2025-11-12T20:49:07.839Z,1762980547.839 [Supervisor](DEBUG): Initializing supervisor. 2025-11-12T20:49:07.860Z,1762980547.860 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2025-11-12T20:49:07.860Z,1762980547.860 [SyncHandler](INFO): Protected caller Thread ID is 831 2025-11-12T20:49:07.861Z,1762980547.861 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2025-11-12T20:49:07.872Z,1762980547.872 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2025-11-12T20:49:07.872Z,1762980547.872 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 832 2025-11-12T20:49:07.876Z,1762980547.876 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2025-11-12T20:49:07.920Z,1762980547.920 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2025-11-12T20:49:07.932Z,1762980547.932 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2025-11-12T20:49:07.932Z,1762980547.932 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 833 2025-11-12T20:49:07.936Z,1762980547.936 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2025-11-12T20:49:07.948Z,1762980547.948 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2025-11-12T20:49:07.948Z,1762980547.948 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 834 2025-11-12T20:49:07.950Z,1762980547.950 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2025-11-12T20:49:07.960Z,1762980547.960 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2025-11-12T20:49:07.960Z,1762980547.960 [logger ThreadHandler](INFO): Protected caller Thread ID is 835 2025-11-12T20:49:07.964Z,1762980547.964 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2025-11-12T20:49:07.964Z,1762980547.964 [Supervisor](INFO): Looking for Config files in directory: Config/ 2025-11-12T20:49:07.977Z,1762980547.977 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2025-11-12T20:49:08.636Z,1762980548.636 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2025-11-12T20:49:08.636Z,1762980548.636 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2025-11-12T20:49:09.402Z,1762980549.402 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2025-11-12T20:49:09.403Z,1762980549.403 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2025-11-12T20:49:09.520Z,1762980549.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2025-11-12T20:49:09.521Z,1762980549.521 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2025-11-12T20:49:10.041Z,1762980550.041 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2025-11-12T20:49:10.042Z,1762980550.042 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2025-11-12T20:49:10.145Z,1762980550.145 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2025-11-12T20:49:10.146Z,1762980550.146 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2025-11-12T20:49:10.244Z,1762980550.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance 2025-11-12T20:49:10.245Z,1762980550.245 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2025-11-12T20:49:10.649Z,1762980550.649 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2025-11-12T20:49:10.650Z,1762980550.650 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2025-11-12T20:49:10.872Z,1762980550.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2025-11-12T20:49:10.873Z,1762980550.873 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2025-11-12T20:49:11.017Z,1762980551.017 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2025-11-12T20:49:11.017Z,1762980551.017 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2025-11-12T20:49:11.267Z,1762980551.267 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2025-11-12T20:49:11.268Z,1762980551.268 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2025-11-12T20:49:11.810Z,1762980551.810 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2025-11-12T20:49:11.811Z,1762980551.811 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2025-11-12T20:49:12.193Z,1762980552.193 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2025-11-12T20:49:12.193Z,1762980552.193 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2025-11-12T20:49:12.281Z,1762980552.281 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2025-11-12T20:49:12.466Z,1762980552.466 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2025-11-12T20:49:12.466Z,1762980552.466 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2025-11-12T20:49:12.712Z,1762980552.712 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2025-11-12T20:49:12.712Z,1762980552.712 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2025-11-12T20:49:13.023Z,1762980553.023 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2025-11-12T20:49:13.025Z,1762980553.025 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/ 2025-11-12T20:49:13.027Z,1762980553.027 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg 2025-11-12T20:49:13.133Z,1762980553.133 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg 2025-11-12T20:49:13.287Z,1762980553.287 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg 2025-11-12T20:49:13.381Z,1762980553.381 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg 2025-11-12T20:49:13.473Z,1762980553.473 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg 2025-11-12T20:49:13.590Z,1762980553.590 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg 2025-11-12T20:49:13.866Z,1762980553.866 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Dock.cfg 2025-11-12T20:49:14.565Z,1762980554.565 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg 2025-11-12T20:49:14.677Z,1762980554.677 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg 2025-11-12T20:49:14.944Z,1762980554.944 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2025-11-12T20:49:14.945Z,1762980554.945 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg 2025-11-12T20:49:15.083Z,1762980555.083 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg 2025-11-12T20:49:15.184Z,1762980555.184 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg 2025-11-12T20:49:15.286Z,1762980555.286 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg 2025-11-12T20:49:15.379Z,1762980555.379 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2025-11-12T20:49:15.386Z,1762980555.386 [controlThread](FAULT): Changing base units of DAT.transponderAddress from enum to count 2025-11-12T20:49:15.394Z,1762980555.394 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2025-11-12T20:49:15.557Z,1762980555.557 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2025-11-12T20:49:15.558Z,1762980555.558 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2025-11-12T20:49:15.574Z,1762980555.574 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2025-11-12T20:49:15.574Z,1762980555.574 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2025-11-12T20:49:15.645Z,1762980555.645 [DepthRateCalculator] Loaded 2025-11-12T20:49:15.646Z,1762980555.646 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2025-11-12T20:49:15.651Z,1762980555.651 [PitchRateCalculator] Loaded 2025-11-12T20:49:15.651Z,1762980555.651 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2025-11-12T20:49:15.662Z,1762980555.662 [SpeedCalculator] Loaded 2025-11-12T20:49:15.662Z,1762980555.662 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2025-11-12T20:49:15.667Z,1762980555.667 [YawRateCalculator] Loaded 2025-11-12T20:49:15.667Z,1762980555.667 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2025-11-12T20:49:15.688Z,1762980555.688 [ElevatorOffsetCalculator] Loaded 2025-11-12T20:49:15.689Z,1762980555.689 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2025-11-12T20:49:15.689Z,1762980555.689 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2025-11-12T20:49:15.690Z,1762980555.690 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2025-11-12T20:49:15.761Z,1762980555.761 [VerticalControl](DEBUG): Construct VerticalControl. 2025-11-12T20:49:15.817Z,1762980555.817 [VerticalControl] Loaded 2025-11-12T20:49:15.817Z,1762980555.817 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2025-11-12T20:49:15.819Z,1762980555.819 [HorizontalControl](DEBUG): Construct HorizontalControl. 2025-11-12T20:49:15.866Z,1762980555.866 [HorizontalControl] Loaded 2025-11-12T20:49:15.866Z,1762980555.866 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2025-11-12T20:49:15.869Z,1762980555.869 [SpeedControl](DEBUG): Construct SpeedControl. 2025-11-12T20:49:15.871Z,1762980555.871 [SpeedControl] Loaded 2025-11-12T20:49:15.872Z,1762980555.872 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2025-11-12T20:49:15.874Z,1762980555.874 [LoopControl](DEBUG): Construct LoopControl. 2025-11-12T20:49:15.875Z,1762980555.875 [LoopControl] Loaded 2025-11-12T20:49:15.875Z,1762980555.875 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2025-11-12T20:49:15.875Z,1762980555.875 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2025-11-12T20:49:15.876Z,1762980555.876 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2025-11-12T20:49:16.013Z,1762980556.013 [DeadReckonUsingMultipleVelocitySources] Loaded 2025-11-12T20:49:16.013Z,1762980556.013 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2025-11-12T20:49:16.027Z,1762980556.027 [NavChart] Loaded 2025-11-12T20:49:16.027Z,1762980556.027 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2025-11-12T20:49:16.033Z,1762980556.033 [UniversalFixResidualReporter] Loaded 2025-11-12T20:49:16.033Z,1762980556.033 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2025-11-12T20:49:16.034Z,1762980556.034 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2025-11-12T20:49:16.034Z,1762980556.034 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2025-11-12T20:49:16.246Z,1762980556.246 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2025-11-12T20:49:16.246Z,1762980556.246 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2025-11-12T20:49:17.082Z,1762980557.082 [AHRS_M2] Loaded 2025-11-12T20:49:17.083Z,1762980557.083 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2025-11-12T20:49:17.335Z,1762980557.335 [BackseatComponent] Loaded 2025-11-12T20:49:17.336Z,1762980557.336 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2025-11-12T20:49:17.337Z,1762980557.337 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409414E0 2025-11-12T20:49:17.337Z,1762980557.337 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 923 2025-11-12T20:49:17.340Z,1762980557.340 [LcmPublisher](INFO): Full slate access is ENABLED. All requested slate values (including non-universals) will be published on LCM. 2025-11-12T20:49:17.340Z,1762980557.340 [LcmPublisher] Loaded 2025-11-12T20:49:17.341Z,1762980557.341 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread. 2025-11-12T20:49:18.149Z,1762980558.149 [BPC1] Loaded 2025-11-12T20:49:18.149Z,1762980558.149 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2025-11-12T20:49:18.246Z,1762980558.246 [DAT] Loaded 2025-11-12T20:49:18.246Z,1762980558.246 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2025-11-12T20:49:18.247Z,1762980558.247 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409714E0 2025-11-12T20:49:18.247Z,1762980558.247 [DAT ThreadHandler](INFO): Protected caller Thread ID is 924 2025-11-12T20:49:18.388Z,1762980558.388 [DataOverHttps] Loaded 2025-11-12T20:49:18.388Z,1762980558.388 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2025-11-12T20:49:18.389Z,1762980558.389 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409A14E0 2025-11-12T20:49:18.389Z,1762980558.389 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 925 2025-11-12T20:49:18.412Z,1762980558.412 [Depth_Keller] Loaded 2025-11-12T20:49:18.412Z,1762980558.412 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2025-11-12T20:49:18.417Z,1762980558.417 [DropWeight] Loaded 2025-11-12T20:49:18.418Z,1762980558.418 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2025-11-12T20:49:18.480Z,1762980558.480 [NAL9602] Loaded 2025-11-12T20:49:18.480Z,1762980558.480 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2025-11-12T20:49:18.510Z,1762980558.510 [Onboard] Loaded 2025-11-12T20:49:18.510Z,1762980558.510 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2025-11-12T20:49:18.511Z,1762980558.511 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409D14E0 2025-11-12T20:49:18.511Z,1762980558.511 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 926 2025-11-12T20:49:18.525Z,1762980558.525 [Power24vConverter] Loaded 2025-11-12T20:49:18.526Z,1762980558.526 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2025-11-12T20:49:18.541Z,1762980558.541 [Radio_Surface] Loaded 2025-11-12T20:49:18.541Z,1762980558.541 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2025-11-12T20:49:18.542Z,1762980558.542 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A014E0 2025-11-12T20:49:18.543Z,1762980558.543 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 927 2025-11-12T20:49:18.588Z,1762980558.588 [RDI_Pathfinder] Loaded 2025-11-12T20:49:18.589Z,1762980558.589 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread. 2025-11-12T20:49:18.603Z,1762980558.603 [Sonardyne_Nano] Loaded 2025-11-12T20:49:18.604Z,1762980558.604 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2025-11-12T20:49:18.604Z,1762980558.604 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2025-11-12T20:49:18.605Z,1762980558.605 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2025-11-12T20:49:18.834Z,1762980558.834 [BuoyancyServo] Loaded 2025-11-12T20:49:18.834Z,1762980558.834 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2025-11-12T20:49:18.930Z,1762980558.930 [ElevatorServo] Loaded 2025-11-12T20:49:18.930Z,1762980558.930 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2025-11-12T20:49:18.988Z,1762980558.988 [DockingStepper] Loaded 2025-11-12T20:49:18.988Z,1762980558.988 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread. 2025-11-12T20:49:19.035Z,1762980559.035 [MassServo] Loaded 2025-11-12T20:49:19.035Z,1762980559.035 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2025-11-12T20:49:19.163Z,1762980559.163 [RudderServo] Loaded 2025-11-12T20:49:19.163Z,1762980559.163 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2025-11-12T20:49:19.179Z,1762980559.179 [ThrusterHE] Loaded 2025-11-12T20:49:19.179Z,1762980559.179 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2025-11-12T20:49:19.180Z,1762980559.180 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2025-11-12T20:49:19.181Z,1762980559.181 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2025-11-12T20:49:19.747Z,1762980559.747 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2025-11-12T20:49:19.747Z,1762980559.747 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2025-11-12T20:49:20.007Z,1762980560.007 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2025-11-12T20:49:20.008Z,1762980560.008 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2025-11-12T20:49:20.407Z,1762980560.407 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2025-11-12T20:49:20.407Z,1762980560.407 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2025-11-12T20:49:20.633Z,1762980560.633 [CTD_Seabird] Loaded 2025-11-12T20:49:20.633Z,1762980560.633 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2025-11-12T20:49:20.634Z,1762980560.634 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BC34E0 2025-11-12T20:49:20.634Z,1762980560.634 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 928 2025-11-12T20:49:20.670Z,1762980560.670 [ESPComponent] Loaded 2025-11-12T20:49:20.671Z,1762980560.671 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2025-11-12T20:49:20.693Z,1762980560.693 [PAR_Licor] Loaded 2025-11-12T20:49:20.693Z,1762980560.693 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2025-11-12T20:49:20.738Z,1762980560.738 [WetLabsBB2FL] Loaded 2025-11-12T20:49:20.738Z,1762980560.738 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2025-11-12T20:49:20.739Z,1762980560.739 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BF34E0 2025-11-12T20:49:20.739Z,1762980560.739 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 929 2025-11-12T20:49:20.740Z,1762980560.740 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2025-11-12T20:49:20.741Z,1762980560.741 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2025-11-12T20:49:20.934Z,1762980560.934 [SBIT](DEBUG): Construct Startup Built In Test. 2025-11-12T20:49:20.943Z,1762980560.943 [SBIT] Loaded 2025-11-12T20:49:20.943Z,1762980560.943 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2025-11-12T20:49:20.946Z,1762980560.946 [IBIT](DEBUG): Construct Initiated Built In Test. 2025-11-12T20:49:20.958Z,1762980560.958 [IBIT] Loaded 2025-11-12T20:49:20.958Z,1762980560.958 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2025-11-12T20:49:20.964Z,1762980560.964 [CBIT](DEBUG): Construct Continuous Built In Test. 2025-11-12T20:49:21.043Z,1762980561.043 [CBIT] Loaded 2025-11-12T20:49:21.044Z,1762980561.044 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2025-11-12T20:49:21.076Z,1762980561.076 [GFScanner] Loaded 2025-11-12T20:49:21.076Z,1762980561.076 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread. 2025-11-12T20:49:21.076Z,1762980561.076 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2025-11-12T20:49:21.083Z,1762980561.083 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2025-11-12T20:49:21.086Z,1762980561.086 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2025-11-12T20:49:21.097Z,1762980561.097 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2025-11-12T20:49:21.098Z,1762980561.098 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6E4E0 2025-11-12T20:49:21.098Z,1762980561.098 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 930 2025-11-12T20:49:21.102Z,1762980561.102 [Supervisor](INFO): Main Thread ID is 824 2025-11-12T20:49:21.103Z,1762980561.103 [Supervisor](DEBUG): Running supervisor. 2025-11-12T20:49:21.103Z,1762980561.103 [CommandExec ThreadHandler](INFO): Handler Thread ID is 931 2025-11-12T20:49:21.104Z,1762980561.104 [CommandExec](INFO): Initializing the command executive. 2025-11-12T20:49:21.105Z,1762980561.105 [CommandLine ThreadHandler](INFO): Handler Thread ID is 932 2025-11-12T20:49:21.107Z,1762980561.107 [controlThread ThreadHandler](INFO): Handler Thread ID is 933 2025-11-12T20:49:21.108Z,1762980561.108 [controlThread](DEBUG): Initializing ControlThread 2025-11-12T20:49:21.109Z,1762980561.109 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2025-11-12T20:49:21.109Z,1762980561.109 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2025-11-12T20:49:21.109Z,1762980561.109 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2025-11-12T20:49:21.110Z,1762980561.110 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2025-11-12T20:49:21.110Z,1762980561.110 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2025-11-12T20:49:21.111Z,1762980561.111 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2025-11-12T20:49:21.112Z,1762980561.112 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2025-11-12T20:49:21.113Z,1762980561.113 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2025-11-12T20:49:21.114Z,1762980561.114 [LoopControl](DEBUG): Initialize LoopControlComponent. 2025-11-12T20:49:21.114Z,1762980561.114 [NavChart](DEBUG): Initialize NavChart Navigation. 2025-11-12T20:49:21.115Z,1762980561.115 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2025-11-12T20:49:21.124Z,1762980561.124 [SBIT](INFO): Initialize SBIT Component. 2025-11-12T20:49:21.124Z,1762980561.124 [SBIT](IMPORTANT): git: 2025-11-06-2-g37d2ccc16 2025-11-12T20:49:21.125Z,1762980561.125 [SBIT](INFO): git hash: 37d2ccc16c3820cae3b4f7d56ca89ff0df066476 2025-11-12T20:49:21.125Z,1762980561.125 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-11-12T20:49:21.126Z,1762980561.126 [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 2025-11-12T20:49:21.127Z,1762980561.127 [SBIT](INFO): Beginning SBIT in 109.000000 seconds. 2025-11-12T20:49:21.128Z,1762980561.128 [IBIT](INFO): Initialize IBIT Component. 2025-11-12T20:49:21.129Z,1762980561.129 [CBIT](DEBUG): Initialize CBIT Component. 2025-11-12T20:49:21.130Z,1762980561.130 [logger ThreadHandler](INFO): Handler Thread ID is 934 2025-11-12T20:49:21.140Z,1762980561.140 [CBIT](DEBUG): Initialized mux pins. 2025-11-12T20:49:21.140Z,1762980561.140 [CBIT](DEBUG): Initializing the watchdog timer. 2025-11-12T20:49:21.148Z,1762980561.148 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 935 2025-11-12T20:49:21.160Z,1762980561.160 [DAT ThreadHandler](INFO): Handler Thread ID is 936 2025-11-12T20:49:21.161Z,1762980561.161 [DAT](INFO): Powering up 2025-11-12T20:49:21.161Z,1762980561.161 [DAT](DEBUG): Initializing DAT. 2025-11-12T20:49:21.164Z,1762980561.164 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2025-11-12T20:49:21.164Z,1762980561.164 [CBIT](DEBUG): Initializing heartbeat. 2025-11-12T20:49:21.166Z,1762980561.166 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 938 2025-11-12T20:49:21.168Z,1762980561.168 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2025-11-12T20:49:21.177Z,1762980561.177 [Onboard ThreadHandler](INFO): Handler Thread ID is 939 2025-11-12T20:49:21.194Z,1762980561.194 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 940 2025-11-12T20:49:21.220Z,1762980561.220 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 941 2025-11-12T20:49:21.221Z,1762980561.221 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2025-11-12T20:49:21.225Z,1762980561.225 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 943 2025-11-12T20:49:21.228Z,1762980561.228 [WetLabsBB2FL](INFO): Powering up 2025-11-12T20:49:21.230Z,1762980561.230 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 945 2025-11-12T20:49:21.236Z,1762980561.236 [CBIT](DEBUG): Deactivating emergency mode. 2025-11-12T20:49:21.237Z,1762980561.237 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2025-11-12T20:49:21.237Z,1762980561.237 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2025-11-12T20:49:21.237Z,1762980561.237 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2025-11-12T20:49:21.238Z,1762980561.238 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2025-11-12T20:49:21.238Z,1762980561.238 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2025-11-12T20:49:21.238Z,1762980561.238 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2025-11-12T20:49:21.238Z,1762980561.238 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2025-11-12T20:49:21.238Z,1762980561.238 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2025-11-12T20:49:21.276Z,1762980561.276 [CBIT](DEBUG): Backplane powered. 2025-11-12T20:49:21.276Z,1762980561.276 [GFScanner](DEBUG): Initializing GFScanner 2025-11-12T20:49:21.276Z,1762980561.276 [GFScanner](DEBUG): Deactivating GF circuits. 2025-11-12T20:49:21.281Z,1762980561.281 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-11-12T20:49:21.282Z,1762980561.282 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl 2025-11-12T20:49:21.282Z,1762980561.282 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl 2025-11-12T20:49:21.288Z,1762980561.288 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl 2025-11-12T20:49:21.307Z,1762980561.307 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into: 2025-11-12T20:49:21.308Z,1762980561.308 [MissionManager](ERROR): Top node has no child nodes: Mission 2025-11-12T20:49:21.308Z,1762980561.308 [MissionManager](ERROR): Could not load startup mission. 2025-11-12T20:49:21.308Z,1762980561.308 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl 2025-11-12T20:49:21.309Z,1762980561.309 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl 2025-11-12T20:49:21.311Z,1762980561.311 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl 2025-11-12T20:49:21.600Z,1762980561.600 [Radio_Surface](INFO): Powering up 2025-11-12T20:49:21.877Z,1762980561.877 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into: 0 6 10 1 3 30 Timed out while trying to detach from dock at current depth of . Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs 2025-11-12T20:49:21.900Z,1762980561.900 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min 2025-11-12T20:49:21.924Z,1762980561.924 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h 2025-11-12T20:49:21.928Z,1762980561.928 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count 2025-11-12T20:49:21.952Z,1762980561.952 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s 2025-11-12T20:49:21.956Z,1762980561.956 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count 2025-11-12T20:49:21.972Z,1762980561.972 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min 2025-11-12T20:49:21.973Z,1762980561.973 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait. 2025-11-12T20:49:22.136Z,1762980562.136 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct. 2025-11-12T20:49:22.136Z,1762980562.136 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-11-12T20:49:22.189Z,1762980562.189 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface. 2025-11-12T20:49:22.218Z,1762980562.218 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2025-11-12T20:49:22.241Z,1762980562.241 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait. 2025-11-12T20:49:22.268Z,1762980562.268 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute. 2025-11-12T20:49:22.272Z,1762980562.272 [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 DefaultWithUndock { arguments { ElapsedSinceDefaultStarted = 0 minute DetachTimeout = 6 hour """ Maximum time duration for the vehicle to detach form the dock. """ TransponderCode = Dock:Dock.transponderCode """ Dock transponder address. """ TrackingUpdatePeriod = 10 second """ Time duration between acoustic range queries while the mission is detaching from the dock. """ NumberOfPings = 1 count """ Number of pings requested each time. """ DriftTimeout = 3 minute """ How long to allow vehicle to drift away from dock before retrying reverse """ } 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 = 30 second } aggregate LeaveDock { run in sequence timeout duration=DetachTimeout { syslog important "Timed out while trying to detach from dock at current depth of " + Universal:depth~meter + "." } # Acoustic tracking directives behavior Estimation:TrackAcousticContact { run while ( Universal:depth > Control:VerticalControl.surfaceThreshold ) set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } # Leave the dock behavior Dock:Undock { run in sequence set driftTimeout = DriftTimeout } } aggregate SurfaceDefault { run in sequence # This mission assumes open water so from here on it's the same old default that's always used 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=P2H { 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" } } 2025-11-12T20:49:22.284Z,1762980562.284 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmPublisher,Reporter,LogSplitter, 2025-11-12T20:49:22.292Z,1762980562.292 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2025-11-12T20:49:22.452Z,1762980562.452 [Depth_Keller](INFO): Initializing. 2025-11-12T20:49:22.454Z,1762980562.454 [Power24vConverter](INFO): Powering up. 2025-11-12T20:49:22.454Z,1762980562.454 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-11-12T20:49:22.461Z,1762980562.461 [Sonardyne_Nano](INFO): Initializing. 2025-11-12T20:49:22.504Z,1762980562.504 [DepthRateCalculator](ERROR): Depth measurement is not active 2025-11-12T20:49:22.531Z,1762980562.531 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2025-11-12T20:49:22.536Z,1762980562.536 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2025-11-12T20:49:22.537Z,1762980562.537 [ElevatorServo](DEBUG): Initializing EZServoServo. 2025-11-12T20:49:22.544Z,1762980562.544 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2025-11-12T20:49:22.545Z,1762980562.545 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-11-12T20:49:22.552Z,1762980562.552 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-11-12T20:49:22.553Z,1762980562.553 [MassServo](DEBUG): Initializing EZServoServo. 2025-11-12T20:49:22.560Z,1762980562.560 [MassServo](DEBUG): Initializing MassServo. 2025-11-12T20:49:22.561Z,1762980562.561 [RudderServo](DEBUG): Initializing EZServoServo. 2025-11-12T20:49:22.568Z,1762980562.568 [RudderServo](DEBUG): Initializing RudderServo. 2025-11-12T20:49:22.569Z,1762980562.569 [ThrusterHE](DEBUG): Initializing EZServoServo. 2025-11-12T20:49:22.577Z,1762980562.577 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2025-11-12T20:49:22.737Z,1762980562.737 [Depth_Keller](ERROR): Pressure or depth reading out of range: 916.699524 decibar, 0.000000 m 2025-11-12T20:49:22.738Z,1762980562.738 [DropWeight](CRITICAL): DROP WEIGHT MISSING. 2025-11-12T20:49:22.738Z,1762980562.738 [DropWeight] Hardware Fault, FailCount= 1 2025-11-12T20:49:22.738Z,1762980562.738 [DropWeight](ERROR): Hardware Fault 2025-11-12T20:49:22.746Z,1762980562.746 [DepthRateCalculator](ERROR): Depth measurement is not active 2025-11-12T20:49:22.786Z,1762980562.786 [CommandExec](FAULT): Scheduling is paused 2025-11-12T20:49:22.786Z,1762980562.786 [CBIT](INFO): Critical error at 20251112T204922 2025-11-12T20:49:22.786Z,1762980562.786 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2025-11-12T20:49:22.797Z,1762980562.797 [CBIT](ERROR): Hardware Fault in component: DropWeight 2025-11-12T20:49:22.797Z,1762980562.797 [CBIT](CRITICAL): Hardware Fault in component: DropWeight 2025-11-12T20:49:23.140Z,1762980563.140 [CBIT](INFO): Critical error at 20251112T204922 2025-11-12T20:49:23.336Z,1762980563.336 [WetLabsBB2FL](INFO): Powering down 2025-11-12T20:49:24.718Z,1762980564.718 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2025-11-12T20:49:25.957Z,1762980565.957 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207 2025-11-12T20:49:26.852Z,1762980566.852 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-11-12T20:49:26.853Z,1762980566.853 [Radio_Surface](INFO): No local IP found 2025-11-12T20:49:28.081Z,1762980568.081 [ThrusterHE](ERROR): Zero Speed Commanded. 2025-11-12T20:49:32.765Z,1762980572.765 [DAT](INFO): DAT read: 2025-11-12T20:49:32.766Z,1762980572.766