2023-09-27T20:20:14.212Z,1695846014.212 [Supervisor](DEBUG): Initializing supervisor.
2023-09-27T20:20:14.216Z,1695846014.216 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-09-27T20:20:14.217Z,1695846014.217 [SyncHandler](INFO): Protected caller Thread ID is 1682
2023-09-27T20:20:14.217Z,1695846014.217 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-09-27T20:20:14.218Z,1695846014.218 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-09-27T20:20:14.218Z,1695846014.218 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1683
2023-09-27T20:20:14.222Z,1695846014.222 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-09-27T20:20:14.239Z,1695846014.239 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-09-27T20:20:14.240Z,1695846014.240 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-09-27T20:20:14.241Z,1695846014.241 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1684
2023-09-27T20:20:14.245Z,1695846014.245 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-09-27T20:20:14.246Z,1695846014.246 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-09-27T20:20:14.246Z,1695846014.246 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1685
2023-09-27T20:20:14.248Z,1695846014.248 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-09-27T20:20:14.249Z,1695846014.249 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-09-27T20:20:14.249Z,1695846014.249 [logger ThreadHandler](INFO): Protected caller Thread ID is 1686
2023-09-27T20:20:14.253Z,1695846014.253 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-09-27T20:20:14.253Z,1695846014.253 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-09-27T20:20:14.255Z,1695846014.255 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-09-27T20:20:14.570Z,1695846014.570 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-09-27T20:20:14.571Z,1695846014.571 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-09-27T20:20:14.651Z,1695846014.651 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-09-27T20:20:14.757Z,1695846014.757 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-09-27T20:20:14.758Z,1695846014.758 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-09-27T20:20:14.883Z,1695846014.883 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-09-27T20:20:14.884Z,1695846014.884 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-09-27T20:20:15.213Z,1695846015.213 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-09-27T20:20:15.213Z,1695846015.213 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-09-27T20:20:15.309Z,1695846015.309 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-09-27T20:20:15.309Z,1695846015.309 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-09-27T20:20:15.685Z,1695846015.685 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-09-27T20:20:15.686Z,1695846015.686 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-09-27T20:20:15.888Z,1695846015.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-09-27T20:20:15.889Z,1695846015.889 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-09-27T20:20:15.967Z,1695846015.967 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-09-27T20:20:16.185Z,1695846016.185 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-09-27T20:20:16.186Z,1695846016.186 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-09-27T20:20:16.396Z,1695846016.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-09-27T20:20:16.397Z,1695846016.397 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-09-27T20:20:16.885Z,1695846016.885 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-09-27T20:20:16.886Z,1695846016.886 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-09-27T20:20:17.073Z,1695846017.073 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-09-27T20:20:17.073Z,1695846017.073 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-09-27T20:20:17.346Z,1695846017.346 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-09-27T20:20:17.347Z,1695846017.347 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-09-27T20:20:18.146Z,1695846018.146 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-09-27T20:20:18.146Z,1695846018.146 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-09-27T20:20:18.645Z,1695846018.645 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-09-27T20:20:18.648Z,1695846018.648 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-ahi/
2023-09-27T20:20:18.648Z,1695846018.648 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Control.cfg
2023-09-27T20:20:18.745Z,1695846018.745 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Science.cfg
2023-09-27T20:20:18.863Z,1695846018.863 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/secure.cfg
2023-09-27T20:20:18.947Z,1695846018.947 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Servo.cfg
2023-09-27T20:20:19.055Z,1695846019.055 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/BIT.cfg
2023-09-27T20:20:19.154Z,1695846019.154 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Battery.cfg
2023-09-27T20:20:19.430Z,1695846019.430 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-09-27T20:20:19.430Z,1695846019.430 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/vehicle.cfg
2023-09-27T20:20:19.579Z,1695846019.579 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/logger.cfg
2023-09-27T20:20:19.688Z,1695846019.688 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Navigation.cfg
2023-09-27T20:20:19.791Z,1695846019.791 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Sensor.cfg
2023-09-27T20:20:19.920Z,1695846019.920 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Simulator.cfg
2023-09-27T20:20:20.006Z,1695846020.006 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2023-09-27T20:20:20.008Z,1695846020.008 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-09-27T20:20:20.107Z,1695846020.107 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-09-27T20:20:20.107Z,1695846020.107 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-09-27T20:20:20.156Z,1695846020.156 [VerticalControl](DEBUG): Construct VerticalControl.
2023-09-27T20:20:20.215Z,1695846020.215 [VerticalControl] Loaded
2023-09-27T20:20:20.216Z,1695846020.216 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-09-27T20:20:20.218Z,1695846020.218 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-09-27T20:20:20.259Z,1695846020.259 [HorizontalControl] Loaded
2023-09-27T20:20:20.259Z,1695846020.259 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-09-27T20:20:20.261Z,1695846020.261 [SpeedControl](DEBUG): Construct SpeedControl.
2023-09-27T20:20:20.264Z,1695846020.264 [SpeedControl] Loaded
2023-09-27T20:20:20.264Z,1695846020.264 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-09-27T20:20:20.267Z,1695846020.267 [LoopControl](DEBUG): Construct LoopControl.
2023-09-27T20:20:20.267Z,1695846020.267 [LoopControl] Loaded
2023-09-27T20:20:20.268Z,1695846020.268 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-09-27T20:20:20.268Z,1695846020.268 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-09-27T20:20:20.269Z,1695846020.269 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-09-27T20:20:20.323Z,1695846020.323 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-09-27T20:20:20.323Z,1695846020.323 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-09-27T20:20:20.735Z,1695846020.735 [AHRS_M2] Loaded
2023-09-27T20:20:20.736Z,1695846020.736 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2023-09-27T20:20:20.771Z,1695846020.771 [BackseatComponent] Loaded
2023-09-27T20:20:20.771Z,1695846020.771 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2023-09-27T20:20:20.772Z,1695846020.772 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408814E0
2023-09-27T20:20:20.773Z,1695846020.773 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1769
2023-09-27T20:20:20.775Z,1695846020.775 [LcmUniversalReporter] Loaded
2023-09-27T20:20:20.776Z,1695846020.776 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2023-09-27T20:20:21.580Z,1695846021.580 [BPC1] Loaded
2023-09-27T20:20:21.581Z,1695846021.581 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-09-27T20:20:21.653Z,1695846021.653 [DataOverHttps] Loaded
2023-09-27T20:20:21.653Z,1695846021.653 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-09-27T20:20:21.654Z,1695846021.654 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408B14E0
2023-09-27T20:20:21.655Z,1695846021.655 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1770
2023-09-27T20:20:21.676Z,1695846021.676 [Depth_Keller] Loaded
2023-09-27T20:20:21.676Z,1695846021.676 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-09-27T20:20:21.681Z,1695846021.681 [DropWeight] Loaded
2023-09-27T20:20:21.681Z,1695846021.681 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2023-09-27T20:20:21.743Z,1695846021.743 [NAL9602] Loaded
2023-09-27T20:20:21.743Z,1695846021.743 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-09-27T20:20:21.772Z,1695846021.772 [Onboard] Loaded
2023-09-27T20:20:21.773Z,1695846021.773 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-09-27T20:20:21.774Z,1695846021.774 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408E14E0
2023-09-27T20:20:21.774Z,1695846021.774 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1771
2023-09-27T20:20:21.786Z,1695846021.786 [Power24vConverter] Loaded
2023-09-27T20:20:21.787Z,1695846021.787 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-09-27T20:20:21.800Z,1695846021.800 [Radio_Surface] Loaded
2023-09-27T20:20:21.800Z,1695846021.800 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-09-27T20:20:21.801Z,1695846021.801 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409114E0
2023-09-27T20:20:21.801Z,1695846021.801 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1772
2023-09-27T20:20:21.919Z,1695846021.919 [DAT] Loaded
2023-09-27T20:20:21.919Z,1695846021.919 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2023-09-27T20:20:21.920Z,1695846021.920 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409414E0
2023-09-27T20:20:21.921Z,1695846021.921 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1774
2023-09-27T20:20:21.943Z,1695846021.943 [Waterlinked] Loaded
2023-09-27T20:20:21.943Z,1695846021.943 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread.
2023-09-27T20:20:21.943Z,1695846021.943 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-09-27T20:20:21.944Z,1695846021.944 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-09-27T20:20:21.954Z,1695846021.954 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-09-27T20:20:21.955Z,1695846021.955 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-09-27T20:20:21.981Z,1695846021.981 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-09-27T20:20:21.981Z,1695846021.981 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-09-27T20:20:22.113Z,1695846022.113 [SBIT](DEBUG): Construct Startup Built In Test.
2023-09-27T20:20:22.122Z,1695846022.122 [SBIT] Loaded
2023-09-27T20:20:22.122Z,1695846022.122 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-09-27T20:20:22.125Z,1695846022.125 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-09-27T20:20:22.138Z,1695846022.138 [IBIT] Loaded
2023-09-27T20:20:22.138Z,1695846022.138 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-09-27T20:20:22.144Z,1695846022.144 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-09-27T20:20:22.246Z,1695846022.246 [CBIT] Loaded
2023-09-27T20:20:22.246Z,1695846022.246 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-09-27T20:20:22.246Z,1695846022.246 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-09-27T20:20:22.247Z,1695846022.247 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-09-27T20:20:22.543Z,1695846022.543 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-09-27T20:20:22.543Z,1695846022.543 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-09-27T20:20:22.593Z,1695846022.593 [DepthRateCalculator] Loaded
2023-09-27T20:20:22.593Z,1695846022.593 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-09-27T20:20:22.598Z,1695846022.598 [PitchRateCalculator] Loaded
2023-09-27T20:20:22.598Z,1695846022.598 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-09-27T20:20:22.608Z,1695846022.608 [SpeedCalculator] Loaded
2023-09-27T20:20:22.608Z,1695846022.608 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-09-27T20:20:22.613Z,1695846022.613 [YawRateCalculator] Loaded
2023-09-27T20:20:22.613Z,1695846022.613 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-09-27T20:20:22.631Z,1695846022.631 [ElevatorOffsetCalculator] Loaded
2023-09-27T20:20:22.631Z,1695846022.631 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-09-27T20:20:22.632Z,1695846022.632 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-09-27T20:20:22.632Z,1695846022.632 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-09-27T20:20:22.778Z,1695846022.778 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-09-27T20:20:22.779Z,1695846022.779 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-09-27T20:20:22.887Z,1695846022.887 [DeadReckonUsingMultipleVelocitySources] Loaded
2023-09-27T20:20:22.887Z,1695846022.887 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2023-09-27T20:20:22.930Z,1695846022.930 [DeadReckonUsingSpeedCalculator] Loaded
2023-09-27T20:20:22.930Z,1695846022.930 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2023-09-27T20:20:22.972Z,1695846022.972 [DeadReckonWithRespectToSeafloor] Loaded
2023-09-27T20:20:22.973Z,1695846022.973 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2023-09-27T20:20:22.986Z,1695846022.986 [NavChart] Loaded
2023-09-27T20:20:22.986Z,1695846022.986 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-09-27T20:20:22.992Z,1695846022.992 [UniversalFixResidualReporter] Loaded
2023-09-27T20:20:22.992Z,1695846022.992 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-09-27T20:20:22.993Z,1695846022.993 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-09-27T20:20:22.993Z,1695846022.993 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-09-27T20:20:23.120Z,1695846023.120 [BuoyancyServo] Loaded
2023-09-27T20:20:23.120Z,1695846023.120 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-09-27T20:20:23.140Z,1695846023.140 [ElevatorServo] Loaded
2023-09-27T20:20:23.140Z,1695846023.140 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-09-27T20:20:23.160Z,1695846023.160 [MassServo] Loaded
2023-09-27T20:20:23.160Z,1695846023.160 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-09-27T20:20:23.179Z,1695846023.179 [RudderServo] Loaded
2023-09-27T20:20:23.180Z,1695846023.180 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-09-27T20:20:23.194Z,1695846023.194 [ThrusterHE] Loaded
2023-09-27T20:20:23.194Z,1695846023.194 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-09-27T20:20:23.195Z,1695846023.195 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-09-27T20:20:23.195Z,1695846023.195 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-09-27T20:20:23.365Z,1695846023.365 [CTD_Seabird] Loaded
2023-09-27T20:20:23.365Z,1695846023.365 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2023-09-27T20:20:23.366Z,1695846023.366 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40B9B4E0
2023-09-27T20:20:23.366Z,1695846023.366 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1775
2023-09-27T20:20:23.399Z,1695846023.399 [ESPComponent] Loaded
2023-09-27T20:20:23.400Z,1695846023.400 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2023-09-27T20:20:23.420Z,1695846023.420 [PAR_Licor] Loaded
2023-09-27T20:20:23.421Z,1695846023.421 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-09-27T20:20:23.461Z,1695846023.461 [WetLabsBB2FL] Loaded
2023-09-27T20:20:23.461Z,1695846023.461 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2023-09-27T20:20:23.462Z,1695846023.462 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BCB4E0
2023-09-27T20:20:23.463Z,1695846023.463 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1776
2023-09-27T20:20:23.463Z,1695846023.463 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-09-27T20:20:23.470Z,1695846023.470 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-09-27T20:20:23.472Z,1695846023.472 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-09-27T20:20:23.483Z,1695846023.483 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-09-27T20:20:23.484Z,1695846023.484 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BFB4E0
2023-09-27T20:20:23.485Z,1695846023.485 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1777
2023-09-27T20:20:23.489Z,1695846023.489 [Supervisor](INFO): Main Thread ID is 1681
2023-09-27T20:20:23.489Z,1695846023.489 [Supervisor](DEBUG): Running supervisor.
2023-09-27T20:20:23.490Z,1695846023.490 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1778
2023-09-27T20:20:23.490Z,1695846023.490 [CommandExec](INFO): Initializing the command executive.
2023-09-27T20:20:23.492Z,1695846023.492 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1779
2023-09-27T20:20:23.496Z,1695846023.496 [controlThread ThreadHandler](INFO): Handler Thread ID is 1780
2023-09-27T20:20:23.496Z,1695846023.496 [controlThread](DEBUG): Initializing ControlThread
2023-09-27T20:20:23.497Z,1695846023.497 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-09-27T20:20:23.499Z,1695846023.499 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-09-27T20:20:23.500Z,1695846023.500 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-09-27T20:20:23.500Z,1695846023.500 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-09-27T20:20:23.506Z,1695846023.506 [SBIT](INFO): Initialize SBIT Component.
2023-09-27T20:20:23.507Z,1695846023.507 [SBIT](IMPORTANT): git: 2023-09-18-3-g7ee55e0de
2023-09-27T20:20:23.507Z,1695846023.507 [SBIT](INFO): git hash: 7ee55e0ded82548f5c252ba0d9a41930617440e4
2023-09-27T20:20:23.507Z,1695846023.507 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-09-27T20:20:23.509Z,1695846023.509 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2023-09-27T20:20:23.510Z,1695846023.510 [SBIT](INFO): Beginning SBIT in 71.000000 seconds.
2023-09-27T20:20:23.510Z,1695846023.510 [IBIT](INFO): Initialize IBIT Component.
2023-09-27T20:20:23.511Z,1695846023.511 [CBIT](DEBUG): Initialize CBIT Component.
2023-09-27T20:20:23.512Z,1695846023.512 [logger ThreadHandler](INFO): Handler Thread ID is 1781
2023-09-27T20:20:23.524Z,1695846023.524 [CBIT](DEBUG): Initialized mux pins.
2023-09-27T20:20:23.524Z,1695846023.524 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2023-09-27T20:20:23.524Z,1695846023.524 [CBIT](DEBUG): Initializing the watchdog timer.
2023-09-27T20:20:23.533Z,1695846023.533 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1782
2023-09-27T20:20:23.545Z,1695846023.545 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1783
2023-09-27T20:20:23.545Z,1695846023.545 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-09-27T20:20:23.548Z,1695846023.548 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2023-09-27T20:20:23.549Z,1695846023.549 [CBIT](DEBUG): Initializing heartbeat.
2023-09-27T20:20:23.557Z,1695846023.557 [Onboard ThreadHandler](INFO): Handler Thread ID is 1784
2023-09-27T20:20:23.582Z,1695846023.582 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1785
2023-09-27T20:20:23.595Z,1695846023.595 [DAT ThreadHandler](INFO): Handler Thread ID is 1786
2023-09-27T20:20:23.596Z,1695846023.596 [DAT](INFO): Powering up
2023-09-27T20:20:23.596Z,1695846023.596 [DAT](DEBUG): Initializing DAT.
2023-09-27T20:20:23.605Z,1695846023.605 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1788
2023-09-27T20:20:23.605Z,1695846023.605 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2023-09-27T20:20:23.610Z,1695846023.610 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1790
2023-09-27T20:20:23.613Z,1695846023.613 [WetLabsBB2FL](INFO): Powering up
2023-09-27T20:20:23.614Z,1695846023.614 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1792
2023-09-27T20:20:23.616Z,1695846023.616 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2HA05M.000
2023-09-27T20:20:23.617Z,1695846023.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2HA05M.000
2023-09-27T20:20:23.617Z,1695846023.617 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3HA20M.000
2023-09-27T20:20:23.617Z,1695846023.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3HA20M.000
2023-09-27T20:20:23.617Z,1695846023.617 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4HA51M.000
2023-09-27T20:20:23.617Z,1695846023.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4HA51M.000
2023-09-27T20:20:23.617Z,1695846023.617 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4HA51M.000
2023-09-27T20:20:23.617Z,1695846023.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4HA51M.000
2023-09-27T20:20:23.618Z,1695846023.618 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5HA53M.000
2023-09-27T20:20:23.618Z,1695846023.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5HA53M.000
2023-09-27T20:20:23.618Z,1695846023.618 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5HA55M.000
2023-09-27T20:20:23.618Z,1695846023.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5HA55M.000
2023-09-27T20:20:23.620Z,1695846023.620 [CBIT](DEBUG): Deactivating GF circuits.
2023-09-27T20:20:23.620Z,1695846023.620 [CBIT](DEBUG): Deactivating emergency mode.
2023-09-27T20:20:23.660Z,1695846023.660 [CBIT](DEBUG): Backplane powered.
2023-09-27T20:20:23.660Z,1695846023.660 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-09-27T20:20:23.661Z,1695846023.661 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-09-27T20:20:23.661Z,1695846023.661 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-09-27T20:20:23.661Z,1695846023.661 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-09-27T20:20:23.662Z,1695846023.662 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-09-27T20:20:23.663Z,1695846023.663 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2023-09-27T20:20:23.664Z,1695846023.664 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-09-27T20:20:23.665Z,1695846023.665 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-09-27T20:20:23.669Z,1695846023.669 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-09-27T20:20:23.682Z,1695846023.682 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-09-27T20:20:23.711Z,1695846023.711 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2023-09-27T20:20:23.716Z,1695846023.716 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-09-27T20:20:23.776Z,1695846023.776 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-09-27T20:20:23.777Z,1695846023.777 [Default:A.Wait](DEBUG): Construct Wait.
2023-09-27T20:20:23.779Z,1695846023.779 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-09-27T20:20:23.805Z,1695846023.805 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-09-27T20:20:23.808Z,1695846023.808 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-09-27T20:20:23.814Z,1695846023.814 [Default:E.Execute](DEBUG): Construct Execute.
2023-09-27T20:20:23.837Z,1695846023.837 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2023-09-27T20:20:23.842Z,1695846023.842 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Waterlinked,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2023-09-27T20:20:23.853Z,1695846023.853 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-09-27T20:20:23.911Z,1695846023.911 [Depth_Keller](ERROR): Pressure or depth reading out of range: -1.140412 decibar, -1.132002 m
2023-09-27T20:20:23.912Z,1695846023.912 [Power24vConverter](INFO): Powering up.
2023-09-27T20:20:23.954Z,1695846023.954 [DepthRateCalculator](ERROR): Depth measurement is not active
2023-09-27T20:20:23.982Z,1695846023.982 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-09-27T20:20:23.984Z,1695846023.984 [Radio_Surface](INFO): Powering up
2023-09-27T20:20:23.988Z,1695846023.988 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-09-27T20:20:23.989Z,1695846023.989 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-09-27T20:20:23.996Z,1695846023.996 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-09-27T20:20:23.997Z,1695846023.997 [MassServo](DEBUG): Initializing EZServoServo.
2023-09-27T20:20:24.004Z,1695846024.004 [MassServo](DEBUG): Initializing MassServo.
2023-09-27T20:20:24.005Z,1695846024.005 [RudderServo](DEBUG): Initializing EZServoServo.
2023-09-27T20:20:24.012Z,1695846024.012 [RudderServo](DEBUG): Initializing RudderServo.
2023-09-27T20:20:24.013Z,1695846024.013 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-09-27T20:20:24.020Z,1695846024.020 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-09-27T20:20:24.282Z,1695846024.282 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2023-09-27T20:20:24.282Z,1695846024.282 [DropWeight] Hardware Fault, FailCount= 1
2023-09-27T20:20:24.282Z,1695846024.282 [DropWeight](ERROR): Hardware Fault
2023-09-27T20:20:24.307Z,1695846024.307 [CommandExec](FAULT): Scheduling is paused
2023-09-27T20:20:24.307Z,1695846024.307 [CBIT](INFO): Critical error at 20230927T202024
2023-09-27T20:20:24.308Z,1695846024.308 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2023-09-27T20:20:24.314Z,1695846024.314 [CBIT](ERROR): Hardware Fault in component: DropWeight
2023-09-27T20:20:24.315Z,1695846024.315 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2023-09-27T20:20:24.691Z,1695846024.691 [CBIT](INFO): Critical error at 20230927T202024
2023-09-27T20:20:25.720Z,1695846025.720 [WetLabsBB2FL](INFO): Powering down
2023-09-27T20:20:29.753Z,1695846029.753 [ThrusterHE](ERROR): Zero Speed Commanded.
2023-09-27T20:20:34.219Z,1695846034.219 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004687
2023-09-27T20:20:52.142Z,1695846052.142 [NAL9602](INFO): Powering up NAL9602
2023-09-27T20:21:03.054Z,1695846063.054 [NAL9602](INFO): NAL9602 initialized
2023-09-27T20:21:09.584Z,1695846069.584 [Waterlinked](INFO): Powering down
2023-09-27T20:21:23.615Z,1695846083.615 [DAT](FAULT): failed to initialize, no bytes available on serial interface
2023-09-27T20:21:23.615Z,1695846083.615 [DAT] Communications Fault, FailCount= 1
2023-09-27T20:21:23.615Z,1695846083.615 [DAT](ERROR): Communications Fault
2023-09-27T20:21:23.708Z,1695846083.708 [CBIT](ERROR): Communications Fault in component: DAT
2023-09-27T20:21:24.016Z,1695846084.016 [DAT](INFO): Powering down
2023-09-27T20:21:24.900Z,1695846084.900 [CBIT](INFO): Clearing failed state for component DAT
2023-09-27T20:21:24.900Z,1695846084.900 [DAT] No Fault, FailCount= 1
2023-09-27T20:21:27.060Z,1695846087.060 [DAT](INFO): Powering up
2023-09-27T20:21:27.060Z,1695846087.060 [DAT](DEBUG): Initializing DAT.
2023-09-27T20:21:34.984Z,1695846094.984 [SBIT](IMPORTANT): Beginning Startup BIT
2023-09-27T20:21:34.988Z,1695846094.988 [CBIT](IMPORTANT): Beginning ground fault scan
2023-09-27T20:21:36.637Z,1695846096.637 [DAT](INFO): DAT read: 

2023-09-27T20:21:36.638Z,1695846096.638 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2023-09-27T20:21:37.005Z,1695846097.005 [CommandExec](IMPORTANT): got command restart system
2023-09-27T20:21:37.897Z,1695846097.897 [DAT](INFO): DAT read: MF Frequency Band

2023-09-27T20:21:37.898Z,1695846097.898 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.10.9

2023-09-27T20:21:37.899Z,1695846097.899 [DAT](INFO): DAT read: Sep 27 2023 20:21:33 

2023-09-27T20:21:38.653Z,1695846098.653 [DAT](INFO): DAT read: Features enabled [Bearing]

2023-09-27T20:21:38.655Z,1695846098.655 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2023-09-27T20:21:38.655Z,1695846098.655 [DAT](INFO): commRate: 800
2023-09-27T20:21:39.072Z,1695846099.072 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2023-09-27T20:21:39.073Z,1695846099.073 [CommandExec](INFO): Uninitializing the command executive.
2023-09-27T20:21:39.073Z,1695846099.073 [CommandExec](INFO): Uninitializing the command scheduler.
2023-09-27T20:21:39.073Z,1695846099.073 [CommandExec ThreadHandler](INFO): Thread cancelled.
2023-09-27T20:21:39.220Z,1695846099.220 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2023-09-27T20:21:39.220Z,1695846099.220 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2023-09-27T20:21:39.221Z,1695846099.221 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2