2023-12-11T15:46:40.175Z,1702309600.175 [Supervisor](DEBUG): Initializing supervisor.
2023-12-11T15:46:40.179Z,1702309600.179 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-12-11T15:46:40.180Z,1702309600.180 [SyncHandler](INFO): Protected caller Thread ID is 3061
2023-12-11T15:46:40.181Z,1702309600.181 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-12-11T15:46:40.181Z,1702309600.181 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-12-11T15:46:40.182Z,1702309600.182 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3062
2023-12-11T15:46:40.186Z,1702309600.186 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-12-11T15:46:40.203Z,1702309600.203 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-12-11T15:46:40.204Z,1702309600.204 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-12-11T15:46:40.204Z,1702309600.204 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 3063
2023-12-11T15:46:40.208Z,1702309600.208 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-12-11T15:46:40.209Z,1702309600.209 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-12-11T15:46:40.209Z,1702309600.209 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3064
2023-12-11T15:46:40.211Z,1702309600.211 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-12-11T15:46:40.212Z,1702309600.212 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-12-11T15:46:40.213Z,1702309600.213 [logger ThreadHandler](INFO): Protected caller Thread ID is 3065
2023-12-11T15:46:40.216Z,1702309600.216 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-12-11T15:46:40.216Z,1702309600.216 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-12-11T15:46:40.218Z,1702309600.218 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-12-11T15:46:40.479Z,1702309600.479 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-12-11T15:46:40.480Z,1702309600.480 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-12-11T15:46:40.561Z,1702309600.561 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-12-11T15:46:41.038Z,1702309601.038 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-12-11T15:46:41.039Z,1702309601.039 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-12-11T15:46:41.367Z,1702309601.367 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-12-11T15:46:41.368Z,1702309601.368 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-12-11T15:46:41.475Z,1702309601.475 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-12-11T15:46:41.476Z,1702309601.476 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-12-11T15:46:41.876Z,1702309601.876 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-12-11T15:46:41.876Z,1702309601.876 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-12-11T15:46:42.094Z,1702309602.094 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-12-11T15:46:42.095Z,1702309602.095 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-12-11T15:46:42.611Z,1702309602.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-12-11T15:46:42.611Z,1702309602.611 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-12-11T15:46:42.748Z,1702309602.748 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-12-11T15:46:42.749Z,1702309602.749 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-12-11T15:46:42.829Z,1702309602.829 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-12-11T15:46:43.641Z,1702309603.641 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-12-11T15:46:43.642Z,1702309603.642 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-12-11T15:46:44.076Z,1702309604.076 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-12-11T15:46:44.077Z,1702309604.077 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-12-11T15:46:44.266Z,1702309604.266 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-12-11T15:46:44.267Z,1702309604.267 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-12-11T15:46:44.379Z,1702309604.379 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-12-11T15:46:44.380Z,1702309604.380 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-12-11T15:46:44.609Z,1702309604.609 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-12-11T15:46:44.610Z,1702309604.610 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-12-11T15:46:44.890Z,1702309604.890 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-12-11T15:46:44.892Z,1702309604.892 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2023-12-11T15:46:44.893Z,1702309604.893 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2023-12-11T15:46:45.260Z,1702309605.260 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2023-12-11T15:46:45.434Z,1702309605.434 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2023-12-11T15:46:45.573Z,1702309605.573 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2023-12-11T15:46:45.708Z,1702309605.708 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2023-12-11T15:46:45.812Z,1702309605.812 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2023-12-11T15:46:45.932Z,1702309605.932 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2023-12-11T15:46:46.047Z,1702309606.047 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2023-12-11T15:46:46.125Z,1702309606.125 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2023-12-11T15:46:46.278Z,1702309606.278 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2023-12-11T15:46:46.423Z,1702309606.423 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2023-12-11T15:46:46.535Z,1702309606.535 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2023-12-11T15:46:46.802Z,1702309606.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-12-11T15:46:46.804Z,1702309606.804 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2023-12-11T15:46:46.804Z,1702309606.804 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2023-12-11T15:46:46.813Z,1702309606.813 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-12-11T15:46:46.862Z,1702309606.862 [VerticalControl](DEBUG): Construct VerticalControl.
2023-12-11T15:46:46.920Z,1702309606.920 [VerticalControl] Loaded
2023-12-11T15:46:46.920Z,1702309606.920 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-12-11T15:46:46.923Z,1702309606.923 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-12-11T15:46:46.963Z,1702309606.963 [HorizontalControl] Loaded
2023-12-11T15:46:46.963Z,1702309606.963 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-12-11T15:46:46.965Z,1702309606.965 [SpeedControl](DEBUG): Construct SpeedControl.
2023-12-11T15:46:46.968Z,1702309606.968 [SpeedControl] Loaded
2023-12-11T15:46:46.969Z,1702309606.969 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-12-11T15:46:46.971Z,1702309606.971 [LoopControl](DEBUG): Construct LoopControl.
2023-12-11T15:46:46.972Z,1702309606.972 [LoopControl] Loaded
2023-12-11T15:46:46.972Z,1702309606.972 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-12-11T15:46:46.972Z,1702309606.972 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-12-11T15:46:46.973Z,1702309606.973 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-12-11T15:46:46.983Z,1702309606.983 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-12-11T15:46:46.983Z,1702309606.983 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-12-11T15:46:47.125Z,1702309607.125 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-12-11T15:46:47.125Z,1702309607.125 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-12-11T15:46:47.252Z,1702309607.252 [BuoyancyServo] Loaded
2023-12-11T15:46:47.253Z,1702309607.253 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-12-11T15:46:47.272Z,1702309607.272 [ElevatorServo] Loaded
2023-12-11T15:46:47.272Z,1702309607.272 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-12-11T15:46:47.291Z,1702309607.291 [MassServo] Loaded
2023-12-11T15:46:47.291Z,1702309607.291 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-12-11T15:46:47.309Z,1702309607.309 [RudderServo] Loaded
2023-12-11T15:46:47.309Z,1702309607.309 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-12-11T15:46:47.323Z,1702309607.323 [ThrusterHE] Loaded
2023-12-11T15:46:47.323Z,1702309607.323 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-12-11T15:46:47.323Z,1702309607.323 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-12-11T15:46:47.324Z,1702309607.324 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-12-11T15:46:47.434Z,1702309607.434 [DeadReckonUsingMultipleVelocitySources] Loaded
2023-12-11T15:46:47.434Z,1702309607.434 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2023-12-11T15:46:47.448Z,1702309607.448 [NavChart] Loaded
2023-12-11T15:46:47.448Z,1702309607.448 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-12-11T15:46:47.453Z,1702309607.453 [UniversalFixResidualReporter] Loaded
2023-12-11T15:46:47.454Z,1702309607.454 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-12-11T15:46:47.454Z,1702309607.454 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-12-11T15:46:47.455Z,1702309607.455 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-12-11T15:46:47.508Z,1702309607.508 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-12-11T15:46:47.509Z,1702309607.509 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-12-11T15:46:47.920Z,1702309607.920 [AHRS_M2] Loaded
2023-12-11T15:46:47.921Z,1702309607.921 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2023-12-11T15:46:48.735Z,1702309608.735 [BPC1] Loaded
2023-12-11T15:46:48.735Z,1702309608.735 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-12-11T15:46:48.810Z,1702309608.810 [DataOverHttps] Loaded
2023-12-11T15:46:48.811Z,1702309608.811 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-12-11T15:46:48.812Z,1702309608.812 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4090F4E0
2023-12-11T15:46:48.812Z,1702309608.812 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 3151
2023-12-11T15:46:48.832Z,1702309608.832 [Depth_Keller] Loaded
2023-12-11T15:46:48.833Z,1702309608.833 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-12-11T15:46:48.837Z,1702309608.837 [DropWeight] Loaded
2023-12-11T15:46:48.838Z,1702309608.838 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2023-12-11T15:46:48.898Z,1702309608.898 [NAL9602] Loaded
2023-12-11T15:46:48.898Z,1702309608.898 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-12-11T15:46:48.928Z,1702309608.928 [Onboard] Loaded
2023-12-11T15:46:48.928Z,1702309608.928 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-12-11T15:46:48.929Z,1702309608.929 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4093F4E0
2023-12-11T15:46:48.930Z,1702309608.930 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 3152
2023-12-11T15:46:48.943Z,1702309608.943 [Power24vConverter] Loaded
2023-12-11T15:46:48.943Z,1702309608.943 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-12-11T15:46:48.956Z,1702309608.956 [Radio_Surface] Loaded
2023-12-11T15:46:48.956Z,1702309608.956 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-12-11T15:46:48.957Z,1702309608.957 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4096F4E0
2023-12-11T15:46:48.958Z,1702309608.958 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3153
2023-12-11T15:46:48.971Z,1702309608.971 [Sonardyne_Nano] Loaded
2023-12-11T15:46:48.971Z,1702309608.971 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2023-12-11T15:46:48.972Z,1702309608.972 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-12-11T15:46:48.972Z,1702309608.972 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-12-11T15:46:49.020Z,1702309609.020 [DepthRateCalculator] Loaded
2023-12-11T15:46:49.021Z,1702309609.021 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-12-11T15:46:49.025Z,1702309609.025 [PitchRateCalculator] Loaded
2023-12-11T15:46:49.026Z,1702309609.026 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-12-11T15:46:49.034Z,1702309609.034 [SpeedCalculator] Loaded
2023-12-11T15:46:49.035Z,1702309609.035 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-12-11T15:46:49.039Z,1702309609.039 [YawRateCalculator] Loaded
2023-12-11T15:46:49.039Z,1702309609.039 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-12-11T15:46:49.057Z,1702309609.057 [ElevatorOffsetCalculator] Loaded
2023-12-11T15:46:49.057Z,1702309609.057 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-12-11T15:46:49.058Z,1702309609.058 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-12-11T15:46:49.058Z,1702309609.058 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-12-11T15:46:49.187Z,1702309609.187 [CANONSampler] Loaded
2023-12-11T15:46:49.187Z,1702309609.187 [ComponentRegistry](DEBUG): SyncComponent "CANONSampler" handled in the control thread.
2023-12-11T15:46:49.246Z,1702309609.246 [CTD_Seabird] Loaded
2023-12-11T15:46:49.247Z,1702309609.247 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2023-12-11T15:46:49.248Z,1702309609.248 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A2A4E0
2023-12-11T15:46:49.248Z,1702309609.248 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 3154
2023-12-11T15:46:49.268Z,1702309609.268 [PAR_Licor] Loaded
2023-12-11T15:46:49.268Z,1702309609.268 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-12-11T15:46:49.307Z,1702309609.307 [WetLabsBB2FL] Loaded
2023-12-11T15:46:49.307Z,1702309609.307 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2023-12-11T15:46:49.308Z,1702309609.308 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A5A4E0
2023-12-11T15:46:49.308Z,1702309609.308 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 3155
2023-12-11T15:46:49.309Z,1702309609.309 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-12-11T15:46:49.310Z,1702309609.310 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-12-11T15:46:49.335Z,1702309609.335 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-12-11T15:46:49.336Z,1702309609.336 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-12-11T15:46:49.658Z,1702309609.658 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-12-11T15:46:49.659Z,1702309609.659 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-12-11T15:46:49.796Z,1702309609.796 [SBIT](DEBUG): Construct Startup Built In Test.
2023-12-11T15:46:49.805Z,1702309609.805 [SBIT] Loaded
2023-12-11T15:46:49.805Z,1702309609.805 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-12-11T15:46:49.808Z,1702309609.808 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-12-11T15:46:49.821Z,1702309609.821 [IBIT] Loaded
2023-12-11T15:46:49.821Z,1702309609.821 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-12-11T15:46:49.827Z,1702309609.827 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-12-11T15:46:50.007Z,1702309610.007 [CBIT] Loaded
2023-12-11T15:46:50.008Z,1702309610.008 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-12-11T15:46:50.008Z,1702309610.008 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-12-11T15:46:50.009Z,1702309610.009 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-12-11T15:46:50.261Z,1702309610.261 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-12-11T15:46:50.267Z,1702309610.267 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-12-11T15:46:50.270Z,1702309610.270 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-12-11T15:46:50.281Z,1702309610.281 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-12-11T15:46:50.282Z,1702309610.282 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BAF4E0
2023-12-11T15:46:50.282Z,1702309610.282 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3156
2023-12-11T15:46:50.287Z,1702309610.287 [Supervisor](INFO): Main Thread ID is 3060
2023-12-11T15:46:50.287Z,1702309610.287 [Supervisor](DEBUG): Running supervisor.
2023-12-11T15:46:50.287Z,1702309610.287 [CommandExec ThreadHandler](INFO): Handler Thread ID is 3157
2023-12-11T15:46:50.288Z,1702309610.288 [CommandExec](INFO): Initializing the command executive.
2023-12-11T15:46:50.290Z,1702309610.290 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3158
2023-12-11T15:46:50.297Z,1702309610.297 [controlThread ThreadHandler](INFO): Handler Thread ID is 3159
2023-12-11T15:46:50.297Z,1702309610.297 [controlThread](DEBUG): Initializing ControlThread
2023-12-11T15:46:50.298Z,1702309610.298 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-12-11T15:46:50.300Z,1702309610.300 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-12-11T15:46:50.300Z,1702309610.300 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-12-11T15:46:50.301Z,1702309610.301 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-12-11T15:46:50.302Z,1702309610.302 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-12-11T15:46:50.303Z,1702309610.303 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-12-11T15:46:50.307Z,1702309610.307 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-12-11T15:46:50.307Z,1702309610.307 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-12-11T15:46:50.308Z,1702309610.308 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-12-11T15:46:50.308Z,1702309610.308 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-12-11T15:46:50.309Z,1702309610.309 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-12-11T15:46:50.313Z,1702309610.313 [SBIT](INFO): Initialize SBIT Component.
2023-12-11T15:46:50.313Z,1702309610.313 [SBIT](IMPORTANT): git: 2023-12-07
2023-12-11T15:46:50.314Z,1702309610.314 [SBIT](INFO): git hash: dbc7300d59e166afd06c26988583bb6e3d4bec93
2023-12-11T15:46:50.314Z,1702309610.314 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-12-11T15:46:50.315Z,1702309610.315 [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
2023-12-11T15:46:50.316Z,1702309610.316 [SBIT](INFO): Beginning SBIT in 67.000000 seconds.
2023-12-11T15:46:50.317Z,1702309610.317 [IBIT](INFO): Initialize IBIT Component.
2023-12-11T15:46:50.318Z,1702309610.318 [CBIT](DEBUG): Initialize CBIT Component.
2023-12-11T15:46:50.319Z,1702309610.319 [logger ThreadHandler](INFO): Handler Thread ID is 3160
2023-12-11T15:46:50.329Z,1702309610.329 [CBIT](DEBUG): Initialized mux pins.
2023-12-11T15:46:50.329Z,1702309610.329 [CBIT](DEBUG): Initializing the watchdog timer.
2023-12-11T15:46:50.337Z,1702309610.337 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 3161
2023-12-11T15:46:50.339Z,1702309610.339 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-12-11T15:46:50.349Z,1702309610.349 [Onboard ThreadHandler](INFO): Handler Thread ID is 3162
2023-12-11T15:46:50.353Z,1702309610.353 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2023-12-11T15:46:50.354Z,1702309610.354 [CBIT](DEBUG): Initializing heartbeat.
2023-12-11T15:46:50.371Z,1702309610.371 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3163
2023-12-11T15:46:50.386Z,1702309610.386 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 3164
2023-12-11T15:46:50.386Z,1702309610.386 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2023-12-11T15:46:50.391Z,1702309610.391 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 3166
2023-12-11T15:46:50.397Z,1702309610.397 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3168
2023-12-11T15:46:50.400Z,1702309610.400 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2023-12-11T15:46:50.400Z,1702309610.400 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2023-12-11T15:46:50.401Z,1702309610.401 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2023-12-11T15:46:50.401Z,1702309610.401 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2023-12-11T15:46:50.401Z,1702309610.401 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2023-12-11T15:46:50.401Z,1702309610.401 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2023-12-11T15:46:50.401Z,1702309610.401 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2023-12-11T15:46:50.401Z,1702309610.401 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2023-12-11T15:46:50.424Z,1702309610.424 [CBIT](DEBUG): Deactivating GF circuits.
2023-12-11T15:46:50.425Z,1702309610.425 [CBIT](DEBUG): Deactivating emergency mode.
2023-12-11T15:46:50.427Z,1702309610.427 [WetLabsBB2FL](INFO): Powering up
2023-12-11T15:46:50.464Z,1702309610.464 [CBIT](DEBUG): Backplane powered.
2023-12-11T15:46:50.466Z,1702309610.466 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-12-11T15:46:50.478Z,1702309610.478 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-12-11T15:46:50.509Z,1702309610.509 [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>


2023-12-11T15:46:50.510Z,1702309610.510 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-12-11T15:46:50.563Z,1702309610.563 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-12-11T15:46:50.564Z,1702309610.564 [Default:A.Wait](DEBUG): Construct Wait.
2023-12-11T15:46:50.566Z,1702309610.566 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-12-11T15:46:50.602Z,1702309610.602 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-12-11T15:46:50.632Z,1702309610.632 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-12-11T15:46:50.638Z,1702309610.638 [Default:E.Execute](DEBUG): Construct Execute.
2023-12-11T15:46:50.657Z,1702309610.657 [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="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <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>5</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>


2023-12-11T15:46:50.662Z,1702309610.662 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,CANONSampler,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,Reporter,LogSplitter,
2023-12-11T15:46:50.686Z,1702309610.686 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-12-11T15:46:50.767Z,1702309610.767 [Power24vConverter](INFO): Powering up.
2023-12-11T15:46:50.768Z,1702309610.768 [Sonardyne_Nano](INFO): Initializing.
2023-12-11T15:46:50.781Z,1702309610.781 [Radio_Surface](INFO): Powering up
2023-12-11T15:46:50.785Z,1702309610.785 [CANONSampler](INFO): Powering down
2023-12-11T15:46:50.823Z,1702309610.823 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-12-11T15:46:50.829Z,1702309610.829 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-12-11T15:46:50.830Z,1702309610.830 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-12-11T15:46:50.837Z,1702309610.837 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-12-11T15:46:50.838Z,1702309610.838 [MassServo](DEBUG): Initializing EZServoServo.
2023-12-11T15:46:50.845Z,1702309610.845 [MassServo](DEBUG): Initializing MassServo.
2023-12-11T15:46:50.846Z,1702309610.846 [RudderServo](DEBUG): Initializing EZServoServo.
2023-12-11T15:46:50.853Z,1702309610.853 [RudderServo](DEBUG): Initializing RudderServo.
2023-12-11T15:46:50.854Z,1702309610.854 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-12-11T15:46:50.861Z,1702309610.861 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-12-11T15:46:52.695Z,1702309612.695 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2023-12-11T15:46:53.005Z,1702309613.005 [WetLabsBB2FL](INFO): Powering down
2023-12-11T15:46:54.333Z,1702309614.333 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2109
2023-12-11T15:46:56.566Z,1702309616.566 [ThrusterHE](ERROR): Zero Speed Commanded.
2023-12-11T15:47:03.947Z,1702309623.947 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004767
2023-12-11T15:47:18.958Z,1702309638.958 [NAL9602](INFO): Powering up NAL9602
2023-12-11T15:47:29.862Z,1702309649.862 [NAL9602](INFO): NAL9602 initialized
2023-12-11T15:47:39.222Z,1702309659.222 [CommandExec](IMPORTANT): got command restart system
2023-12-11T15:47:41.317Z,1702309661.317 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2023-12-11T15:47:41.317Z,1702309661.317 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2023-12-11T15:47:41.317Z,1702309661.317 [CommandExec](INFO): Uninitializing the command executive.
2023-12-11T15:47:41.317Z,1702309661.317 [CommandExec](INFO): Uninitializing the command scheduler.
2023-12-11T15:47:41.318Z,1702309661.318 [CommandExec ThreadHandler](INFO): Thread cancelled.
2023-12-11T15:47:41.417Z,1702309661.417 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2023-12-11T15:47:41.417Z,1702309661.417 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2023-12-11T15:47:41.417Z,1702309661.417 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-12-11T15:47:41.418Z,1702309661.418 [NavChartDb](INFO): Join timeout helper Thread ID is 3179
2023-12-11T15:47:41.813Z,1702309661.813 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2023-12-11T15:47:41.813Z,1702309661.813 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-12-11T15:47:41.821Z,1702309661.821 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2023-12-11T15:47:41.821Z,1702309661.821 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
20