2024-05-22T22:35:54.445Z,1716417354.445 [Supervisor](DEBUG): Initializing supervisor. 2024-05-22T22:35:54.449Z,1716417354.449 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2024-05-22T22:35:54.450Z,1716417354.450 [SyncHandler](INFO): Protected caller Thread ID is 1014 2024-05-22T22:35:54.450Z,1716417354.450 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2024-05-22T22:35:54.451Z,1716417354.451 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2024-05-22T22:35:54.452Z,1716417354.452 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1015 2024-05-22T22:35:54.455Z,1716417354.455 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2024-05-22T22:35:54.473Z,1716417354.473 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2024-05-22T22:35:54.474Z,1716417354.474 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2024-05-22T22:35:54.474Z,1716417354.474 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1016 2024-05-22T22:35:54.478Z,1716417354.478 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2024-05-22T22:35:54.479Z,1716417354.479 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2024-05-22T22:35:54.480Z,1716417354.480 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1017 2024-05-22T22:35:54.482Z,1716417354.482 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2024-05-22T22:35:54.483Z,1716417354.483 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2024-05-22T22:35:54.483Z,1716417354.483 [logger ThreadHandler](INFO): Protected caller Thread ID is 1018 2024-05-22T22:35:54.487Z,1716417354.487 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2024-05-22T22:35:54.487Z,1716417354.487 [Supervisor](INFO): Looking for Config files in directory: Config/ 2024-05-22T22:35:54.489Z,1716417354.489 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2024-05-22T22:35:54.596Z,1716417354.596 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2024-05-22T22:35:54.596Z,1716417354.596 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2024-05-22T22:35:55.378Z,1716417355.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2024-05-22T22:35:55.379Z,1716417355.379 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2024-05-22T22:35:55.627Z,1716417355.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2024-05-22T22:35:55.627Z,1716417355.627 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2024-05-22T22:35:55.719Z,1716417355.719 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2024-05-22T22:35:55.868Z,1716417355.868 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2024-05-22T22:35:55.868Z,1716417355.868 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2024-05-22T22:35:55.960Z,1716417355.960 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2024-05-22T22:35:56.080Z,1716417356.080 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2024-05-22T22:35:56.080Z,1716417356.080 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2024-05-22T22:35:56.492Z,1716417356.492 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2024-05-22T22:35:56.493Z,1716417356.493 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2024-05-22T22:35:57.296Z,1716417357.296 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2024-05-22T22:35:57.296Z,1716417357.296 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2024-05-22T22:35:57.766Z,1716417357.766 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2024-05-22T22:35:57.766Z,1716417357.766 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2024-05-22T22:35:57.967Z,1716417357.967 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2024-05-22T22:35:57.968Z,1716417357.968 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2024-05-22T22:35:58.531Z,1716417358.531 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2024-05-22T22:35:58.532Z,1716417358.532 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2024-05-22T22:35:58.838Z,1716417358.838 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2024-05-22T22:35:58.838Z,1716417358.838 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2024-05-22T22:35:59.083Z,1716417359.083 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2024-05-22T22:35:59.083Z,1716417359.083 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2024-05-22T22:35:59.475Z,1716417359.475 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2024-05-22T22:35:59.476Z,1716417359.476 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2024-05-22T22:35:59.841Z,1716417359.841 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2024-05-22T22:35:59.843Z,1716417359.843 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/ 2024-05-22T22:35:59.844Z,1716417359.844 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg 2024-05-22T22:35:59.938Z,1716417359.938 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg 2024-05-22T22:36:00.118Z,1716417360.118 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg 2024-05-22T22:36:00.225Z,1716417360.225 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg 2024-05-22T22:36:00.344Z,1716417360.344 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg 2024-05-22T22:36:00.442Z,1716417360.442 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg 2024-05-22T22:36:00.548Z,1716417360.548 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg 2024-05-22T22:36:00.688Z,1716417360.688 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg 2024-05-22T22:36:00.963Z,1716417360.963 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2024-05-22T22:36:00.963Z,1716417360.963 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg 2024-05-22T22:36:01.070Z,1716417361.070 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg 2024-05-22T22:36:01.174Z,1716417361.174 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg 2024-05-22T22:36:01.328Z,1716417361.328 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg 2024-05-22T22:36:01.440Z,1716417361.440 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/root/ 2024-05-22T22:36:01.440Z,1716417361.440 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2024-05-22T22:36:01.458Z,1716417361.458 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2024-05-22T22:36:01.573Z,1716417361.573 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2024-05-22T22:36:01.573Z,1716417361.573 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2024-05-22T22:36:01.626Z,1716417361.626 [VerticalControl](DEBUG): Construct VerticalControl. 2024-05-22T22:36:01.686Z,1716417361.686 [VerticalControl] Loaded 2024-05-22T22:36:01.686Z,1716417361.686 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2024-05-22T22:36:01.689Z,1716417361.689 [HorizontalControl](DEBUG): Construct HorizontalControl. 2024-05-22T22:36:01.736Z,1716417361.736 [HorizontalControl] Loaded 2024-05-22T22:36:01.736Z,1716417361.736 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2024-05-22T22:36:01.738Z,1716417361.738 [SpeedControl](DEBUG): Construct SpeedControl. 2024-05-22T22:36:01.741Z,1716417361.741 [SpeedControl] Loaded 2024-05-22T22:36:01.742Z,1716417361.742 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2024-05-22T22:36:01.744Z,1716417361.744 [LoopControl](DEBUG): Construct LoopControl. 2024-05-22T22:36:01.745Z,1716417361.745 [LoopControl] Loaded 2024-05-22T22:36:01.745Z,1716417361.745 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2024-05-22T22:36:01.745Z,1716417361.745 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2024-05-22T22:36:01.746Z,1716417361.746 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2024-05-22T22:36:01.795Z,1716417361.795 [DepthRateCalculator] Loaded 2024-05-22T22:36:01.795Z,1716417361.795 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2024-05-22T22:36:01.800Z,1716417361.800 [PitchRateCalculator] Loaded 2024-05-22T22:36:01.800Z,1716417361.800 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2024-05-22T22:36:01.810Z,1716417361.810 [SpeedCalculator] Loaded 2024-05-22T22:36:01.810Z,1716417361.810 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2024-05-22T22:36:01.815Z,1716417361.815 [YawRateCalculator] Loaded 2024-05-22T22:36:01.815Z,1716417361.815 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2024-05-22T22:36:01.833Z,1716417361.833 [ElevatorOffsetCalculator] Loaded 2024-05-22T22:36:01.833Z,1716417361.833 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2024-05-22T22:36:01.834Z,1716417361.834 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2024-05-22T22:36:01.834Z,1716417361.834 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2024-05-22T22:36:01.862Z,1716417361.862 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2024-05-22T22:36:01.862Z,1716417361.862 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2024-05-22T22:36:01.919Z,1716417361.919 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2024-05-22T22:36:01.920Z,1716417361.920 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2024-05-22T22:36:02.258Z,1716417362.258 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2024-05-22T22:36:02.259Z,1716417362.259 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2024-05-22T22:36:02.432Z,1716417362.432 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2024-05-22T22:36:02.433Z,1716417362.433 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2024-05-22T22:36:03.557Z,1716417363.557 [AHRS_M2] Loaded 2024-05-22T22:36:03.557Z,1716417363.557 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2024-05-22T22:36:03.593Z,1716417363.593 [BackseatComponent] Loaded 2024-05-22T22:36:03.593Z,1716417363.593 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2024-05-22T22:36:03.594Z,1716417363.594 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409C44E0 2024-05-22T22:36:03.595Z,1716417363.595 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1103 2024-05-22T22:36:03.598Z,1716417363.598 [LcmUniversalReporter] Loaded 2024-05-22T22:36:03.598Z,1716417363.598 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2024-05-22T22:36:04.408Z,1716417364.408 [BPC1] Loaded 2024-05-22T22:36:04.408Z,1716417364.408 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2024-05-22T22:36:04.481Z,1716417364.481 [DataOverHttps] Loaded 2024-05-22T22:36:04.481Z,1716417364.481 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2024-05-22T22:36:04.482Z,1716417364.482 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409F44E0 2024-05-22T22:36:04.483Z,1716417364.483 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1104 2024-05-22T22:36:04.503Z,1716417364.503 [Depth_Keller] Loaded 2024-05-22T22:36:04.503Z,1716417364.503 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2024-05-22T22:36:04.565Z,1716417364.565 [NAL9602] Loaded 2024-05-22T22:36:04.565Z,1716417364.565 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2024-05-22T22:36:04.595Z,1716417364.595 [Onboard] Loaded 2024-05-22T22:36:04.595Z,1716417364.595 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2024-05-22T22:36:04.596Z,1716417364.596 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A244E0 2024-05-22T22:36:04.596Z,1716417364.596 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1105 2024-05-22T22:36:04.608Z,1716417364.608 [Power24vConverter] Loaded 2024-05-22T22:36:04.608Z,1716417364.608 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2024-05-22T22:36:04.622Z,1716417364.622 [Radio_Surface] Loaded 2024-05-22T22:36:04.622Z,1716417364.622 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2024-05-22T22:36:04.623Z,1716417364.623 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A544E0 2024-05-22T22:36:04.624Z,1716417364.624 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1106 2024-05-22T22:36:04.668Z,1716417364.668 [RDI_Pathfinder] Loaded 2024-05-22T22:36:04.668Z,1716417364.668 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread. 2024-05-22T22:36:04.760Z,1716417364.760 [DAT] Loaded 2024-05-22T22:36:04.760Z,1716417364.760 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2024-05-22T22:36:04.761Z,1716417364.761 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A844E0 2024-05-22T22:36:04.761Z,1716417364.761 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1107 2024-05-22T22:36:04.762Z,1716417364.762 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2024-05-22T22:36:04.762Z,1716417364.762 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2024-05-22T22:36:04.873Z,1716417364.873 [DeadReckonUsingMultipleVelocitySources] Loaded 2024-05-22T22:36:04.873Z,1716417364.873 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2024-05-22T22:36:04.887Z,1716417364.887 [NavChart] Loaded 2024-05-22T22:36:04.887Z,1716417364.887 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2024-05-22T22:36:04.893Z,1716417364.893 [UniversalFixResidualReporter] Loaded 2024-05-22T22:36:04.893Z,1716417364.893 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2024-05-22T22:36:04.894Z,1716417364.894 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2024-05-22T22:36:04.894Z,1716417364.894 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2024-05-22T22:36:05.037Z,1716417365.037 [SBIT](DEBUG): Construct Startup Built In Test. 2024-05-22T22:36:05.046Z,1716417365.046 [SBIT] Loaded 2024-05-22T22:36:05.046Z,1716417365.046 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2024-05-22T22:36:05.049Z,1716417365.049 [IBIT](DEBUG): Construct Initiated Built In Test. 2024-05-22T22:36:05.062Z,1716417365.062 [IBIT] Loaded 2024-05-22T22:36:05.063Z,1716417365.063 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2024-05-22T22:36:05.068Z,1716417365.068 [CBIT](DEBUG): Construct Continuous Built In Test. 2024-05-22T22:36:05.174Z,1716417365.174 [CBIT] Loaded 2024-05-22T22:36:05.174Z,1716417365.174 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2024-05-22T22:36:05.175Z,1716417365.175 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2024-05-22T22:36:05.175Z,1716417365.175 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2024-05-22T22:36:05.306Z,1716417365.306 [BuoyancyServo] Loaded 2024-05-22T22:36:05.306Z,1716417365.306 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2024-05-22T22:36:05.327Z,1716417365.327 [ElevatorServo] Loaded 2024-05-22T22:36:05.327Z,1716417365.327 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2024-05-22T22:36:05.354Z,1716417365.354 [DockingStepper] Loaded 2024-05-22T22:36:05.355Z,1716417365.355 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread. 2024-05-22T22:36:05.374Z,1716417365.374 [MassServo] Loaded 2024-05-22T22:36:05.375Z,1716417365.375 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2024-05-22T22:36:05.393Z,1716417365.393 [RudderServo] Loaded 2024-05-22T22:36:05.394Z,1716417365.394 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2024-05-22T22:36:05.411Z,1716417365.411 [ThrusterServo] Loaded 2024-05-22T22:36:05.411Z,1716417365.411 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread. 2024-05-22T22:36:05.411Z,1716417365.411 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2024-05-22T22:36:05.412Z,1716417365.412 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2024-05-22T22:36:05.422Z,1716417365.422 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2024-05-22T22:36:05.423Z,1716417365.423 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2024-05-22T22:36:05.595Z,1716417365.595 [CTD_Seabird] Loaded 2024-05-22T22:36:05.595Z,1716417365.595 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2024-05-22T22:36:05.596Z,1716417365.596 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BD84E0 2024-05-22T22:36:05.597Z,1716417365.597 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1108 2024-05-22T22:36:05.630Z,1716417365.630 [ESPComponent] Loaded 2024-05-22T22:36:05.630Z,1716417365.630 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2024-05-22T22:36:05.650Z,1716417365.650 [PAR_Licor] Loaded 2024-05-22T22:36:05.651Z,1716417365.651 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2024-05-22T22:36:05.693Z,1716417365.693 [WetLabsBB2FL] Loaded 2024-05-22T22:36:05.694Z,1716417365.694 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2024-05-22T22:36:05.695Z,1716417365.695 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C084E0 2024-05-22T22:36:05.695Z,1716417365.695 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1109 2024-05-22T22:36:05.715Z,1716417365.715 [WetLabsUBAT] Loaded 2024-05-22T22:36:05.715Z,1716417365.715 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread. 2024-05-22T22:36:05.716Z,1716417365.716 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C384E0 2024-05-22T22:36:05.716Z,1716417365.716 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 1110 2024-05-22T22:36:05.717Z,1716417365.717 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2024-05-22T22:36:05.723Z,1716417365.723 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2024-05-22T22:36:05.726Z,1716417365.726 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2024-05-22T22:36:05.737Z,1716417365.737 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2024-05-22T22:36:05.738Z,1716417365.738 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C684E0 2024-05-22T22:36:05.738Z,1716417365.738 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1111 2024-05-22T22:36:05.743Z,1716417365.743 [Supervisor](INFO): Main Thread ID is 831 2024-05-22T22:36:05.743Z,1716417365.743 [Supervisor](DEBUG): Running supervisor. 2024-05-22T22:36:05.744Z,1716417365.744 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1112 2024-05-22T22:36:05.744Z,1716417365.744 [CommandExec](INFO): Initializing the command executive. 2024-05-22T22:36:05.746Z,1716417365.746 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1113 2024-05-22T22:36:05.749Z,1716417365.749 [controlThread ThreadHandler](INFO): Handler Thread ID is 1114 2024-05-22T22:36:05.749Z,1716417365.749 [controlThread](DEBUG): Initializing ControlThread 2024-05-22T22:36:05.750Z,1716417365.750 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2024-05-22T22:36:05.752Z,1716417365.752 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2024-05-22T22:36:05.752Z,1716417365.752 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2024-05-22T22:36:05.753Z,1716417365.753 [LoopControl](DEBUG): Initialize LoopControlComponent. 2024-05-22T22:36:05.753Z,1716417365.753 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2024-05-22T22:36:05.754Z,1716417365.754 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2024-05-22T22:36:05.754Z,1716417365.754 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2024-05-22T22:36:05.754Z,1716417365.754 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2024-05-22T22:36:05.755Z,1716417365.755 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2024-05-22T22:36:05.761Z,1716417365.761 [NavChart](DEBUG): Initialize NavChart Navigation. 2024-05-22T22:36:05.761Z,1716417365.761 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2024-05-22T22:36:05.762Z,1716417365.762 [SBIT](INFO): Initialize SBIT Component. 2024-05-22T22:36:05.762Z,1716417365.762 [SBIT](IMPORTANT): git: 2024-05-10-4-gbb504d4a1 2024-05-22T22:36:05.762Z,1716417365.762 [SBIT](INFO): git hash: bb504d4a1c64b9083deca52c3c8cef871ae8bac1 2024-05-22T22:36:05.763Z,1716417365.763 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-05-22T22:36:05.764Z,1716417365.764 [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 2024-05-22T22:36:05.765Z,1716417365.765 [SBIT](INFO): Beginning SBIT in 94.000000 seconds. 2024-05-22T22:36:05.765Z,1716417365.765 [IBIT](INFO): Initialize IBIT Component. 2024-05-22T22:36:05.766Z,1716417365.766 [CBIT](DEBUG): Initialize CBIT Component. 2024-05-22T22:36:05.767Z,1716417365.767 [logger ThreadHandler](INFO): Handler Thread ID is 1115 2024-05-22T22:36:05.780Z,1716417365.780 [CBIT](DEBUG): Initialized mux pins. 2024-05-22T22:36:05.780Z,1716417365.780 [CBIT](DEBUG): Initializing the watchdog timer. 2024-05-22T22:36:05.784Z,1716417365.784 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1116 2024-05-22T22:36:05.792Z,1716417365.792 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1117 2024-05-22T22:36:05.794Z,1716417365.794 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2024-05-22T22:36:05.800Z,1716417365.800 [Onboard ThreadHandler](INFO): Handler Thread ID is 1118 2024-05-22T22:36:05.804Z,1716417365.804 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2024-05-22T22:36:05.805Z,1716417365.805 [CBIT](DEBUG): Initializing heartbeat. 2024-05-22T22:36:05.821Z,1716417365.821 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1119 2024-05-22T22:36:05.824Z,1716417365.824 [Radio_Surface](INFO): Stopped 2024-05-22T22:36:05.841Z,1716417365.841 [DAT ThreadHandler](INFO): Handler Thread ID is 1120 2024-05-22T22:36:05.841Z,1716417365.841 [DAT](INFO): Powering up 2024-05-22T22:36:05.842Z,1716417365.842 [DAT](DEBUG): Initializing DAT. 2024-05-22T22:36:05.849Z,1716417365.849 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1122 2024-05-22T22:36:05.849Z,1716417365.849 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2024-05-22T22:36:05.853Z,1716417365.853 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1124 2024-05-22T22:36:05.857Z,1716417365.857 [WetLabsBB2FL](INFO): Powering up 2024-05-22T22:36:05.858Z,1716417365.858 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 1126 2024-05-22T22:36:05.860Z,1716417365.860 [WetLabsUBAT](INFO): Powering up 2024-05-22T22:36:05.861Z,1716417365.861 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1128 2024-05-22T22:36:05.865Z,1716417365.865 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2024-05-22T22:36:05.865Z,1716417365.865 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2024-05-22T22:36:05.865Z,1716417365.865 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2024-05-22T22:36:05.865Z,1716417365.865 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2024-05-22T22:36:05.865Z,1716417365.865 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2024-05-22T22:36:05.866Z,1716417365.866 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2024-05-22T22:36:05.866Z,1716417365.866 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2024-05-22T22:36:05.866Z,1716417365.866 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2024-05-22T22:36:05.876Z,1716417365.876 [CBIT](DEBUG): Deactivating GF circuits. 2024-05-22T22:36:05.876Z,1716417365.876 [CBIT](DEBUG): Deactivating emergency mode. 2024-05-22T22:36:05.916Z,1716417365.916 [CBIT](DEBUG): Backplane powered. 2024-05-22T22:36:05.920Z,1716417365.920 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-05-22T22:36:05.921Z,1716417365.921 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl 2024-05-22T22:36:05.921Z,1716417365.921 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl 2024-05-22T22:36:05.922Z,1716417365.922 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl 2024-05-22T22:36:05.936Z,1716417365.936 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into: 2024-05-22T22:36:05.936Z,1716417365.936 [MissionManager](ERROR): Top node has no child nodes: Mission 2024-05-22T22:36:05.936Z,1716417365.936 [MissionManager](ERROR): Could not load startup mission. 2024-05-22T22:36:05.937Z,1716417365.937 [MissionManager](INFO): Loading Mission from file: Missions/Engineering/DefaultTankUndock.tl 2024-05-22T22:36:05.937Z,1716417365.937 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Engineering/DefaultTankUndock.tl 2024-05-22T22:36:05.938Z,1716417365.938 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Engineering/DefaultTankUndock.tl 2024-05-22T22:36:06.224Z,1716417366.224 [Radio_Surface](INFO): Start 2024-05-22T22:36:06.224Z,1716417366.224 [Radio_Surface](INFO): Powering up 2024-05-22T22:36:06.230Z,1716417366.230 [MissionManager](DEBUG): TethyslAPI: Missions/Engineering/DefaultTankUndock.tl translated into: 0 13 dock arm 5 Default mission has been running for Restarting logs and Default mission. restart logs 2024-05-22T22:36:06.252Z,1716417366.252 [MissionManager](INFO): DefineArg DefaultTankUndock.ElapsedSinceDefaultStarted = 0.000000 min 2024-05-22T22:36:06.254Z,1716417366.254 [DefaultTankUndock:A.Wait](DEBUG): Construct Wait. 2024-05-22T22:36:06.275Z,1716417366.275 [DefaultTankUndock:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-22T22:36:06.307Z,1716417366.307 [DefaultTankUndock:C.Execute](DEBUG): Construct Execute. 2024-05-22T22:36:06.336Z,1716417366.336 [DefaultTankUndock:CheckIn:C.Wait](DEBUG): Construct Wait. 2024-05-22T22:36:06.341Z,1716417366.341 [DefaultTankUndock:F.Execute](DEBUG): Construct Execute. 2024-05-22T22:36:06.357Z,1716417366.357 [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 DefaultTankUndock { 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 } behavior Guidance:Execute { run in sequence set command = "dock arm" } aggregate CheckIn { run in sequence repeat=288 readDatum id="Read_GPS" { timeout duration=P5M Universal:time_fix } readDatum id="Read_Iridium" { timeout duration=P4H 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" } } 2024-05-22T22:36:06.362Z,1716417366.362 [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, 2024-05-22T22:36:06.380Z,1716417366.380 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2024-05-22T22:36:06.458Z,1716417366.458 [Depth_Keller](ERROR): Pressure or depth reading out of range: -1.000394 decibar, -0.993022 m 2024-05-22T22:36:06.458Z,1716417366.458 [Power24vConverter](INFO): Powering up. 2024-05-22T22:36:06.459Z,1716417366.459 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2024-05-22T22:36:06.478Z,1716417366.478 [DepthRateCalculator](ERROR): Depth measurement is not active 2024-05-22T22:36:06.501Z,1716417366.501 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2024-05-22T22:36:06.508Z,1716417366.508 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2024-05-22T22:36:06.509Z,1716417366.509 [ElevatorServo](DEBUG): Initializing EZServoServo. 2024-05-22T22:36:06.516Z,1716417366.516 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2024-05-22T22:36:06.517Z,1716417366.517 [DockingStepper](INFO): Start 2024-05-22T22:36:06.517Z,1716417366.517 [DockingStepper](DEBUG): Initializing EZServoServo. 2024-05-22T22:36:06.524Z,1716417366.524 [DockingStepper](DEBUG): Initializing DockingStepper. 2024-05-22T22:36:06.525Z,1716417366.525 [MassServo](DEBUG): Initializing EZServoServo. 2024-05-22T22:36:06.532Z,1716417366.532 [MassServo](DEBUG): Initializing MassServo. 2024-05-22T22:36:06.533Z,1716417366.533 [RudderServo](DEBUG): Initializing EZServoServo. 2024-05-22T22:36:06.540Z,1716417366.540 [RudderServo](DEBUG): Initializing RudderServo. 2024-05-22T22:36:06.541Z,1716417366.541 [ThrusterServo](DEBUG): Initializing EZServoServo. 2024-05-22T22:36:06.548Z,1716417366.548 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2024-05-22T22:36:06.628Z,1716417366.628 [Radio_Surface](INFO): Starting 2024-05-22T22:36:06.831Z,1716417366.831 [DockingStepper](INFO): Starting 2024-05-22T22:36:07.032Z,1716417367.032 [Radio_Surface](INFO): Starting 2024-05-22T22:36:07.195Z,1716417367.195 [DockingStepper](INFO): Starting 2024-05-22T22:36:07.436Z,1716417367.436 [Radio_Surface](INFO): Starting 2024-05-22T22:36:07.720Z,1716417367.720 [DockingStepper](INFO): Starting 2024-05-22T22:36:07.769Z,1716417367.769 [DockingStepper](INFO): Init string: /1z7455aE13561N3m50 2024-05-22T22:36:07.841Z,1716417367.841 [Radio_Surface](INFO): Starting 2024-05-22T22:36:08.011Z,1716417368.011 [DockingStepper](INFO): Starting 2024-05-22T22:36:08.244Z,1716417368.244 [Radio_Surface](INFO): Starting 2024-05-22T22:36:08.407Z,1716417368.407 [DockingStepper](INFO): Starting 2024-05-22T22:36:08.468Z,1716417368.468 [WetLabsBB2FL](INFO): Powering down 2024-05-22T22:36:08.648Z,1716417368.648 [Radio_Surface](INFO): Starting 2024-05-22T22:36:08.823Z,1716417368.823 [DockingStepper](INFO): Starting 2024-05-22T22:36:09.052Z,1716417369.052 [Radio_Surface](INFO): Starting 2024-05-22T22:36:09.264Z,1716417369.264 [DockingStepper](INFO): Starting 2024-05-22T22:36:09.288Z,1716417369.288 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2024-05-22T22:36:09.456Z,1716417369.456 [Radio_Surface](INFO): Starting 2024-05-22T22:36:09.723Z,1716417369.723 [DockingStepper](INFO): Starting 2024-05-22T22:36:09.860Z,1716417369.860 [Radio_Surface](INFO): Starting 2024-05-22T22:36:10.176Z,1716417370.176 [DockingStepper](INFO): Commanding positive:45831 2024-05-22T22:36:10.264Z,1716417370.264 [Radio_Surface](INFO): Starting 2024-05-22T22:36:10.668Z,1716417370.668 [Radio_Surface](INFO): Starting 2024-05-22T22:36:11.073Z,1716417371.073 [Radio_Surface](INFO): Starting 2024-05-22T22:36:11.476Z,1716417371.476 [Radio_Surface](INFO): Starting 2024-05-22T22:36:11.477Z,1716417371.477 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10 2024-05-22T22:36:11.478Z,1716417371.478 [CommandExec](INFO): Found local IP address 10.89.10.2 for eth0 2024-05-22T22:36:15.071Z,1716417375.071 [DockingStepper](INFO): Pause 2024-05-22T22:36:15.128Z,1716417375.128 [WetLabsUBAT](INFO): Powering down 2024-05-22T22:36:18.444Z,1716417378.444 [DAT](INFO): DAT read: 2024-05-22T22:36:18.446Z,1716417378.446 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2024-05-22T22:36:20.209Z,1716417380.209 [DAT](INFO): DAT read: MF Frequency Band 2024-05-22T22:36:20.210Z,1716417380.210 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2024-05-22T22:36:20.210Z,1716417380.210 [DAT](INFO): DAT read: May 22 2024 22:36:14 2024-05-22T22:36:21.217Z,1716417381.217 [DAT](INFO): DAT read: Features enabled [Bearing] 2024-05-22T22:36:21.218Z,1716417381.218 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2024-05-22T22:36:21.219Z,1716417381.219 [DAT](INFO): commRate: 800 2024-05-22T22:36:23.284Z,1716417383.284 [DAT](INFO): entering command mode 2024-05-22T22:36:23.484Z,1716417383.484 [DAT](INFO): DAT read: 2024-05-22T22:36:23.485Z,1716417383.485 [DAT](INFO): DAT read: user:1> 2024-05-22T22:36:23.485Z,1716417383.485 [DAT](INFO): setting verbose to 3 2024-05-22T22:36:23.737Z,1716417383.737 [DAT](INFO): DAT read: user:1> 2024-05-22T22:36:23.738Z,1716417383.738 [DAT](INFO): DAT read: Verbose | 3 2024-05-22T22:36:23.738Z,1716417383.738 [DAT](INFO): set verbose to 3 2024-05-22T22:36:23.738Z,1716417383.738 [DAT](INFO): setting DatVerbose to 27440 2024-05-22T22:36:23.990Z,1716417383.990 [DAT](INFO): DAT read: user:2> 2024-05-22T22:36:23.993Z,1716417383.993 [DAT](INFO): DAT read: DatVerbose | 27440 2024-05-22T22:36:23.994Z,1716417383.994 [DAT](INFO): set DatVerbose to 27440 2024-05-22T22:36:23.994Z,1716417383.994 [DAT](INFO): setting transmit power to 8 2024-05-22T22:36:24.241Z,1716417384.241 [DAT](INFO): DAT read: user:3> 2024-05-22T22:36:24.242Z,1716417384.242 [DAT](INFO): DAT read: TxPower | 8 (Max) 2024-05-22T22:36:24.242Z,1716417384.242 [DAT](INFO): set transmit power to 8 2024-05-22T22:36:24.242Z,1716417384.242 [DAT](INFO): setting local address to 10 2024-05-22T22:36:24.493Z,1716417384.493 [DAT](INFO): DAT read: user:4> 2024-05-22T22:36:24.494Z,1716417384.494 [DAT](INFO): DAT read: LocalAddr | 10 2024-05-22T22:36:24.494Z,1716417384.494 [DAT](INFO): set local address to 10 2024-05-22T22:36:24.495Z,1716417384.495 [DAT](INFO): Setting time to: 22:36:24 And date to:5/22/2024 2024-05-22T22:36:24.745Z,1716417384.745 [DAT](INFO): DAT read: user:5> 2024-05-22T22:36:24.746Z,1716417384.746 [DAT](INFO): DAT read: Wed May 22, 2024 22:36:24 2024-05-22T22:36:24.746Z,1716417384.746 [DAT](INFO): Local DAT time set to Wed May 22, 2024 22:36:24 2024-05-22T22:36:34.797Z,1716417394.797 [NAL9602](INFO): Powering up NAL9602 2024-05-22T22:36:36.933Z,1716417396.933 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:36:45.705Z,1716417405.705 [NAL9602](INFO): NAL9602 initialized 2024-05-22T22:37:08.068Z,1716417428.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:37:39.213Z,1716417459.213 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:37:40.282Z,1716417460.282 [SBIT](IMPORTANT): Beginning Startup BIT 2024-05-22T22:37:40.286Z,1716417460.286 [CBIT](IMPORTANT): Beginning ground fault scan 2024-05-22T22:37:40.654Z,1716417460.654 [NAL9602](INFO): SBD MO Status=2, MOMSN=37805, MT Status=2, MTMSN=0 2024-05-22T22:37:40.655Z,1716417460.655 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-22T22:37:51.216Z,1716417471.216 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.003845 CHAN A1 (24V): 0.009718 CHAN A2 (12V): -0.002871 CHAN A3 (5V): -0.001327 CHAN B0 (3.3V): 0.000363 CHAN B1 (3.15aV): 0.000346 CHAN B2 (3.15bV): 0.001034 CHAN B3 (GND): 0.001600 OPEN: 0.005585 Full Scale: +/- 1 mA 2024-05-22T22:38:10.337Z,1716417490.337 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:38:34.436Z,1716417514.436 [SBIT](IMPORTANT): SBIT PASSED 2024-05-22T22:38:34.436Z,1716417514.436 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2024-05-22T22:38:34.437Z,1716417514.437 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=2 count; 2024-05-22T22:38:34.437Z,1716417514.437 [SBIT](IMPORTANT): Docked.detachTimeout=8 hour; 2024-05-22T22:38:34.437Z,1716417514.437 [SBIT](IMPORTANT): DockingStepper.closedValue=16500 count; 2024-05-22T22:38:34.437Z,1716417514.437 [SBIT](IMPORTANT): DockingStepper.loadAtStartup=1 bool; 2024-05-22T22:38:34.437Z,1716417514.437 [SBIT](IMPORTANT): DockingStepper.openValue=7500 count; 2024-05-22T22:38:34.437Z,1716417514.437 [SBIT](IMPORTANT): DockingStepper.simulateHardware=0 bool; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): DockingStepper.slideValue=12000 count; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): ESPComponent.loadAtStartup=1 bool; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=2 minute; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): ESPComponent.simulateHardware=1 bool; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): Express linearApproximation WetLabsUBAT.flow_rate 0.300000 liter_per_second; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): Express linearApproximation downwelling_photosynthetic_photon_flux_in_sea_water 100.000000 micromole_per_second_per_square_meter; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=1 ampere_hour; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2024-05-22T22:38:34.438Z,1716417514.438 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=0 bool; 2024-05-22T22:38:34.439Z,1716417514.439 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=486.306689 cubic_centimeter; 2024-05-22T22:38:34.439Z,1716417514.439 [SBIT](IMPORTANT): VerticalControl.kpDepth=0.09 radian_per_meter; 2024-05-22T22:38:34.439Z,1716417514.439 [SBIT](IMPORTANT): VerticalControl.kpPitchElevator=0.5 none; 2024-05-22T22:38:34.439Z,1716417514.439 [SBIT](IMPORTANT): VerticalControl.massDefault=18.506968 millimeter; 2024-05-22T22:38:34.439Z,1716417514.439 [SBIT](IMPORTANT): VerticalControl.stopDepthExcursion=20 meter; 2024-05-22T22:38:34.818Z,1716417514.818 [MissionManager](IMPORTANT): Started mission DefaultTankUndock 2024-05-22T22:38:34.818Z,1716417514.818 [DefaultTankUndock] Running Loop=1 2024-05-22T22:38:34.818Z,1716417514.818 [DefaultTankUndock](DEBUG): Aggregate::initialize DefaultTankUndock 2024-05-22T22:38:34.818Z,1716417514.818 [DefaultTankUndock:B.GoToSurface] Running Loop=1 2024-05-22T22:38:34.818Z,1716417514.818 [DefaultTankUndock:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2024-05-22T22:38:34.819Z,1716417514.819 [DefaultTankUndock:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2024-05-22T22:38:34.819Z,1716417514.819 [DefaultTankUndock:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2024-05-22T22:38:34.820Z,1716417514.820 [DefaultTankUndock:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2024-05-22T22:38:34.820Z,1716417514.820 [DefaultTankUndock:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2024-05-22T22:38:34.821Z,1716417514.821 [DefaultTankUndock:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2024-05-22T22:38:34.821Z,1716417514.821 [DefaultTankUndock:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2024-05-22T22:38:34.821Z,1716417514.821 [DefaultTankUndock:A.Wait] Running Loop=1 2024-05-22T22:38:34.821Z,1716417514.821 [DefaultTankUndock:A.Wait](DEBUG): Initialize Wait Component. 2024-05-22T22:38:38.821Z,1716417518.821 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:38:41.460Z,1716417521.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:38:48.183Z,1716417528.183 [DefaultTankUndock:A.Wait](INFO): Done Waiting. 2024-05-22T22:38:48.183Z,1716417528.183 [DefaultTankUndock:A.Wait] Stopped 2024-05-22T22:38:48.183Z,1716417528.183 [DefaultTankUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2024-05-22T22:38:48.558Z,1716417528.558 [DefaultTankUndock:C.Execute] Running Loop=1 2024-05-22T22:38:48.938Z,1716417528.938 [DefaultTankUndock:C.Execute](INFO): Executing command dock arm 2024-05-22T22:38:48.939Z,1716417528.939 [DefaultTankUndock:C.Execute] Stopped 2024-05-22T22:38:48.939Z,1716417528.939 [DefaultTankUndock:CheckIn] Running Loop=1 2024-05-22T22:38:48.939Z,1716417528.939 [DefaultTankUndock:CheckIn](DEBUG): Aggregate::initialize DefaultTankUndock:CheckIn 2024-05-22T22:38:48.939Z,1716417528.939 [DefaultTankUndock:CheckIn:Read_GPS] Running Loop=1 2024-05-22T22:38:48.956Z,1716417528.956 [CommandExec](IMPORTANT): got command docking arm 2024-05-22T22:38:48.956Z,1716417528.956 [CommandExec](IMPORTANT): Switching docking moudle to ARM. 2024-05-22T22:38:49.374Z,1716417529.374 [DefaultTankUndock:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2024-05-22T22:38:49.382Z,1716417529.382 [DockingStepper](INFO): Resume 2024-05-22T22:38:49.746Z,1716417529.746 [DockingStepper](INFO): Resuming 2024-05-22T22:38:50.221Z,1716417530.221 [DockingStepper](INFO): Start 2024-05-22T22:38:50.222Z,1716417530.222 [DockingStepper](DEBUG): Initializing EZServoServo. 2024-05-22T22:38:50.337Z,1716417530.337 [DockingStepper](DEBUG): Initializing DockingStepper. 2024-05-22T22:38:50.598Z,1716417530.598 [DockingStepper](INFO): Starting 2024-05-22T22:38:50.998Z,1716417530.998 [DockingStepper](INFO): Starting 2024-05-22T22:38:51.432Z,1716417531.432 [DockingStepper](INFO): Starting 2024-05-22T22:38:51.484Z,1716417531.484 [DockingStepper](INFO): Init string: /1z14848aE13561N3m50 2024-05-22T22:38:51.754Z,1716417531.754 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:38:51.799Z,1716417531.799 [DockingStepper](INFO): Starting 2024-05-22T22:38:52.249Z,1716417532.249 [DockingStepper](INFO): Starting 2024-05-22T22:38:52.613Z,1716417532.613 [DockingStepper](INFO): Starting 2024-05-22T22:38:53.021Z,1716417533.021 [DockingStepper](INFO): Starting 2024-05-22T22:38:53.048Z,1716417533.048 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@ 2024-05-22T22:38:53.406Z,1716417533.406 [DockingStepper](INFO): Starting 2024-05-22T22:38:53.801Z,1716417533.801 [DockingStepper](INFO): Changing to mode: 2 2024-05-22T22:38:53.801Z,1716417533.801 [DockingStepper](INFO): Armed mode. 2024-05-22T22:38:53.854Z,1716417533.854 [DockingStepper](INFO): Commanding negative:45345 2024-05-22T22:39:05.137Z,1716417545.137 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:39:06.005Z,1716417546.005 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1 2024-05-22T22:39:06.006Z,1716417546.006 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2024-05-22T22:39:06.164Z,1716417546.164 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2024-05-22T22:39:06.552Z,1716417546.552 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2024-05-22T22:39:06.552Z,1716417546.552 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1 2024-05-22T22:39:12.584Z,1716417552.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:39:18.065Z,1716417558.065 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:39:30.589Z,1716417570.589 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:39:43.716Z,1716417583.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:39:43.921Z,1716417583.921 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:39:51.559Z,1716417591.559 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.009368 2024-05-22T22:39:52.553Z,1716417592.553 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:39:56.445Z,1716417596.445 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:40:01.512Z,1716417601.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:40:09.855Z,1716417609.855 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:40:13.748Z,1716417613.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:40:22.421Z,1716417622.421 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:40:28.088Z,1716417628.088 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:40:35.349Z,1716417635.349 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:40:39.490Z,1716417639.490 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:40:47.469Z,1716417647.469 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2024-05-22T22:40:48.353Z,1716417648.353 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:40:56.380Z,1716417656.380 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS, +, +3,A 2024-05-22T22:40:57.220Z,1716417657.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:41:06.261Z,1716417666.261 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:41:15.092Z,1716417675.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:41:23.964Z,1716417683.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:41:32.945Z,1716417692.945 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:41:41.572Z,1716417701.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:41:48.200Z,1716417708.200 [NAL9602](INFO): SBD MO Status=2, MOMSN=37805, MT Status=2, MTMSN=0 2024-05-22T22:41:48.200Z,1716417708.200 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2024-05-22T22:41:49.009Z,1716417709.009 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2024-05-22T22:41:50.279Z,1716417710.279 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2024-05-22T22:41:55.226Z,1716417715.226 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224154.00,A,3648.16783,N,12147.28450,W,0.330,140.87,220524,,,A*79 2024-05-22T22:41:55.233Z,1716417715.233 [NAL9602](INFO): GPS fix at 20240522T224154: (36.802797, -121.788075) 2024-05-22T22:41:55.248Z,1716417715.248 [DefaultTankUndock:CheckIn:Read_GPS] Stopped 2024-05-22T22:41:55.248Z,1716417715.248 [DefaultTankUndock:CheckIn:Read_Iridium] Running Loop=1 2024-05-22T22:41:55.556Z,1716417715.556 [DefaultTankUndock:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-22T22:41:58.188Z,1716417718.188 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20240522T222006/Courier0003.lzma 2024-05-22T22:41:59.197Z,1716417719.197 [DataOverHttps](INFO): Moved sent file to Logs/20240522T222006/Courier0003.lzma.bak 2024-05-22T22:41:59.197Z,1716417719.197 [DataOverHttps](INFO): SBD MOMSN=21073086 2024-05-22T22:42:23.072Z,1716417743.072 [DataOverHttps](INFO): Sending 150 bytes from file Logs/20240522T223029/Courier0000.lzma 2024-05-22T22:42:24.074Z,1716417744.074 [DataOverHttps](INFO): Moved sent file to Logs/20240522T223029/Courier0000.lzma.bak 2024-05-22T22:42:24.074Z,1716417744.074 [DataOverHttps](INFO): SBD MOMSN=21073088 2024-05-22T22:42:27.133Z,1716417747.133 [NAL9602](INFO): Not Powering down - fast GPS 2024-05-22T22:42:52.420Z,1716417772.420 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20240522T223554/Courier0000.lzma 2024-05-22T22:42:53.422Z,1716417773.422 [DataOverHttps](INFO): Moved sent file to Logs/20240522T223554/Courier0000.lzma.bak 2024-05-22T22:42:53.422Z,1716417773.422 [DataOverHttps](INFO): SBD MOMSN=21073091 2024-05-22T22:43:13.855Z,1716417793.855 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20240522T222006/Express0004.lzma 2024-05-22T22:43:14.858Z,1716417794.858 [DataOverHttps](INFO): Moved sent file to Logs/20240522T222006/Express0004.lzma.bak 2024-05-22T22:43:14.858Z,1716417794.858 [DataOverHttps](INFO): SBD MOMSN=21073095 2024-05-22T22:43:15.183Z,1716417795.183 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-22T22:43:22.700Z,1716417802.700 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/OnDock.tl 2024-05-22T22:43:22.700Z,1716417802.700 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl 2024-05-22T22:43:22.701Z,1716417802.701 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl 2024-05-22T22:43:22.703Z,1716417802.703 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl 2024-05-22T22:43:23.998Z,1716417803.998 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 30 5 Skipping DHCP restart to test autonetwork Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . 2024-05-22T22:43:24.013Z,1716417804.013 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h 2024-05-22T22:43:24.021Z,1716417804.021 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 28800.000000 s 2024-05-22T22:43:24.053Z,1716417804.053 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s 2024-05-22T22:43:24.088Z,1716417804.088 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min 2024-05-22T22:43:24.104Z,1716417804.104 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count 2024-05-22T22:43:24.124Z,1716417804.124 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 201 count 2024-05-22T22:43:24.148Z,1716417804.148 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m 2024-05-22T22:43:24.179Z,1716417804.179 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m 2024-05-22T22:43:24.202Z,1716417804.202 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km 2024-05-22T22:43:24.205Z,1716417804.205 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool 2024-05-22T22:43:24.214Z,1716417804.214 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 30.000000 min 2024-05-22T22:43:24.222Z,1716417804.222 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h 2024-05-22T22:43:24.223Z,1716417804.223 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2024-05-22T22:43:24.223Z,1716417804.223 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2024-05-22T22:43:24.242Z,1716417804.242 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2024-05-22T22:43:24.562Z,1716417804.562 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 2024-05-22T22:43:24.597Z,1716417804.597 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m 2024-05-22T22:43:24.617Z,1716417804.617 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 0.000000 m 2024-05-22T22:43:24.627Z,1716417804.627 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m 2024-05-22T22:43:24.710Z,1716417804.710 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 2024-05-22T22:43:24.711Z,1716417804.711 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2024-05-22T22:43:24.755Z,1716417804.755 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2024-05-22T22:43:24.785Z,1716417804.785 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2024-05-22T22:43:24.823Z,1716417804.823 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2024-05-22T22:43:24.823Z,1716417804.823 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2024-05-22T22:43:24.832Z,1716417804.832 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2024-05-22T22:43:24.933Z,1716417804.933 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2024-05-22T22:43:24.950Z,1716417804.950 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2024-05-22T22:43:24.971Z,1716417804.971 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2024-05-22T22:43:24.982Z,1716417804.982 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2024-05-22T22:43:24.982Z,1716417804.982 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2024-05-22T22:43:24.983Z,1716417804.983 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2024-05-22T22:43:25.411Z,1716417805.411 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2024-05-22T22:43:25.445Z,1716417805.445 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool 2024-05-22T22:43:25.458Z,1716417805.458 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool 2024-05-22T22:43:25.467Z,1716417805.467 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool 2024-05-22T22:43:25.502Z,1716417805.502 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool 2024-05-22T22:43:25.532Z,1716417805.532 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool 2024-05-22T22:43:25.565Z,1716417805.565 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait. 2024-05-22T22:43:25.868Z,1716417805.868 [OnDock:L.Execute](DEBUG): Construct Execute. 2024-05-22T22:43:25.893Z,1716417805.893 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute. 2024-05-22T22:43:25.895Z,1716417805.895 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait. 2024-05-22T22:43:25.905Z,1716417805.905 [OnDock:O.Docked](DEBUG): Construct. 2024-05-22T22:43:25.905Z,1716417805.905 [OnDock:O.Docked](DEBUG): Initializing internal variables to default values. 2024-05-22T22:43:25.984Z,1716417805.984 [OnDock:Detach:B.Undock](DEBUG): Construct. 2024-05-22T22:43:25.984Z,1716417805.984 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2024-05-22T22:43:26.130Z,1716417806.130 [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 "Skipping DHCP restart to test autonetwork" # 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" } } 2024-05-22T22:43:26.144Z,1716417806.144 [CommandExec](IMPORTANT): Running ./Missions/Engineering/OnDock.tl 2024-05-22T22:43:26.171Z,1716417806.171 [DefaultTankUndock] Stopped 2024-05-22T22:43:26.171Z,1716417806.171 [DefaultTankUndock](DEBUG): Aggregate::uninitialize DefaultTankUndock 2024-05-22T22:43:26.171Z,1716417806.171 [DefaultTankUndock:B.GoToSurface] Stopped 2024-05-22T22:43:26.181Z,1716417806.181 [DefaultTankUndock:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2024-05-22T22:43:26.181Z,1716417806.181 [DefaultTankUndock:CheckIn] Stopped 2024-05-22T22:43:26.181Z,1716417806.181 [DefaultTankUndock:CheckIn](DEBUG): Aggregate::uninitialize DefaultTankUndock:CheckIn 2024-05-22T22:43:26.181Z,1716417806.181 [DefaultTankUndock:CheckIn:Read_Iridium] Stopped 2024-05-22T22:43:26.181Z,1716417806.181 [MissionManager](IMPORTANT): Started mission OnDock 2024-05-22T22:43:26.181Z,1716417806.181 [OnDock] Running Loop=1 2024-05-22T22:43:26.181Z,1716417806.181 [OnDock](DEBUG): Aggregate::initialize OnDock 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:StandardEnvelopes] Running Loop=1 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2024-05-22T22:43:26.182Z,1716417806.182 [OnDock:BackseatDriver] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:PowerOnly] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:PowerOnly:A] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:PowerOnly:B] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:PowerOnly:C] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:PowerOnly:D] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:PowerOnly:E.Wait] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:H] Running Loop=1 2024-05-22T22:43:26.183Z,1716417806.183 [OnDock:I.] Running Loop=1 2024-05-22T22:43:26.192Z,1716417806.192 [OnDock:I.](INFO): Initializing TrackAcousticContact. 2024-05-22T22:43:26.192Z,1716417806.192 [OnDock:PeriodicCheck] Running Loop=1 2024-05-22T22:43:26.192Z,1716417806.192 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck 2024-05-22T22:43:26.192Z,1716417806.192 [OnDock:PeriodicCheck:CheckIP] Running Loop=1 2024-05-22T22:43:26.192Z,1716417806.192 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP 2024-05-22T22:43:26.193Z,1716417806.193 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1 2024-05-22T22:43:26.193Z,1716417806.193 [OnDock:B] Running Loop=1 2024-05-22T22:43:26.193Z,1716417806.193 [OnDock:PeriodicCheck] Running Loop=1 2024-05-22T22:43:26.193Z,1716417806.193 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig 2024-05-22T22:43:26.193Z,1716417806.193 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped 2024-05-22T22:43:26.194Z,1716417806.194 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1 2024-05-22T22:43:26.194Z,1716417806.194 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component. 2024-05-22T22:43:26.194Z,1716417806.194 [OnDock:I.] Running Loop=1 2024-05-22T22:43:26.194Z,1716417806.194 [OnDock:H] Running Loop=1 2024-05-22T22:43:26.195Z,1716417806.195 [OnDock:H](DEBUG): Initialize ReadDataComponent to sense platform_communications 2024-05-22T22:43:26.195Z,1716417806.195 [OnDock:PowerOnly] Running Loop=1 2024-05-22T22:43:26.195Z,1716417806.195 [OnDock:PowerOnly:D] Stopped 2024-05-22T22:43:26.195Z,1716417806.195 [OnDock:PowerOnly:C] Stopped 2024-05-22T22:43:26.195Z,1716417806.195 [OnDock:PowerOnly:B] Stopped 2024-05-22T22:43:26.213Z,1716417806.213 [OnDock:PowerOnly:A] Stopped 2024-05-22T22:43:26.213Z,1716417806.213 [OnDock:BackseatDriver] Running Loop=1 2024-05-22T22:43:26.226Z,1716417806.226 [OnDock:B] Stopped 2024-05-22T22:43:26.227Z,1716417806.227 [OnDock:C] Running Loop=1 2024-05-22T22:43:26.228Z,1716417806.228 [OnDock:StandardEnvelopes] Running Loop=1 2024-05-22T22:43:26.228Z,1716417806.228 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2024-05-22T22:43:26.231Z,1716417806.231 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE 2024-05-22T22:43:26.249Z,1716417806.249 [CommandExec](IMPORTANT): got command ! ifconfig 2024-05-22T22:43:26.292Z,1716417806.292 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2024-05-22T22:43:26.293Z,1716417806.293 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2024-05-22T22:43:26.311Z,1716417806.311 [HorizontalControl](DEBUG): kpHeading = 0.400000 2024-05-22T22:43:26.324Z,1716417806.324 [HorizontalControl](DEBUG): kiHeading = 0.001000 2024-05-22T22:43:26.325Z,1716417806.325 [HorizontalControl](DEBUG): kdHeading = 0.050000 2024-05-22T22:43:26.586Z,1716417806.586 [OnDock:C] Stopped 2024-05-22T22:43:26.586Z,1716417806.586 [OnDock:D] Running Loop=1 2024-05-22T22:43:26.611Z,1716417806.611 [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:2382 errors:0 dropped:0 overruns:0 frame:0 TX packets:2079 errors:0 dropped:0 overruns:0 carrier:0 collisions:6 txqueuelen:1000 RX bytes:1412361 (1.3 Mb) TX bytes:616957 (602.4 Kb) 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:364 errors:0 dropped:0 overruns:0 frame:0 TX packets:364 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:28104 (27.4 Kb) TX bytes:28104 (27.4 Kb) 2024-05-22T22:43:26.991Z,1716417806.991 [OnDock:D] Stopped 2024-05-22T22:43:26.991Z,1716417806.991 [OnDock:E] Running Loop=1 2024-05-22T22:43:27.502Z,1716417807.502 [OnDock:E] Stopped 2024-05-22T22:43:27.502Z,1716417807.502 [OnDock:K] Running Loop=1 2024-05-22T22:43:27.798Z,1716417807.798 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2024-05-22T22:43:27.925Z,1716417807.925 [OnDock:K](IMPORTANT): Restarting logs 2024-05-22T22:43:27.926Z,1716417807.926 [OnDock:K] Stopped 2024-05-22T22:43:27.926Z,1716417807.926 [OnDock:L.Execute] Running Loop=1