T20:43:39.302Z,1715805819.302 [NAL9602](ERROR): received: +CSQ:0 OK338, 2, 0, 0, 0 OK 2024-05-15T20:43:42.481Z,1715805822.481 [Default:CheckIn:Read_Iridium] Stopped 2024-05-15T20:43:42.481Z,1715805822.481 [Default:CheckIn:C.Wait] Running Loop=1 2024-05-15T20:43:42.481Z,1715805822.481 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2024-05-15T20:43:43.718Z,1715805823.718 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:43:51.053Z,1715805831.053 [CommandLine](INFO): End of History 2024-05-15T20:43:52.328Z,1715805832.328 [CommandLine](INFO): End of History 2024-05-15T20:43:53.483Z,1715805833.483 [CommandLine](INFO): End of History 2024-05-15T20:43:55.194Z,1715805835.194 [CommandLine](INFO): End of History 2024-05-15T20:43:56.771Z,1715805836.771 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:44:09.736Z,1715805849.736 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-15T20:44:16.295Z,1715805856.295 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/OnDock.tl 2024-05-15T20:44:16.295Z,1715805856.295 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl 2024-05-15T20:44:16.295Z,1715805856.295 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl 2024-05-15T20:44:16.299Z,1715805856.299 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl 2024-05-15T20:44:17.158Z,1715805857.158 [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: . 2024-05-15T20:44:17.165Z,1715805857.165 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h 2024-05-15T20:44:17.169Z,1715805857.169 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 300.000000 s 2024-05-15T20:44:17.173Z,1715805857.173 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s 2024-05-15T20:44:17.176Z,1715805857.176 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min 2024-05-15T20:44:17.184Z,1715805857.184 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count 2024-05-15T20:44:17.188Z,1715805857.188 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 201 count 2024-05-15T20:44:17.192Z,1715805857.192 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m 2024-05-15T20:44:17.196Z,1715805857.196 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m 2024-05-15T20:44:17.223Z,1715805857.223 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km 2024-05-15T20:44:17.234Z,1715805857.234 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool 2024-05-15T20:44:17.242Z,1715805857.242 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 30.000000 min 2024-05-15T20:44:17.245Z,1715805857.245 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h 2024-05-15T20:44:17.250Z,1715805857.250 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2024-05-15T20:44:17.250Z,1715805857.250 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2024-05-15T20:44:17.252Z,1715805857.252 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2024-05-15T20:44:17.458Z,1715805857.458 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2024-05-15T20:44:17.473Z,1715805857.473 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m 2024-05-15T20:44:17.497Z,1715805857.497 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2024-05-15T20:44:17.515Z,1715805857.515 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m 2024-05-15T20:44:17.535Z,1715805857.535 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 2024-05-15T20:44:17.536Z,1715805857.536 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2024-05-15T20:44:17.553Z,1715805857.553 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2024-05-15T20:44:17.574Z,1715805857.574 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2024-05-15T20:44:17.630Z,1715805857.630 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-05-15T20:44:17.631Z,1715805857.631 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-05-15T20:44:17.639Z,1715805857.639 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-05-15T20:44:17.705Z,1715805857.705 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-05-15T20:44:17.713Z,1715805857.713 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2024-05-15T20:44:17.752Z,1715805857.752 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-05-15T20:44:17.759Z,1715805857.759 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2024-05-15T20:44:17.759Z,1715805857.759 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2024-05-15T20:44:17.760Z,1715805857.760 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2024-05-15T20:44:18.061Z,1715805858.061 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2024-05-15T20:44:18.074Z,1715805858.074 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool 2024-05-15T20:44:18.078Z,1715805858.078 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool 2024-05-15T20:44:18.094Z,1715805858.094 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool 2024-05-15T20:44:18.097Z,1715805858.097 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool 2024-05-15T20:44:18.102Z,1715805858.102 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool 2024-05-15T20:44:18.149Z,1715805858.149 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait. 2024-05-15T20:44:18.314Z,1715805858.314 [OnDock:restartDHCP:B.Execute](DEBUG): Construct Execute. 2024-05-15T20:44:18.318Z,1715805858.318 [OnDock:L.Execute](DEBUG): Construct Execute. 2024-05-15T20:44:18.344Z,1715805858.344 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute. 2024-05-15T20:44:18.350Z,1715805858.350 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait. 2024-05-15T20:44:18.352Z,1715805858.352 [OnDock:O.Docked](DEBUG): Construct. 2024-05-15T20:44:18.352Z,1715805858.352 [OnDock:O.Docked](DEBUG): Initializing internal variables to default values. 2024-05-15T20:44:18.423Z,1715805858.423 [OnDock:Detach:B.Undock](DEBUG): Construct. 2024-05-15T20:44:18.423Z,1715805858.423 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2024-05-15T20:44:18.469Z,1715805858.469 [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" } } 2024-05-15T20:44:18.475Z,1715805858.475 [CommandExec](IMPORTANT): Running ./Missions/Engineering/OnDock.tl 2024-05-15T20:44:18.563Z,1715805858.563 [Default] Stopped 2024-05-15T20:44:18.564Z,1715805858.564 [Default](DEBUG): Aggregate::uninitialize Default 2024-05-15T20:44:18.564Z,1715805858.564 [Default:B.GoToSurface] Stopped 2024-05-15T20:44:18.564Z,1715805858.564 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-15T20:44:18.564Z,1715805858.564 [Default:CheckIn] Stopped 2024-05-15T20:44:18.564Z,1715805858.564 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2024-05-15T20:44:18.564Z,1715805858.564 [Default:CheckIn:C.Wait] Stopped 2024-05-15T20:44:18.564Z,1715805858.564 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2024-05-15T20:44:18.564Z,1715805858.564 [MissionManager](IMPORTANT): Started mission OnDock 2024-05-15T20:44:18.564Z,1715805858.564 [OnDock] Running Loop=1 2024-05-15T20:44:18.564Z,1715805858.564 [OnDock](DEBUG): Aggregate::initialize OnDock 2024-05-15T20:44:18.565Z,1715805858.565 [OnDock:StandardEnvelopes] Running Loop=1 2024-05-15T20:44:18.565Z,1715805858.565 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes 2024-05-15T20:44:18.565Z,1715805858.565 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-15T20:44:18.565Z,1715805858.565 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2024-05-15T20:44:18.565Z,1715805858.565 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-15T20:44:18.565Z,1715805858.565 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2024-05-15T20:44:18.565Z,1715805858.565 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-15T20:44:18.565Z,1715805858.565 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2024-05-15T20:44:18.566Z,1715805858.566 [OnDock:BackseatDriver] Running Loop=1 2024-05-15T20:44:18.566Z,1715805858.566 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver 2024-05-15T20:44:18.570Z,1715805858.570 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-05-15T20:44:18.570Z,1715805858.570 [OnDock:PowerOnly] Running Loop=1 2024-05-15T20:44:18.570Z,1715805858.570 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly 2024-05-15T20:44:18.570Z,1715805858.570 [OnDock:PowerOnly:A] Running Loop=1 2024-05-15T20:44:18.570Z,1715805858.570 [OnDock:PowerOnly:B] Running Loop=1 2024-05-15T20:44:18.570Z,1715805858.570 [OnDock:PowerOnly:C] Running Loop=1 2024-05-15T20:44:18.570Z,1715805858.570 [OnDock:PowerOnly:D] Running Loop=1 2024-05-15T20:44:18.571Z,1715805858.571 [OnDock:PowerOnly:E.Wait] Running Loop=1 2024-05-15T20:44:18.571Z,1715805858.571 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2024-05-15T20:44:18.571Z,1715805858.571 [OnDock:H] Running Loop=1 2024-05-15T20:44:18.571Z,1715805858.571 [OnDock:I.] Running Loop=1 2024-05-15T20:44:18.571Z,1715805858.571 [OnDock:I.](INFO): Initializing TrackAcousticContact. 2024-05-15T20:44:18.571Z,1715805858.571 [OnDock:PeriodicCheck] Running Loop=1 2024-05-15T20:44:18.571Z,1715805858.571 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck 2024-05-15T20:44:18.571Z,1715805858.571 [OnDock:PeriodicCheck:CheckIP] Running Loop=1 2024-05-15T20:44:18.572Z,1715805858.572 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP 2024-05-15T20:44:18.572Z,1715805858.572 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1 2024-05-15T20:44:18.572Z,1715805858.572 [OnDock:B] Running Loop=1 2024-05-15T20:44:18.572Z,1715805858.572 [OnDock:PeriodicCheck] Running Loop=1 2024-05-15T20:44:18.572Z,1715805858.572 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig 2024-05-15T20:44:18.573Z,1715805858.573 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped 2024-05-15T20:44:18.573Z,1715805858.573 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1 2024-05-15T20:44:18.573Z,1715805858.573 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component. 2024-05-15T20:44:18.573Z,1715805858.573 [OnDock:I.] Running Loop=1 2024-05-15T20:44:18.574Z,1715805858.574 [OnDock:H] Running Loop=1 2024-05-15T20:44:18.579Z,1715805858.579 [CommandExec](IMPORTANT): got command ! ifconfig 2024-05-15T20:44:18.607Z,1715805858.607 [OnDock:H](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-15T20:44:18.607Z,1715805858.607 [OnDock:PowerOnly] Running Loop=1 2024-05-15T20:44:18.608Z,1715805858.608 [OnDock:PowerOnly:D] Stopped 2024-05-15T20:44:18.608Z,1715805858.608 [OnDock:PowerOnly:C] Stopped 2024-05-15T20:44:18.608Z,1715805858.608 [OnDock:PowerOnly:B] Stopped 2024-05-15T20:44:18.608Z,1715805858.608 [OnDock:PowerOnly:A] Stopped 2024-05-15T20:44:18.608Z,1715805858.608 [OnDock:BackseatDriver] Running Loop=1 2024-05-15T20:44:18.609Z,1715805858.609 [OnDock:B] Stopped 2024-05-15T20:44:18.610Z,1715805858.610 [OnDock:C] Running Loop=1 2024-05-15T20:44:18.610Z,1715805858.610 [OnDock:StandardEnvelopes] Running Loop=1 2024-05-15T20:44:18.610Z,1715805858.610 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-15T20:44:18.611Z,1715805858.611 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE 2024-05-15T20:44:18.636Z,1715805858.636 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-15T20:44:18.637Z,1715805858.637 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-15T20:44:18.660Z,1715805858.660 [HorizontalControl](DEBUG): kpHeading = 0.400000 2024-05-15T20:44:18.660Z,1715805858.660 [HorizontalControl](DEBUG): kiHeading = 0.001000 2024-05-15T20:44:18.660Z,1715805858.660 [HorizontalControl](DEBUG): kdHeading = 0.050000 2024-05-15T20:44:18.756Z,1715805858.756 [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:1778 errors:0 dropped:0 overruns:0 frame:0 TX packets:2663 errors:0 dropped:0 overruns:0 carrier:0 collisions:29 txqueuelen:1000 RX bytes:469097 (458.1 Kb) TX bytes:3001439 (2.8 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) 2024-05-15T20:44:19.383Z,1715805859.383 [OnDock:C] Stopped 2024-05-15T20:44:19.384Z,1715805859.384 [OnDock:D] Running Loop=1 2024-05-15T20:44:19.799Z,1715805859.799 [OnDock:D] Stopped 2024-05-15T20:44:19.800Z,1715805859.800 [OnDock:E] Running Loop=1 2024-05-15T20:44:20.152Z,1715805860.152 [OnDock:E] Stopped 2024-05-15T20:44:20.152Z,1715805860.152 [OnDock:K] Running Loop=1 2024-05-15T20:44:20.580Z,1715805860.580 [OnDock:K](IMPORTANT): Restarting logs 2024-05-15T20:44:20.580Z,1715805860.580 [OnDock:K] Stopped 2024-05-15T20:44:20.580Z,1715805860.580 [OnDock:L.Execute] Running Loop=1 2024-05-15T20:44:20.629Z,1715805860.629 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2024-05-15T20:44:20.956Z,1715805860.956 [OnDock:L.Execute](INFO): Executing command restart logs 2024-05-15T20:44:20.956Z,1715805860.956 [OnDock:L.Execute] Stopped 2024-05-15T20:44:20.957Z,1715805860.957 [OnDock:M] Running Loop=1 2024-05-15T20:44:20.957Z,1715805860.957 [OnDock:M](DEBUG): Aggregate::initialize OnDock:M