2024-04-15T14:06:34.110Z,1713189994.110 [Supervisor](DEBUG): Initializing supervisor. 2024-04-15T14:06:34.114Z,1713189994.114 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2024-04-15T14:06:34.115Z,1713189994.115 [SyncHandler](INFO): Protected caller Thread ID is 5454 2024-04-15T14:06:34.115Z,1713189994.115 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2024-04-15T14:06:34.116Z,1713189994.116 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2024-04-15T14:06:34.116Z,1713189994.116 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5455 2024-04-15T14:06:34.120Z,1713189994.120 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2024-04-15T14:06:34.140Z,1713189994.140 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2024-04-15T14:06:34.141Z,1713189994.141 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2024-04-15T14:06:34.142Z,1713189994.142 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 5456 2024-04-15T14:06:34.146Z,1713189994.146 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2024-04-15T14:06:34.147Z,1713189994.147 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2024-04-15T14:06:34.147Z,1713189994.147 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5457 2024-04-15T14:06:34.149Z,1713189994.149 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2024-04-15T14:06:34.150Z,1713189994.150 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2024-04-15T14:06:34.151Z,1713189994.151 [logger ThreadHandler](INFO): Protected caller Thread ID is 5458 2024-04-15T14:06:34.154Z,1713189994.154 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2024-04-15T14:06:34.154Z,1713189994.154 [Supervisor](INFO): Looking for Config files in directory: Config/ 2024-04-15T14:06:34.156Z,1713189994.156 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2024-04-15T14:06:34.506Z,1713189994.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2024-04-15T14:06:34.507Z,1713189994.507 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2024-04-15T14:06:34.600Z,1713189994.600 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2024-04-15T14:06:34.719Z,1713189994.719 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2024-04-15T14:06:34.719Z,1713189994.719 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2024-04-15T14:06:34.860Z,1713189994.860 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2024-04-15T14:06:34.861Z,1713189994.861 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2024-04-15T14:06:35.223Z,1713189995.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2024-04-15T14:06:35.223Z,1713189995.223 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2024-04-15T14:06:35.331Z,1713189995.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2024-04-15T14:06:35.332Z,1713189995.332 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2024-04-15T14:06:35.748Z,1713189995.748 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2024-04-15T14:06:35.749Z,1713189995.749 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2024-04-15T14:06:35.976Z,1713189995.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2024-04-15T14:06:35.977Z,1713189995.977 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2024-04-15T14:06:36.067Z,1713189996.067 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2024-04-15T14:06:36.319Z,1713189996.319 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2024-04-15T14:06:36.320Z,1713189996.320 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2024-04-15T14:06:36.554Z,1713189996.554 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2024-04-15T14:06:36.555Z,1713189996.555 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2024-04-15T14:06:37.090Z,1713189997.090 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2024-04-15T14:06:37.090Z,1713189997.090 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2024-04-15T14:06:37.298Z,1713189997.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2024-04-15T14:06:37.298Z,1713189997.298 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2024-04-15T14:06:37.600Z,1713189997.600 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2024-04-15T14:06:37.601Z,1713189997.601 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2024-04-15T14:06:38.441Z,1713189998.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2024-04-15T14:06:38.442Z,1713189998.442 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2024-04-15T14:06:39.037Z,1713189999.037 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2024-04-15T14:06:39.040Z,1713189999.040 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-ahi/ 2024-04-15T14:06:39.040Z,1713189999.040 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Control.cfg 2024-04-15T14:06:39.164Z,1713189999.164 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Science.cfg 2024-04-15T14:06:39.292Z,1713189999.292 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/secure.cfg 2024-04-15T14:06:39.388Z,1713189999.388 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Servo.cfg 2024-04-15T14:06:39.507Z,1713189999.507 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/BIT.cfg 2024-04-15T14:06:39.606Z,1713189999.606 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Battery.cfg 2024-04-15T14:06:39.875Z,1713189999.875 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2024-04-15T14:06:39.876Z,1713189999.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/vehicle.cfg 2024-04-15T14:06:39.998Z,1713189999.998 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/logger.cfg 2024-04-15T14:06:40.104Z,1713190000.104 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Navigation.cfg 2024-04-15T14:06:40.220Z,1713190000.220 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Sensor.cfg 2024-04-15T14:06:40.368Z,1713190000.368 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Simulator.cfg 2024-04-15T14:06:40.465Z,1713190000.465 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2024-04-15T14:06:40.475Z,1713190000.475 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2024-04-15T14:06:40.592Z,1713190000.592 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2024-04-15T14:06:40.593Z,1713190000.593 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2024-04-15T14:06:40.646Z,1713190000.646 [VerticalControl](DEBUG): Construct VerticalControl. 2024-04-15T14:06:40.720Z,1713190000.720 [VerticalControl] Loaded 2024-04-15T14:06:40.720Z,1713190000.720 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2024-04-15T14:06:40.722Z,1713190000.722 [HorizontalControl](DEBUG): Construct HorizontalControl. 2024-04-15T14:06:40.766Z,1713190000.766 [HorizontalControl] Loaded 2024-04-15T14:06:40.766Z,1713190000.766 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2024-04-15T14:06:40.769Z,1713190000.769 [SpeedControl](DEBUG): Construct SpeedControl. 2024-04-15T14:06:40.772Z,1713190000.772 [SpeedControl] Loaded 2024-04-15T14:06:40.772Z,1713190000.772 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2024-04-15T14:06:40.775Z,1713190000.775 [LoopControl](DEBUG): Construct LoopControl. 2024-04-15T14:06:40.775Z,1713190000.775 [LoopControl] Loaded 2024-04-15T14:06:40.776Z,1713190000.776 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2024-04-15T14:06:40.776Z,1713190000.776 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2024-04-15T14:06:40.776Z,1713190000.776 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2024-04-15T14:06:40.844Z,1713190000.844 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2024-04-15T14:06:40.845Z,1713190000.845 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2024-04-15T14:06:41.294Z,1713190001.294 [AHRS_M2] Loaded 2024-04-15T14:06:41.294Z,1713190001.294 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2024-04-15T14:06:41.330Z,1713190001.330 [BackseatComponent] Loaded 2024-04-15T14:06:41.330Z,1713190001.330 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2024-04-15T14:06:41.331Z,1713190001.331 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4089C4E0 2024-04-15T14:06:41.332Z,1713190001.332 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 5541 2024-04-15T14:06:41.334Z,1713190001.334 [LcmUniversalReporter] Loaded 2024-04-15T14:06:41.335Z,1713190001.335 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2024-04-15T14:06:42.132Z,1713190002.132 [BPC1] Loaded 2024-04-15T14:06:42.133Z,1713190002.133 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2024-04-15T14:06:42.205Z,1713190002.205 [DataOverHttps] Loaded 2024-04-15T14:06:42.205Z,1713190002.205 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2024-04-15T14:06:42.206Z,1713190002.206 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408CC4E0 2024-04-15T14:06:42.207Z,1713190002.207 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5542 2024-04-15T14:06:42.227Z,1713190002.227 [Depth_Keller] Loaded 2024-04-15T14:06:42.227Z,1713190002.227 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2024-04-15T14:06:42.232Z,1713190002.232 [DropWeight] Loaded 2024-04-15T14:06:42.232Z,1713190002.232 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2024-04-15T14:06:42.294Z,1713190002.294 [NAL9602] Loaded 2024-04-15T14:06:42.294Z,1713190002.294 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2024-04-15T14:06:42.323Z,1713190002.323 [Onboard] Loaded 2024-04-15T14:06:42.324Z,1713190002.324 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2024-04-15T14:06:42.325Z,1713190002.325 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408FC4E0 2024-04-15T14:06:42.325Z,1713190002.325 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5543 2024-04-15T14:06:42.337Z,1713190002.337 [Power24vConverter] Loaded 2024-04-15T14:06:42.337Z,1713190002.337 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2024-04-15T14:06:42.351Z,1713190002.351 [Radio_Surface] Loaded 2024-04-15T14:06:42.351Z,1713190002.351 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2024-04-15T14:06:42.352Z,1713190002.352 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4092C4E0 2024-04-15T14:06:42.352Z,1713190002.352 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5544 2024-04-15T14:06:42.366Z,1713190002.366 [Sonardyne_Nano] Loaded 2024-04-15T14:06:42.366Z,1713190002.366 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2024-04-15T14:06:42.456Z,1713190002.456 [DAT] Loaded 2024-04-15T14:06:42.456Z,1713190002.456 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2024-04-15T14:06:42.457Z,1713190002.457 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 4095C4E0 2024-04-15T14:06:42.458Z,1713190002.458 [DAT ThreadHandler](INFO): Protected caller Thread ID is 5545 2024-04-15T14:06:42.480Z,1713190002.480 [Waterlinked] Loaded 2024-04-15T14:06:42.481Z,1713190002.481 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread. 2024-04-15T14:06:42.481Z,1713190002.481 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2024-04-15T14:06:42.481Z,1713190002.481 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2024-04-15T14:06:42.492Z,1713190002.492 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2024-04-15T14:06:42.492Z,1713190002.492 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2024-04-15T14:06:42.520Z,1713190002.520 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2024-04-15T14:06:42.520Z,1713190002.520 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2024-04-15T14:06:42.661Z,1713190002.661 [SBIT](DEBUG): Construct Startup Built In Test. 2024-04-15T14:06:42.670Z,1713190002.670 [SBIT] Loaded 2024-04-15T14:06:42.671Z,1713190002.671 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2024-04-15T14:06:42.674Z,1713190002.674 [IBIT](DEBUG): Construct Initiated Built In Test. 2024-04-15T14:06:42.686Z,1713190002.686 [IBIT] Loaded 2024-04-15T14:06:42.686Z,1713190002.686 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2024-04-15T14:06:42.692Z,1713190002.692 [CBIT](DEBUG): Construct Continuous Built In Test. 2024-04-15T14:06:42.796Z,1713190002.796 [CBIT] Loaded 2024-04-15T14:06:42.796Z,1713190002.796 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2024-04-15T14:06:42.797Z,1713190002.797 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2024-04-15T14:06:42.797Z,1713190002.797 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2024-04-15T14:06:43.141Z,1713190003.141 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2024-04-15T14:06:43.141Z,1713190003.141 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2024-04-15T14:06:43.193Z,1713190003.193 [DepthRateCalculator] Loaded 2024-04-15T14:06:43.194Z,1713190003.194 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2024-04-15T14:06:43.199Z,1713190003.199 [PitchRateCalculator] Loaded 2024-04-15T14:06:43.199Z,1713190003.199 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2024-04-15T14:06:43.209Z,1713190003.209 [SpeedCalculator] Loaded 2024-04-15T14:06:43.210Z,1713190003.210 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2024-04-15T14:06:43.214Z,1713190003.214 [YawRateCalculator] Loaded 2024-04-15T14:06:43.214Z,1713190003.214 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2024-04-15T14:06:43.233Z,1713190003.233 [ElevatorOffsetCalculator] Loaded 2024-04-15T14:06:43.233Z,1713190003.233 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2024-04-15T14:06:43.234Z,1713190003.234 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2024-04-15T14:06:43.234Z,1713190003.234 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2024-04-15T14:06:43.485Z,1713190003.485 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2024-04-15T14:06:43.486Z,1713190003.486 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2024-04-15T14:06:43.608Z,1713190003.608 [DeadReckonUsingMultipleVelocitySources] Loaded 2024-04-15T14:06:43.608Z,1713190003.608 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2024-04-15T14:06:43.650Z,1713190003.650 [DeadReckonUsingSpeedCalculator] Loaded 2024-04-15T14:06:43.651Z,1713190003.651 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread. 2024-04-15T14:06:43.692Z,1713190003.692 [DeadReckonWithRespectToSeafloor] Loaded 2024-04-15T14:06:43.693Z,1713190003.693 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread. 2024-04-15T14:06:43.706Z,1713190003.706 [NavChart] Loaded 2024-04-15T14:06:43.706Z,1713190003.706 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2024-04-15T14:06:43.712Z,1713190003.712 [UniversalFixResidualReporter] Loaded 2024-04-15T14:06:43.712Z,1713190003.712 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2024-04-15T14:06:43.712Z,1713190003.712 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2024-04-15T14:06:43.713Z,1713190003.713 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2024-04-15T14:06:43.849Z,1713190003.849 [BuoyancyServo] Loaded 2024-04-15T14:06:43.849Z,1713190003.849 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2024-04-15T14:06:43.870Z,1713190003.870 [ElevatorServo] Loaded 2024-04-15T14:06:43.871Z,1713190003.871 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2024-04-15T14:06:43.890Z,1713190003.890 [MassServo] Loaded 2024-04-15T14:06:43.890Z,1713190003.890 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2024-04-15T14:06:43.909Z,1713190003.909 [RudderServo] Loaded 2024-04-15T14:06:43.909Z,1713190003.909 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2024-04-15T14:06:43.924Z,1713190003.924 [ThrusterHE] Loaded 2024-04-15T14:06:43.924Z,1713190003.924 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2024-04-15T14:06:43.924Z,1713190003.924 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2024-04-15T14:06:43.925Z,1713190003.925 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2024-04-15T14:06:44.112Z,1713190004.112 [CTD_Seabird] Loaded 2024-04-15T14:06:44.112Z,1713190004.112 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2024-04-15T14:06:44.114Z,1713190004.114 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BD64E0 2024-04-15T14:06:44.114Z,1713190004.114 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 5547 2024-04-15T14:06:44.147Z,1713190004.147 [ESPComponent] Loaded 2024-04-15T14:06:44.147Z,1713190004.147 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2024-04-15T14:06:44.167Z,1713190004.167 [PAR_Licor] Loaded 2024-04-15T14:06:44.168Z,1713190004.168 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2024-04-15T14:06:44.227Z,1713190004.227 [WetLabsBB2FL] Loaded 2024-04-15T14:06:44.228Z,1713190004.228 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2024-04-15T14:06:44.229Z,1713190004.229 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C064E0 2024-04-15T14:06:44.229Z,1713190004.229 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 5548 2024-04-15T14:06:44.230Z,1713190004.230 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2024-04-15T14:06:44.236Z,1713190004.236 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2024-04-15T14:06:44.239Z,1713190004.239 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2024-04-15T14:06:44.250Z,1713190004.250 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2024-04-15T14:06:44.251Z,1713190004.251 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C364E0 2024-04-15T14:06:44.252Z,1713190004.252 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5549 2024-04-15T14:06:44.256Z,1713190004.256 [Supervisor](INFO): Main Thread ID is 5453 2024-04-15T14:06:44.256Z,1713190004.256 [Supervisor](DEBUG): Running supervisor. 2024-04-15T14:06:44.257Z,1713190004.257 [CommandExec ThreadHandler](INFO): Handler Thread ID is 5550 2024-04-15T14:06:44.257Z,1713190004.257 [CommandExec](INFO): Initializing the command executive. 2024-04-15T14:06:44.259Z,1713190004.259 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5551 2024-04-15T14:06:44.261Z,1713190004.261 [controlThread ThreadHandler](INFO): Handler Thread ID is 5552 2024-04-15T14:06:44.262Z,1713190004.262 [controlThread](DEBUG): Initializing ControlThread 2024-04-15T14:06:44.262Z,1713190004.262 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2024-04-15T14:06:44.264Z,1713190004.264 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2024-04-15T14:06:44.265Z,1713190004.265 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2024-04-15T14:06:44.265Z,1713190004.265 [LoopControl](DEBUG): Initialize LoopControlComponent. 2024-04-15T14:06:44.269Z,1713190004.269 [SBIT](INFO): Initialize SBIT Component. 2024-04-15T14:06:44.270Z,1713190004.270 [SBIT](IMPORTANT): git: 2024-04-13_A 2024-04-15T14:06:44.270Z,1713190004.270 [SBIT](INFO): git hash: 749dba83d823a73b90cb76d1c782f8d800bd1b29 2024-04-15T14:06:44.270Z,1713190004.270 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-04-15T14:06:44.271Z,1713190004.271 [SBIT](INFO): Kernel Reporting Different Version From Configuration. Kernel Expected: #639 PREEMPT Wed Mar 12 12:53:33 PDT 2014 Kernel Reported: #1 PREEMPT Tue Nov 28 15:04:22 PST 2023 2024-04-15T14:06:44.272Z,1713190004.272 [SBIT](INFO): Beginning SBIT in 83.000000 seconds. 2024-04-15T14:06:44.273Z,1713190004.273 [IBIT](INFO): Initialize IBIT Component. 2024-04-15T14:06:44.274Z,1713190004.274 [CBIT](DEBUG): Initialize CBIT Component. 2024-04-15T14:06:44.275Z,1713190004.275 [logger ThreadHandler](INFO): Handler Thread ID is 5553 2024-04-15T14:06:44.287Z,1713190004.287 [CBIT](DEBUG): Initialized mux pins. 2024-04-15T14:06:44.287Z,1713190004.287 [CBIT](DEBUG): Initializing the watchdog timer. 2024-04-15T14:06:44.295Z,1713190004.295 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 5554 2024-04-15T14:06:44.307Z,1713190004.307 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5555 2024-04-15T14:06:44.309Z,1713190004.309 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2024-04-15T14:06:44.311Z,1713190004.311 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2024-04-15T14:06:44.312Z,1713190004.312 [CBIT](DEBUG): Initializing heartbeat. 2024-04-15T14:06:44.319Z,1713190004.319 [Onboard ThreadHandler](INFO): Handler Thread ID is 5556 2024-04-15T14:06:44.349Z,1713190004.349 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5557 2024-04-15T14:06:44.360Z,1713190004.360 [DAT ThreadHandler](INFO): Handler Thread ID is 5558 2024-04-15T14:06:44.361Z,1713190004.361 [DAT](INFO): Powering up 2024-04-15T14:06:44.361Z,1713190004.361 [DAT](DEBUG): Initializing DAT. 2024-04-15T14:06:44.364Z,1713190004.364 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 5560 2024-04-15T14:06:44.365Z,1713190004.365 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2024-04-15T14:06:44.368Z,1713190004.368 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 5562 2024-04-15T14:06:44.371Z,1713190004.371 [WetLabsBB2FL](INFO): Powering up 2024-04-15T14:06:44.373Z,1713190004.373 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5564 2024-04-15T14:06:44.376Z,1713190004.376 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2HA05M.000 2024-04-15T14:06:44.376Z,1713190004.376 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2HA05M.000 2024-04-15T14:06:44.376Z,1713190004.376 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3HA20M.000 2024-04-15T14:06:44.376Z,1713190004.376 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3HA20M.000 2024-04-15T14:06:44.376Z,1713190004.376 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4HA51M.000 2024-04-15T14:06:44.377Z,1713190004.377 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4HA51M.000 2024-04-15T14:06:44.377Z,1713190004.377 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4HA51M.000 2024-04-15T14:06:44.377Z,1713190004.377 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4HA51M.000 2024-04-15T14:06:44.377Z,1713190004.377 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5HA53M.000 2024-04-15T14:06:44.377Z,1713190004.377 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5HA53M.000 2024-04-15T14:06:44.377Z,1713190004.377 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5HA55M.000 2024-04-15T14:06:44.377Z,1713190004.377 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5HA55M.000 2024-04-15T14:06:44.383Z,1713190004.383 [CBIT](DEBUG): Deactivating GF circuits. 2024-04-15T14:06:44.383Z,1713190004.383 [CBIT](DEBUG): Deactivating emergency mode. 2024-04-15T14:06:44.423Z,1713190004.423 [CBIT](DEBUG): Backplane powered. 2024-04-15T14:06:44.423Z,1713190004.423 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2024-04-15T14:06:44.424Z,1713190004.424 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2024-04-15T14:06:44.424Z,1713190004.424 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2024-04-15T14:06:44.424Z,1713190004.424 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2024-04-15T14:06:44.425Z,1713190004.425 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2024-04-15T14:06:44.426Z,1713190004.426 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component. 2024-04-15T14:06:44.427Z,1713190004.427 [NavChart](DEBUG): Initialize NavChart Navigation. 2024-04-15T14:06:44.427Z,1713190004.427 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2024-04-15T14:06:44.432Z,1713190004.432 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-04-15T14:06:44.432Z,1713190004.432 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2024-04-15T14:06:44.433Z,1713190004.433 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2024-04-15T14:06:44.434Z,1713190004.434 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2024-04-15T14:06:44.501Z,1713190004.501 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2024-04-15T14:06:44.508Z,1713190004.508 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2024-04-15T14:06:44.553Z,1713190004.553 [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 } } } 2024-04-15T14:06:44.554Z,1713190004.554 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2024-04-15T14:06:44.554Z,1713190004.554 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2024-04-15T14:06:44.555Z,1713190004.555 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2024-04-15T14:06:44.751Z,1713190004.751 [Radio_Surface](INFO): Powering up 2024-04-15T14:06:44.867Z,1713190004.867 [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 2024-04-15T14:06:44.893Z,1713190004.893 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2024-04-15T14:06:44.903Z,1713190004.903 [Default:A.Wait](DEBUG): Construct Wait. 2024-04-15T14:06:44.905Z,1713190004.905 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-04-15T14:06:44.926Z,1713190004.926 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2024-04-15T14:06:44.953Z,1713190004.953 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2024-04-15T14:06:44.975Z,1713190004.975 [Default:E.Execute](DEBUG): Construct Execute. 2024-04-15T14:06:44.978Z,1713190004.978 [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" } } 2024-04-15T14:06:44.984Z,1713190004.984 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,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, 2024-04-15T14:06:45.015Z,1713190005.015 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2024-04-15T14:06:45.085Z,1713190005.085 [Depth_Keller](ERROR): Pressure or depth reading out of range: -1.140412 decibar, -1.132002 m 2024-04-15T14:06:45.086Z,1713190005.086 [Power24vConverter](INFO): Powering up. 2024-04-15T14:06:45.086Z,1713190005.086 [Sonardyne_Nano](INFO): Initializing. 2024-04-15T14:06:45.118Z,1713190005.118 [DepthRateCalculator](ERROR): Depth measurement is not active 2024-04-15T14:06:45.157Z,1713190005.157 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2024-04-15T14:06:45.163Z,1713190005.163 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2024-04-15T14:06:45.164Z,1713190005.164 [ElevatorServo](DEBUG): Initializing EZServoServo. 2024-04-15T14:06:45.171Z,1713190005.171 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2024-04-15T14:06:45.172Z,1713190005.172 [MassServo](DEBUG): Initializing EZServoServo. 2024-04-15T14:06:45.179Z,1713190005.179 [MassServo](DEBUG): Initializing MassServo. 2024-04-15T14:06:45.180Z,1713190005.180 [RudderServo](DEBUG): Initializing EZServoServo. 2024-04-15T14:06:45.187Z,1713190005.187 [RudderServo](DEBUG): Initializing RudderServo. 2024-04-15T14:06:45.188Z,1713190005.188 [ThrusterHE](DEBUG): Initializing EZServoServo. 2024-04-15T14:06:45.195Z,1713190005.195 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2024-04-15T14:06:46.479Z,1713190006.479 [WetLabsBB2FL](INFO): Powering down 2024-04-15T14:06:47.013Z,1713190007.013 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2024-04-15T14:06:48.299Z,1713190008.299 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2311 2024-04-15T14:06:48.671Z,1713190008.671 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2024-04-15T14:06:50.892Z,1713190010.892 [ThrusterHE](ERROR): Zero Speed Commanded. 2024-04-15T14:06:56.253Z,1713190016.253 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004554 2024-04-15T14:06:57.463Z,1713190017.463 [DAT](INFO): DAT read: 2024-04-15T14:06:57.465Z,1713190017.465 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2024-04-15T14:06:58.976Z,1713190018.976 [DAT](INFO): DAT read: MF Frequency Band 2024-04-15T14:06:58.977Z,1713190018.977 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2024-04-15T14:06:58.978Z,1713190018.978 [DAT](INFO): DAT read: Apr 13 2024 19:43:08 2024-04-15T14:06:59.986Z,1713190019.986 [DAT](INFO): DAT read: Features enabled [Bearing] 2024-04-15T14:07:00.236Z,1713190020.236 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2024-04-15T14:07:00.237Z,1713190020.237 [DAT](INFO): commRate: 800 2024-04-15T14:07:02.303Z,1713190022.303 [DAT](INFO): entering command mode 2024-04-15T14:07:02.504Z,1713190022.504 [DAT](INFO): DAT read: 2024-04-15T14:07:02.504Z,1713190022.504 [DAT](INFO): DAT read: user:1> 2024-04-15T14:07:02.504Z,1713190022.504 [DAT](INFO): setting verbose to 3 2024-04-15T14:07:02.756Z,1713190022.756 [DAT](INFO): DAT read: user:1> 2024-04-15T14:07:02.757Z,1713190022.757 [DAT](INFO): DAT read: Verbose | 3 2024-04-15T14:07:02.757Z,1713190022.757 [DAT](INFO): set verbose to 3 2024-04-15T14:07:02.757Z,1713190022.757 [DAT](INFO): setting DatVerbose to 27440 2024-04-15T14:07:02.980Z,1713190022.980 [CommandExec](IMPORTANT): got command restart system 2024-04-15T14:07:03.008Z,1713190023.008 [DAT](INFO): DAT read: user:2> 2024-04-15T14:07:03.008Z,1713190023.008 [DAT](INFO): DAT read: DatVerbose | 27440 2024-04-15T14:07:03.009Z,1713190023.009 [DAT](INFO): set DatVerbose to 27440 2024-04-15T14:07:03.009Z,1713190023.009 [DAT](INFO): setting transmit power to 8 2024-04-15T14:07:03.260Z,1713190023.260 [DAT](INFO): DAT read: user:3> 2024-04-15T14:07:03.261Z,1713190023.261 [DAT](INFO): DAT read: TxPower | 8 (Max) 2024-04-15T14:07:03.261Z,1713190023.261 [DAT](INFO): set transmit power to 8 2024-04-15T14:07:03.261Z,1713190023.261 [DAT](INFO): setting local address to 1 2024-04-15T14:07:03.512Z,1713190023.512 [DAT](INFO): DAT read: user:4> 2024-04-15T14:07:03.512Z,1713190023.512 [DAT](INFO): DAT read: LocalAddr | 1 2024-04-15T14:07:03.513Z,1713190023.513 [DAT](INFO): set local address to 1 2024-04-15T14:07:03.514Z,1713190023.514 [DAT](INFO): Setting time to: 14:7:3 And date to:4/15/2024 2024-04-15T14:07:03.764Z,1713190023.764 [DAT](INFO): DAT read: user:5> 2024-04-15T14:07:03.765Z,1713190023.765 [DAT](INFO): DAT read: Mon Apr 15, 2024 14:07:03 2024-04-15T14:07:03.765Z,1713190023.765 [DAT](INFO): Local DAT time set to Mon Apr 15, 2024 14:07:03 2024-04-15T14:07:05.147Z,1713190025.147 [Supervisor](INFO): Stop Mission called by Supervisor::terminate 2024-04-15T14:07:05.147Z,1713190025.147 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread. 2024-04-15T14:07:05.148Z,1713190025.148 [CommandExec](INFO): Uninitializing the command executive. 2024-04-15T14:07:05.148Z,1713190025.148 [CommandExec](INFO): Uninitializing the command scheduler. 2024-04-15T14:07:05.148Z,1713190025.148 [CommandExec ThreadHandler](INFO): Thread cancelled. 2024-04-15T14:07:05.219Z,1713190025.219 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup. Bye! 2024-04-15T14:07:05.219Z,1713190025.219 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler 2024-04-15T14:07:05.219Z,1713190025.219 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2024-04-15T14:07:05.220Z,1713190025.220 [NavChartDb](INFO): Join timeout helper Thread ID is 5576 2024-04-15T14:07:06.330Z,1713190026.330 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread. 2024-04-15T14:07:06.331Z,1713190026.331 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2024-04-15T14:07:06.343Z,1713190026.343 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler 2024-04-15T14:07:06.343Z,1713190026.343 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2024-04-15T14:07:06.344Z,1713190026.344 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 5577 2024-04-15T14:07:06.543Z,1713190026.543 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread. 2024-04-15T14:07:06.543Z,1713190026.543 [WetLabsBB2FL](INFO): Powering down 2024-04-15T14:07:06.544Z,1713190026.544 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2024-04-15T14:07:06.552Z,1713190026.552 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler 2024-04-15T14:07:06.552Z,1713190026.552 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2024-04-15T14:07:06.552Z,1713190026.552 [CTD_Seabird](INFO): Join timeout helper Thread ID is 5578 2024-04-15T14:07:07.455Z,1713190027.455 [CTD_Seabird](INFO): Powering down 2024-04-15T14:07:07