2024-08-02T14:10:42.861Z,1722607842.861 [Supervisor](DEBUG): Initializing supervisor.
2024-08-02T14:10:42.865Z,1722607842.865 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2024-08-02T14:10:42.866Z,1722607842.866 [SyncHandler](INFO): Protected caller Thread ID is 1350
2024-08-02T14:10:42.866Z,1722607842.866 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2024-08-02T14:10:42.867Z,1722607842.867 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2024-08-02T14:10:42.868Z,1722607842.868 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1351
2024-08-02T14:10:42.871Z,1722607842.871 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2024-08-02T14:10:42.889Z,1722607842.889 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2024-08-02T14:10:42.890Z,1722607842.890 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2024-08-02T14:10:42.890Z,1722607842.890 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1352
2024-08-02T14:10:42.895Z,1722607842.895 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2024-08-02T14:10:42.895Z,1722607842.895 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2024-08-02T14:10:42.896Z,1722607842.896 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1353
2024-08-02T14:10:42.898Z,1722607842.898 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2024-08-02T14:10:42.899Z,1722607842.899 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2024-08-02T14:10:42.899Z,1722607842.899 [logger ThreadHandler](INFO): Protected caller Thread ID is 1354
2024-08-02T14:10:42.903Z,1722607842.903 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2024-08-02T14:10:42.903Z,1722607842.903 [Supervisor](INFO): Looking for Config files in directory: Config/
2024-08-02T14:10:42.905Z,1722607842.905 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2024-08-02T14:10:43.400Z,1722607843.400 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2024-08-02T14:10:43.400Z,1722607843.400 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2024-08-02T14:10:43.630Z,1722607843.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2024-08-02T14:10:43.631Z,1722607843.631 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2024-08-02T14:10:43.724Z,1722607843.724 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2024-08-02T14:10:43.974Z,1722607843.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2024-08-02T14:10:43.975Z,1722607843.975 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2024-08-02T14:10:44.065Z,1722607844.065 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2024-08-02T14:10:44.173Z,1722607844.173 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2024-08-02T14:10:44.173Z,1722607844.173 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2024-08-02T14:10:44.537Z,1722607844.537 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2024-08-02T14:10:44.538Z,1722607844.538 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2024-08-02T14:10:44.684Z,1722607844.684 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2024-08-02T14:10:44.684Z,1722607844.684 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2024-08-02T14:10:45.253Z,1722607845.253 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2024-08-02T14:10:45.254Z,1722607845.254 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2024-08-02T14:10:45.460Z,1722607845.460 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2024-08-02T14:10:45.461Z,1722607845.461 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2024-08-02T14:10:45.899Z,1722607845.899 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2024-08-02T14:10:45.899Z,1722607845.899 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2024-08-02T14:10:46.621Z,1722607846.621 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2024-08-02T14:10:46.621Z,1722607846.621 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2024-08-02T14:10:46.744Z,1722607846.744 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2024-08-02T14:10:46.745Z,1722607846.745 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2024-08-02T14:10:47.612Z,1722607847.612 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2024-08-02T14:10:47.613Z,1722607847.613 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2024-08-02T14:10:47.988Z,1722607847.988 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2024-08-02T14:10:47.989Z,1722607847.989 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2024-08-02T14:10:48.235Z,1722607848.235 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2024-08-02T14:10:48.237Z,1722607848.237 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/
2024-08-02T14:10:48.238Z,1722607848.238 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/vehicle.cfg
2024-08-02T14:10:48.370Z,1722607848.370 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/secure.cfg
2024-08-02T14:10:48.465Z,1722607848.465 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Science.cfg
2024-08-02T14:10:48.615Z,1722607848.615 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Simulator.cfg
2024-08-02T14:10:48.712Z,1722607848.712 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Battery.cfg
2024-08-02T14:10:48.987Z,1722607848.987 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2024-08-02T14:10:48.987Z,1722607848.987 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/logger.cfg
2024-08-02T14:10:49.104Z,1722607849.104 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Servo.cfg
2024-08-02T14:10:49.224Z,1722607849.224 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Navigation.cfg
2024-08-02T14:10:49.335Z,1722607849.335 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Sensor.cfg
2024-08-02T14:10:49.499Z,1722607849.499 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Control.cfg
2024-08-02T14:10:49.609Z,1722607849.609 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/BIT.cfg
2024-08-02T14:10:49.708Z,1722607849.708 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/root/
2024-08-02T14:10:49.708Z,1722607849.708 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2024-08-02T14:10:49.715Z,1722607849.715 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2024-08-02T14:10:49.725Z,1722607849.725 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2024-08-02T14:10:49.726Z,1722607849.726 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2024-08-02T14:10:49.836Z,1722607849.836 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2024-08-02T14:10:49.837Z,1722607849.837 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2024-08-02T14:10:49.889Z,1722607849.889 [VerticalControl](DEBUG): Construct VerticalControl.
2024-08-02T14:10:49.948Z,1722607849.948 [VerticalControl] Loaded
2024-08-02T14:10:49.949Z,1722607849.949 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2024-08-02T14:10:49.951Z,1722607849.951 [HorizontalControl](DEBUG): Construct HorizontalControl.
2024-08-02T14:10:49.999Z,1722607849.999 [HorizontalControl] Loaded
2024-08-02T14:10:49.999Z,1722607849.999 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2024-08-02T14:10:50.001Z,1722607850.001 [SpeedControl](DEBUG): Construct SpeedControl.
2024-08-02T14:10:50.004Z,1722607850.004 [SpeedControl] Loaded
2024-08-02T14:10:50.005Z,1722607850.005 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2024-08-02T14:10:50.007Z,1722607850.007 [LoopControl](DEBUG): Construct LoopControl.
2024-08-02T14:10:50.008Z,1722607850.008 [LoopControl] Loaded
2024-08-02T14:10:50.008Z,1722607850.008 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2024-08-02T14:10:50.008Z,1722607850.008 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2024-08-02T14:10:50.009Z,1722607850.009 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2024-08-02T14:10:50.163Z,1722607850.163 [BuoyancyServo] Loaded
2024-08-02T14:10:50.164Z,1722607850.164 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2024-08-02T14:10:50.185Z,1722607850.185 [ElevatorServo] Loaded
2024-08-02T14:10:50.186Z,1722607850.186 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2024-08-02T14:10:50.206Z,1722607850.206 [MassServo] Loaded
2024-08-02T14:10:50.207Z,1722607850.207 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2024-08-02T14:10:50.227Z,1722607850.227 [RudderServo] Loaded
2024-08-02T14:10:50.227Z,1722607850.227 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2024-08-02T14:10:50.243Z,1722607850.243 [ThrusterHE] Loaded
2024-08-02T14:10:50.244Z,1722607850.244 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2024-08-02T14:10:50.244Z,1722607850.244 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2024-08-02T14:10:50.245Z,1722607850.245 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2024-08-02T14:10:50.294Z,1722607850.294 [DepthRateCalculator] Loaded
2024-08-02T14:10:50.294Z,1722607850.294 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2024-08-02T14:10:50.299Z,1722607850.299 [PitchRateCalculator] Loaded
2024-08-02T14:10:50.299Z,1722607850.299 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2024-08-02T14:10:50.309Z,1722607850.309 [SpeedCalculator] Loaded
2024-08-02T14:10:50.309Z,1722607850.309 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2024-08-02T14:10:50.314Z,1722607850.314 [YawRateCalculator] Loaded
2024-08-02T14:10:50.314Z,1722607850.314 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2024-08-02T14:10:50.332Z,1722607850.332 [ElevatorOffsetCalculator] Loaded
2024-08-02T14:10:50.332Z,1722607850.332 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2024-08-02T14:10:50.333Z,1722607850.333 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2024-08-02T14:10:50.333Z,1722607850.333 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2024-08-02T14:10:50.444Z,1722607850.444 [DeadReckonUsingMultipleVelocitySources] Loaded
2024-08-02T14:10:50.444Z,1722607850.444 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2024-08-02T14:10:50.458Z,1722607850.458 [NavChart] Loaded
2024-08-02T14:10:50.458Z,1722607850.458 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2024-08-02T14:10:50.464Z,1722607850.464 [UniversalFixResidualReporter] Loaded
2024-08-02T14:10:50.464Z,1722607850.464 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2024-08-02T14:10:50.465Z,1722607850.465 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2024-08-02T14:10:50.465Z,1722607850.465 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2024-08-02T14:10:50.894Z,1722607850.894 [AHRS_M2] Loaded
2024-08-02T14:10:50.894Z,1722607850.894 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2024-08-02T14:10:50.933Z,1722607850.933 [BackseatComponent] Loaded
2024-08-02T14:10:50.934Z,1722607850.934 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2024-08-02T14:10:50.935Z,1722607850.935 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4090B4E0
2024-08-02T14:10:50.935Z,1722607850.935 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1436
2024-08-02T14:10:50.938Z,1722607850.938 [LcmUniversalReporter] Loaded
2024-08-02T14:10:50.938Z,1722607850.938 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2024-08-02T14:10:50.944Z,1722607850.944 [BioacousticsDataBridge] Loaded
2024-08-02T14:10:50.945Z,1722607850.945 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread.
2024-08-02T14:10:52.339Z,1722607852.339 [BPC1] Loaded
2024-08-02T14:10:52.339Z,1722607852.339 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2024-08-02T14:10:52.411Z,1722607852.411 [DataOverHttps] Loaded
2024-08-02T14:10:52.411Z,1722607852.411 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2024-08-02T14:10:52.412Z,1722607852.412 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4093B4E0
2024-08-02T14:10:52.412Z,1722607852.412 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1437
2024-08-02T14:10:52.435Z,1722607852.435 [Depth_Keller] Loaded
2024-08-02T14:10:52.436Z,1722607852.436 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2024-08-02T14:10:52.441Z,1722607852.441 [DropWeight] Loaded
2024-08-02T14:10:52.441Z,1722607852.441 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2024-08-02T14:10:52.587Z,1722607852.587 [NAL9602] Loaded
2024-08-02T14:10:52.587Z,1722607852.587 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2024-08-02T14:10:52.617Z,1722607852.617 [Onboard] Loaded
2024-08-02T14:10:52.618Z,1722607852.618 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2024-08-02T14:10:52.618Z,1722607852.618 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4096B4E0
2024-08-02T14:10:52.619Z,1722607852.619 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1438
2024-08-02T14:10:52.651Z,1722607852.651 [Power24vConverter] Loaded
2024-08-02T14:10:52.651Z,1722607852.651 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2024-08-02T14:10:52.796Z,1722607852.796 [Radio_Surface] Loaded
2024-08-02T14:10:52.797Z,1722607852.797 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2024-08-02T14:10:52.798Z,1722607852.798 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4099B4E0
2024-08-02T14:10:52.798Z,1722607852.798 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1439
2024-08-02T14:10:52.850Z,1722607852.850 [Sonardyne_Nano] Loaded
2024-08-02T14:10:52.850Z,1722607852.850 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2024-08-02T14:10:52.852Z,1722607852.852 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2024-08-02T14:10:52.853Z,1722607852.853 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2024-08-02T14:10:53.024Z,1722607853.024 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2024-08-02T14:10:53.025Z,1722607853.025 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2024-08-02T14:10:53.497Z,1722607853.497 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2024-08-02T14:10:53.497Z,1722607853.497 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2024-08-02T14:10:53.602Z,1722607853.602 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2024-08-02T14:10:53.603Z,1722607853.603 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2024-08-02T14:10:54.299Z,1722607854.299 [CTD_Seabird] Loaded
2024-08-02T14:10:54.299Z,1722607854.299 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2024-08-02T14:10:54.343Z,1722607854.343 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40ADB4E0
2024-08-02T14:10:54.343Z,1722607854.343 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1440
2024-08-02T14:10:54.366Z,1722607854.366 [PAR_Licor] Loaded
2024-08-02T14:10:54.366Z,1722607854.366 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2024-08-02T14:10:54.467Z,1722607854.467 [WetLabsBB2FL] Loaded
2024-08-02T14:10:54.467Z,1722607854.467 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2024-08-02T14:10:54.479Z,1722607854.479 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40B0B4E0
2024-08-02T14:10:54.479Z,1722607854.479 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1441
2024-08-02T14:10:54.481Z,1722607854.481 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2024-08-02T14:10:54.483Z,1722607854.483 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2024-08-02T14:10:55.803Z,1722607855.803 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2024-08-02T14:10:55.803Z,1722607855.803 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2024-08-02T14:10:56.405Z,1722607856.405 [SBIT](DEBUG): Construct Startup Built In Test.
2024-08-02T14:10:56.477Z,1722607856.477 [SBIT] Loaded
2024-08-02T14:10:56.477Z,1722607856.477 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2024-08-02T14:10:56.480Z,1722607856.480 [IBIT](DEBUG): Construct Initiated Built In Test.
2024-08-02T14:10:56.548Z,1722607856.548 [IBIT] Loaded
2024-08-02T14:10:56.548Z,1722607856.548 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2024-08-02T14:10:56.569Z,1722607856.569 [CBIT](DEBUG): Construct Continuous Built In Test.
2024-08-02T14:10:56.980Z,1722607856.980 [CBIT] Loaded
2024-08-02T14:10:56.980Z,1722607856.980 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2024-08-02T14:10:56.982Z,1722607856.982 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2024-08-02T14:10:57.021Z,1722607857.021 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2024-08-02T14:10:57.090Z,1722607857.090 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2024-08-02T14:10:57.151Z,1722607857.151 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2024-08-02T14:10:57.172Z,1722607857.172 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C074E0
2024-08-02T14:10:57.172Z,1722607857.172 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1442
2024-08-02T14:10:57.177Z,1722607857.177 [Supervisor](INFO): Main Thread ID is 830
2024-08-02T14:10:57.177Z,1722607857.177 [Supervisor](DEBUG): Running supervisor.
2024-08-02T14:10:57.177Z,1722607857.177 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1443
2024-08-02T14:10:57.178Z,1722607857.178 [CommandExec](INFO): Initializing the command executive.
2024-08-02T14:10:57.182Z,1722607857.182 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1444
2024-08-02T14:10:57.196Z,1722607857.196 [controlThread ThreadHandler](INFO): Handler Thread ID is 1445
2024-08-02T14:10:57.197Z,1722607857.197 [controlThread](DEBUG): Initializing ControlThread
2024-08-02T14:10:57.198Z,1722607857.198 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2024-08-02T14:10:57.199Z,1722607857.199 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2024-08-02T14:10:57.200Z,1722607857.200 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2024-08-02T14:10:57.200Z,1722607857.200 [LoopControl](DEBUG): Initialize LoopControlComponent.
2024-08-02T14:10:57.201Z,1722607857.201 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2024-08-02T14:10:57.202Z,1722607857.202 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2024-08-02T14:10:57.202Z,1722607857.202 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2024-08-02T14:10:57.202Z,1722607857.202 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2024-08-02T14:10:57.203Z,1722607857.203 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2024-08-02T14:10:57.204Z,1722607857.204 [NavChart](DEBUG): Initialize NavChart Navigation.
2024-08-02T14:10:57.204Z,1722607857.204 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2024-08-02T14:10:57.209Z,1722607857.209 [logger ThreadHandler](INFO): Handler Thread ID is 1446
2024-08-02T14:10:57.230Z,1722607857.230 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1447
2024-08-02T14:10:57.233Z,1722607857.233 [SBIT](INFO): Initialize SBIT Component.
2024-08-02T14:10:57.236Z,1722607857.236 [SBIT](IMPORTANT): git: 2024-07-24
2024-08-02T14:10:57.236Z,1722607857.236 [SBIT](INFO): git hash: f6cb8c8dea29ad885657024c63abf04d5f6782cd
2024-08-02T14:10:57.236Z,1722607857.236 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2024-08-02T14:10:57.237Z,1722607857.237 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2024-08-02T14:10:57.238Z,1722607857.238 [SBIT](INFO): Beginning SBIT in 96.000000 seconds.
2024-08-02T14:10:57.239Z,1722607857.239 [IBIT](INFO): Initialize IBIT Component.
2024-08-02T14:10:57.248Z,1722607857.248 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1448
2024-08-02T14:10:57.250Z,1722607857.250 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2024-08-02T14:10:57.252Z,1722607857.252 [Onboard ThreadHandler](INFO): Handler Thread ID is 1449
2024-08-02T14:10:57.266Z,1722607857.266 [CBIT](DEBUG): Initialize CBIT Component.
2024-08-02T14:10:57.284Z,1722607857.284 [CBIT](DEBUG): Initialized mux pins.
2024-08-02T14:10:57.284Z,1722607857.284 [CBIT](DEBUG): Initializing the watchdog timer.
2024-08-02T14:10:57.308Z,1722607857.308 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2024-08-02T14:10:57.308Z,1722607857.308 [CBIT](DEBUG): Initializing heartbeat.
2024-08-02T14:10:57.309Z,1722607857.309 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1451
2024-08-02T14:10:57.309Z,1722607857.309 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1450
2024-08-02T14:10:57.312Z,1722607857.312 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2024-08-02T14:10:57.323Z,1722607857.323 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1453
2024-08-02T14:10:57.326Z,1722607857.326 [WetLabsBB2FL](INFO): Powering up
2024-08-02T14:10:57.332Z,1722607857.332 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1455
2024-08-02T14:10:57.336Z,1722607857.336 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI79M.000
2024-08-02T14:10:57.336Z,1722607857.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI79M.000
2024-08-02T14:10:57.337Z,1722607857.337 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QL.000
2024-08-02T14:10:57.337Z,1722607857.337 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QL.000
2024-08-02T14:10:57.337Z,1722607857.337 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QM.000
2024-08-02T14:10:57.337Z,1722607857.337 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QM.000
2024-08-02T14:10:57.337Z,1722607857.337 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2PM.000
2024-08-02T14:10:57.337Z,1722607857.337 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2PM.000
2024-08-02T14:10:57.337Z,1722607857.337 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI74M.000
2024-08-02T14:10:57.338Z,1722607857.338 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI74M.000
2024-08-02T14:10:57.338Z,1722607857.338 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QN.000
2024-08-02T14:10:57.338Z,1722607857.338 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QN.000
2024-08-02T14:10:57.338Z,1722607857.338 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QO.000
2024-08-02T14:10:57.338Z,1722607857.338 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QO.000
2024-08-02T14:10:57.338Z,1722607857.338 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2RO.000
2024-08-02T14:10:57.339Z,1722607857.339 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2RO.000
2024-08-02T14:10:57.339Z,1722607857.339 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2RN.000
2024-08-02T14:10:57.339Z,1722607857.339 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2RN.000
2024-08-02T14:10:57.339Z,1722607857.339 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI2QP.000
2024-08-02T14:10:57.339Z,1722607857.339 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI2QP.000
2024-08-02T14:10:57.380Z,1722607857.380 [CBIT](DEBUG): Deactivating GF circuits.
2024-08-02T14:10:57.380Z,1722607857.380 [CBIT](DEBUG): Deactivating emergency mode.
2024-08-02T14:10:57.420Z,1722607857.420 [CBIT](DEBUG): Backplane powered.
2024-08-02T14:10:57.420Z,1722607857.420 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2024-08-02T14:10:57.421Z,1722607857.421 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2024-08-02T14:10:57.421Z,1722607857.421 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2024-08-02T14:10:57.422Z,1722607857.422 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2024-08-02T14:10:57.446Z,1722607857.446 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
2024-08-02T14:10:57.475Z,1722607857.475 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2024-08-02T14:10:57.522Z,1722607857.522 [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
}
}
}
2024-08-02T14:10:57.523Z,1722607857.523 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2024-08-02T14:10:57.523Z,1722607857.523 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2024-08-02T14:10:57.538Z,1722607857.538 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2024-08-02T14:10:57.724Z,1722607857.724 [Radio_Surface](INFO): Powering up
2024-08-02T14:10:58.244Z,1722607858.244 [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
2024-08-02T14:10:58.271Z,1722607858.271 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2024-08-02T14:10:58.272Z,1722607858.272 [Default:A.Wait](DEBUG): Construct Wait.
2024-08-02T14:10:58.281Z,1722607858.281 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-08-02T14:10:58.340Z,1722607858.340 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2024-08-02T14:10:58.343Z,1722607858.343 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2024-08-02T14:10:58.384Z,1722607858.384 [Default:E.Execute](DEBUG): Construct Execute.
2024-08-02T14:10:58.387Z,1722607858.387 [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"
}
}
2024-08-02T14:10:58.392Z,1722607858.392 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BioacousticsDataBridge,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2024-08-02T14:10:58.424Z,1722607858.424 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2024-08-02T14:10:58.555Z,1722607858.555 [Power24vConverter](INFO): Powering up.
2024-08-02T14:10:58.556Z,1722607858.556 [Sonardyne_Nano](INFO): Initializing.
2024-08-02T14:10:58.642Z,1722607858.642 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2024-08-02T14:10:58.648Z,1722607858.648 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2024-08-02T14:10:58.649Z,1722607858.649 [ElevatorServo](DEBUG): Initializing EZServoServo.
2024-08-02T14:10:58.657Z,1722607858.657 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2024-08-02T14:10:58.657Z,1722607858.657 [MassServo](DEBUG): Initializing EZServoServo.
2024-08-02T14:10:58.676Z,1722607858.676 [MassServo](DEBUG): Initializing MassServo.
2024-08-02T14:10:58.677Z,1722607858.677 [RudderServo](DEBUG): Initializing EZServoServo.
2024-08-02T14:10:58.684Z,1722607858.684 [RudderServo](DEBUG): Initializing RudderServo.
2024-08-02T14:10:58.685Z,1722607858.685 [ThrusterHE](DEBUG): Initializing EZServoServo.
2024-08-02T14:10:58.692Z,1722607858.692 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2024-08-02T14:10:59.432Z,1722607859.432 [WetLabsBB2FL](INFO): Powering down
2024-08-02T14:11:00.826Z,1722607860.826 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2024-08-02T14:11:02.064Z,1722607862.064 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2107
2024-08-02T14:11:04.349Z,1722607864.349 [ThrusterHE](ERROR): Zero Speed Commanded.
2024-08-02T14:11:22.649Z,1722607882.649 [NAL9602](INFO): Powering up NAL9602
2024-08-02T14:11:33.562Z,1722607893.562 [NAL9602](INFO): NAL9602 initialized
2024-08-02T14:12:33.849Z,1722607953.849 [SBIT](IMPORTANT): Beginning Startup BIT
2024-08-02T14:12:33.853Z,1722607953.853 [CBIT](IMPORTANT): Beginning ground fault scan
2024-08-02T14:12:44.693Z,1722607964.693 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.008759
CHAN A1 (24V): -0.006226
CHAN A2 (12V): -0.004158
CHAN A3 (5V): -0.003011
CHAN B0 (3.3V): -0.001264
CHAN B1 (3.15aV): -0.001768
CHAN B2 (3.15bV): -0.000511
CHAN B3 (GND): -0.000338
OPEN: 0.003597
Full Scale: +/- 1 mA
2024-08-02T14:13:20.215Z,1722608000.215 [NAL9602](INFO): SBD MO Status=2, MOMSN=6631, MT Status=2, MTMSN=0
2024-08-02T14:13:20.215Z,1722608000.215 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-08-02T14:13:27.573Z,1722608007.573 [SBIT](IMPORTANT): SBIT PASSED
2024-08-02T14:13:27.573Z,1722608007.573 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2024-08-02T14:13:27.574Z,1722608007.574 [SBIT](IMPORTANT): CBIT.abortDepth=230 meter;
2024-08-02T14:13:27.574Z,1722608007.574 [SBIT](IMPORTANT): CBIT.stopDepth=200 meter;
2024-08-02T14:13:27.574Z,1722608007.574 [SBIT](IMPORTANT): CTD_Seabird.minSalinityBound=0 practical_salinity_unit;
2024-08-02T14:13:27.574Z,1722608007.574 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;
2024-08-02T14:13:27.574Z,1722608007.574 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=345.622632 cubic_centimeter;
2024-08-02T14:13:27.574Z,1722608007.574 [SBIT](IMPORTANT): VerticalControl.massDefault=19.210518 millimeter;
2024-08-02T14:13:27.925Z,1722608007.925 [MissionManager](IMPORTANT): Started mission Startup
2024-08-02T14:13:27.926Z,1722608007.926 [Startup] Running Loop=1
2024-08-02T14:13:27.926Z,1722608007.926 [Startup](DEBUG): Aggregate::initialize Startup
2024-08-02T14:13:27.926Z,1722608007.926 [Startup:A.GoToSurface] Running Loop=1
2024-08-02T14:13:27.926Z,1722608007.926 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-08-02T14:13:27.926Z,1722608007.926 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-08-02T14:13:27.927Z,1722608007.927 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-08-02T14:13:27.927Z,1722608007.927 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-08-02T14:13:27.927Z,1722608007.927 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-08-02T14:13:27.928Z,1722608007.928 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2024-08-02T14:13:27.928Z,1722608007.928 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-08-02T14:13:27.930Z,1722608007.930 [Startup:StartupSatComms] Running Loop=1
2024-08-02T14:13:27.930Z,1722608007.930 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2024-08-02T14:13:27.930Z,1722608007.930 [Startup:StartupSatComms:A] Running Loop=1
2024-08-02T14:13:28.302Z,1722608008.302 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2024-08-02T14:13:57.389Z,1722608037.389 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2024-08-02T14:13:57.389Z,1722608037.389 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2024-08-02T14:13:57.453Z,1722608037.453 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2024-08-02T14:13:57.802Z,1722608037.802 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2024-08-02T14:13:57.802Z,1722608037.802 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2024-08-02T14:14:03.448Z,1722608043.448 [NAL9602](INFO): SBD MO Status=2, MOMSN=6631, MT Status=2, MTMSN=0
2024-08-02T14:14:03.448Z,1722608043.448 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-08-02T14:14:26.471Z,1722608066.471 [NAL9602](INFO): SBD MO Status=2, MOMSN=6631, MT Status=2, MTMSN=0
2024-08-02T14:14:26.471Z,1722608066.471 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-08-02T14:14:28.089Z,1722608068.089 [Startup:StartupSatComms:A](INFO): Timed out from 2024-08-02T14:13:27.9Z
2024-08-02T14:14:28.089Z,1722608068.089 [Startup:StartupSatComms:A] Stopped
2024-08-02T14:14:28.089Z,1722608068.089 [Startup:StartupSatComms:B] Running Loop=1
2024-08-02T14:14:28.494Z,1722608068.494 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2024-08-02T14:14:38.523Z,1722608078.523 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004769
2024-08-02T14:14:43.939Z,1722608083.939 [NAL9602](INFO): SBD MO Status=2, MOMSN=6631, MT Status=2, MTMSN=0
2024-08-02T14:14:43.939Z,1722608083.939 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-08-02T14:14:49.675Z,1722608089.675 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20240802T125909/Courier0037.lzma
2024-08-02T14:14:50.678Z,1722608090.678 [DataOverHttps](INFO): Moved sent file to Logs/20240802T125909/Courier0037.lzma.bak
2024-08-02T14:14:50.678Z,1722608090.678 [DataOverHttps](INFO): SBD MOMSN=21418806
2024-08-02T14:15:08.723Z,1722608108.723 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20240802T141042/Courier0000.lzma
2024-08-02T14:15:09.726Z,1722608109.726 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0000.lzma.bak
2024-08-02T14:15:09.726Z,1722608109.726 [DataOverHttps](INFO): SBD MOMSN=21418808
2024-08-02T14:15:28.393Z,1722608128.393 [Startup:StartupSatComms:B](INFO): Timed out from 2024-08-02T14:14:28.1Z
2024-08-02T14:15:28.394Z,1722608128.394 [Startup:StartupSatComms:B] Stopped
2024-08-02T14:15:28.394Z,1722608128.394 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2024-08-02T14:15:28.394Z,1722608128.394 [Startup:StartupSatComms] Stopped
2024-08-02T14:15:28.394Z,1722608128.394 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2024-08-02T14:15:28.395Z,1722608128.395 [Startup](INFO): Completed Startup
2024-08-02T14:15:28.395Z,1722608128.395 [MissionManager](INFO): Startup is completed.
2024-08-02T14:15:28.395Z,1722608128.395 [MissionManager](INFO): Uninitializing Mission Startup
2024-08-02T14:15:28.395Z,1722608128.395 [Startup] Stopped
2024-08-02T14:15:28.395Z,1722608128.395 [Startup](DEBUG): Aggregate::uninitialize Startup
2024-08-02T14:15:28.395Z,1722608128.395 [Startup:A.GoToSurface] Stopped
2024-08-02T14:15:28.395Z,1722608128.395 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-08-02T14:15:28.904Z,1722608128.904 [MissionManager](IMPORTANT): Started mission Default
2024-08-02T14:15:28.904Z,1722608128.904 [Default] Running Loop=1
2024-08-02T14:15:28.905Z,1722608128.905 [Default](DEBUG): Aggregate::initialize Default
2024-08-02T14:15:28.905Z,1722608128.905 [Default:B.GoToSurface] Running Loop=1
2024-08-02T14:15:28.905Z,1722608128.905 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-08-02T14:15:28.905Z,1722608128.905 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-08-02T14:15:28.905Z,1722608128.905 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-08-02T14:15:28.905Z,1722608128.905 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-08-02T14:15:28.906Z,1722608128.906 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-08-02T14:15:28.906Z,1722608128.906 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2024-08-02T14:15:28.906Z,1722608128.906 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-08-02T14:15:28.907Z,1722608128.907 [Default:A.Wait] Running Loop=1
2024-08-02T14:15:28.907Z,1722608128.907 [Default:A.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:15:33.132Z,1722608133.132 [DataOverHttps](INFO): Sending 259 bytes from file Logs/20240802T125909/Express0038.lzma
2024-08-02T14:15:34.134Z,1722608134.134 [DataOverHttps](INFO): Moved sent file to Logs/20240802T125909/Express0038.lzma.bak
2024-08-02T14:15:34.134Z,1722608134.134 [DataOverHttps](INFO): SBD MOMSN=21418811
2024-08-02T14:15:42.183Z,1722608142.183 [Default:A.Wait](INFO): Done Waiting.
2024-08-02T14:15:42.184Z,1722608142.184 [Default:A.Wait] Stopped
2024-08-02T14:15:42.184Z,1722608142.184 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:15:42.545Z,1722608142.545 [Default:CheckIn] Running Loop=1
2024-08-02T14:15:42.545Z,1722608142.545 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-08-02T14:15:42.546Z,1722608142.546 [Default:CheckIn:Read_GPS] Running Loop=1
2024-08-02T14:15:42.957Z,1722608142.957 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2024-08-02T14:15:56.705Z,1722608156.705 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:15:57.056Z,1722608157.056 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:16:12.005Z,1722608172.005 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:16:12.010Z,1722608172.010 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:16:26.957Z,1722608186.957 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:16:27.368Z,1722608187.368 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:16:36.253Z,1722608196.253 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2024-08-02T14:16:41.097Z,1722608201.097 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141628.00,A,4626.79906,N,08653.21750,W,0.583,179.84,020824,,,A*7B
2024-08-02T14:16:41.101Z,1722608201.101 [NAL9602](INFO): GPS fix at 20240802T141628: (46.446651, -86.886958)
2024-08-02T14:16:41.128Z,1722608201.128 [Default:CheckIn:Read_GPS] Stopped
2024-08-02T14:16:41.128Z,1722608201.128 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-08-02T14:16:41.590Z,1722608201.590 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2024-08-02T14:16:41.907Z,1722608201.907 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:16:42.728Z,1722608202.728 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:16:51.428Z,1722608211.428 [DataOverHttps](INFO): Sending 223 bytes from file Logs/20240802T141042/Courier0004.lzma
2024-08-02T14:16:52.430Z,1722608212.430 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0004.lzma.bak
2024-08-02T14:16:52.430Z,1722608212.430 [DataOverHttps](INFO): SBD MOMSN=21418845
2024-08-02T14:16:56.854Z,1722608216.854 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:16:58.876Z,1722608218.876 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:17:12.219Z,1722608232.219 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:17:13.429Z,1722608233.429 [NAL9602](INFO): Not Powering down - fast GPS
2024-08-02T14:17:14.227Z,1722608234.227 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:17:18.650Z,1722608238.650 [DataOverHttps](INFO): Sending 824 bytes from file Logs/20240802T141042/Express0001.lzma
2024-08-02T14:17:19.650Z,1722608239.650 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0001.lzma.bak
2024-08-02T14:17:19.650Z,1722608239.650 [DataOverHttps](INFO): SBD MOMSN=21418965
2024-08-02T14:17:27.163Z,1722608247.163 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:17:29.990Z,1722608249.990 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:17:42.111Z,1722608262.111 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:17:44.933Z,1722608264.933 [DataOverHttps](INFO): Sending 312 bytes from file Logs/20240802T141042/Express0005.lzma
2024-08-02T14:17:45.354Z,1722608265.354 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:17:45.930Z,1722608265.930 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0005.lzma.bak
2024-08-02T14:17:45.930Z,1722608265.930 [DataOverHttps](INFO): SBD MOMSN=21418984
2024-08-02T14:17:53.047Z,1722608273.047 [Default:CheckIn:Read_Iridium] Stopped
2024-08-02T14:17:53.047Z,1722608273.047 [Default:CheckIn:C.Wait] Running Loop=1
2024-08-02T14:17:53.047Z,1722608273.047 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:17:57.474Z,1722608277.474 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:18:00.707Z,1722608280.707 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:18:12.428Z,1722608292.428 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:18:16.058Z,1722608296.058 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:20:59.756Z,1722608459.756 [Power24vConverter](INFO): Powering down.
2024-08-02T14:22:53.636Z,1722608573.636 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2024-08-02T14:22:53.636Z,1722608573.636 [Default:CheckIn:C.Wait] Stopped
2024-08-02T14:22:53.637Z,1722608573.637 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:22:53.637Z,1722608573.637 [Default:CheckIn:D] Running Loop=1
2024-08-02T14:22:54.053Z,1722608574.053 [Default:CheckIn:D] Stopped
2024-08-02T14:22:54.053Z,1722608574.053 [Default:CheckIn:E] Running Loop=1
2024-08-02T14:22:54.463Z,1722608574.463 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 7.419146 min
2024-08-02T14:22:54.463Z,1722608574.463 [Default:CheckIn:E] Stopped
2024-08-02T14:22:54.463Z,1722608574.463 [Default:CheckIn](INFO): Completed Default:CheckIn
2024-08-02T14:22:54.463Z,1722608574.463 [Default:CheckIn] Stopped
2024-08-02T14:22:54.468Z,1722608574.468 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-08-02T14:22:54.468Z,1722608574.468 [Default:CheckIn](INFO): Running loop #2
2024-08-02T14:22:54.468Z,1722608574.468 [Default:CheckIn] Running Loop=2
2024-08-02T14:22:54.468Z,1722608574.468 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-08-02T14:22:54.468Z,1722608574.468 [Default:CheckIn:Read_GPS] Running Loop=1
2024-08-02T14:22:56.450Z,1722608576.450 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,142244.00,A,4626.80302,N,08653.19171,W,0.253,316.52,020824,,,D*7F
2024-08-02T14:22:56.452Z,1722608576.452 [NAL9602](INFO): GPS fix at 20240802T142244: (46.446717, -86.886528)
2024-08-02T14:22:56.463Z,1722608576.463 [Default:CheckIn:Read_GPS] Stopped
2024-08-02T14:22:56.463Z,1722608576.463 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-08-02T14:23:09.343Z,1722608589.343 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20240802T141042/Courier0007.lzma
2024-08-02T14:23:10.346Z,1722608590.346 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0007.lzma.bak
2024-08-02T14:23:10.346Z,1722608590.346 [DataOverHttps](INFO): SBD MOMSN=21418988
2024-08-02T14:23:27.186Z,1722608607.186 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2024-08-02T14:23:27.264Z,1722608607.264 [NAL9602](ERROR): received:
+CSQ:0
OK31, 2, 0, 0, 0
OK
2024-08-02T14:23:34.044Z,1722608614.044 [DataOverHttps](INFO): Sending 172 bytes from file Logs/20240802T141042/Express0008.lzma
2024-08-02T14:23:35.689Z,1722608615.689 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0008.lzma.bak
2024-08-02T14:23:35.690Z,1722608615.690 [DataOverHttps](INFO): SBD MOMSN=21418992
2024-08-02T14:23:44.575Z,1722608624.575 [Default:CheckIn:Read_Iridium] Stopped
2024-08-02T14:23:44.575Z,1722608624.575 [Default:CheckIn:C.Wait] Running Loop=1
2024-08-02T14:23:44.575Z,1722608624.575 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:23:56.677Z,1722608636.677 [NAL9602](INFO): SBD MO Status=2, MOMSN=6631, MT Status=2, MTMSN=0
2024-08-02T14:23:56.677Z,1722608636.677 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-08-02T14:25:29.195Z,1722608729.195 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2024-08-02T14:25:31.611Z,1722608731.611 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:25:35.247Z,1722608735.247 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:25:38.479Z,1722608738.479 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:25:50.195Z,1722608750.195 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:25:54.638Z,1722608754.638 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:26:05.546Z,1722608765.546 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:26:09.991Z,1722608769.991 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:26:20.494Z,1722608780.494 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:26:25.343Z,1722608785.343 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:26:35.443Z,1722608795.443 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:26:40.694Z,1722608800.694 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:26:50.801Z,1722608810.801 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:26:56.048Z,1722608816.048 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:27:05.774Z,1722608825.774 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:27:11.430Z,1722608831.430 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:27:20.722Z,1722608840.722 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:27:27.186Z,1722608847.186 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:27:35.670Z,1722608855.670 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:27:43.346Z,1722608863.346 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:27:51.023Z,1722608871.023 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:27:58.301Z,1722608878.301 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2024-08-02T14:28:29.017Z,1722608909.017 [NAL9602](INFO): Not Powering down - fast GPS
2024-08-02T14:28:45.183Z,1722608925.183 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2024-08-02T14:28:45.188Z,1722608925.188 [Default:CheckIn:C.Wait] Stopped
2024-08-02T14:28:45.188Z,1722608925.188 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:28:45.188Z,1722608925.188 [Default:CheckIn:D] Running Loop=1
2024-08-02T14:28:45.625Z,1722608925.625 [Default:CheckIn:D] Stopped
2024-08-02T14:28:45.625Z,1722608925.625 [Default:CheckIn:E] Running Loop=1
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 13.278681 min
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn:E] Stopped
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn](INFO): Completed Default:CheckIn
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn] Stopped
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn](INFO): Running loop #3
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn] Running Loop=3
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-08-02T14:28:46.009Z,1722608926.009 [Default:CheckIn:Read_GPS] Running Loop=1
2024-08-02T14:28:47.995Z,1722608927.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,142836.00,A,4626.81206,N,08653.19555,W,0.350,168.78,020824,,,D*77
2024-08-02T14:28:47.997Z,1722608927.997 [NAL9602](INFO): GPS fix at 20240802T142836: (46.446868, -86.886593)
2024-08-02T14:28:48.016Z,1722608928.016 [Default:CheckIn:Read_GPS] Stopped
2024-08-02T14:28:48.017Z,1722608928.017 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-08-02T14:28:54.121Z,1722608934.121 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20240802T141042/Courier0010.lzma
2024-08-02T14:28:55.126Z,1722608935.126 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0010.lzma.bak
2024-08-02T14:28:55.126Z,1722608935.126 [DataOverHttps](INFO): SBD MOMSN=21419144
2024-08-02T14:29:18.516Z,1722608958.516 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20240802T141042/Express0011.lzma
2024-08-02T14:29:18.773Z,1722608958.773 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2024-08-02T14:29:18.852Z,1722608958.852 [NAL9602](ERROR): received:
+CSQ:0
OK31, 2, 0, 0, 0
OK
2024-08-02T14:29:19.518Z,1722608959.518 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0011.lzma.bak
2024-08-02T14:29:19.518Z,1722608959.518 [DataOverHttps](INFO): SBD MOMSN=21419147
2024-08-02T14:29:26.467Z,1722608966.467 [Default:CheckIn:Read_Iridium] Stopped
2024-08-02T14:29:26.467Z,1722608966.467 [Default:CheckIn:C.Wait] Running Loop=1
2024-08-02T14:29:26.472Z,1722608966.472 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:31:27.346Z,1722609087.346 [NAL9602](INFO): SBD MO Status=2, MOMSN=6631, MT Status=2, MTMSN=0
2024-08-02T14:31:27.347Z,1722609087.347 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-08-02T14:32:38.062Z,1722609158.062 [NAL9602](INFO): SBD MO Status=2, MOMSN=6631, MT Status=2, MTMSN=0
2024-08-02T14:32:38.063Z,1722609158.063 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-08-02T14:33:50.767Z,1722609230.767 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2024-08-02T14:34:21.469Z,1722609261.469 [NAL9602](INFO): Not Powering down - fast GPS
2024-08-02T14:34:27.147Z,1722609267.147 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2024-08-02T14:34:27.147Z,1722609267.147 [Default:CheckIn:C.Wait] Stopped
2024-08-02T14:34:27.152Z,1722609267.152 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:34:27.152Z,1722609267.152 [Default:CheckIn:D] Running Loop=1
2024-08-02T14:34:27.661Z,1722609267.661 [Default:CheckIn:D] Stopped
2024-08-02T14:34:27.661Z,1722609267.661 [Default:CheckIn:E] Running Loop=1
2024-08-02T14:34:28.002Z,1722609268.002 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 18.979274 min
2024-08-02T14:34:28.008Z,1722609268.008 [Default:CheckIn:E] Stopped
2024-08-02T14:34:28.008Z,1722609268.008 [Default:CheckIn](INFO): Completed Default:CheckIn
2024-08-02T14:34:28.009Z,1722609268.009 [Default:CheckIn] Stopped
2024-08-02T14:34:28.009Z,1722609268.009 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-08-02T14:34:28.009Z,1722609268.009 [Default:CheckIn](INFO): Running loop #4
2024-08-02T14:34:28.009Z,1722609268.009 [Default:CheckIn] Running Loop=4
2024-08-02T14:34:28.009Z,1722609268.009 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-08-02T14:34:28.009Z,1722609268.009 [Default:CheckIn:Read_GPS] Running Loop=1
2024-08-02T14:34:29.955Z,1722609269.955 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143418.00,A,4626.81053,N,08653.19526,W,0.428,192.24,020824,,,D*74
2024-08-02T14:34:29.957Z,1722609269.957 [NAL9602](INFO): GPS fix at 20240802T143418: (46.446842, -86.886588)
2024-08-02T14:34:29.991Z,1722609269.991 [Default:CheckIn:Read_GPS] Stopped
2024-08-02T14:34:29.991Z,1722609269.991 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-08-02T14:34:33.754Z,1722609273.754 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20240802T141042/Courier0013.lzma
2024-08-02T14:34:34.762Z,1722609274.762 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0013.lzma.bak
2024-08-02T14:34:34.762Z,1722609274.762 [DataOverHttps](INFO): SBD MOMSN=21419158
2024-08-02T14:34:58.595Z,1722609298.595 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20240802T141042/Express0014.lzma
2024-08-02T14:34:59.598Z,1722609299.598 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0014.lzma.bak
2024-08-02T14:34:59.598Z,1722609299.598 [DataOverHttps](INFO): SBD MOMSN=21419161
2024-08-02T14:35:00.657Z,1722609300.657 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2024-08-02T14:35:00.740Z,1722609300.740 [NAL9602](ERROR): received:
+CSQ:0
OK31, 2, 0, 0, 0
OK
2024-08-02T14:35:04.687Z,1722609304.687 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:35:06.766Z,1722609306.766 [Default:CheckIn:Read_Iridium] Stopped
2024-08-02T14:35:06.766Z,1722609306.766 [Default:CheckIn:C.Wait] Running Loop=1
2024-08-02T14:35:06.766Z,1722609306.766 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:35:16.005Z,1722609316.005 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:35:20.044Z,1722609320.044 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:35:31.014Z,1722609331.014 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:35:34.995Z,1722609334.995 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:35:46.311Z,1722609346.311 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:35:49.942Z,1722609349.942 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:36:01.256Z,1722609361.256 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:36:04.891Z,1722609364.891 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:36:16.606Z,1722609376.606 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:36:21.050Z,1722609381.050 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:36:31.554Z,1722609391.554 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:36:36.403Z,1722609396.403 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:36:46.907Z,1722609406.907 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:36:51.754Z,1722609411.754 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:37:02.259Z,1722609422.259 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:37:07.106Z,1722609427.106 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:37:15.494Z,1722609435.494 [DataOverHttps](IMPORTANT): SBD MTMSN=20240802T143703
2024-08-02T14:37:17.207Z,1722609437.207 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:37:23.266Z,1722609443.266 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2024-08-02T14:37:26.068Z,1722609446.068 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m" 1xn9o 1 2
2024-08-02T14:37:26.153Z,1722609446.153 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m" 1xn9o 1 2.000000
2024-08-02T14:37:26.154Z,1722609446.154 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1xn9o
2024-08-02T14:37:26.155Z,1722609446.155 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='1xn9o'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m", ASAP
2024-08-02T14:37:27.069Z,1722609447.069 [DataOverHttps](IMPORTANT): SBD MTMSN=20240802T143715
2024-08-02T14:37:32.156Z,1722609452.156 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-08-02T14:37:34.569Z,1722609454.569 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.0001 km;run" 1xn9o 2 2
2024-08-02T14:37:34.615Z,1722609454.615 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.0001 km;run" 1xn9o 2 2.000000
2024-08-02T14:37:34.616Z,1722609454.616 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1xn9o
2024-08-02T14:37:34.617Z,1722609454.617 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='1xn9o'): "set transit.MinOffshore 0.0001 km;run", ASAP
2024-08-02T14:37:34.731Z,1722609454.731 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2024-08-02T14:37:34.731Z,1722609454.731 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2024-08-02T14:37:34.732Z,1722609454.732 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2024-08-02T14:37:34.735Z,1722609454.735 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2024-08-02T14:37:35.361Z,1722609455.361 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
60
30
NaN
NaN
0
0
10
1
20
1
7
1
2024-08-02T14:37:35.367Z,1722609455.367 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2024-08-02T14:37:35.370Z,1722609455.370 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2024-08-02T14:37:35.389Z,1722609455.389 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2024-08-02T14:37:35.436Z,1722609455.436 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2024-08-02T14:37:35.439Z,1722609455.439 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2024-08-02T14:37:35.446Z,1722609455.446 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2024-08-02T14:37:35.453Z,1722609455.453 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2024-08-02T14:37:35.480Z,1722609455.480 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2024-08-02T14:37:35.483Z,1722609455.483 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2024-08-02T14:37:35.490Z,1722609455.490 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2024-08-02T14:37:35.517Z,1722609455.517 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2024-08-02T14:37:35.524Z,1722609455.524 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2024-08-02T14:37:35.526Z,1722609455.526 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2024-08-02T14:37:35.527Z,1722609455.527 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2024-08-02T14:37:35.527Z,1722609455.527 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2024-08-02T14:37:35.540Z,1722609455.540 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2024-08-02T14:37:35.943Z,1722609455.943 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1000
7
30
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2024-08-02T14:37:35.949Z,1722609455.949 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2024-08-02T14:37:35.952Z,1722609455.952 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2024-08-02T14:37:35.955Z,1722609455.955 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2024-08-02T14:37:35.958Z,1722609455.958 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2024-08-02T14:37:35.960Z,1722609455.960 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2024-08-02T14:37:35.963Z,1722609455.963 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2024-08-02T14:37:36.019Z,1722609456.019 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2024-08-02T14:37:36.022Z,1722609456.022 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2024-08-02T14:37:36.041Z,1722609456.041 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-08-02T14:37:36.100Z,1722609456.100 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2024-08-02T14:37:36.100Z,1722609456.100 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2024-08-02T14:37:36.101Z,1722609456.101 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2024-08-02T14:37:36.319Z,1722609456.319 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2024-08-02T14:37:36.332Z,1722609456.332 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2024-08-02T14:37:36.335Z,1722609456.335 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2024-08-02T14:37:36.338Z,1722609456.338 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2024-08-02T14:37:36.349Z,1722609456.349 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2024-08-02T14:37:36.350Z,1722609456.350 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2024-08-02T14:37:36.359Z,1722609456.359 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2024-08-02T14:37:36.384Z,1722609456.384 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2024-08-02T14:37:36.424Z,1722609456.424 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2024-08-02T14:37:36.424Z,1722609456.424 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2024-08-02T14:37:36.425Z,1722609456.425 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2024-08-02T14:37:36.492Z,1722609456.492 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2024-08-02T14:37:36.500Z,1722609456.500 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2024-08-02T14:37:36.502Z,1722609456.502 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2024-08-02T14:37:36.507Z,1722609456.507 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2024-08-02T14:37:36.507Z,1722609456.507 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2024-08-02T14:37:36.516Z,1722609456.516 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2024-08-02T14:37:36.802Z,1722609456.802 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2024-08-02T14:37:36.810Z,1722609456.810 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2024-08-02T14:37:36.814Z,1722609456.814 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2024-08-02T14:37:36.824Z,1722609456.824 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2024-08-02T14:37:36.827Z,1722609456.827 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2024-08-02T14:37:36.830Z,1722609456.830 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2024-08-02T14:37:36.850Z,1722609456.850 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2024-08-02T14:37:36.864Z,1722609456.864 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2024-08-02T14:37:36.872Z,1722609456.872 [transit:MassHold.Pitch](DEBUG): Construct.
2024-08-02T14:37:36.892Z,1722609456.892 [transit:Transit:A.Pitch](DEBUG): Construct.
2024-08-02T14:37:36.899Z,1722609456.899 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2024-08-02T14:37:36.922Z,1722609456.922 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2024-08-02T14:37:36.971Z,1722609456.971 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission transit {
"""
Vehicle transits to desired waypoint and can be commanded to use/hold
mass or buoyancy.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Northings = 0 meter
"""
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Eastings = 0 meter
"""
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Depth = 10 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 20 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
set northingsDelta = Northings
set eastingsDelta = Eastings
}
call id="PhoneHome" refId="NeedComms"
}
}
2024-08-02T14:37:36.971Z,1722609456.971 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2024-08-02T14:37:49.048Z,1722609469.048 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2024-08-02T14:37:49.049Z,1722609469.049 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 10 minute
2024-08-02T14:37:49.050Z,1722609469.050 [CommandExec](IMPORTANT): got command set transit.Latitude 46.444496 degree
2024-08-02T14:37:49.051Z,1722609469.051 [CommandExec](IMPORTANT): got command set transit.Longitude -86.878253 degree
2024-08-02T14:37:49.051Z,1722609469.051 [CommandExec](IMPORTANT): got command set transit.Depth 0.1 meter
2024-08-02T14:37:49.052Z,1722609469.052 [CommandExec](IMPORTANT): got command set transit.MaxDepth 1 meter
2024-08-02T14:37:50.846Z,1722609470.846 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.0001 kilometer
2024-08-02T14:37:50.846Z,1722609470.846 [CommandExec](IMPORTANT): got command run
2024-08-02T14:37:50.849Z,1722609470.849 [CommandExec](IMPORTANT): Running
2024-08-02T14:37:51.176Z,1722609471.176 [Default] Stopped
2024-08-02T14:37:51.176Z,1722609471.176 [Default](DEBUG): Aggregate::uninitialize Default
2024-08-02T14:37:51.176Z,1722609471.176 [Default:B.GoToSurface] Stopped
2024-08-02T14:37:51.176Z,1722609471.176 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-08-02T14:37:51.176Z,1722609471.176 [Default:CheckIn] Stopped
2024-08-02T14:37:51.177Z,1722609471.177 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-08-02T14:37:51.177Z,1722609471.177 [Default:CheckIn:C.Wait] Stopped
2024-08-02T14:37:51.177Z,1722609471.177 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:37:51.177Z,1722609471.177 [MissionManager](IMPORTANT): Started mission transit
2024-08-02T14:37:51.177Z,1722609471.177 [transit] Running Loop=1
2024-08-02T14:37:51.177Z,1722609471.177 [transit](DEBUG): Aggregate::initialize transit
2024-08-02T14:37:51.177Z,1722609471.177 [transit:StandardEnvelopes] Running Loop=1
2024-08-02T14:37:51.177Z,1722609471.177 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2024-08-02T14:37:51.177Z,1722609471.177 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-08-02T14:37:51.178Z,1722609471.178 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2024-08-02T14:37:51.178Z,1722609471.178 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-08-02T14:37:51.178Z,1722609471.178 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2024-08-02T14:37:51.178Z,1722609471.178 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-08-02T14:37:51.178Z,1722609471.178 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2024-08-02T14:37:51.178Z,1722609471.178 [transit:BackseatDriver] Running Loop=1
2024-08-02T14:37:51.178Z,1722609471.178 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2024-08-02T14:37:51.179Z,1722609471.179 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:PowerOnly] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2024-08-02T14:37:51.179Z,1722609471.179 [transit:PowerOnly:A] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:PowerOnly:B] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:PowerOnly:C] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:PowerOnly:D] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:PowerOnly:E.Wait] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:37:51.179Z,1722609471.179 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2024-08-02T14:37:51.179Z,1722609471.179 [transit:MassHold.Pitch] Running Loop=1
2024-08-02T14:37:51.179Z,1722609471.179 [transit:MassHold.Pitch](DEBUG): Initialize.
2024-08-02T14:37:51.180Z,1722609471.180 [transit:B] Running Loop=1
2024-08-02T14:37:51.181Z,1722609471.181 [transit:MassHold.Pitch] Running Loop=1
2024-08-02T14:37:51.181Z,1722609471.181 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-08-02T14:37:51.181Z,1722609471.181 [transit:PowerOnly] Running Loop=1
2024-08-02T14:37:51.182Z,1722609471.182 [transit:PowerOnly:D] Stopped
2024-08-02T14:37:51.182Z,1722609471.182 [transit:PowerOnly:C] Stopped
2024-08-02T14:37:51.182Z,1722609471.182 [transit:PowerOnly:B] Stopped
2024-08-02T14:37:51.182Z,1722609471.182 [transit:PowerOnly:A] Stopped
2024-08-02T14:37:51.182Z,1722609471.182 [transit:BackseatDriver] Running Loop=1
2024-08-02T14:37:51.182Z,1722609471.182 [transit:StandardEnvelopes] Running Loop=1
2024-08-02T14:37:51.182Z,1722609471.182 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-08-02T14:37:51.183Z,1722609471.183 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2024-08-02T14:37:51.207Z,1722609471.207 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-08-02T14:37:51.212Z,1722609471.212 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-08-02T14:37:51.213Z,1722609471.213 [transit:B] Stopped
2024-08-02T14:37:51.213Z,1722609471.213 [transit:C] Running Loop=1
2024-08-02T14:37:51.221Z,1722609471.221 [HorizontalControl](DEBUG): kpHeading = 0.400000
2024-08-02T14:37:51.221Z,1722609471.221 [HorizontalControl](DEBUG): kiHeading = 0.001000
2024-08-02T14:37:51.222Z,1722609471.222 [HorizontalControl](DEBUG): kdHeading = 0.050000
2024-08-02T14:37:51.588Z,1722609471.588 [transit:C] Stopped
2024-08-02T14:37:51.589Z,1722609471.589 [transit:E] Running Loop=1
2024-08-02T14:37:51.964Z,1722609471.964 [transit:E] Stopped
2024-08-02T14:37:51.964Z,1722609471.964 [transit:F] Running Loop=1
2024-08-02T14:37:52.369Z,1722609472.369 [transit:F] Stopped
2024-08-02T14:37:52.369Z,1722609472.369 [transit:G] Running Loop=1
2024-08-02T14:37:52.775Z,1722609472.775 [transit:G] Stopped
2024-08-02T14:37:52.775Z,1722609472.775 [transit:Transit] Running Loop=1
2024-08-02T14:37:52.775Z,1722609472.775 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2024-08-02T14:37:52.775Z,1722609472.775 [transit:Transit:A.Pitch] Running Loop=1
2024-08-02T14:37:52.775Z,1722609472.775 [transit:Transit:A.Pitch](DEBUG): Initialize.
2024-08-02T14:37:52.776Z,1722609472.776 [transit:Transit:B.SetSpeed] Running Loop=1
2024-08-02T14:37:52.776Z,1722609472.776 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2024-08-02T14:37:52.776Z,1722609472.776 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2024-08-02T14:37:52.776Z,1722609472.776 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2024-08-02T14:37:52.778Z,1722609472.778 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 46.444496,-86.878250
2024-08-02T14:37:52.780Z,1722609472.780 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2024-08-02T14:37:53.187Z,1722609473.187 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 46.444496,-86.878250
2024-08-02T14:37:53.188Z,1722609473.188 [transit:Transit:B.SetSpeed] Running Loop=1
2024-08-02T14:37:53.188Z,1722609473.188 [transit:Transit:A.Pitch] Running Loop=1
2024-08-02T14:37:57.932Z,1722609477.932 [CommandExec](IMPORTANT): got command stop
2024-08-02T14:37:57.933Z,1722609477.933 [CommandExec](IMPORTANT): Scheduling is paused
2024-08-02T14:37:57.933Z,1722609477.933 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2024-08-02T14:37:58.036Z,1722609478.036 [MissionManager](INFO): MissionManager is completed.
2024-08-02T14:37:58.037Z,1722609478.037 [MissionManager](INFO): Uninitializing Mission transit
2024-08-02T14:37:58.037Z,1722609478.037 [transit] Stopped
2024-08-02T14:37:58.037Z,1722609478.037 [transit](DEBUG): Aggregate::uninitialize transit
2024-08-02T14:37:58.037Z,1722609478.037 [transit:StandardEnvelopes] Stopped
2024-08-02T14:37:58.037Z,1722609478.037 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2024-08-02T14:37:58.037Z,1722609478.037 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2024-08-02T14:37:58.037Z,1722609478.037 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2024-08-02T14:37:58.037Z,1722609478.037 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2024-08-02T14:37:58.037Z,1722609478.037 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2024-08-02T14:37:58.037Z,1722609478.037 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2024-08-02T14:37:58.037Z,1722609478.037 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2024-08-02T14:37:58.037Z,1722609478.037 [transit:BackseatDriver] Stopped
2024-08-02T14:37:58.038Z,1722609478.038 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2024-08-02T14:37:58.038Z,1722609478.038 [transit:BackseatDriver:A.BackseatDriver] Stopped
2024-08-02T14:37:58.038Z,1722609478.038 [transit:PowerOnly] Stopped
2024-08-02T14:37:58.038Z,1722609478.038 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2024-08-02T14:37:58.038Z,1722609478.038 [transit:PowerOnly:E.Wait] Stopped
2024-08-02T14:37:58.038Z,1722609478.038 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:37:58.038Z,1722609478.038 [transit:BuoyancyHold.Buoyancy] Stopped
2024-08-02T14:37:58.038Z,1722609478.038 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2024-08-02T14:37:58.038Z,1722609478.038 [transit:MassHold.Pitch] Stopped
2024-08-02T14:37:58.038Z,1722609478.038 [transit:Transit] Stopped
2024-08-02T14:37:58.038Z,1722609478.038 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2024-08-02T14:37:58.038Z,1722609478.038 [transit:Transit:A.Pitch] Stopped
2024-08-02T14:37:58.038Z,1722609478.038 [transit:Transit:B.SetSpeed] Stopped
2024-08-02T14:37:58.039Z,1722609478.039 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2024-08-02T14:37:58.039Z,1722609478.039 [transit:Transit:Wpt1.Waypoint] Stopped
2024-08-02T14:37:58.039Z,1722609478.039 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2024-08-02T14:37:58.431Z,1722609478.431 [MissionManager](IMPORTANT): Started mission Default
2024-08-02T14:37:58.448Z,1722609478.448 [Default] Running Loop=1
2024-08-02T14:37:58.448Z,1722609478.448 [Default](DEBUG): Aggregate::initialize Default
2024-08-02T14:37:58.448Z,1722609478.448 [Default:B.GoToSurface] Running Loop=1
2024-08-02T14:37:58.448Z,1722609478.448 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-08-02T14:37:58.448Z,1722609478.448 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-08-02T14:37:58.449Z,1722609478.449 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-08-02T14:37:58.449Z,1722609478.449 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-08-02T14:37:58.449Z,1722609478.449 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-08-02T14:37:58.450Z,1722609478.450 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2024-08-02T14:37:58.450Z,1722609478.450 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-08-02T14:37:58.450Z,1722609478.450 [Default:A.Wait] Running Loop=1
2024-08-02T14:37:58.450Z,1722609478.450 [Default:A.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:38:11.772Z,1722609491.772 [Default:A.Wait](INFO): Done Waiting.
2024-08-02T14:38:11.772Z,1722609491.772 [Default:A.Wait] Stopped
2024-08-02T14:38:11.772Z,1722609491.772 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:38:12.169Z,1722609492.169 [Default:CheckIn] Running Loop=1
2024-08-02T14:38:12.169Z,1722609492.169 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-08-02T14:38:12.169Z,1722609492.169 [Default:CheckIn:Read_GPS] Running Loop=1
2024-08-02T14:39:32.569Z,1722609572.569 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2024-08-02T14:39:33.764Z,1722609573.764 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143921.00,A,4626.80589,N,08653.18367,W,0.389,192.24,020824,,,D*7E
2024-08-02T14:39:33.766Z,1722609573.766 [NAL9602](INFO): GPS fix at 20240802T143921: (46.446765, -86.886394)
2024-08-02T14:39:33.777Z,1722609573.777 [Default:CheckIn:Read_GPS] Stopped
2024-08-02T14:39:33.777Z,1722609573.777 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-08-02T14:39:44.283Z,1722609584.283 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20240802T141042/Courier0016.lzma
2024-08-02T14:39:45.286Z,1722609585.286 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0016.lzma.bak
2024-08-02T14:39:45.286Z,1722609585.286 [DataOverHttps](INFO): SBD MOMSN=21419312
2024-08-02T14:40:06.349Z,1722609606.349 [NAL9602](INFO): Not Powering down - fast GPS
2024-08-02T14:40:10.837Z,1722609610.837 [DataOverHttps](INFO): Sending 772 bytes from file Logs/20240802T141042/Express0017.lzma
2024-08-02T14:40:11.838Z,1722609611.838 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0017.lzma.bak
2024-08-02T14:40:11.838Z,1722609611.838 [DataOverHttps](INFO): SBD MOMSN=21419315
2024-08-02T14:40:33.303Z,1722609633.303 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20240802T141042/Express0020.lzma
2024-08-02T14:40:34.306Z,1722609634.306 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0020.lzma.bak
2024-08-02T14:40:34.306Z,1722609634.306 [DataOverHttps](INFO): SBD MOMSN=21419343
2024-08-02T14:40:44.365Z,1722609644.365 [Default:CheckIn:Read_Iridium] Stopped
2024-08-02T14:40:44.365Z,1722609644.365 [Default:CheckIn:C.Wait] Running Loop=1
2024-08-02T14:40:44.365Z,1722609644.365 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:41:58.699Z,1722609718.699 [BPC1](ERROR): Battery stick #25 (s/n: 016F) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.
2024-08-02T14:41:58.701Z,1722609718.701 [BPC1](INFO): Calculating totals. Valid battery stick count: 52. Valid reserve battery stick count: 5.
2024-08-02T14:41:58.704Z,1722609718.704 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2024-08-02T14:45:44.987Z,1722609944.987 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2024-08-02T14:45:44.987Z,1722609944.987 [Default:CheckIn:C.Wait] Stopped
2024-08-02T14:45:44.987Z,1722609944.987 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:45:44.992Z,1722609944.992 [Default:CheckIn:D] Running Loop=1
2024-08-02T14:45:45.419Z,1722609945.419 [Default:CheckIn:D] Stopped
2024-08-02T14:45:45.419Z,1722609945.419 [Default:CheckIn:E] Running Loop=1
2024-08-02T14:45:45.811Z,1722609945.811 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 7.782848 min
2024-08-02T14:45:45.811Z,1722609945.811 [Default:CheckIn:E] Stopped
2024-08-02T14:45:45.816Z,1722609945.816 [Default:CheckIn](INFO): Completed Default:CheckIn
2024-08-02T14:45:45.816Z,1722609945.816 [Default:CheckIn] Stopped
2024-08-02T14:45:45.816Z,1722609945.816 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-08-02T14:45:45.816Z,1722609945.816 [Default:CheckIn](INFO): Running loop #2
2024-08-02T14:45:45.816Z,1722609945.816 [Default:CheckIn] Running Loop=2
2024-08-02T14:45:45.816Z,1722609945.816 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-08-02T14:45:45.816Z,1722609945.816 [Default:CheckIn:Read_GPS] Running Loop=1
2024-08-02T14:45:47.795Z,1722609947.795 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144535.00,A,4626.80621,N,08653.18534,W,0.175,192.24,020824,,,D*70
2024-08-02T14:45:47.797Z,1722609947.797 [NAL9602](INFO): GPS fix at 20240802T144535: (46.446770, -86.886422)
2024-08-02T14:45:47.807Z,1722609947.807 [Default:CheckIn:Read_GPS] Stopped
2024-08-02T14:45:47.807Z,1722609947.807 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-08-02T14:46:02.076Z,1722609962.076 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20240802T141042/Courier0022.lzma
2024-08-02T14:46:03.078Z,1722609963.078 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0022.lzma.bak
2024-08-02T14:46:03.078Z,1722609963.078 [DataOverHttps](INFO): SBD MOMSN=21419351
2024-08-02T14:46:18.493Z,1722609978.493 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2024-08-02T14:46:18.576Z,1722609978.576 [NAL9602](ERROR): received:
+CSQ:0
OK31, 2, 0, 0, 0
OK
2024-08-02T14:46:24.667Z,1722609984.667 [DataOverHttps](INFO): Sending 128 bytes from file Logs/20240802T141042/Express0023.lzma
2024-08-02T14:46:25.670Z,1722609985.670 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0023.lzma.bak
2024-08-02T14:46:25.670Z,1722609985.670 [DataOverHttps](INFO): SBD MOMSN=21419354
2024-08-02T14:46:35.079Z,1722609995.079 [Default:CheckIn:Read_Iridium] Stopped
2024-08-02T14:46:35.079Z,1722609995.079 [Default:CheckIn:C.Wait] Running Loop=1
2024-08-02T14:46:35.079Z,1722609995.079 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:48:31.015Z,1722610111.015 [NAL9602](INFO): SBD MO Status=0, MOMSN=6631, MT Status=0, MTMSN=0
2024-08-02T14:48:31.015Z,1722610111.015 [NAL9602](INFO): No messages in MT queue
2024-08-02T14:49:01.713Z,1722610141.713 [NAL9602](INFO): Not Powering down - fast GPS
2024-08-02T14:51:03.319Z,1722610263.319 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2024-08-02T14:51:35.646Z,1722610295.646 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2024-08-02T14:51:35.646Z,1722610295.646 [Default:CheckIn:C.Wait] Stopped
2024-08-02T14:51:35.646Z,1722610295.646 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:51:35.647Z,1722610295.647 [Default:CheckIn:D] Running Loop=1
2024-08-02T14:51:36.067Z,1722610296.067 [Default:CheckIn:D] Stopped
2024-08-02T14:51:36.067Z,1722610296.067 [Default:CheckIn:E] Running Loop=1
2024-08-02T14:51:36.469Z,1722610296.469 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 13.626991 min
2024-08-02T14:51:36.469Z,1722610296.469 [Default:CheckIn:E] Stopped
2024-08-02T14:51:36.469Z,1722610296.469 [Default:CheckIn](INFO): Completed Default:CheckIn
2024-08-02T14:51:36.469Z,1722610296.469 [Default:CheckIn] Stopped
2024-08-02T14:51:36.469Z,1722610296.469 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-08-02T14:51:36.469Z,1722610296.469 [Default:CheckIn](INFO): Running loop #3
2024-08-02T14:51:36.469Z,1722610296.469 [Default:CheckIn] Running Loop=3
2024-08-02T14:51:36.469Z,1722610296.469 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-08-02T14:51:36.470Z,1722610296.470 [Default:CheckIn:Read_GPS] Running Loop=1
2024-08-02T14:51:38.465Z,1722610298.465 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145126.00,A,4626.81755,N,08653.13521,W,0.117,120.93,020824,,,D*7A
2024-08-02T14:51:38.468Z,1722610298.468 [NAL9602](INFO): GPS fix at 20240802T145126: (46.446959, -86.885587)
2024-08-02T14:51:38.478Z,1722610298.478 [Default:CheckIn:Read_GPS] Stopped
2024-08-02T14:51:38.478Z,1722610298.478 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-08-02T14:51:48.551Z,1722610308.551 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20240802T141042/Courier0025.lzma
2024-08-02T14:51:49.554Z,1722610309.554 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0025.lzma.bak
2024-08-02T14:51:49.554Z,1722610309.554 [DataOverHttps](INFO): SBD MOMSN=21419534
2024-08-02T14:52:10.947Z,1722610330.947 [DataOverHttps](INFO): Sending 140 bytes from file Logs/20240802T141042/Express0026.lzma
2024-08-02T14:52:11.950Z,1722610331.950 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0026.lzma.bak
2024-08-02T14:52:11.950Z,1722610331.950 [DataOverHttps](INFO): SBD MOMSN=21419537
2024-08-02T14:52:20.924Z,1722610340.924 [Default:CheckIn:Read_Iridium] Stopped
2024-08-02T14:52:20.925Z,1722610340.925 [Default:CheckIn:C.Wait] Running Loop=1
2024-08-02T14:52:20.925Z,1722610340.925 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:52:24.122Z,1722610344.122 [NAL9602](INFO): SBD MO Status=0, MOMSN=6632, MT Status=0, MTMSN=0
2024-08-02T14:52:24.123Z,1722610344.123 [NAL9602](INFO): No messages in MT queue
2024-08-02T14:52:54.849Z,1722610374.849 [NAL9602](INFO): Not Powering down - fast GPS
2024-08-02T14:55:07.294Z,1722610507.294 [DataOverHttps](IMPORTANT): SBD MTMSN=20240802T145455
2024-08-02T14:55:14.724Z,1722610514.724 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m" 1xo2u 1 2
2024-08-02T14:55:14.740Z,1722610514.740 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m" 1xo2u 1 2.000000
2024-08-02T14:55:14.741Z,1722610514.741 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1xo2u
2024-08-02T14:55:14.742Z,1722610514.742 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='1xo2u'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m", ASAP
2024-08-02T14:55:15.725Z,1722610515.725 [DataOverHttps](IMPORTANT): SBD MTMSN=20240802T145503
2024-08-02T14:55:26.668Z,1722610526.668 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.0001 km;run" 1xo2u 2 2
2024-08-02T14:55:26.718Z,1722610526.718 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.0001 km;run" 1xo2u 2 2.000000
2024-08-02T14:55:26.719Z,1722610526.719 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1xo2u
2024-08-02T14:55:26.720Z,1722610526.720 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='1xo2u'): "set transit.MinOffshore 0.0001 km;run", ASAP
2024-08-02T14:55:26.833Z,1722610526.833 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2024-08-02T14:55:26.834Z,1722610526.834 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2024-08-02T14:55:26.834Z,1722610526.834 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2024-08-02T14:55:26.835Z,1722610526.835 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2024-08-02T14:55:27.494Z,1722610527.494 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
60
30
NaN
NaN
0
0
10
1
20
1
7
1
2024-08-02T14:55:27.499Z,1722610527.499 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2024-08-02T14:55:27.501Z,1722610527.501 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2024-08-02T14:55:27.503Z,1722610527.503 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2024-08-02T14:55:27.505Z,1722610527.505 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2024-08-02T14:55:27.507Z,1722610527.507 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2024-08-02T14:55:27.509Z,1722610527.509 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2024-08-02T14:55:27.511Z,1722610527.511 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2024-08-02T14:55:27.513Z,1722610527.513 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2024-08-02T14:55:27.515Z,1722610527.515 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2024-08-02T14:55:27.517Z,1722610527.517 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2024-08-02T14:55:27.519Z,1722610527.519 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2024-08-02T14:55:27.521Z,1722610527.521 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2024-08-02T14:55:27.523Z,1722610527.523 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2024-08-02T14:55:27.523Z,1722610527.523 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2024-08-02T14:55:27.523Z,1722610527.523 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2024-08-02T14:55:27.525Z,1722610527.525 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2024-08-02T14:55:27.894Z,1722610527.894 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1000
7
30
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2024-08-02T14:55:27.901Z,1722610527.901 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2024-08-02T14:55:27.903Z,1722610527.903 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2024-08-02T14:55:27.906Z,1722610527.906 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2024-08-02T14:55:27.908Z,1722610527.908 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2024-08-02T14:55:27.910Z,1722610527.910 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2024-08-02T14:55:27.912Z,1722610527.912 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2024-08-02T14:55:27.914Z,1722610527.914 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2024-08-02T14:55:27.916Z,1722610527.916 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2024-08-02T14:55:27.922Z,1722610527.922 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-08-02T14:55:27.939Z,1722610527.939 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2024-08-02T14:55:27.939Z,1722610527.939 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2024-08-02T14:55:27.940Z,1722610527.940 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2024-08-02T14:55:28.176Z,1722610528.176 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2024-08-02T14:55:28.179Z,1722610528.179 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2024-08-02T14:55:28.182Z,1722610528.182 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2024-08-02T14:55:28.184Z,1722610528.184 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2024-08-02T14:55:28.186Z,1722610528.186 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2024-08-02T14:55:28.187Z,1722610528.187 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2024-08-02T14:55:28.192Z,1722610528.192 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2024-08-02T14:55:28.198Z,1722610528.198 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2024-08-02T14:55:28.207Z,1722610528.207 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2024-08-02T14:55:28.207Z,1722610528.207 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2024-08-02T14:55:28.208Z,1722610528.208 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2024-08-02T14:55:28.272Z,1722610528.272 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2024-08-02T14:55:28.275Z,1722610528.275 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2024-08-02T14:55:28.292Z,1722610528.292 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2024-08-02T14:55:28.294Z,1722610528.294 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2024-08-02T14:55:28.294Z,1722610528.294 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2024-08-02T14:55:28.295Z,1722610528.295 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2024-08-02T14:55:28.464Z,1722610528.464 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2024-08-02T14:55:28.469Z,1722610528.469 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2024-08-02T14:55:28.471Z,1722610528.471 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2024-08-02T14:55:28.478Z,1722610528.478 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2024-08-02T14:55:28.480Z,1722610528.480 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2024-08-02T14:55:28.483Z,1722610528.483 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2024-08-02T14:55:28.550Z,1722610528.550 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2024-08-02T14:55:28.552Z,1722610528.552 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2024-08-02T14:55:28.555Z,1722610528.555 [transit:MassHold.Pitch](DEBUG): Construct.
2024-08-02T14:55:28.561Z,1722610528.561 [transit:Transit:A.Pitch](DEBUG): Construct.
2024-08-02T14:55:28.565Z,1722610528.565 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2024-08-02T14:55:28.567Z,1722610528.567 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2024-08-02T14:55:28.583Z,1722610528.583 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission transit {
"""
Vehicle transits to desired waypoint and can be commanded to use/hold
mass or buoyancy.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Northings = 0 meter
"""
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Eastings = 0 meter
"""
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Depth = 10 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 20 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
set northingsDelta = Northings
set eastingsDelta = Eastings
}
call id="PhoneHome" refId="NeedComms"
}
}
2024-08-02T14:55:28.583Z,1722610528.583 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2024-08-02T14:55:36.286Z,1722610536.286 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2024-08-02T14:55:36.287Z,1722610536.287 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 10 minute
2024-08-02T14:55:36.287Z,1722610536.287 [CommandExec](IMPORTANT): got command set transit.Latitude 46.444496 degree
2024-08-02T14:55:36.288Z,1722610536.288 [CommandExec](IMPORTANT): got command set transit.Longitude -86.878253 degree
2024-08-02T14:55:36.289Z,1722610536.289 [CommandExec](IMPORTANT): got command set transit.Depth 0.1 meter
2024-08-02T14:55:36.290Z,1722610536.290 [CommandExec](IMPORTANT): got command set transit.MaxDepth 1 meter
2024-08-02T14:55:37.764Z,1722610537.764 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.0001 kilometer
2024-08-02T14:55:37.765Z,1722610537.765 [CommandExec](IMPORTANT): got command run
2024-08-02T14:55:37.767Z,1722610537.767 [CommandExec](IMPORTANT): Running
2024-08-02T14:55:38.104Z,1722610538.104 [Default] Stopped
2024-08-02T14:55:38.104Z,1722610538.104 [Default](DEBUG): Aggregate::uninitialize Default
2024-08-02T14:55:38.104Z,1722610538.104 [Default:B.GoToSurface] Stopped
2024-08-02T14:55:38.104Z,1722610538.104 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-08-02T14:55:38.104Z,1722610538.104 [Default:CheckIn] Stopped
2024-08-02T14:55:38.104Z,1722610538.104 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-08-02T14:55:38.104Z,1722610538.104 [Default:CheckIn:C.Wait] Stopped
2024-08-02T14:55:38.104Z,1722610538.104 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:55:38.104Z,1722610538.104 [MissionManager](IMPORTANT): Started mission transit
2024-08-02T14:55:38.105Z,1722610538.105 [transit] Running Loop=1
2024-08-02T14:55:38.105Z,1722610538.105 [transit](DEBUG): Aggregate::initialize transit
2024-08-02T14:55:38.105Z,1722610538.105 [transit:StandardEnvelopes] Running Loop=1
2024-08-02T14:55:38.105Z,1722610538.105 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2024-08-02T14:55:38.105Z,1722610538.105 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-08-02T14:55:38.105Z,1722610538.105 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2024-08-02T14:55:38.105Z,1722610538.105 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-08-02T14:55:38.105Z,1722610538.105 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2024-08-02T14:55:38.105Z,1722610538.105 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-08-02T14:55:38.106Z,1722610538.106 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2024-08-02T14:55:38.106Z,1722610538.106 [transit:BackseatDriver] Running Loop=1
2024-08-02T14:55:38.106Z,1722610538.106 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2024-08-02T14:55:38.106Z,1722610538.106 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2024-08-02T14:55:38.106Z,1722610538.106 [transit:PowerOnly] Running Loop=1
2024-08-02T14:55:38.106Z,1722610538.106 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2024-08-02T14:55:38.106Z,1722610538.106 [transit:PowerOnly:A] Running Loop=1
2024-08-02T14:55:38.106Z,1722610538.106 [transit:PowerOnly:B] Running Loop=1
2024-08-02T14:55:38.106Z,1722610538.106 [transit:PowerOnly:C] Running Loop=1
2024-08-02T14:55:38.106Z,1722610538.106 [transit:PowerOnly:D] Running Loop=1
2024-08-02T14:55:38.106Z,1722610538.106 [transit:PowerOnly:E.Wait] Running Loop=1
2024-08-02T14:55:38.107Z,1722610538.107 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:55:38.107Z,1722610538.107 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-08-02T14:55:38.107Z,1722610538.107 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2024-08-02T14:55:38.107Z,1722610538.107 [transit:MassHold.Pitch] Running Loop=1
2024-08-02T14:55:38.107Z,1722610538.107 [transit:MassHold.Pitch](DEBUG): Initialize.
2024-08-02T14:55:38.107Z,1722610538.107 [transit:B] Running Loop=1
2024-08-02T14:55:38.108Z,1722610538.108 [transit:MassHold.Pitch] Running Loop=1
2024-08-02T14:55:38.108Z,1722610538.108 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-08-02T14:55:38.108Z,1722610538.108 [transit:PowerOnly] Running Loop=1
2024-08-02T14:55:38.109Z,1722610538.109 [transit:PowerOnly:D] Stopped
2024-08-02T14:55:38.109Z,1722610538.109 [transit:PowerOnly:C] Stopped
2024-08-02T14:55:38.109Z,1722610538.109 [transit:PowerOnly:B] Stopped
2024-08-02T14:55:38.109Z,1722610538.109 [transit:PowerOnly:A] Stopped
2024-08-02T14:55:38.109Z,1722610538.109 [transit:BackseatDriver] Running Loop=1
2024-08-02T14:55:38.109Z,1722610538.109 [transit:StandardEnvelopes] Running Loop=1
2024-08-02T14:55:38.109Z,1722610538.109 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-08-02T14:55:38.109Z,1722610538.109 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2024-08-02T14:55:38.161Z,1722610538.161 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-08-02T14:55:38.161Z,1722610538.161 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-08-02T14:55:38.162Z,1722610538.162 [transit:B] Stopped
2024-08-02T14:55:38.162Z,1722610538.162 [transit:C] Running Loop=1
2024-08-02T14:55:38.513Z,1722610538.513 [transit:C] Stopped
2024-08-02T14:55:38.513Z,1722610538.513 [transit:E] Running Loop=1
2024-08-02T14:55:38.919Z,1722610538.919 [transit:E] Stopped
2024-08-02T14:55:38.919Z,1722610538.919 [transit:F] Running Loop=1
2024-08-02T14:55:39.312Z,1722610539.312 [transit:F] Stopped
2024-08-02T14:55:39.312Z,1722610539.312 [transit:G] Running Loop=1
2024-08-02T14:55:39.715Z,1722610539.715 [transit:G] Stopped
2024-08-02T14:55:39.715Z,1722610539.715 [transit:Transit] Running Loop=1
2024-08-02T14:55:39.715Z,1722610539.715 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2024-08-02T14:55:39.715Z,1722610539.715 [transit:Transit:A.Pitch] Running Loop=1
2024-08-02T14:55:39.715Z,1722610539.715 [transit:Transit:A.Pitch](DEBUG): Initialize.
2024-08-02T14:55:39.716Z,1722610539.716 [transit:Transit:B.SetSpeed] Running Loop=1
2024-08-02T14:55:39.717Z,1722610539.717 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2024-08-02T14:55:39.717Z,1722610539.717 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2024-08-02T14:55:39.717Z,1722610539.717 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2024-08-02T14:55:39.718Z,1722610539.718 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 46.444496,-86.878250
2024-08-02T14:55:39.719Z,1722610539.719 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2024-08-02T14:55:40.126Z,1722610540.126 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 46.444496,-86.878250
2024-08-02T14:55:40.127Z,1722610540.127 [transit:Transit:B.SetSpeed] Running Loop=1
2024-08-02T14:55:40.127Z,1722610540.127 [transit:Transit:A.Pitch] Running Loop=1
2024-08-02T14:56:21.624Z,1722610581.624 [CommandExec](IMPORTANT): got command stop
2024-08-02T14:56:21.625Z,1722610581.625 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2024-08-02T14:56:21.743Z,1722610581.743 [MissionManager](INFO): MissionManager is completed.
2024-08-02T14:56:21.743Z,1722610581.743 [MissionManager](INFO): Uninitializing Mission transit
2024-08-02T14:56:21.743Z,1722610581.743 [transit] Stopped
2024-08-02T14:56:21.743Z,1722610581.743 [transit](DEBUG): Aggregate::uninitialize transit
2024-08-02T14:56:21.743Z,1722610581.743 [transit:StandardEnvelopes] Stopped
2024-08-02T14:56:21.743Z,1722610581.743 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2024-08-02T14:56:21.743Z,1722610581.743 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2024-08-02T14:56:21.743Z,1722610581.743 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2024-08-02T14:56:21.743Z,1722610581.743 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2024-08-02T14:56:21.743Z,1722610581.743 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2024-08-02T14:56:21.743Z,1722610581.743 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2024-08-02T14:56:21.743Z,1722610581.743 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2024-08-02T14:56:21.744Z,1722610581.744 [transit:BackseatDriver] Stopped
2024-08-02T14:56:21.744Z,1722610581.744 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2024-08-02T14:56:21.744Z,1722610581.744 [transit:BackseatDriver:A.BackseatDriver] Stopped
2024-08-02T14:56:21.744Z,1722610581.744 [transit:PowerOnly] Stopped
2024-08-02T14:56:21.744Z,1722610581.744 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2024-08-02T14:56:21.744Z,1722610581.744 [transit:PowerOnly:E.Wait] Stopped
2024-08-02T14:56:21.744Z,1722610581.744 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:56:21.744Z,1722610581.744 [transit:BuoyancyHold.Buoyancy] Stopped
2024-08-02T14:56:21.744Z,1722610581.744 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2024-08-02T14:56:21.744Z,1722610581.744 [transit:MassHold.Pitch] Stopped
2024-08-02T14:56:21.745Z,1722610581.745 [transit:Transit] Stopped
2024-08-02T14:56:21.745Z,1722610581.745 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2024-08-02T14:56:21.745Z,1722610581.745 [transit:Transit:A.Pitch] Stopped
2024-08-02T14:56:21.745Z,1722610581.745 [transit:Transit:B.SetSpeed] Stopped
2024-08-02T14:56:21.745Z,1722610581.745 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2024-08-02T14:56:21.745Z,1722610581.745 [transit:Transit:Wpt1.Waypoint] Stopped
2024-08-02T14:56:21.745Z,1722610581.745 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2024-08-02T14:56:22.130Z,1722610582.130 [MissionManager](IMPORTANT): Started mission Default
2024-08-02T14:56:22.130Z,1722610582.130 [Default] Running Loop=1
2024-08-02T14:56:22.130Z,1722610582.130 [Default](DEBUG): Aggregate::initialize Default
2024-08-02T14:56:22.130Z,1722610582.130 [Default:B.GoToSurface] Running Loop=1
2024-08-02T14:56:22.130Z,1722610582.130 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-08-02T14:56:22.130Z,1722610582.130 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-08-02T14:56:22.131Z,1722610582.131 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-08-02T14:56:22.131Z,1722610582.131 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-08-02T14:56:22.131Z,1722610582.131 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-08-02T14:56:22.132Z,1722610582.132 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2024-08-02T14:56:22.132Z,1722610582.132 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-08-02T14:56:22.133Z,1722610582.133 [Default:A.Wait] Running Loop=1
2024-08-02T14:56:22.133Z,1722610582.133 [Default:A.Wait](DEBUG): Initialize Wait Component.
2024-08-02T14:56:32.861Z,1722610592.861 [CommandExec](IMPORTANT): got command ibit
2024-08-02T14:56:33.155Z,1722610593.155 [IBIT](IMPORTANT): Beginning Initiated BIT
2024-08-02T14:56:33.155Z,1722610593.155 [IBIT](IMPORTANT): Beginning control surface checks.
2024-08-02T14:56:33.158Z,1722610593.158 [CBIT](IMPORTANT): Beginning ground fault scan
2024-08-02T14:56:34.671Z,1722610594.671 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145622.00,A,4626.81991,N,08653.13803,W,0.019,120.93,020824,,,A*78
2024-08-02T14:56:34.673Z,1722610594.673 [NAL9602](INFO): GPS fix at 20240802T145622: (46.446998, -86.885634)
2024-08-02T14:56:36.035Z,1722610596.035 [CBIT](ERROR): Error reading 24V bus power status. Assuming off for scan purposes.
2024-08-02T14:56:44.079Z,1722610604.079 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006875
CHAN A1 (24V) N/A reporting off
CHAN A2 (12V): -0.004277
CHAN A3 (5V): -0.002637
CHAN B0 (3.3V): -0.000876
CHAN B1 (3.15aV): -0.000931
CHAN B2 (3.15bV): -0.001400
CHAN B3 (GND): -0.000295
OPEN: 0.003984
Full Scale: +/- 1 mA
2024-08-02T14:56:52.874Z,1722610612.874 [NAL9602](INFO): SBD MO Status=0, MOMSN=6633, MT Status=0, MTMSN=0
2024-08-02T14:56:52.874Z,1722610612.874 [NAL9602](INFO): No messages in MT queue
2024-08-02T14:56:54.085Z,1722610614.085 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145642.00,A,4626.81984,N,08653.13700,W,0.019,120.93,020824,,,A*76
2024-08-02T14:56:54.088Z,1722610614.088 [NAL9602](INFO): GPS fix at 20240802T145642: (46.446997, -86.885617)
2024-08-02T14:56:56.921Z,1722610616.921 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145645.00,A,4626.81995,N,08653.13677,W,0.019,120.93,020824,,,A*70
2024-08-02T14:56:56.923Z,1722610616.923 [NAL9602](INFO): GPS fix at 20240802T145645: (46.446999, -86.885613)
2024-08-02T14:57:00.145Z,1722610620.145 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145648.00,A,4626.81994,N,08653.13655,W,0.019,120.93,020824,,,A*7C
2024-08-02T14:57:00.148Z,1722610620.148 [NAL9602](INFO): GPS fix at 20240802T145648: (46.446999, -86.885609)
2024-08-02T14:57:02.975Z,1722610622.975 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145651.00,A,4626.82007,N,08653.13638,W,0.136,120.93,020824,,,A*73
2024-08-02T14:57:02.987Z,1722610622.987 [NAL9602](INFO): GPS fix at 20240802T145651: (46.447001, -86.885606)
2024-08-02T14:57:06.215Z,1722610626.215 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145654.00,A,4626.82008,N,08653.13623,W,0.039,120.93,020824,,,A*7D
2024-08-02T14:57:06.217Z,1722610626.217 [NAL9602](INFO): GPS fix at 20240802T145654: (46.447001, -86.885604)
2024-08-02T14:57:09.034Z,1722610629.034 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145657.00,A,4626.82007,N,08653.13610,W,0.078,120.93,020824,,,A*74
2024-08-02T14:57:09.036Z,1722610629.036 [NAL9602](INFO): GPS fix at 20240802T145657: (46.447001, -86.885602)
2024-08-02T14:57:12.277Z,1722610632.277 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145700.00,A,4626.82011,N,08653.13604,W,0.117,120.93,020824,,,A*7D
2024-08-02T14:57:12.319Z,1722610632.319 [NAL9602](INFO): GPS fix at 20240802T145700: (46.447002, -86.885601)
2024-08-02T14:57:15.097Z,1722610635.097 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145703.00,A,4626.82004,N,08653.13599,W,0.097,120.93,020824,,,A*74
2024-08-02T14:57:15.099Z,1722610635.099 [NAL9602](INFO): GPS fix at 20240802T145703: (46.447001, -86.885600)
2024-08-02T14:57:17.927Z,1722610637.927 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145706.00,A,4626.82007,N,08653.13591,W,0.039,120.93,020824,,,A*7E
2024-08-02T14:57:17.929Z,1722610637.929 [NAL9602](INFO): GPS fix at 20240802T145706: (46.447001, -86.885599)
2024-08-02T14:57:19.674Z,1722610639.674 [IBIT](IMPORTANT): Communications Status:
Fix Status: 1
Iridium Signal Strength: 3
Latitude: 46.447002 Longitude: -86.885597
2024-08-02T14:57:20.022Z,1722610640.022 [IBIT](IMPORTANT): Battery Status:
Battery Charge (AH): 0.000000
Voltage: 16.690001
2024-08-02T14:57:20.023Z,1722610640.023 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah
2024-08-02T14:57:20.023Z,1722610640.023 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V
2024-08-02T14:57:20.417Z,1722610640.417 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2024-08-02T14:57:20.417Z,1722610640.417 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi
2024-08-02T14:57:20.418Z,1722610640.418 [IBIT](IMPORTANT): Pressure:10.310406 PSI
2024-08-02T14:57:20.418Z,1722610640.418 [IBIT](IMPORTANT): Humidity:17.366621 %
2024-08-02T14:57:20.829Z,1722610640.829 [IBIT](IMPORTANT): Vehicle Pitch:-4.573048 degrees
2024-08-02T14:57:20.830Z,1722610640.830 [IBIT](IMPORTANT): Vehicle Roll:-2.146201 degrees
2024-08-02T14:57:20.830Z,1722610640.830 [IBIT](IMPORTANT): Vehicle Heading:124.116951 degrees
2024-08-02T14:57:21.221Z,1722610641.221 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m
2024-08-02T14:57:21.221Z,1722610641.221 [IBIT](IMPORTANT): buoyancyNeutral: 345.622620 cc
2024-08-02T14:57:21.222Z,1722610641.222 [IBIT](IMPORTANT): massDefault: 1.921052 cm
2024-08-02T14:57:21.222Z,1722610641.222 [IBIT](IMPORTANT): stopDepth: 200.000000 m
2024-08-02T14:57:21.222Z,1722610641.222 [IBIT](IMPORTANT): abortDepth: 230.000000 m
2024-08-02T14:57:21.222Z,1722610641.222 [IBIT](IMPORTANT): IBIT PASSED
2024-08-02T14:57:21.583Z,1722610641.583 [Default:A.Wait](INFO): Done Waiting.
2024-08-02T14:57:21.583Z,1722610641.583 [Default:A.Wait] Stopped
2024-08-02T14:57:21.583Z,1722610641.583 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T14:57:21.975Z,1722610641.975 [Default:CheckIn] Running Loop=1
2024-08-02T14:57:21.975Z,1722610641.975 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-08-02T14:57:21.975Z,1722610641.975 [Default:CheckIn:Read_GPS] Running Loop=1
2024-08-02T14:57:23.982Z,1722610643.982 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145712.00,A,4626.82012,N,08653.13604,W,0.078,120.93,020824,,,A*75
2024-08-02T14:57:23.984Z,1722610643.984 [NAL9602](INFO): GPS fix at 20240802T145712: (46.447002, -86.885601)
2024-08-02T14:57:23.995Z,1722610643.995 [Default:CheckIn:Read_GPS] Stopped
2024-08-02T14:57:23.995Z,1722610643.995 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-08-02T14:57:34.607Z,1722610654.607 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20240802T141042/Courier0028.lzma
2024-08-02T14:57:35.610Z,1722610655.610 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0028.lzma.bak
2024-08-02T14:57:35.610Z,1722610655.610 [DataOverHttps](INFO): SBD MOMSN=21419548
2024-08-02T14:57:56.705Z,1722610676.705 [NAL9602](INFO): Not Powering down - fast GPS
2024-08-02T14:57:57.399Z,1722610677.399 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20240802T141042/Courier0031.lzma
2024-08-02T14:57:58.402Z,1722610678.402 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Courier0031.lzma.bak
2024-08-02T14:57:58.402Z,1722610678.402 [DataOverHttps](INFO): SBD MOMSN=21419551
2024-08-02T14:58:19.877Z,1722610699.877 [DataOverHttps](INFO): Sending 1248 bytes from file Logs/20240802T141042/Express0029.lzma
2024-08-02T14:58:20.878Z,1722610700.878 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0029.lzma.bak
2024-08-02T14:58:20.878Z,1722610700.878 [DataOverHttps](INFO): SBD MOMSN=21419553
2024-08-02T14:58:49.711Z,1722610729.711 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20240802T141042/Express0032.lzma
2024-08-02T14:58:50.714Z,1722610730.714 [DataOverHttps](INFO): Moved sent file to Logs/20240802T141042/Express0032.lzma.bak
2024-08-02T14:58:50.714Z,1722610730.714 [DataOverHttps](INFO): SBD MOMSN=21419626
2024-08-02T14:58:57.737Z,1722610737.737 [Default:CheckIn:Read_Iridium] Stopped
2024-08-02T14:58:57.737Z,1722610737.737 [Default:CheckIn:C.Wait] Running Loop=1
2024-08-02T14:58:57.737Z,1722610737.737 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-08-02T15:02:15.106Z,1722610935.106 [DataOverHttps](IMPORTANT): SBD MTMSN=20240802T150203
2024-08-02T15:02:22.500Z,1722610942.500 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m" 1xof1 1 2
2024-08-02T15:02:22.523Z,1722610942.523 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m" 1xof1 1 2.000000
2024-08-02T15:02:22.523Z,1722610942.523 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1xof1
2024-08-02T15:02:22.525Z,1722610942.525 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='1xof1'): "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 10 min;set transit.Latitude 46.444496 degree;set transit.Longitude -86.878253 degree;set transit.Depth 0.1 m;set transit.MaxDepth 1 m", ASAP
2024-08-02T15:02:23.501Z,1722610943.501 [DataOverHttps](IMPORTANT): SBD MTMSN=20240802T150211
2024-08-02T15:02:31.508Z,1722610951.508 [DataOverHttps](INFO): Received command: sched asap "set transit.MinOffshore 0.0001 km;run" 1xof1 2 2
2024-08-02T15:02:31.586Z,1722610951.586 [CommandExec](IMPORTANT): got command schedule asap "set transit.MinOffshore 0.0001 km;run" 1xof1 2 2.000000
2024-08-02T15:02:31.587Z,1722610951.587 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1xof1
2024-08-02T15:02:31.588Z,1722610951.588 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='1xof1'): "set transit.MinOffshore 0.0001 km;run", ASAP
2024-08-02T15:02:31.701Z,1722610951.701 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2024-08-02T15:02:31.701Z,1722610951.701 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2024-08-02T15:02:31.701Z,1722610951.701 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2024-08-02T15:02:31.703Z,1722610951.703 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2024-08-02T15:02:33.045Z,1722610953.045 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
60
30
NaN
NaN
0
0
10
1
20
1
7
1
2024-08-02T15:02:33.058Z,1722610953.058 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2024-08-02T15:02:33.119Z,1722610953.119 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2024-08-02T15:02:33.125Z,1722610953.125 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2024-08-02T15:02:33.127Z,1722610953.127 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2024-08-02T15:02:33.137Z,1722610953.137 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2024-08-02T15:02:33.139Z,1722610953.139 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2024-08-02T15:02:33.150Z,1722610953.150 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2024-08-02T15:02:33.156Z,1722610953.156 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2024-08-02T15:02:33.159Z,1722610953.159 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2024-08-02T15:02:33.221Z,1722610953.221 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2024-08-02T15:02:33.223Z,1722610953.223 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2024-08-02T15:02:33.237Z,1722610953.237 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2024-08-02T15:02:33.239Z,1722610953.239 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2024-08-02T15:02:33.239Z,1722610953.239 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2024-08-02T15:02:33.256Z,1722610953.256 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2024-08-02T15:02:33.257Z,1722610953.257 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2024-08-02T15:02:33.799Z,1722610953.799 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
1
10
20
NaN
1
1000
7
30
0
last time_fix was:
first GPS update timeout
Comms timed out after
minutes
second GPS update timeout
2024-08-02T15:02:33.815Z,1722610953.815 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2024-08-02T15:02:33.821Z,1722610953.821 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2024-08-02T15:02:33.823Z,1722610953.823 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2024-08-02T15:02:33.830Z,1722610953.830 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2024-08-02T15:02:33.840Z,1722610953.840 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2024-08-02T15:02:33.842Z,1722610953.842 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2024-08-02T15:02:33.844Z,1722610953.844 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2024-08-02T15:02:33.847Z,1722610953.847 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2024-08-02T15:02:33.956Z,1722610953.956 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-08-02T15:02:34.021Z,1722610954.021 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2024-08-02T15:02:34.022Z,1722610954.022 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2024-08-02T15:02:34.023Z,1722610954.023 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2024-08-02T15:02:34.169Z,1722610954.169 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
0
200
2000
2024-08-02T15:02:34.173Z,1722610954.173 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2024-08-02T15:02:34.175Z,1722610954.175 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2024-08-02T15:02:34.221Z,1722610954.221 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2024-08-02T15:02:34.223Z,1722610954.223 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2024-08-02T15:02:34.224Z,1722610954.224 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2024-08-02T15:02:34.242Z,1722610954.242 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2024-08-02T15:02:34.272Z,1722610954.272 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2024-08-02T15:02:34.292Z,1722610954.292 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2024-08-02T15:02:34.292Z,1722610954.292 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2024-08-02T15:02:34.293Z,1722610954.293 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2024-08-02T15:02:34.397Z,1722610954.397 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2024-08-02T15:02:34.411Z,1722610954.411 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2024-08-02T15:02:34.422Z,1722610954.422 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2024-08-02T15:02:34.424Z,1722610954.424 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2024-08-02T15:02:34.424Z,1722610954.424 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2024-08-02T15:02:34.426Z,1722610954.426 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2024-08-02T15:02:34.663Z,1722610954.663 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2024-08-02T15:02:34.675Z,1722610954.675 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2024-08-02T15:02:34.681Z,1722610954.681 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2024-08-02T15:02:34.683Z,1722610954.683 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2024-08-02T15:02:34.689Z,1722610954.689 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2024-08-02T15:02:34.691Z,1722610954.691 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2024-08-02T15:02:34.771Z,1722610954.771 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2024-08-02T15:02:34.781Z,1722610954.781 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2024-08-02T15:02:34.792Z,1722610954.792 [transit:MassHold.Pitch](DEBUG): Construct.
2024-08-02T15:02:34.806Z,1722610954.806 [transit:Transit:A.Pitch](DEBUG): Construct.
2024-08-02T15:02:34.839Z,1722610954.839 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2024-08-02T15:02:34.847Z,1722610954.847 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2024-08-02T15:02:34.930Z,1722610954.930 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission transit {
"""
Vehicle transits to desired waypoint and can be commanded to use/hold
mass or buoyancy.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Northings = 0 meter
"""
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Eastings = 0 meter
"""
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Depth = 10 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 20 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
set northingsDelta = Northings
set eastingsDelta = Eastings
}
call id="PhoneHome" refId="NeedComms"
}
}
2024-08-02T15:02:34.931Z,1722610954.931 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2024-08-02T15:02:47.085Z,1722610967.085 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2024-08-02T15:02:47.086Z,1722610967.086 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 10 minute
2024-08-02T15:02:47.087Z,1722610967.087 [CommandExec](IMPORTANT): got command set transit.Latitude 46.444496 degree
2024-08-02T15:02:47.087Z,1722610967.087 [CommandExec](IMPORTANT): got command set transit.Longitude -86.878253 degree
2024-08-02T15:02:47.088Z,1722610967.088 [CommandExec](IMPORTANT): got command set transit.Depth 0.1 meter
2024-08-02T15:02:47.089Z,1722610967.089 [CommandExec](IMPORTANT): got command set transit.MaxDepth 1 meter
2024-08-02T15:02:48.540Z,1722610968.540 [CommandExec](IMPORTANT): got command set transit.MinOffshore 0.0001 kilometer
2024-08-02T15:02:48.540Z,1722610968.540 [CommandExec](IMPORTANT): got command run
2024-08-02T15:02:48.542Z,1722610968.542 [CommandExec](IMPORTANT): Running
2024-08-02T15:02:48.871Z,1722610968.871 [Default] Stopped
2024-08-02T15:02:48.871Z,1722610968.871 [Default](DEBUG): Aggregate::uninitialize Default
2024-08-02T15:02:48.871Z,1722610968.871 [Default:B.GoToSurface] Stopped
2024-08-02T15:02:48.871Z,1722610968.871 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-08-02T15:02:48.871Z,1722610968.871 [Default:CheckIn] Stopped
2024-08-02T15:02:48.871Z,1722610968.871 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-08-02T15:02:48.871Z,1722610968.871 [Default:CheckIn:C.Wait] Stopped
2024-08-02T15:02:48.872Z,1722610968.872 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-08-02T15:02:48.872Z,1722610968.872 [MissionManager](IMPORTANT): Started mission transit
2024-08-02T15:02:48.872Z,1722610968.872 [transit] Running Loop=1
2024-08-02T15:02:48.872Z,1722610968.872 [transit](DEBUG): Aggregate::initialize transit
2024-08-02T15:02:48.872Z,1722610968.872 [transit:StandardEnvelopes] Running Loop=1
2024-08-02T15:02:48.872Z,1722610968.872 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2024-08-02T15:02:48.872Z,1722610968.872 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-08-02T15:02:48.873Z,1722610968.873 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2024-08-02T15:02:48.873Z,1722610968.873 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-08-02T15:02:48.873Z,1722610968.873 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2024-08-02T15:02:48.873Z,1722610968.873 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-08-02T15:02:48.873Z,1722610968.873 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2024-08-02T15:02:48.873Z,1722610968.873 [transit:BackseatDriver] Running Loop=1
2024-08-02T15:02:48.873Z,1722610968.873 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2024-08-02T15:02:48.873Z,1722610968.873 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2024-08-02T15:02:48.873Z,1722610968.873 [transit:PowerOnly] Running Loop=1
2024-08-02T15:02:48.874Z,1722610968.874 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2024-08-02T15:02:48.874Z,1722610968.874 [transit:PowerOnly:A] Running Loop=1
2024-08-02T15:02:48.874Z,1722610968.874 [transit:PowerOnly:B] Running Loop=1
2024-08-02T15:02:48.874Z,1722610968.874 [transit:PowerOnly:C] Running Loop=1
2024-08-02T15:02:48.874Z,1722610968.874 [transit:PowerOnly:D] Running Loop=1
2024-08-02T15:02:48.874Z,1722610968.874 [transit:PowerOnly:E.Wait] Running Loop=1
2024-08-02T15:02:48.874Z,1722610968.874 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2024-08-02T15:02:48.874Z,1722610968.874 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-08-02T15:02:48.874Z,1722610968.874 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2024-08-02T15:02:48.874Z,1722610968.874 [transit:MassHold.Pitch] Running Loop=1
2024-08-02T15:02:48.874Z,1722610968.874 [transit:MassHold.Pitch](DEBUG): Initialize.
2024-08-02T15:02:48.875Z,1722610968.875 [transit:B] Running Loop=1
2024-08-02T15:02:48.875Z,1722610968.875 [transit:MassHold.Pitch] Running Loop=1
2024-08-02T15:02:48.875Z,1722610968.875 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2024-08-02T15:02:48.876Z,1722610968.876 [transit:PowerOnly] Running Loop=1
2024-08-02T15:02:48.876Z,1722610968.876 [transit:PowerOnly:D] Stopped
2024-08-02T15:02:48.876Z,1722610968.876 [transit:PowerOnly:C] Stopped
2024-08-02T15:02:48.876Z,1722610968.876 [transit:PowerOnly:B] Stopped
2024-08-02T15:02:48.876Z,1722610968.876 [transit:PowerOnly:A] Stopped
2024-08-02T15:02:48.876Z,1722610968.876 [transit:BackseatDriver] Running Loop=1
2024-08-02T15:02:48.877Z,1722610968.877 [transit:StandardEnvelopes] Running Loop=1
2024-08-02T15:02:48.877Z,1722610968.877 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2024-08-02T15:02:48.877Z,1722610968.877 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2024-08-02T15:02:48.885Z,1722610968.885 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2024-08-02T15:02:48.886Z,1722610968.886 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2024-08-02T15:02:48.886Z,1722610968.886 [transit:B] Stopped
2024-08-02T15:02:48.886Z,1722610968.886 [transit:C] Running Loop=1
2024-08-02T15:02:49.302Z,1722610969.302 [transit:C] Stopped
2024-08-02T15:02:49.302Z,1722610969.302 [transit:E] Running Loop=1
2024-08-02T15:02:49.709Z,1722610969.709 [transit:E] Stopped
2024-08-02T15:02:49.709Z,1722610969.709 [transit:F] Running Loop=1
2024-08-02T15:02:50.081Z,1722610970.081 [transit:F] Stopped
2024-08-02T15:02:50.081Z,1722610970.081 [transit:G] Running Loop=1
2024-08-02T15:02:50.489Z,1722610970.489 [transit:G] Stopped
2024-08-02T15:02:50.489Z,1722610970.489 [transit:Transit] Running Loop=1
2024-08-02T15:02:50.489Z,1722610970.489 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2024-08-02T15:02:50.489Z,1722610970.489 [transit:Transit:A.Pitch] Running Loop=1
2024-08-02T15:02:50.489Z,1722610970.489 [transit:Transit:A.Pitch](DEBUG): Initialize.
2024-08-02T15:02:50.489Z,1722610970.489 [transit:Transit:B.SetSpeed] Running Loop=1
2024-08-02T15:02:50.489Z,1722610970.489 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2024-08-02T15:02:50.490Z,1722610970.490 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2024-08-02T15:02:50.490Z,1722610970.490 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2024-08-02T15:02:50.491Z,1722610970.491 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 46.444496,-86.878250
2024-08-02T15:02:50.491Z,1722610970.491 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2024-08-02T15:02:50.904Z,1722610970.904 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 46.444496,-86.878250
2024-08-02T15:02:50.905Z,1722610970.905 [transit:Transit:B.SetSpeed] Running Loop=1
2024-08-02T15:02:50.905Z,1722610970.905 [transit:Transit:A.Pitch] Running Loop=1
2024-08-02T15:04:55.037Z,1722611095.037 [DataOverHttps](IMPORTANT): SBD MTMSN=20240802T150443
2024-08-02T15:05:02.580Z,1722611102.580 [DataOverHttps](INFO): Received command: restart logs