2024-09-03T16:51:29.455Z,1725382289.455 [Supervisor](DEBUG): Initializing supervisor.
2024-09-03T16:51:29.460Z,1725382289.460 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2024-09-03T16:51:29.460Z,1725382289.460 [SyncHandler](INFO): Protected caller Thread ID is 5143
2024-09-03T16:51:29.461Z,1725382289.461 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2024-09-03T16:51:29.462Z,1725382289.462 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2024-09-03T16:51:29.462Z,1725382289.462 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5144
2024-09-03T16:51:29.467Z,1725382289.467 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2024-09-03T16:51:29.485Z,1725382289.485 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2024-09-03T16:51:29.486Z,1725382289.486 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2024-09-03T16:51:29.486Z,1725382289.486 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 5145
2024-09-03T16:51:29.490Z,1725382289.490 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2024-09-03T16:51:29.491Z,1725382289.491 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2024-09-03T16:51:29.491Z,1725382289.491 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5146
2024-09-03T16:51:29.494Z,1725382289.494 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2024-09-03T16:51:29.494Z,1725382289.494 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2024-09-03T16:51:29.495Z,1725382289.495 [logger ThreadHandler](INFO): Protected caller Thread ID is 5147
2024-09-03T16:51:29.498Z,1725382289.498 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2024-09-03T16:51:29.499Z,1725382289.499 [Supervisor](INFO): Looking for Config files in directory: Config/
2024-09-03T16:51:29.501Z,1725382289.501 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2024-09-03T16:51:29.909Z,1725382289.909 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2024-09-03T16:51:29.909Z,1725382289.909 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2024-09-03T16:51:30.685Z,1725382290.685 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2024-09-03T16:51:30.685Z,1725382290.685 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2024-09-03T16:51:30.807Z,1725382290.807 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2024-09-03T16:51:30.808Z,1725382290.808 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2024-09-03T16:51:31.376Z,1725382291.376 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2024-09-03T16:51:31.377Z,1725382291.377 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2024-09-03T16:51:31.487Z,1725382291.487 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2024-09-03T16:51:31.488Z,1725382291.488 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2024-09-03T16:51:31.583Z,1725382291.583 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2024-09-03T16:51:32.016Z,1725382292.016 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2024-09-03T16:51:32.016Z,1725382292.016 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2024-09-03T16:51:32.258Z,1725382292.258 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2024-09-03T16:51:32.259Z,1725382292.259 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2024-09-03T16:51:32.411Z,1725382292.411 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2024-09-03T16:51:32.412Z,1725382292.412 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2024-09-03T16:51:32.677Z,1725382292.677 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2024-09-03T16:51:32.678Z,1725382292.678 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2024-09-03T16:51:33.246Z,1725382293.246 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2024-09-03T16:51:33.247Z,1725382293.247 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2024-09-03T16:51:33.664Z,1725382293.664 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2024-09-03T16:51:33.664Z,1725382293.664 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2024-09-03T16:51:34.433Z,1725382294.433 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2024-09-03T16:51:34.636Z,1725382294.636 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2024-09-03T16:51:34.637Z,1725382294.637 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2024-09-03T16:51:34.884Z,1725382294.884 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2024-09-03T16:51:34.884Z,1725382294.884 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2024-09-03T16:51:35.208Z,1725382295.208 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2024-09-03T16:51:35.211Z,1725382295.211 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2024-09-03T16:51:35.212Z,1725382295.212 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2024-09-03T16:51:35.335Z,1725382295.335 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2024-09-03T16:51:35.500Z,1725382295.500 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2024-09-03T16:51:35.600Z,1725382295.600 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2024-09-03T16:51:35.697Z,1725382295.697 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2024-09-03T16:51:35.820Z,1725382295.820 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg
2024-09-03T16:51:35.919Z,1725382295.919 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2024-09-03T16:51:36.038Z,1725382296.038 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2024-09-03T16:51:36.314Z,1725382296.314 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2024-09-03T16:51:36.315Z,1725382296.315 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2024-09-03T16:51:36.463Z,1725382296.463 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2024-09-03T16:51:36.571Z,1725382296.571 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2024-09-03T16:51:36.677Z,1725382296.677 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2024-09-03T16:51:36.796Z,1725382296.796 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/root/
2024-09-03T16:51:36.797Z,1725382296.797 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2024-09-03T16:51:36.811Z,1725382296.811 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2024-09-03T16:51:36.916Z,1725382296.916 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2024-09-03T16:51:36.917Z,1725382296.917 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2024-09-03T16:51:36.926Z,1725382296.926 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2024-09-03T16:51:36.927Z,1725382296.927 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2024-09-03T16:51:36.976Z,1725382296.976 [DepthRateCalculator] Loaded
2024-09-03T16:51:36.976Z,1725382296.976 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2024-09-03T16:51:36.981Z,1725382296.981 [PitchRateCalculator] Loaded
2024-09-03T16:51:36.982Z,1725382296.982 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2024-09-03T16:51:36.992Z,1725382296.992 [SpeedCalculator] Loaded
2024-09-03T16:51:36.992Z,1725382296.992 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2024-09-03T16:51:36.997Z,1725382296.997 [YawRateCalculator] Loaded
2024-09-03T16:51:36.997Z,1725382296.997 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2024-09-03T16:51:37.018Z,1725382297.018 [ElevatorOffsetCalculator] Loaded
2024-09-03T16:51:37.019Z,1725382297.019 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2024-09-03T16:51:37.019Z,1725382297.019 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2024-09-03T16:51:37.020Z,1725382297.020 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2024-09-03T16:51:37.070Z,1725382297.070 [VerticalControl](DEBUG): Construct VerticalControl.
2024-09-03T16:51:37.125Z,1725382297.125 [VerticalControl] Loaded
2024-09-03T16:51:37.126Z,1725382297.126 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2024-09-03T16:51:37.128Z,1725382297.128 [HorizontalControl](DEBUG): Construct HorizontalControl.
2024-09-03T16:51:37.175Z,1725382297.175 [HorizontalControl] Loaded
2024-09-03T16:51:37.175Z,1725382297.175 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2024-09-03T16:51:37.177Z,1725382297.177 [SpeedControl](DEBUG): Construct SpeedControl.
2024-09-03T16:51:37.180Z,1725382297.180 [SpeedControl] Loaded
2024-09-03T16:51:37.180Z,1725382297.180 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2024-09-03T16:51:37.183Z,1725382297.183 [LoopControl](DEBUG): Construct LoopControl.
2024-09-03T16:51:37.183Z,1725382297.183 [LoopControl] Loaded
2024-09-03T16:51:37.183Z,1725382297.183 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2024-09-03T16:51:37.184Z,1725382297.184 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2024-09-03T16:51:37.184Z,1725382297.184 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2024-09-03T16:51:37.294Z,1725382297.294 [DeadReckonUsingMultipleVelocitySources] Loaded
2024-09-03T16:51:37.294Z,1725382297.294 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2024-09-03T16:51:37.308Z,1725382297.308 [NavChart] Loaded
2024-09-03T16:51:37.308Z,1725382297.308 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2024-09-03T16:51:37.313Z,1725382297.313 [UniversalFixResidualReporter] Loaded
2024-09-03T16:51:37.314Z,1725382297.314 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2024-09-03T16:51:37.314Z,1725382297.314 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2024-09-03T16:51:37.315Z,1725382297.315 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2024-09-03T16:51:37.480Z,1725382297.480 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2024-09-03T16:51:37.480Z,1725382297.480 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2024-09-03T16:51:37.910Z,1725382297.910 [BackseatComponent] Loaded
2024-09-03T16:51:37.911Z,1725382297.911 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2024-09-03T16:51:37.912Z,1725382297.912 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409214E0
2024-09-03T16:51:37.912Z,1725382297.912 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 5232
2024-09-03T16:51:37.915Z,1725382297.915 [LcmUniversalReporter] Loaded
2024-09-03T16:51:37.915Z,1725382297.915 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2024-09-03T16:51:38.734Z,1725382298.734 [BPC1] Loaded
2024-09-03T16:51:38.734Z,1725382298.734 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2024-09-03T16:51:38.807Z,1725382298.807 [DataOverHttps] Loaded
2024-09-03T16:51:38.807Z,1725382298.807 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2024-09-03T16:51:38.808Z,1725382298.808 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409514E0
2024-09-03T16:51:38.808Z,1725382298.808 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5233
2024-09-03T16:51:38.831Z,1725382298.831 [Depth_Keller] Loaded
2024-09-03T16:51:38.831Z,1725382298.831 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2024-09-03T16:51:38.836Z,1725382298.836 [DropWeight] Loaded
2024-09-03T16:51:38.836Z,1725382298.836 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2024-09-03T16:51:38.900Z,1725382298.900 [NAL9602] Loaded
2024-09-03T16:51:38.901Z,1725382298.901 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2024-09-03T16:51:38.930Z,1725382298.930 [Onboard] Loaded
2024-09-03T16:51:38.930Z,1725382298.930 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2024-09-03T16:51:38.931Z,1725382298.931 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409814E0
2024-09-03T16:51:38.932Z,1725382298.932 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5234
2024-09-03T16:51:38.946Z,1725382298.946 [Power24vConverter] Loaded
2024-09-03T16:51:38.946Z,1725382298.946 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2024-09-03T16:51:38.961Z,1725382298.961 [Radio_Surface] Loaded
2024-09-03T16:51:38.961Z,1725382298.961 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2024-09-03T16:51:38.962Z,1725382298.962 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409B14E0
2024-09-03T16:51:38.962Z,1725382298.962 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5235
2024-09-03T16:51:38.978Z,1725382298.978 [Sonardyne_Nano] Loaded
2024-09-03T16:51:38.978Z,1725382298.978 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2024-09-03T16:51:38.979Z,1725382298.979 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2024-09-03T16:51:38.979Z,1725382298.979 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2024-09-03T16:51:39.279Z,1725382299.279 [BuoyancyServo] Loaded
2024-09-03T16:51:39.279Z,1725382299.279 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2024-09-03T16:51:39.302Z,1725382299.302 [ElevatorServo] Loaded
2024-09-03T16:51:39.302Z,1725382299.302 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2024-09-03T16:51:39.324Z,1725382299.324 [MassServo] Loaded
2024-09-03T16:51:39.324Z,1725382299.324 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2024-09-03T16:51:39.344Z,1725382299.344 [RudderServo] Loaded
2024-09-03T16:51:39.345Z,1725382299.345 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2024-09-03T16:51:39.361Z,1725382299.361 [ThrusterHE] Loaded
2024-09-03T16:51:39.361Z,1725382299.361 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2024-09-03T16:51:39.361Z,1725382299.361 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2024-09-03T16:51:39.362Z,1725382299.362 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2024-09-03T16:51:39.419Z,1725382299.419 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2024-09-03T16:51:39.420Z,1725382299.420 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2024-09-03T16:51:39.445Z,1725382299.445 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2024-09-03T16:51:39.446Z,1725382299.446 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2024-09-03T16:51:39.770Z,1725382299.770 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2024-09-03T16:51:39.771Z,1725382299.771 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2024-09-03T16:51:39.912Z,1725382299.912 [ESPComponent] Loaded
2024-09-03T16:51:39.912Z,1725382299.912 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2024-09-03T16:51:39.934Z,1725382299.934 [PAR_Licor] Loaded
2024-09-03T16:51:39.935Z,1725382299.935 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2024-09-03T16:51:39.936Z,1725382299.936 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2024-09-03T16:51:39.936Z,1725382299.936 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2024-09-03T16:51:40.070Z,1725382300.070 [SBIT](DEBUG): Construct Startup Built In Test.
2024-09-03T16:51:40.079Z,1725382300.079 [SBIT] Loaded
2024-09-03T16:51:40.080Z,1725382300.080 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2024-09-03T16:51:40.083Z,1725382300.083 [IBIT](DEBUG): Construct Initiated Built In Test.
2024-09-03T16:51:40.095Z,1725382300.095 [IBIT] Loaded
2024-09-03T16:51:40.096Z,1725382300.096 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2024-09-03T16:51:40.102Z,1725382300.102 [CBIT](DEBUG): Construct Continuous Built In Test.
2024-09-03T16:51:40.211Z,1725382300.211 [CBIT] Loaded
2024-09-03T16:51:40.211Z,1725382300.211 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2024-09-03T16:51:40.211Z,1725382300.211 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2024-09-03T16:51:40.218Z,1725382300.218 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2024-09-03T16:51:40.220Z,1725382300.220 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2024-09-03T16:51:40.232Z,1725382300.232 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2024-09-03T16:51:40.233Z,1725382300.233 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BA74E0
2024-09-03T16:51:40.233Z,1725382300.233 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5236
2024-09-03T16:51:40.238Z,1725382300.238 [Supervisor](INFO): Main Thread ID is 4820
2024-09-03T16:51:40.238Z,1725382300.238 [Supervisor](DEBUG): Running supervisor.
2024-09-03T16:51:40.238Z,1725382300.238 [CommandExec ThreadHandler](INFO): Handler Thread ID is 5237
2024-09-03T16:51:40.239Z,1725382300.239 [CommandExec](INFO): Initializing the command executive.
2024-09-03T16:51:40.240Z,1725382300.240 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5238
2024-09-03T16:51:40.242Z,1725382300.242 [controlThread ThreadHandler](INFO): Handler Thread ID is 5239
2024-09-03T16:51:40.243Z,1725382300.243 [controlThread](DEBUG): Initializing ControlThread
2024-09-03T16:51:40.244Z,1725382300.244 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2024-09-03T16:51:40.244Z,1725382300.244 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2024-09-03T16:51:40.244Z,1725382300.244 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2024-09-03T16:51:40.245Z,1725382300.245 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2024-09-03T16:51:40.245Z,1725382300.245 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2024-09-03T16:51:40.246Z,1725382300.246 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2024-09-03T16:51:40.247Z,1725382300.247 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2024-09-03T16:51:40.248Z,1725382300.248 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2024-09-03T16:51:40.248Z,1725382300.248 [LoopControl](DEBUG): Initialize LoopControlComponent.
2024-09-03T16:51:40.249Z,1725382300.249 [NavChart](DEBUG): Initialize NavChart Navigation.
2024-09-03T16:51:40.250Z,1725382300.250 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2024-09-03T16:51:40.262Z,1725382300.262 [SBIT](INFO): Initialize SBIT Component.
2024-09-03T16:51:40.262Z,1725382300.262 [SBIT](IMPORTANT): git: 2024-08-12-95-g598b95f60
2024-09-03T16:51:40.262Z,1725382300.262 [SBIT](INFO): git hash: 598b95f6033d24136933a3d5d1ddac5d4570ac95
2024-09-03T16:51:40.263Z,1725382300.263 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2024-09-03T16:51:40.264Z,1725382300.264 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Sep 24 11:12:27 PDT 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2024-09-03T16:51:40.265Z,1725382300.265 [SBIT](INFO): Beginning SBIT in 68.000000 seconds.
2024-09-03T16:51:40.266Z,1725382300.266 [IBIT](INFO): Initialize IBIT Component.
2024-09-03T16:51:40.267Z,1725382300.267 [CBIT](DEBUG): Initialize CBIT Component.
2024-09-03T16:51:40.267Z,1725382300.267 [logger ThreadHandler](INFO): Handler Thread ID is 5240
2024-09-03T16:51:40.278Z,1725382300.278 [CBIT](DEBUG): Initialized mux pins.
2024-09-03T16:51:40.278Z,1725382300.278 [CBIT](DEBUG): Initializing the watchdog timer.
2024-09-03T16:51:40.286Z,1725382300.286 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 5241
2024-09-03T16:51:40.298Z,1725382300.298 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5242
2024-09-03T16:51:40.300Z,1725382300.300 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2024-09-03T16:51:40.302Z,1725382300.302 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2024-09-03T16:51:40.302Z,1725382300.302 [CBIT](DEBUG): Initializing heartbeat.
2024-09-03T16:51:40.310Z,1725382300.310 [Onboard ThreadHandler](INFO): Handler Thread ID is 5243
2024-09-03T16:51:40.328Z,1725382300.328 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5244
2024-09-03T16:51:40.346Z,1725382300.346 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5245
2024-09-03T16:51:40.348Z,1725382300.348 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK1NORSO.000
2024-09-03T16:51:40.348Z,1725382300.348 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK1NORSO.000
2024-09-03T16:51:40.349Z,1725382300.349 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK2NORS.000
2024-09-03T16:51:40.349Z,1725382300.349 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK2NORS.000
2024-09-03T16:51:40.349Z,1725382300.349 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK3HORRO.000
2024-09-03T16:51:40.349Z,1725382300.349 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK3HORRO.000
2024-09-03T16:51:40.373Z,1725382300.373 [CBIT](DEBUG): Deactivating GF circuits.
2024-09-03T16:51:40.374Z,1725382300.374 [CBIT](DEBUG): Deactivating emergency mode.
2024-09-03T16:51:40.414Z,1725382300.414 [CBIT](DEBUG): Backplane powered.
2024-09-03T16:51:40.414Z,1725382300.414 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2024-09-03T16:51:40.415Z,1725382300.415 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2024-09-03T16:51:40.415Z,1725382300.415 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2024-09-03T16:51:40.416Z,1725382300.416 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2024-09-03T16:51:40.456Z,1725382300.456 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
2024-09-03T16:51:40.460Z,1725382300.460 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2024-09-03T16:51:40.508Z,1725382300.508 [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
}
}
}
2024-09-03T16:51:40.509Z,1725382300.509 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2024-09-03T16:51:40.509Z,1725382300.509 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2024-09-03T16:51:40.510Z,1725382300.510 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2024-09-03T16:51:40.734Z,1725382300.734 [Radio_Surface](INFO): Powering up
2024-09-03T16:51:40.817Z,1725382300.817 [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
2024-09-03T16:51:40.839Z,1725382300.839 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2024-09-03T16:51:40.840Z,1725382300.840 [Default:A.Wait](DEBUG): Construct Wait.
2024-09-03T16:51:40.858Z,1725382300.858 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-09-03T16:51:40.895Z,1725382300.895 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2024-09-03T16:51:40.906Z,1725382300.906 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2024-09-03T16:51:40.912Z,1725382300.912 [Default:E.Execute](DEBUG): Construct Execute.
2024-09-03T16:51:40.915Z,1725382300.915 [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"
}
}
2024-09-03T16:51:40.933Z,1725382300.933 [controlThread](DEBUG): Component order: CycleStarter,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,LcmUniversalReporter,Reporter,LogSplitter,
2024-09-03T16:51:40.996Z,1725382300.996 [Power24vConverter](INFO): Powering up.
2024-09-03T16:51:40.997Z,1725382300.997 [Sonardyne_Nano](INFO): Initializing.
2024-09-03T16:51:41.088Z,1725382301.088 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2024-09-03T16:51:41.094Z,1725382301.094 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2024-09-03T16:51:41.095Z,1725382301.095 [ElevatorServo](DEBUG): Initializing EZServoServo.
2024-09-03T16:51:41.102Z,1725382301.102 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2024-09-03T16:51:41.103Z,1725382301.103 [MassServo](DEBUG): Initializing EZServoServo.
2024-09-03T16:51:41.110Z,1725382301.110 [MassServo](DEBUG): Initializing MassServo.
2024-09-03T16:51:41.111Z,1725382301.111 [RudderServo](DEBUG): Initializing EZServoServo.
2024-09-03T16:51:41.116Z,1725382301.116 [RudderServo](DEBUG): Initializing RudderServo.
2024-09-03T16:51:41.117Z,1725382301.117 [ThrusterHE](DEBUG): Initializing EZServoServo.
2024-09-03T16:51:41.126Z,1725382301.126 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2024-09-03T16:51:41.391Z,1725382301.391 [DropWeight](CRITICAL): DROP WEIGHT MISSING.
2024-09-03T16:51:41.391Z,1725382301.391 [DropWeight] Hardware Fault, FailCount= 1
2024-09-03T16:51:41.391Z,1725382301.391 [DropWeight](ERROR): Hardware Fault
2024-09-03T16:51:41.433Z,1725382301.433 [CommandExec](FAULT): Scheduling is paused
2024-09-03T16:51:41.433Z,1725382301.433 [CBIT](INFO): Critical error at 20240903T165141
2024-09-03T16:51:41.433Z,1725382301.433 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2024-09-03T16:51:41.444Z,1725382301.444 [CBIT](ERROR): Hardware Fault in component: DropWeight
2024-09-03T16:51:41.444Z,1725382301.444 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2024-09-03T16:51:41.786Z,1725382301.786 [CBIT](INFO): Critical error at 20240903T165141
2024-09-03T16:51:46.695Z,1725382306.695 [ThrusterHE](ERROR): Zero Speed Commanded.
2024-09-03T16:52:09.228Z,1725382329.228 [NAL9602](INFO): Powering up NAL9602
2024-09-03T16:52:14.598Z,1725382334.598 [CommandExec](IMPORTANT): got command failComponent
2024-09-03T16:52:14.599Z,1725382334.599 [CommandExec](IMPORTANT): Failed components:
2024-09-03T16:52:14.599Z,1725382334.599 [CommandExec](IMPORTANT): DropWeight: Hardware Fault
2024-09-03T16:52:20.131Z,1725382340.131 [NAL9602](INFO): NAL9602 initialized
2024-09-03T16:52:33.715Z,1725382353.715 [CommandExec](IMPORTANT): got command configSet DropWeight.loadAtStartup 0 bool persist
2024-09-03T16:52:33.716Z,1725382353.716 [CommandExec](IMPORTANT): configSet DropWeight.loadAtStartup requires a restart to take effect.
2024-09-03T16:52:33.718Z,1725382353.718 [CommandExec](IMPORTANT): got command restart application
2024-09-03T16:52:34.722Z,1725382354.722 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:34.722Z,1725382354.722 [CommandExec](INFO): Uninitializing the command executive.
2024-09-03T16:52:34.722Z,1725382354.722 [CommandExec](INFO): Uninitializing the command scheduler.
2024-09-03T16:52:34.722Z,1725382354.722 [CommandExec ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:34.873Z,1725382354.873 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup. Bye!
2024-09-03T16:52:34.874Z,1725382354.874 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2024-09-03T16:52:34.874Z,1725382354.874 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:34.874Z,1725382354.874 [NavChartDb](INFO): Join timeout helper Thread ID is 5252
2024-09-03T16:52:34.994Z,1725382354.994 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:34.994Z,1725382354.994 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:34.998Z,1725382354.998 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2024-09-03T16:52:34.998Z,1725382354.998 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:34.998Z,1725382354.998 [Radio_Surface](INFO): Join timeout helper Thread ID is 5253
2024-09-03T16:52:35.278Z,1725382355.278 [Radio_Surface](INFO): Powering down
2024-09-03T16:52:35.279Z,1725382355.279 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:35.279Z,1725382355.279 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.282Z,1725382355.282 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2024-09-03T16:52:35.282Z,1725382355.282 [Onboard ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.282Z,1725382355.282 [Onboard](INFO): Join timeout helper Thread ID is 5254
2024-09-03T16:52:35.354Z,1725382355.354 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:35.354Z,1725382355.354 [Onboard ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.362Z,1725382355.362 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2024-09-03T16:52:35.362Z,1725382355.362 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.362Z,1725382355.362 [DataOverHttps](INFO): Join timeout helper Thread ID is 5255
2024-09-03T16:52:35.551Z,1725382355.551 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:35.551Z,1725382355.551 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.570Z,1725382355.570 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2024-09-03T16:52:35.570Z,1725382355.570 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.570Z,1725382355.570 [BackseatComponent](INFO): Join timeout helper Thread ID is 5256
2024-09-03T16:52:35.626Z,1725382355.626 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:35.626Z,1725382355.626 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.631Z,1725382355.631 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2024-09-03T16:52:35.631Z,1725382355.631 [logger ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.631Z,1725382355.631 [logger](INFO): Join timeout helper Thread ID is 5257
2024-09-03T16:52:35.646Z,1725382355.646 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:35.646Z,1725382355.646 [logger ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.650Z,1725382355.650 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2024-09-03T16:52:35.650Z,1725382355.650 [CommandLine ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.651Z,1725382355.651 [CommandLine](INFO): Join timeout helper Thread ID is 5258
2024-09-03T16:52:35.714Z,1725382355.714 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:35.714Z,1725382355.714 [CommandLine ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.730Z,1725382355.730 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2024-09-03T16:52:35.730Z,1725382355.730 [CommandExec ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.731Z,1725382355.731 [CommandExec](INFO): Join timeout helper Thread ID is 5259
2024-09-03T16:52:35.732Z,1725382355.732 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2024-09-03T16:52:35.732Z,1725382355.732 [controlThread ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:35.732Z,1725382355.732 [controlThread](INFO): Join timeout helper Thread ID is 5260
2024-09-03T16:52:35.878Z,1725382355.878 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2024-09-03T16:52:35.878Z,1725382355.878 [controlThread](DEBUG): Uninitializing ControlThread
2024-09-03T16:52:35.880Z,1725382355.880 [NAL9602](INFO): Powering down
2024-09-03T16:52:35.881Z,1725382355.881 [Sonardyne_Nano](INFO): Powering down
2024-09-03T16:52:36.003Z,1725382356.003 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2024-09-03T16:52:36.003Z,1725382356.003 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2024-09-03T16:52:36.004Z,1725382356.004 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2024-09-03T16:52:36.004Z,1725382356.004 [MissionManager](INFO): Uninitializing Mission Default
2024-09-03T16:52:36.007Z,1725382356.007 [MissionManager](INFO): Uninitializing Mission Startup
2024-09-03T16:52:36.008Z,1725382356.008 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2024-09-03T16:52:36.009Z,1725382356.009 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2024-09-03T16:52:36.009Z,1725382356.009 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2024-09-03T16:52:36.009Z,1725382356.009 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2024-09-03T16:52:36.010Z,1725382356.010 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2024-09-03T16:52:36.010Z,1725382356.010 [BuoyancyServo](INFO): Powering down
2024-09-03T16:52:36.022Z,1725382356.022 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2024-09-03T16:52:36.022Z,1725382356.022 [ElevatorServo](INFO): Powering down
2024-09-03T16:52:36.023Z,1725382356.023 [MassServo](DEBUG): Uninitialize Mass Servo.
2024-09-03T16:52:36.023Z,1725382356.023 [MassServo](INFO): Powering down
2024-09-03T16:52:36.024Z,1725382356.024 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2024-09-03T16:52:36.024Z,1725382356.024 [RudderServo](INFO): Powering down
2024-09-03T16:52:36.024Z,1725382356.024 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2024-09-03T16:52:36.025Z,1725382356.025 [ThrusterHE](INFO): Powering down
2024-09-03T16:52:36.025Z,1725382356.025 [SBIT](DEBUG): Uninitialize SBIT Component.
2024-09-03T16:52:36.026Z,1725382356.026 [IBIT](DEBUG): Uninitialize IBIT Component.
2024-09-03T16:52:36.026Z,1725382356.026 [CBIT](DEBUG): Uninitialize CBIT Component.
2024-09-03T16:52:36.026Z,1725382356.026 [CBIT](DEBUG): Powering off loads.
2024-09-03T16:52:36.037Z,1725382356.037 [CBIT](DEBUG): Disabling WDT.
2024-09-03T16:52:36.049Z,1725382356.049 [CBIT](DEBUG): Opening all GF detection circuits.
2024-09-03T16:52:36.051Z,1725382356.051 [controlThread ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:36.107Z,1725382356.107 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:36.110Z,1725382356.110 [Onboard ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:36.116Z,1725382356.116 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:36.158Z,1725382356.158 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:36.348Z,1725382356.348 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2024-09-03T16:52:36.409Z,1725382356.409 [logger ThreadHandler](INFO): Thread cancelled.