2021-11-17T18:40:25.262Z,1637174425.262 [Supervisor](DEBUG): Initializing supervisor.
2021-11-17T18:40:25.268Z,1637174425.268 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-11-17T18:40:25.268Z,1637174425.268 [SyncHandler](INFO): Protected caller Thread ID is 7730
2021-11-17T18:40:25.269Z,1637174425.269 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-11-17T18:40:25.270Z,1637174425.270 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-11-17T18:40:25.270Z,1637174425.270 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7731
2021-11-17T18:40:25.275Z,1637174425.275 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-11-17T18:40:25.293Z,1637174425.293 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2021-11-17T18:40:25.294Z,1637174425.294 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-11-17T18:40:25.294Z,1637174425.294 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 7732
2021-11-17T18:40:25.298Z,1637174425.298 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-11-17T18:40:25.299Z,1637174425.299 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-11-17T18:40:25.300Z,1637174425.300 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7733
2021-11-17T18:40:25.302Z,1637174425.302 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-11-17T18:40:25.303Z,1637174425.303 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2021-11-17T18:40:25.303Z,1637174425.303 [logger ThreadHandler](INFO): Protected caller Thread ID is 7734
2021-11-17T18:40:25.307Z,1637174425.307 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-11-17T18:40:25.308Z,1637174425.308 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-11-17T18:40:25.309Z,1637174425.309 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-11-17T18:40:25.530Z,1637174425.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-11-17T18:40:25.531Z,1637174425.531 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-11-17T18:40:25.611Z,1637174425.611 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-11-17T18:40:26.104Z,1637174426.104 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-11-17T18:40:26.105Z,1637174426.105 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-11-17T18:40:26.419Z,1637174426.419 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-11-17T18:40:26.420Z,1637174426.420 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-11-17T18:40:26.515Z,1637174426.515 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-11-17T18:40:26.515Z,1637174426.515 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-11-17T18:40:26.867Z,1637174426.867 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-11-17T18:40:26.867Z,1637174426.867 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-11-17T18:40:27.059Z,1637174427.059 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-11-17T18:40:27.059Z,1637174427.059 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-11-17T18:40:27.499Z,1637174427.499 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-11-17T18:40:27.500Z,1637174427.500 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-11-17T18:40:27.625Z,1637174427.625 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-11-17T18:40:27.625Z,1637174427.625 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-11-17T18:40:27.703Z,1637174427.703 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-11-17T18:40:28.347Z,1637174428.347 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-11-17T18:40:28.347Z,1637174428.347 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-11-17T18:40:28.695Z,1637174428.695 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-11-17T18:40:28.695Z,1637174428.695 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-11-17T18:40:28.881Z,1637174428.881 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-11-17T18:40:28.882Z,1637174428.882 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-11-17T18:40:28.994Z,1637174428.994 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-11-17T18:40:28.995Z,1637174428.995 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-11-17T18:40:29.142Z,1637174429.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-11-17T18:40:29.142Z,1637174429.142 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-11-17T18:40:29.361Z,1637174429.361 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-11-17T18:40:29.363Z,1637174429.363 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2021-11-17T18:40:29.364Z,1637174429.364 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2021-11-17T18:40:29.453Z,1637174429.453 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2021-11-17T18:40:29.537Z,1637174429.537 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2021-11-17T18:40:29.636Z,1637174429.636 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2021-11-17T18:40:29.717Z,1637174429.717 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2021-11-17T18:40:29.950Z,1637174429.950 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2021-11-17T18:40:30.095Z,1637174430.095 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2021-11-17T18:40:30.418Z,1637174430.418 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2021-11-17T18:40:30.497Z,1637174430.497 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2021-11-17T18:40:30.908Z,1637174430.908 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2021-11-17T18:40:31.042Z,1637174431.042 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2021-11-17T18:40:31.155Z,1637174431.155 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2021-11-17T18:40:31.412Z,1637174431.412 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-11-17T18:40:31.413Z,1637174431.413 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-11-17T18:40:31.424Z,1637174431.424 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-11-17T18:40:31.478Z,1637174431.478 [VerticalControl](DEBUG): Construct VerticalControl.
2021-11-17T18:40:31.539Z,1637174431.539 [VerticalControl] Loaded
2021-11-17T18:40:31.540Z,1637174431.540 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-11-17T18:40:31.542Z,1637174431.542 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-11-17T18:40:31.580Z,1637174431.580 [HorizontalControl] Loaded
2021-11-17T18:40:31.580Z,1637174431.580 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-11-17T18:40:31.583Z,1637174431.583 [SpeedControl](DEBUG): Construct SpeedControl.
2021-11-17T18:40:31.586Z,1637174431.586 [SpeedControl] Loaded
2021-11-17T18:40:31.586Z,1637174431.586 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-11-17T18:40:31.588Z,1637174431.588 [LoopControl](DEBUG): Construct LoopControl.
2021-11-17T18:40:31.589Z,1637174431.589 [LoopControl] Loaded
2021-11-17T18:40:31.589Z,1637174431.589 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-11-17T18:40:31.590Z,1637174431.590 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-11-17T18:40:31.590Z,1637174431.590 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-11-17T18:40:31.601Z,1637174431.601 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-11-17T18:40:31.601Z,1637174431.601 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-11-17T18:40:31.705Z,1637174431.705 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-11-17T18:40:31.706Z,1637174431.706 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-11-17T18:40:31.855Z,1637174431.855 [BuoyancyServo] Loaded
2021-11-17T18:40:31.856Z,1637174431.856 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-11-17T18:40:31.874Z,1637174431.874 [ElevatorServo] Loaded
2021-11-17T18:40:31.875Z,1637174431.875 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-11-17T18:40:31.893Z,1637174431.893 [MassServo] Loaded
2021-11-17T18:40:31.894Z,1637174431.894 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-11-17T18:40:31.911Z,1637174431.911 [RudderServo] Loaded
2021-11-17T18:40:31.911Z,1637174431.911 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-11-17T18:40:31.929Z,1637174431.929 [ThrusterServo] Loaded
2021-11-17T18:40:31.929Z,1637174431.929 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-11-17T18:40:31.929Z,1637174431.929 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-11-17T18:40:31.930Z,1637174431.930 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-11-17T18:40:32.011Z,1637174432.011 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-11-17T18:40:32.011Z,1637174432.011 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-11-17T18:40:32.025Z,1637174432.025 [NavChart] Loaded
2021-11-17T18:40:32.025Z,1637174432.025 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-11-17T18:40:32.031Z,1637174432.031 [UniversalFixResidualReporter] Loaded
2021-11-17T18:40:32.031Z,1637174432.031 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-11-17T18:40:32.031Z,1637174432.031 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-11-17T18:40:32.032Z,1637174432.032 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-11-17T18:40:32.091Z,1637174432.091 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-11-17T18:40:32.091Z,1637174432.091 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-11-17T18:40:32.476Z,1637174432.476 [AHRS_M2] Loaded
2021-11-17T18:40:32.477Z,1637174432.477 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-11-17T18:40:33.268Z,1637174433.268 [BPC1] Loaded
2021-11-17T18:40:33.268Z,1637174433.268 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-11-17T18:40:33.288Z,1637174433.288 [Depth_Keller] Loaded
2021-11-17T18:40:33.288Z,1637174433.288 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-11-17T18:40:33.293Z,1637174433.293 [DropWeight] Loaded
2021-11-17T18:40:33.293Z,1637174433.293 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-11-17T18:40:33.358Z,1637174433.358 [NAL9602] Loaded
2021-11-17T18:40:33.359Z,1637174433.359 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-11-17T18:40:33.388Z,1637174433.388 [Onboard] Loaded
2021-11-17T18:40:33.389Z,1637174433.389 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-11-17T18:40:33.390Z,1637174433.390 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408C64E0
2021-11-17T18:40:33.390Z,1637174433.390 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 7819
2021-11-17T18:40:33.403Z,1637174433.403 [Power24vConverter] Loaded
2021-11-17T18:40:33.403Z,1637174433.403 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-11-17T18:40:33.417Z,1637174433.417 [Radio_Surface] Loaded
2021-11-17T18:40:33.418Z,1637174433.418 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-11-17T18:40:33.418Z,1637174433.418 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408F64E0
2021-11-17T18:40:33.419Z,1637174433.419 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 7820
2021-11-17T18:40:33.499Z,1637174433.499 [DAT] Loaded
2021-11-17T18:40:33.499Z,1637174433.499 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2021-11-17T18:40:33.500Z,1637174433.500 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-11-17T18:40:33.500Z,1637174433.500 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-11-17T18:40:33.542Z,1637174433.542 [DepthRateCalculator] Loaded
2021-11-17T18:40:33.543Z,1637174433.543 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-11-17T18:40:33.548Z,1637174433.548 [PitchRateCalculator] Loaded
2021-11-17T18:40:33.548Z,1637174433.548 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-11-17T18:40:33.557Z,1637174433.557 [SpeedCalculator] Loaded
2021-11-17T18:40:33.557Z,1637174433.557 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-11-17T18:40:33.571Z,1637174433.571 [TempGradientCalculator] Loaded
2021-11-17T18:40:33.571Z,1637174433.571 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-11-17T18:40:33.575Z,1637174433.575 [YawRateCalculator] Loaded
2021-11-17T18:40:33.576Z,1637174433.576 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-11-17T18:40:33.593Z,1637174433.593 [ElevatorOffsetCalculator] Loaded
2021-11-17T18:40:33.594Z,1637174433.594 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-11-17T18:40:33.594Z,1637174433.594 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-11-17T18:40:33.594Z,1637174433.594 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-11-17T18:40:33.728Z,1637174433.728 [CANONSampler] Loaded
2021-11-17T18:40:33.729Z,1637174433.729 [ComponentRegistry](DEBUG): SyncComponent "CANONSampler" handled in the control thread.
2021-11-17T18:40:33.787Z,1637174433.787 [CTD_Seabird] Loaded
2021-11-17T18:40:33.787Z,1637174433.787 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-11-17T18:40:33.789Z,1637174433.789 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409AB4E0
2021-11-17T18:40:33.789Z,1637174433.789 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 7821
2021-11-17T18:40:33.809Z,1637174433.809 [PAR_Licor] Loaded
2021-11-17T18:40:33.809Z,1637174433.809 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-11-17T18:40:33.840Z,1637174433.840 [WetLabsBB2FL] Loaded
2021-11-17T18:40:33.841Z,1637174433.841 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-11-17T18:40:33.842Z,1637174433.842 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409DB4E0
2021-11-17T18:40:33.842Z,1637174433.842 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 7822
2021-11-17T18:40:33.843Z,1637174433.843 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-11-17T18:40:33.843Z,1637174433.843 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-11-17T18:40:33.871Z,1637174433.871 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-11-17T18:40:33.871Z,1637174433.871 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-11-17T18:40:34.197Z,1637174434.197 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-11-17T18:40:34.197Z,1637174434.197 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-11-17T18:40:34.349Z,1637174434.349 [SBIT](DEBUG): Construct Startup Built In Test.
2021-11-17T18:40:34.358Z,1637174434.358 [SBIT] Loaded
2021-11-17T18:40:34.359Z,1637174434.359 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-11-17T18:40:34.361Z,1637174434.361 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-11-17T18:40:34.375Z,1637174434.375 [IBIT] Loaded
2021-11-17T18:40:34.375Z,1637174434.375 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-11-17T18:40:34.381Z,1637174434.381 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-11-17T18:40:34.481Z,1637174434.481 [CBIT] Loaded
2021-11-17T18:40:34.481Z,1637174434.481 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-11-17T18:40:34.482Z,1637174434.482 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-11-17T18:40:34.482Z,1637174434.482 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-11-17T18:40:34.577Z,1637174434.577 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-11-17T18:40:34.584Z,1637174434.584 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-11-17T18:40:34.587Z,1637174434.587 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-11-17T18:40:34.597Z,1637174434.597 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-11-17T18:40:34.598Z,1637174434.598 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B104E0
2021-11-17T18:40:34.598Z,1637174434.598 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7823
2021-11-17T18:40:34.603Z,1637174434.603 [Supervisor](INFO): Main Thread ID is 6245
2021-11-17T18:40:34.603Z,1637174434.603 [Supervisor](DEBUG): Running supervisor.
2021-11-17T18:40:34.604Z,1637174434.604 [CommandExec ThreadHandler](INFO): Handler Thread ID is 7824
2021-11-17T18:40:34.604Z,1637174434.604 [CommandExec](INFO): Initializing the command executive.
2021-11-17T18:40:34.606Z,1637174434.606 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7825
2021-11-17T18:40:34.608Z,1637174434.608 [controlThread ThreadHandler](INFO): Handler Thread ID is 7826
2021-11-17T18:40:34.609Z,1637174434.609 [controlThread](DEBUG): Initializing ControlThread
2021-11-17T18:40:34.609Z,1637174434.609 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-11-17T18:40:34.611Z,1637174434.611 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-11-17T18:40:34.612Z,1637174434.612 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-11-17T18:40:34.613Z,1637174434.613 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-11-17T18:40:34.615Z,1637174434.615 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-11-17T18:40:34.615Z,1637174434.615 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-11-17T18:40:34.621Z,1637174434.621 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-11-17T18:40:34.622Z,1637174434.622 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-11-17T18:40:34.622Z,1637174434.622 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-11-17T18:40:34.622Z,1637174434.622 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-11-17T18:40:34.623Z,1637174434.623 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-11-17T18:40:34.623Z,1637174434.623 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-11-17T18:40:34.628Z,1637174434.628 [SBIT](INFO): Initialize SBIT Component.
2021-11-17T18:40:34.628Z,1637174434.628 [SBIT](IMPORTANT): git: 2021-10-11a
2021-11-17T18:40:34.628Z,1637174434.628 [SBIT](INFO): git hash: 36f3a97de7a122c995f034a375e3cefac6406048
2021-11-17T18:40:34.629Z,1637174434.629 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-11-17T18:40:34.630Z,1637174434.630 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2021-11-17T18:40:34.631Z,1637174434.631 [SBIT](INFO): Beginning SBIT in 84.000000 seconds.
2021-11-17T18:40:34.632Z,1637174434.632 [IBIT](INFO): Initialize IBIT Component.
2021-11-17T18:40:34.633Z,1637174434.633 [CBIT](DEBUG): Initialize CBIT Component.
2021-11-17T18:40:34.634Z,1637174434.634 [logger ThreadHandler](INFO): Handler Thread ID is 7827
2021-11-17T18:40:34.643Z,1637174434.643 [CBIT](DEBUG): Initialized mux pins.
2021-11-17T18:40:34.644Z,1637174434.644 [CBIT](DEBUG): Initializing the watchdog timer.
2021-11-17T18:40:34.652Z,1637174434.652 [Onboard ThreadHandler](INFO): Handler Thread ID is 7828
2021-11-17T18:40:34.668Z,1637174434.668 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-11-17T18:40:34.668Z,1637174434.668 [CBIT](DEBUG): Initializing heartbeat.
2021-11-17T18:40:34.673Z,1637174434.673 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 7829
2021-11-17T18:40:34.684Z,1637174434.684 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 7830
2021-11-17T18:40:34.685Z,1637174434.685 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-11-17T18:40:34.692Z,1637174434.692 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 7832
2021-11-17T18:40:34.696Z,1637174434.696 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7834
2021-11-17T18:40:34.697Z,1637174434.697 [WetLabsBB2FL](INFO): Powering up
2021-11-17T18:40:34.700Z,1637174434.700 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-11-17T18:40:34.701Z,1637174434.701 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-11-17T18:40:34.701Z,1637174434.701 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-11-17T18:40:34.701Z,1637174434.701 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-11-17T18:40:34.701Z,1637174434.701 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-11-17T18:40:34.701Z,1637174434.701 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-11-17T18:40:34.702Z,1637174434.702 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-11-17T18:40:34.702Z,1637174434.702 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-11-17T18:40:34.702Z,1637174434.702 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-11-17T18:40:34.702Z,1637174434.702 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-11-17T18:40:34.702Z,1637174434.702 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-11-17T18:40:34.703Z,1637174434.703 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-11-17T18:40:34.703Z,1637174434.703 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-11-17T18:40:34.703Z,1637174434.703 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-11-17T18:40:34.704Z,1637174434.704 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-11-17T18:40:34.704Z,1637174434.704 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-11-17T18:40:34.739Z,1637174434.739 [CBIT](DEBUG): Deactivating GF circuits.
2021-11-17T18:40:34.740Z,1637174434.740 [CBIT](DEBUG): Deactivating emergency mode.
2021-11-17T18:40:34.775Z,1637174434.775 [CBIT](DEBUG): Backplane powered.
2021-11-17T18:40:34.776Z,1637174434.776 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-11-17T18:40:34.789Z,1637174434.789 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-11-17T18:40:34.830Z,1637174434.830 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2021-11-17T18:40:34.830Z,1637174434.830 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-11-17T18:40:34.918Z,1637174434.918 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-11-17T18:40:34.919Z,1637174434.919 [Default:A.Wait](DEBUG): Construct Wait.
2021-11-17T18:40:34.921Z,1637174434.921 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-11-17T18:40:34.958Z,1637174434.958 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-11-17T18:40:34.961Z,1637174434.961 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-11-17T18:40:34.978Z,1637174434.978 [Default:E.Execute](DEBUG): Construct Execute.
2021-11-17T18:40:34.982Z,1637174434.982 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P1M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>1</Value></Setting>
        </Guidance:Wait>

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

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

    </Aggregate>

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

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

</Mission>


2021-11-17T18:40:34.996Z,1637174434.996 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,DAT,CANONSampler,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-11-17T18:40:35.008Z,1637174435.008 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-11-17T18:40:35.075Z,1637174435.075 [Power24vConverter](INFO): Powering up.
2021-11-17T18:40:35.076Z,1637174435.076 [Radio_Surface](INFO): Powering up
2021-11-17T18:40:35.100Z,1637174435.100 [DAT](INFO): Powering up
2021-11-17T18:40:35.100Z,1637174435.100 [DAT](DEBUG): Initializing DAT.
2021-11-17T18:40:35.116Z,1637174435.116 [CANONSampler](INFO): Powering down
2021-11-17T18:40:35.156Z,1637174435.156 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-11-17T18:40:35.160Z,1637174435.160 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-11-17T18:40:35.161Z,1637174435.161 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-11-17T18:40:35.176Z,1637174435.176 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-11-17T18:40:35.178Z,1637174435.178 [MassServo](DEBUG): Initializing EZServoServo.
2021-11-17T18:40:35.228Z,1637174435.228 [MassServo](DEBUG): Initializing MassServo.
2021-11-17T18:40:35.229Z,1637174435.229 [RudderServo](DEBUG): Initializing EZServoServo.
2021-11-17T18:40:35.257Z,1637174435.257 [RudderServo](DEBUG): Initializing RudderServo.
2021-11-17T18:40:35.258Z,1637174435.258 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-11-17T18:40:35.299Z,1637174435.299 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-11-17T18:40:35.429Z,1637174435.429 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2021-11-17T18:40:35.429Z,1637174435.429 [DropWeight] Hardware Fault, FailCount= 1
2021-11-17T18:40:35.429Z,1637174435.429 [DropWeight](ERROR): Hardware Fault
2021-11-17T18:40:35.458Z,1637174435.458 [CommandExec](FAULT): Scheduling is paused
2021-11-17T18:40:35.459Z,1637174435.459 [CBIT](INFO): Critical error at 20211117T184035
2021-11-17T18:40:35.459Z,1637174435.459 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-11-17T18:40:35.482Z,1637174435.482 [CBIT](ERROR): Hardware Fault in component: DropWeight
2021-11-17T18:40:35.482Z,1637174435.482 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2021-11-17T18:40:36.143Z,1637174436.143 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-11-17T18:40:36.144Z,1637174436.144 [RudderServo](FAULT): Rudder failed to initialize
2021-11-17T18:40:36.144Z,1637174436.144 [RudderServo] Communications Fault, FailCount= 1
2021-11-17T18:40:36.144Z,1637174436.144 [RudderServo](ERROR): Communications Fault
2021-11-17T18:40:36.242Z,1637174436.242 [CBIT](INFO): Critical error at 20211117T184035
2021-11-17T18:40:36.244Z,1637174436.244 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-11-17T18:40:36.453Z,1637174436.453 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-11-17T18:40:36.453Z,1637174436.453 [RudderServo](INFO): Powering down
2021-11-17T18:40:36.804Z,1637174436.804 [WetLabsBB2FL](INFO): Powering down
2021-11-17T18:40:37.097Z,1637174437.097 [RudderServo](DEBUG): Initializing EZServoServo.
2021-11-17T18:40:37.217Z,1637174437.217 [RudderServo](DEBUG): Initializing RudderServo.
2021-11-17T18:40:37.221Z,1637174437.221 [CBIT](INFO): Clearing failed state for component RudderServo
2021-11-17T18:40:37.221Z,1637174437.221 [RudderServo] No Fault, FailCount= 1
2021-11-17T18:40:41.716Z,1637174441.716 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2021-11-17T18:40:46.765Z,1637174446.765 [DAT](INFO): DAT read: 

2021-11-17T18:40:46.767Z,1637174446.767 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2021-11-17T18:40:48.378Z,1637174448.378 [DAT](INFO): DAT read: MF Frequency Band

2021-11-17T18:40:48.379Z,1637174448.379 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.14.2

2021-11-17T18:40:48.380Z,1637174448.380 [DAT](INFO): DAT read: Nov 17 2021 18:40:08 

2021-11-17T18:40:49.590Z,1637174449.590 [DAT](INFO): DAT read: Features enabled [Bearing]

2021-11-17T18:40:49.591Z,1637174449.591 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC

2021-11-17T18:40:49.591Z,1637174449.591 [DAT](INFO): commRate: 1200
2021-11-17T18:40:51.609Z,1637174451.609 [DAT](INFO): entering command mode
2021-11-17T18:40:52.013Z,1637174452.013 [DAT](INFO): DAT read: 

2021-11-17T18:40:52.014Z,1637174452.014 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:52.421Z,1637174452.421 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:52.821Z,1637174452.821 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:53.225Z,1637174453.225 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:53.629Z,1637174453.629 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:54.033Z,1637174454.033 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:54.437Z,1637174454.437 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:54.841Z,1637174454.841 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:55.245Z,1637174455.245 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:55.649Z,1637174455.649 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:56.053Z,1637174456.053 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:56.457Z,1637174456.457 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:56.861Z,1637174456.861 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:57.265Z,1637174457.265 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:57.673Z,1637174457.673 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:58.073Z,1637174458.073 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:58.477Z,1637174458.477 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:58.881Z,1637174458.881 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:59.286Z,1637174459.286 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:40:59.689Z,1637174459.689 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:41:00.093Z,1637174460.093 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:41:00.497Z,1637174460.497 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:41:00.902Z,1637174460.902 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:41:01.312Z,1637174461.312 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:41:01.709Z,1637174461.709 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:41:02.113Z,1637174462.113 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:41:02.517Z,1637174462.517 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-17T18:41:02.925Z,1637174462.925 [DAT](DEBUG): checking for command mode acknowledgment
2021-11-