2025-04-16T00:14:19.073Z,1744762459.073 [Supervisor](DEBUG): Initializing supervisor. 2025-04-16T00:14:19.088Z,1744762459.088 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2025-04-16T00:14:19.088Z,1744762459.088 [SyncHandler](INFO): Protected caller Thread ID is 836 2025-04-16T00:14:19.089Z,1744762459.089 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2025-04-16T00:14:19.100Z,1744762459.100 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2025-04-16T00:14:19.100Z,1744762459.100 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 837 2025-04-16T00:14:19.105Z,1744762459.105 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2025-04-16T00:14:19.151Z,1744762459.151 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2025-04-16T00:14:19.164Z,1744762459.164 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2025-04-16T00:14:19.164Z,1744762459.164 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 838 2025-04-16T00:14:19.169Z,1744762459.169 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2025-04-16T00:14:19.180Z,1744762459.180 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2025-04-16T00:14:19.180Z,1744762459.180 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 839 2025-04-16T00:14:19.183Z,1744762459.183 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2025-04-16T00:14:19.192Z,1744762459.192 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2025-04-16T00:14:19.192Z,1744762459.192 [logger ThreadHandler](INFO): Protected caller Thread ID is 840 2025-04-16T00:14:19.196Z,1744762459.196 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2025-04-16T00:14:19.197Z,1744762459.197 [Supervisor](INFO): Looking for Config files in directory: Config/ 2025-04-16T00:14:19.210Z,1744762459.210 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2025-04-16T00:14:19.963Z,1744762459.963 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2025-04-16T00:14:19.965Z,1744762459.965 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2025-04-16T00:14:20.116Z,1744762460.116 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2025-04-16T00:14:20.344Z,1744762460.344 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2025-04-16T00:14:20.346Z,1744762460.346 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2025-04-16T00:14:20.594Z,1744762460.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2025-04-16T00:14:20.596Z,1744762460.596 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2025-04-16T00:14:21.318Z,1744762461.318 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2025-04-16T00:14:21.318Z,1744762461.318 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2025-04-16T00:14:21.531Z,1744762461.531 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2025-04-16T00:14:21.531Z,1744762461.531 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2025-04-16T00:14:22.433Z,1744762462.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2025-04-16T00:14:22.435Z,1744762462.435 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2025-04-16T00:14:22.911Z,1744762462.911 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2025-04-16T00:14:22.913Z,1744762462.913 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2025-04-16T00:14:23.076Z,1744762463.076 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2025-04-16T00:14:23.430Z,1744762463.430 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2025-04-16T00:14:23.431Z,1744762463.431 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2025-04-16T00:14:23.670Z,1744762463.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2025-04-16T00:14:23.672Z,1744762463.672 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2025-04-16T00:14:24.231Z,1744762464.231 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2025-04-16T00:14:24.232Z,1744762464.232 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2025-04-16T00:14:24.445Z,1744762464.445 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2025-04-16T00:14:24.447Z,1744762464.447 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2025-04-16T00:14:24.756Z,1744762464.756 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2025-04-16T00:14:24.757Z,1744762464.757 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2025-04-16T00:14:25.670Z,1744762465.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2025-04-16T00:14:25.671Z,1744762465.671 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2025-04-16T00:14:26.291Z,1744762466.291 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2025-04-16T00:14:26.293Z,1744762466.293 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-ahi/ 2025-04-16T00:14:26.295Z,1744762466.295 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Control.cfg 2025-04-16T00:14:26.407Z,1744762466.407 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Science.cfg 2025-04-16T00:14:26.560Z,1744762466.560 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/secure.cfg 2025-04-16T00:14:26.731Z,1744762466.731 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Servo.cfg 2025-04-16T00:14:26.854Z,1744762466.854 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/BIT.cfg 2025-04-16T00:14:26.954Z,1744762466.954 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Battery.cfg 2025-04-16T00:14:27.230Z,1744762467.230 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2025-04-16T00:14:27.231Z,1744762467.231 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/vehicle.cfg 2025-04-16T00:14:27.355Z,1744762467.355 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/logger.cfg 2025-04-16T00:14:27.469Z,1744762467.469 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Sensor.cfg 2025-04-16T00:14:27.629Z,1744762467.629 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Simulator.cfg 2025-04-16T00:14:27.727Z,1744762467.727 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2025-04-16T00:14:27.741Z,1744762467.741 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2025-04-16T00:14:27.911Z,1744762467.911 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2025-04-16T00:14:27.913Z,1744762467.913 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2025-04-16T00:14:27.986Z,1744762467.986 [VerticalControl](DEBUG): Construct VerticalControl. 2025-04-16T00:14:28.050Z,1744762468.050 [VerticalControl] Loaded 2025-04-16T00:14:28.050Z,1744762468.050 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2025-04-16T00:14:28.053Z,1744762468.053 [HorizontalControl](DEBUG): Construct HorizontalControl. 2025-04-16T00:14:28.102Z,1744762468.102 [HorizontalControl] Loaded 2025-04-16T00:14:28.102Z,1744762468.102 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2025-04-16T00:14:28.105Z,1744762468.105 [SpeedControl](DEBUG): Construct SpeedControl. 2025-04-16T00:14:28.108Z,1744762468.108 [SpeedControl] Loaded 2025-04-16T00:14:28.108Z,1744762468.108 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2025-04-16T00:14:28.111Z,1744762468.111 [LoopControl](DEBUG): Construct LoopControl. 2025-04-16T00:14:28.111Z,1744762468.111 [LoopControl] Loaded 2025-04-16T00:14:28.112Z,1744762468.112 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2025-04-16T00:14:28.112Z,1744762468.112 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2025-04-16T00:14:28.114Z,1744762468.114 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2025-04-16T00:14:28.200Z,1744762468.200 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2025-04-16T00:14:28.201Z,1744762468.201 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2025-04-16T00:14:29.052Z,1744762469.052 [AHRS_M2] Loaded 2025-04-16T00:14:29.052Z,1744762469.052 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2025-04-16T00:14:29.305Z,1744762469.305 [BackseatComponent] Loaded 2025-04-16T00:14:29.305Z,1744762469.305 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2025-04-16T00:14:29.306Z,1744762469.306 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408BA4E0 2025-04-16T00:14:29.307Z,1744762469.307 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 919 2025-04-16T00:14:29.309Z,1744762469.309 [LcmUniversalReporter] Loaded 2025-04-16T00:14:29.310Z,1744762469.310 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2025-04-16T00:14:30.113Z,1744762470.113 [BPC1] Loaded 2025-04-16T00:14:30.113Z,1744762470.113 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2025-04-16T00:14:30.209Z,1744762470.209 [DAT] Loaded 2025-04-16T00:14:30.209Z,1744762470.209 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2025-04-16T00:14:30.210Z,1744762470.210 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408EA4E0 2025-04-16T00:14:30.211Z,1744762470.211 [DAT ThreadHandler](INFO): Protected caller Thread ID is 920 2025-04-16T00:14:30.353Z,1744762470.353 [DataOverHttps] Loaded 2025-04-16T00:14:30.353Z,1744762470.353 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2025-04-16T00:14:30.354Z,1744762470.354 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4091A4E0 2025-04-16T00:14:30.354Z,1744762470.354 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 921 2025-04-16T00:14:30.378Z,1744762470.378 [Depth_Keller] Loaded 2025-04-16T00:14:30.378Z,1744762470.378 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2025-04-16T00:14:30.383Z,1744762470.383 [DropWeight] Loaded 2025-04-16T00:14:30.384Z,1744762470.384 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2025-04-16T00:14:30.449Z,1744762470.449 [NAL9602] Loaded 2025-04-16T00:14:30.449Z,1744762470.449 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2025-04-16T00:14:30.479Z,1744762470.479 [Onboard] Loaded 2025-04-16T00:14:30.479Z,1744762470.479 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2025-04-16T00:14:30.480Z,1744762470.480 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4094A4E0 2025-04-16T00:14:30.481Z,1744762470.481 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 922 2025-04-16T00:14:30.495Z,1744762470.495 [Power24vConverter] Loaded 2025-04-16T00:14:30.495Z,1744762470.495 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2025-04-16T00:14:30.512Z,1744762470.512 [Radio_Surface] Loaded 2025-04-16T00:14:30.512Z,1744762470.512 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2025-04-16T00:14:30.513Z,1744762470.513 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4097A4E0 2025-04-16T00:14:30.513Z,1744762470.513 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 923 2025-04-16T00:14:30.529Z,1744762470.529 [Sonardyne_Nano] Loaded 2025-04-16T00:14:30.529Z,1744762470.529 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2025-04-16T00:14:30.529Z,1744762470.529 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2025-04-16T00:14:30.530Z,1744762470.530 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2025-04-16T00:14:30.545Z,1744762470.545 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2025-04-16T00:14:30.547Z,1744762470.547 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2025-04-16T00:14:30.595Z,1744762470.595 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2025-04-16T00:14:30.596Z,1744762470.596 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2025-04-16T00:14:30.792Z,1744762470.792 [SBIT](DEBUG): Construct Startup Built In Test. 2025-04-16T00:14:30.802Z,1744762470.802 [SBIT] Loaded 2025-04-16T00:14:30.802Z,1744762470.802 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2025-04-16T00:14:30.805Z,1744762470.805 [IBIT](DEBUG): Construct Initiated Built In Test. 2025-04-16T00:14:30.818Z,1744762470.818 [IBIT] Loaded 2025-04-16T00:14:30.818Z,1744762470.818 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2025-04-16T00:14:30.824Z,1744762470.824 [CBIT](DEBUG): Construct Continuous Built In Test. 2025-04-16T00:14:30.907Z,1744762470.907 [CBIT] Loaded 2025-04-16T00:14:30.907Z,1744762470.907 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2025-04-16T00:14:30.941Z,1744762470.941 [GFScanner] Loaded 2025-04-16T00:14:30.941Z,1744762470.941 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread. 2025-04-16T00:14:30.941Z,1744762470.941 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2025-04-16T00:14:30.942Z,1744762470.942 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2025-04-16T00:14:31.357Z,1744762471.357 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2025-04-16T00:14:31.359Z,1744762471.359 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2025-04-16T00:14:31.430Z,1744762471.430 [DepthRateCalculator] Loaded 2025-04-16T00:14:31.430Z,1744762471.430 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2025-04-16T00:14:31.435Z,1744762471.435 [PitchRateCalculator] Loaded 2025-04-16T00:14:31.436Z,1744762471.436 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2025-04-16T00:14:31.446Z,1744762471.446 [SpeedCalculator] Loaded 2025-04-16T00:14:31.447Z,1744762471.447 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2025-04-16T00:14:31.451Z,1744762471.451 [YawRateCalculator] Loaded 2025-04-16T00:14:31.451Z,1744762471.451 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2025-04-16T00:14:31.471Z,1744762471.471 [ElevatorOffsetCalculator] Loaded 2025-04-16T00:14:31.471Z,1744762471.471 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2025-04-16T00:14:31.471Z,1744762471.471 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2025-04-16T00:14:31.472Z,1744762471.472 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2025-04-16T00:14:31.692Z,1744762471.692 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2025-04-16T00:14:31.693Z,1744762471.693 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2025-04-16T00:14:31.846Z,1744762471.846 [DeadReckonUsingMultipleVelocitySources] Loaded 2025-04-16T00:14:31.846Z,1744762471.846 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2025-04-16T00:14:31.861Z,1744762471.861 [NavChart] Loaded 2025-04-16T00:14:31.861Z,1744762471.861 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2025-04-16T00:14:31.867Z,1744762471.867 [UniversalFixResidualReporter] Loaded 2025-04-16T00:14:31.867Z,1744762471.867 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2025-04-16T00:14:31.868Z,1744762471.868 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2025-04-16T00:14:31.869Z,1744762471.869 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2025-04-16T00:14:32.045Z,1744762472.045 [BuoyancyServo] Loaded 2025-04-16T00:14:32.046Z,1744762472.046 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2025-04-16T00:14:32.069Z,1744762472.069 [ElevatorServo] Loaded 2025-04-16T00:14:32.069Z,1744762472.069 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2025-04-16T00:14:32.091Z,1744762472.091 [MassServo] Loaded 2025-04-16T00:14:32.092Z,1744762472.092 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2025-04-16T00:14:32.113Z,1744762472.113 [RudderServo] Loaded 2025-04-16T00:14:32.113Z,1744762472.113 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2025-04-16T00:14:32.130Z,1744762472.130 [ThrusterHE] Loaded 2025-04-16T00:14:32.131Z,1744762472.131 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2025-04-16T00:14:32.131Z,1744762472.131 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2025-04-16T00:14:32.132Z,1744762472.132 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2025-04-16T00:14:32.351Z,1744762472.351 [CTD_Seabird] Loaded 2025-04-16T00:14:32.352Z,1744762472.352 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2025-04-16T00:14:32.353Z,1744762472.353 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C054E0 2025-04-16T00:14:32.353Z,1744762472.353 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 924 2025-04-16T00:14:32.391Z,1744762472.391 [ESPComponent] Loaded 2025-04-16T00:14:32.392Z,1744762472.392 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2025-04-16T00:14:32.414Z,1744762472.414 [PAR_Licor] Loaded 2025-04-16T00:14:32.414Z,1744762472.414 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2025-04-16T00:14:32.461Z,1744762472.461 [WetLabsBB2FL] Loaded 2025-04-16T00:14:32.461Z,1744762472.461 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2025-04-16T00:14:32.462Z,1744762472.462 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C354E0 2025-04-16T00:14:32.463Z,1744762472.463 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 925 2025-04-16T00:14:32.463Z,1744762472.463 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2025-04-16T00:14:32.470Z,1744762472.470 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2025-04-16T00:14:32.473Z,1744762472.473 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2025-04-16T00:14:32.485Z,1744762472.485 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2025-04-16T00:14:32.486Z,1744762472.486 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0 2025-04-16T00:14:32.486Z,1744762472.486 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 926 2025-04-16T00:14:32.491Z,1744762472.491 [Supervisor](INFO): Main Thread ID is 827 2025-04-16T00:14:32.491Z,1744762472.491 [Supervisor](DEBUG): Running supervisor. 2025-04-16T00:14:32.492Z,1744762472.492 [CommandExec ThreadHandler](INFO): Handler Thread ID is 927 2025-04-16T00:14:32.492Z,1744762472.492 [CommandExec](INFO): Initializing the command executive. 2025-04-16T00:14:32.494Z,1744762472.494 [CommandLine ThreadHandler](INFO): Handler Thread ID is 928 2025-04-16T00:14:32.496Z,1744762472.496 [controlThread ThreadHandler](INFO): Handler Thread ID is 929 2025-04-16T00:14:32.496Z,1744762472.496 [controlThread](DEBUG): Initializing ControlThread 2025-04-16T00:14:32.497Z,1744762472.497 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2025-04-16T00:14:32.499Z,1744762472.499 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2025-04-16T00:14:32.500Z,1744762472.500 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2025-04-16T00:14:32.500Z,1744762472.500 [LoopControl](DEBUG): Initialize LoopControlComponent. 2025-04-16T00:14:32.503Z,1744762472.503 [SBIT](INFO): Initialize SBIT Component. 2025-04-16T00:14:32.504Z,1744762472.504 [SBIT](IMPORTANT): git: 2025-04-02-2-g1635786d1 2025-04-16T00:14:32.504Z,1744762472.504 [SBIT](INFO): git hash: 1635786d188a1b3aba7073e6184020eb8609012e 2025-04-16T00:14:32.504Z,1744762472.504 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-04-16T00:14:32.505Z,1744762472.505 [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 2025-04-16T00:14:32.506Z,1744762472.506 [SBIT](INFO): Beginning SBIT in 113.000000 seconds. 2025-04-16T00:14:32.507Z,1744762472.507 [IBIT](INFO): Initialize IBIT Component. 2025-04-16T00:14:32.508Z,1744762472.508 [CBIT](DEBUG): Initialize CBIT Component. 2025-04-16T00:14:32.509Z,1744762472.509 [logger ThreadHandler](INFO): Handler Thread ID is 930 2025-04-16T00:14:32.520Z,1744762472.520 [CBIT](DEBUG): Initialized mux pins. 2025-04-16T00:14:32.520Z,1744762472.520 [CBIT](DEBUG): Initializing the watchdog timer. 2025-04-16T00:14:32.528Z,1744762472.528 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 931 2025-04-16T00:14:32.544Z,1744762472.544 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2025-04-16T00:14:32.544Z,1744762472.544 [CBIT](DEBUG): Initializing heartbeat. 2025-04-16T00:14:32.545Z,1744762472.545 [DAT ThreadHandler](INFO): Handler Thread ID is 932 2025-04-16T00:14:32.546Z,1744762472.546 [DAT](INFO): Powering up 2025-04-16T00:14:32.546Z,1744762472.546 [DAT](DEBUG): Initializing DAT. 2025-04-16T00:14:32.550Z,1744762472.550 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 934 2025-04-16T00:14:32.551Z,1744762472.551 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2025-04-16T00:14:32.572Z,1744762472.572 [Onboard ThreadHandler](INFO): Handler Thread ID is 935 2025-04-16T00:14:32.590Z,1744762472.590 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 936 2025-04-16T00:14:32.608Z,1744762472.608 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 937 2025-04-16T00:14:32.609Z,1744762472.609 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2025-04-16T00:14:32.613Z,1744762472.613 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 939 2025-04-16T00:14:32.616Z,1744762472.616 [CBIT](DEBUG): Deactivating emergency mode. 2025-04-16T00:14:32.617Z,1744762472.617 [WetLabsBB2FL](INFO): Powering up 2025-04-16T00:14:32.618Z,1744762472.618 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 941 2025-04-16T00:14:32.624Z,1744762472.624 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2025-04-16T00:14:32.625Z,1744762472.625 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2025-04-16T00:14:32.625Z,1744762472.625 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2025-04-16T00:14:32.625Z,1744762472.625 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2025-04-16T00:14:32.625Z,1744762472.625 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2025-04-16T00:14:32.625Z,1744762472.625 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2025-04-16T00:14:32.625Z,1744762472.625 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2025-04-16T00:14:32.626Z,1744762472.626 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2025-04-16T00:14:32.656Z,1744762472.656 [CBIT](DEBUG): Backplane powered. 2025-04-16T00:14:32.656Z,1744762472.656 [GFScanner](DEBUG): Initializing GFScanner 2025-04-16T00:14:32.656Z,1744762472.656 [GFScanner](DEBUG): Deactivating GF circuits. 2025-04-16T00:14:32.660Z,1744762472.660 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2025-04-16T00:14:32.661Z,1744762472.661 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2025-04-16T00:14:32.661Z,1744762472.661 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2025-04-16T00:14:32.662Z,1744762472.662 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2025-04-16T00:14:32.662Z,1744762472.662 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2025-04-16T00:14:32.663Z,1744762472.663 [NavChart](DEBUG): Initialize NavChart Navigation. 2025-04-16T00:14:32.663Z,1744762472.663 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2025-04-16T00:14:32.676Z,1744762472.676 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-04-16T00:14:32.677Z,1744762472.677 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2025-04-16T00:14:32.677Z,1744762472.677 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2025-04-16T00:14:32.684Z,1744762472.684 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2025-04-16T00:14:32.762Z,1744762472.762 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2025-04-16T00:14:32.766Z,1744762472.766 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2025-04-16T00:14:32.830Z,1744762472.830 [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 } } } 2025-04-16T00:14:32.831Z,1744762472.831 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2025-04-16T00:14:32.831Z,1744762472.831 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2025-04-16T00:14:32.850Z,1744762472.850 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2025-04-16T00:14:32.996Z,1744762472.996 [Radio_Surface](INFO): Powering up 2025-04-16T00:14:33.132Z,1744762473.132 [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 2025-04-16T00:14:33.154Z,1744762473.154 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2025-04-16T00:14:33.156Z,1744762473.156 [Default:A.Wait](DEBUG): Construct Wait. 2025-04-16T00:14:33.158Z,1744762473.158 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-04-16T00:14:33.202Z,1744762473.202 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2025-04-16T00:14:33.205Z,1744762473.205 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2025-04-16T00:14:33.224Z,1744762473.224 [Default:E.Execute](DEBUG): Construct Execute. 2025-04-16T00:14:33.227Z,1744762473.227 [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" } } 2025-04-16T00:14:33.244Z,1744762473.244 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,ESPComponent,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,GFScanner,LcmUniversalReporter,Reporter,LogSplitter, 2025-04-16T00:14:33.251Z,1744762473.251 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2025-04-16T00:14:33.429Z,1744762473.429 [Depth_Keller](INFO): Initializing. 2025-04-16T00:14:33.430Z,1744762473.430 [Power24vConverter](INFO): Powering up. 2025-04-16T00:14:33.431Z,1744762473.431 [Sonardyne_Nano](INFO): Initializing. 2025-04-16T00:14:33.472Z,1744762473.472 [DepthRateCalculator](ERROR): Depth measurement is not active 2025-04-16T00:14:33.502Z,1744762473.502 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2025-04-16T00:14:33.508Z,1744762473.508 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2025-04-16T00:14:33.509Z,1744762473.509 [ElevatorServo](DEBUG): Initializing EZServoServo. 2025-04-16T00:14:33.516Z,1744762473.516 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2025-04-16T00:14:33.517Z,1744762473.517 [MassServo](DEBUG): Initializing EZServoServo. 2025-04-16T00:14:33.524Z,1744762473.524 [MassServo](DEBUG): Initializing MassServo. 2025-04-16T00:14:33.525Z,1744762473.525 [RudderServo](DEBUG): Initializing EZServoServo. 2025-04-16T00:14:33.533Z,1744762473.533 [RudderServo](DEBUG): Initializing RudderServo. 2025-04-16T00:14:33.534Z,1744762473.534 [ThrusterHE](DEBUG): Initializing EZServoServo. 2025-04-16T00:14:33.540Z,1744762473.540 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2025-04-16T00:14:34.724Z,1744762474.724 [WetLabsBB2FL](INFO): Powering down 2025-04-16T00:14:35.678Z,1744762475.678 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2025-04-16T00:14:36.918Z,1744762476.918 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2311 2025-04-16T00:14:39.133Z,1744762479.133 [ThrusterHE](ERROR): Zero Speed Commanded. 2025-04-16T00:14:45.649Z,1744762485.649 [DAT](INFO): DAT read: 2025-04-16T00:14:45.650Z,1744762485.650 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-04-16T00:14:47.414Z,1744762487.414 [DAT](INFO): DAT read: MF Frequency Band 2025-04-16T00:14:47.415Z,1744762487.415 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-04-16T00:14:47.416Z,1744762487.416 [DAT](INFO): DAT read: Apr 16 2025 00:14:42 2025-04-16T00:14:48.421Z,1744762488.421 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-04-16T00:14:48.422Z,1744762488.422 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2025-04-16T00:14:48.423Z,1744762488.423 [DAT](INFO): commRate: 800 2025-04-16T00:14:50.488Z,1744762490.488 [DAT](INFO): entering command mode 2025-04-16T00:14:50.688Z,1744762490.688 [DAT](INFO): DAT read: 2025-04-16T00:14:50.689Z,1744762490.689 [DAT](INFO): DAT read: user:1> 2025-04-16T00:14:50.689Z,1744762490.689 [DAT](INFO): setting verbose to 3 2025-04-16T00:14:50.941Z,1744762490.941 [DAT](INFO): DAT read: user:1> 2025-04-16T00:14:50.942Z,1744762490.942 [DAT](INFO): DAT read: Verbose | 3 2025-04-16T00:14:50.942Z,1744762490.942 [DAT](INFO): set verbose to 3 2025-04-16T00:14:50.942Z,1744762490.942 [DAT](INFO): setting DatVerbose to 27440 2025-04-16T00:14:51.193Z,1744762491.193 [DAT](INFO): DAT read: user:2> 2025-04-16T00:14:51.193Z,1744762491.193 [DAT](INFO): DAT read: DatVerbose | 27440 2025-04-16T00:14:51.194Z,1744762491.194 [DAT](INFO): set DatVerbose to 27440 2025-04-16T00:14:51.194Z,1744762491.194 [DAT](INFO): setting transmit power to 8 2025-04-16T00:14:51.447Z,1744762491.447 [DAT](INFO): DAT read: user:3> 2025-04-16T00:14:51.450Z,1744762491.450 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-04-16T00:14:51.450Z,1744762491.450 [DAT](INFO): set transmit power to 8 2025-04-16T00:14:51.451Z,1744762491.451 [DAT](INFO): setting local address to 1 2025-04-16T00:14:51.697Z,1744762491.697 [DAT](INFO): DAT read: user:4> 2025-04-16T00:14:51.698Z,1744762491.698 [DAT](INFO): DAT read: LocalAddr | 1 2025-04-16T00:14:51.698Z,1744762491.698 [DAT](INFO): set local address to 1 2025-04-16T00:14:51.699Z,1744762491.699 [DAT](INFO): Setting time to: 0:14:51 And date to:4/16/2025 2025-04-16T00:14:51.949Z,1744762491.949 [DAT](INFO): DAT read: user:5> 2025-04-16T00:14:51.949Z,1744762491.949 [DAT](INFO): DAT read: Wed Apr 16, 2025 00:14:51 2025-04-16T00:14:51.950Z,1744762491.950 [DAT](INFO): Local DAT time set to Wed Apr 16, 2025 00:14:51 2025-04-16T00:15:00.738Z,1744762500.738 [NAL9602](INFO): Powering up NAL9602 2025-04-16T00:15:11.641Z,1744762511.641 [NAL9602](INFO): NAL9602 initialized 2025-04-16T00:15:40.318Z,1744762540.318 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-04-16T00:15:55.266Z,1744762555.266 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-04-16T00:15:57.296Z,1744762557.296 [NAL9602](INFO): SBD MO Status=2, MOMSN=23117, MT Status=2, MTMSN=0 2025-04-16T00:15:57.296Z,1744762557.296 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-04-16T00:16:10.619Z,1744762570.619 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-04-16T00:16:25.998Z,1744762585.998 [SBIT](IMPORTANT): Beginning Startup BIT 2025-04-16T00:16:26.004Z,1744762586.004 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-04-16T00:16:26.778Z,1744762586.778 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-04-16T00:16:30.530Z,1744762590.530 [GFScanner](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.008396 CHAN A1 (24V): 0.013722 CHAN A2 (12V): 0.007561 CHAN A3 (5V): 0.002829 CHAN B0 (3.3V): 0.003118 CHAN B1 (3.15aV): 0.003651 CHAN B2 (3.15bV): 0.003526 CHAN B3 (GND): 0.001338 OPEN: 0.007736 Full Scale: +/- 1 mA 2025-04-16T00:16:41.754Z,1744762601.754 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-04-16T00:16:48.223Z,1744762608.223 [NAL9602](INFO): SBD MO Status=2, MOMSN=23117, MT Status=2, MTMSN=0 2025-04-16T00:16:48.223Z,1744762608.223 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2 2025-04-16T00:16:56.702Z,1744762616.702 [BPC1](ERROR): BPC1B got IPBS message with 5 sticks (min is 7). 2025-04-16T00:17:06.812Z,1744762626.812 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=23117, MT Status=1, MTMSN=741 2025-04-16T00:17:06.812Z,1744762626.812 [NAL9602](INFO): Data available in MT queue 2025-04-16T00:17:07.313Z,1744762627.313 [NAL9602](INFO): Received command: restart sys 2025-04-16T00:17:07.329Z,1744762627.329 [CommandExec](IMPORTANT): got command restart system 2025-04-16T00:17:08.440Z,1744762628.440 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001707.00,A,3641.14708,N,12222.33250,W,0.544,151.15,160425,,,A*71 2025-04-16T00:17:08.452Z,1744762628.452 [NAL9602](INFO): GPS fix at 20250416T001707: (36.685785, -122.372208) 2025-04-16T00:17:09.396Z,1744762629.396 [Supervisor](INFO): Stop Mission called by Supervisor::terminate 2025-04-16T00:17:09.396Z,1744762629.396 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread. 2025-04-16T00:17:09.396Z,1744762629.396 [CommandExec](INFO): Uninitializing the command executive. 2025-04-16T00:17:09.397Z,1744762629.397 [CommandExec](INFO): Uninitializing the command scheduler. 2025-04-16T00:17:09.397Z,1744762629.397 [CommandExec ThreadHandler](INFO): Thread cancelled. 2025-04-16T00:17:09.500Z,1744762629.500 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup. Bye! 2025-04-16T00:17:09.500Z,1744762629.500 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler 2025-04-16T00:17:09.500Z,1744762629.500 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2025-04-16T00:17:09.501Z,1744762629.501 [NavChartDb](INFO): Join timeout helper Thread ID is 969 2025-04-16T00:17:09.852Z,1744762629.852 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread. 2025-04-16T00:17:09.852Z,1744762629.852 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2025-04-16T00:17:09.872Z,1744762629.872 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler 2025-04-16T00:17:09.872Z,1744762629.872 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled. 2025-04-16T00:17:09.872Z,1744762629.872 [W