2024-05-24T19:11:57.591Z,1716577917.591 [Supervisor](DEBUG): Initializing supervisor. 2024-05-24T19:11:57.595Z,1716577917.595 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2024-05-24T19:11:57.596Z,1716577917.596 [SyncHandler](INFO): Protected caller Thread ID is 5555 2024-05-24T19:11:57.596Z,1716577917.596 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2024-05-24T19:11:57.597Z,1716577917.597 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2024-05-24T19:11:57.597Z,1716577917.597 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5556 2024-05-24T19:11:57.601Z,1716577917.601 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2024-05-24T19:11:57.618Z,1716577917.618 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2024-05-24T19:11:57.619Z,1716577917.619 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2024-05-24T19:11:57.619Z,1716577917.619 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 5557 2024-05-24T19:11:57.624Z,1716577917.624 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2024-05-24T19:11:57.625Z,1716577917.625 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2024-05-24T19:11:57.625Z,1716577917.625 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5558 2024-05-24T19:11:57.627Z,1716577917.627 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2024-05-24T19:11:57.628Z,1716577917.628 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2024-05-24T19:11:57.628Z,1716577917.628 [logger ThreadHandler](INFO): Protected caller Thread ID is 5559 2024-05-24T19:11:57.632Z,1716577917.632 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2024-05-24T19:11:57.632Z,1716577917.632 [Supervisor](INFO): Looking for Config files in directory: Config/ 2024-05-24T19:11:57.634Z,1716577917.634 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2024-05-24T19:11:57.920Z,1716577917.920 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2024-05-24T19:11:57.920Z,1716577917.920 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2024-05-24T19:11:58.013Z,1716577918.013 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2024-05-24T19:11:58.652Z,1716577918.652 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2024-05-24T19:11:58.653Z,1716577918.653 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2024-05-24T19:11:59.022Z,1716577919.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2024-05-24T19:11:59.022Z,1716577919.022 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2024-05-24T19:11:59.131Z,1716577919.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2024-05-24T19:11:59.131Z,1716577919.131 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2024-05-24T19:11:59.625Z,1716577919.625 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2024-05-24T19:11:59.625Z,1716577919.625 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2024-05-24T19:12:00.008Z,1716577920.008 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2024-05-24T19:12:00.009Z,1716577920.009 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2024-05-24T19:12:00.559Z,1716577920.559 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2024-05-24T19:12:00.560Z,1716577920.560 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2024-05-24T19:12:00.709Z,1716577920.709 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2024-05-24T19:12:00.710Z,1716577920.710 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2024-05-24T19:12:00.801Z,1716577920.801 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2024-05-24T19:12:01.669Z,1716577921.669 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2024-05-24T19:12:01.669Z,1716577921.669 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2024-05-24T19:12:02.076Z,1716577922.076 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2024-05-24T19:12:02.076Z,1716577922.076 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2024-05-24T19:12:02.286Z,1716577922.286 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2024-05-24T19:12:02.287Z,1716577922.287 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2024-05-24T19:12:02.413Z,1716577922.413 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2024-05-24T19:12:02.414Z,1716577922.414 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2024-05-24T19:12:02.657Z,1716577922.657 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2024-05-24T19:12:02.658Z,1716577922.658 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2024-05-24T19:12:02.937Z,1716577922.937 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2024-05-24T19:12:02.939Z,1716577922.939 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/ 2024-05-24T19:12:02.940Z,1716577922.940 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg 2024-05-24T19:12:03.044Z,1716577923.044 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg 2024-05-24T19:12:03.142Z,1716577923.142 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg 2024-05-24T19:12:03.257Z,1716577923.257 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg 2024-05-24T19:12:03.353Z,1716577923.353 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg 2024-05-24T19:12:03.469Z,1716577923.469 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg 2024-05-24T19:12:03.575Z,1716577923.575 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg 2024-05-24T19:12:03.702Z,1716577923.702 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg 2024-05-24T19:12:03.870Z,1716577923.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg 2024-05-24T19:12:04.024Z,1716577924.024 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg 2024-05-24T19:12:04.147Z,1716577924.147 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg 2024-05-24T19:12:04.424Z,1716577924.424 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2024-05-24T19:12:04.425Z,1716577924.425 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/ 2024-05-24T19:12:04.426Z,1716577924.426 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2024-05-24T19:12:04.431Z,1716577924.431 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2024-05-24T19:12:04.483Z,1716577924.483 [VerticalControl](DEBUG): Construct VerticalControl. 2024-05-24T19:12:04.541Z,1716577924.541 [VerticalControl] Loaded 2024-05-24T19:12:04.541Z,1716577924.541 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2024-05-24T19:12:04.544Z,1716577924.544 [HorizontalControl](DEBUG): Construct HorizontalControl. 2024-05-24T19:12:04.589Z,1716577924.589 [HorizontalControl] Loaded 2024-05-24T19:12:04.590Z,1716577924.590 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2024-05-24T19:12:04.592Z,1716577924.592 [SpeedControl](DEBUG): Construct SpeedControl. 2024-05-24T19:12:04.595Z,1716577924.595 [SpeedControl] Loaded 2024-05-24T19:12:04.595Z,1716577924.595 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2024-05-24T19:12:04.598Z,1716577924.598 [LoopControl](DEBUG): Construct LoopControl. 2024-05-24T19:12:04.598Z,1716577924.598 [LoopControl] Loaded 2024-05-24T19:12:04.599Z,1716577924.599 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2024-05-24T19:12:04.599Z,1716577924.599 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2024-05-24T19:12:04.599Z,1716577924.599 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2024-05-24T19:12:04.609Z,1716577924.609 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2024-05-24T19:12:04.610Z,1716577924.610 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2024-05-24T19:12:04.777Z,1716577924.777 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2024-05-24T19:12:04.777Z,1716577924.777 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2024-05-24T19:12:05.177Z,1716577925.177 [BuoyancyServo] Loaded 2024-05-24T19:12:05.177Z,1716577925.177 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2024-05-24T19:12:05.239Z,1716577925.239 [ElevatorServo] Loaded 2024-05-24T19:12:05.240Z,1716577925.240 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2024-05-24T19:12:05.295Z,1716577925.295 [MassServo] Loaded 2024-05-24T19:12:05.336Z,1716577925.336 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2024-05-24T19:12:05.356Z,1716577925.356 [RudderServo] Loaded 2024-05-24T19:12:05.356Z,1716577925.356 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2024-05-24T19:12:05.372Z,1716577925.372 [ThrusterHE] Loaded 2024-05-24T19:12:05.373Z,1716577925.373 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2024-05-24T19:12:05.373Z,1716577925.373 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2024-05-24T19:12:05.374Z,1716577925.374 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2024-05-24T19:12:05.633Z,1716577925.633 [DeadReckonUsingMultipleVelocitySources] Loaded 2024-05-24T19:12:05.633Z,1716577925.633 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2024-05-24T19:12:05.646Z,1716577925.646 [NavChart] Loaded 2024-05-24T19:12:05.646Z,1716577925.646 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2024-05-24T19:12:05.652Z,1716577925.652 [UniversalFixResidualReporter] Loaded 2024-05-24T19:12:05.652Z,1716577925.652 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2024-05-24T19:12:05.652Z,1716577925.652 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2024-05-24T19:12:05.653Z,1716577925.653 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2024-05-24T19:12:05.708Z,1716577925.708 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2024-05-24T19:12:05.708Z,1716577925.708 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2024-05-24T19:12:06.133Z,1716577926.133 [AHRS_M2] Loaded 2024-05-24T19:12:06.133Z,1716577926.133 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2024-05-24T19:12:06.951Z,1716577926.951 [BPC1] Loaded 2024-05-24T19:12:06.951Z,1716577926.951 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2024-05-24T19:12:07.024Z,1716577927.024 [DataOverHttps] Loaded 2024-05-24T19:12:07.024Z,1716577927.024 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2024-05-24T19:12:07.025Z,1716577927.025 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409314E0 2024-05-24T19:12:07.025Z,1716577927.025 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5642 2024-05-24T19:12:07.048Z,1716577927.048 [Depth_Keller] Loaded 2024-05-24T19:12:07.049Z,1716577927.049 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2024-05-24T19:12:07.053Z,1716577927.053 [DropWeight] Loaded 2024-05-24T19:12:07.054Z,1716577927.054 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2024-05-24T19:12:07.117Z,1716577927.117 [NAL9602] Loaded 2024-05-24T19:12:07.117Z,1716577927.117 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2024-05-24T19:12:07.147Z,1716577927.147 [Onboard] Loaded 2024-05-24T19:12:07.147Z,1716577927.147 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2024-05-24T19:12:07.148Z,1716577927.148 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409614E0 2024-05-24T19:12:07.149Z,1716577927.149 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5643 2024-05-24T19:12:07.164Z,1716577927.164 [Power24vConverter] Loaded 2024-05-24T19:12:07.164Z,1716577927.164 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2024-05-24T19:12:07.179Z,1716577927.179 [Radio_Surface] Loaded 2024-05-24T19:12:07.179Z,1716577927.179 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2024-05-24T19:12:07.180Z,1716577927.180 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409914E0 2024-05-24T19:12:07.180Z,1716577927.180 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5644 2024-05-24T19:12:07.196Z,1716577927.196 [Sonardyne_Nano] Loaded 2024-05-24T19:12:07.196Z,1716577927.196 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2024-05-24T19:12:07.290Z,1716577927.290 [DAT] Loaded 2024-05-24T19:12:07.290Z,1716577927.290 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2024-05-24T19:12:07.291Z,1716577927.291 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409C14E0 2024-05-24T19:12:07.291Z,1716577927.291 [DAT ThreadHandler](INFO): Protected caller Thread ID is 5645 2024-05-24T19:12:07.292Z,1716577927.292 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2024-05-24T19:12:07.292Z,1716577927.292 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2024-05-24T19:12:07.341Z,1716577927.341 [DepthRateCalculator] Loaded 2024-05-24T19:12:07.341Z,1716577927.341 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2024-05-24T19:12:07.346Z,1716577927.346 [PitchRateCalculator] Loaded 2024-05-24T19:12:07.346Z,1716577927.346 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2024-05-24T19:12:07.355Z,1716577927.355 [SpeedCalculator] Loaded 2024-05-24T19:12:07.355Z,1716577927.355 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2024-05-24T19:12:07.359Z,1716577927.359 [YawRateCalculator] Loaded 2024-05-24T19:12:07.360Z,1716577927.360 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2024-05-24T19:12:07.378Z,1716577927.378 [ElevatorOffsetCalculator] Loaded 2024-05-24T19:12:07.379Z,1716577927.379 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2024-05-24T19:12:07.379Z,1716577927.379 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2024-05-24T19:12:07.379Z,1716577927.379 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2024-05-24T19:12:07.511Z,1716577927.511 [CANONSampler] Loaded 2024-05-24T19:12:07.512Z,1716577927.512 [ComponentRegistry](DEBUG): SyncComponent "CANONSampler" handled in the control thread. 2024-05-24T19:12:07.576Z,1716577927.576 [CTD_Seabird] Loaded 2024-05-24T19:12:07.576Z,1716577927.576 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2024-05-24T19:12:07.577Z,1716577927.577 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A7D4E0 2024-05-24T19:12:07.577Z,1716577927.577 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 5646 2024-05-24T19:12:07.597Z,1716577927.597 [PAR_Licor] Loaded 2024-05-24T19:12:07.597Z,1716577927.597 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2024-05-24T19:12:07.598Z,1716577927.598 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2024-05-24T19:12:07.599Z,1716577927.599 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2024-05-24T19:12:07.624Z,1716577927.624 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2024-05-24T19:12:07.624Z,1716577927.624 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2024-05-24T19:12:07.951Z,1716577927.951 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2024-05-24T19:12:07.951Z,1716577927.951 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2024-05-24T19:12:08.087Z,1716577928.087 [SBIT](DEBUG): Construct Startup Built In Test. 2024-05-24T19:12:08.096Z,1716577928.096 [SBIT] Loaded 2024-05-24T19:12:08.096Z,1716577928.096 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2024-05-24T19:12:08.099Z,1716577928.099 [IBIT](DEBUG): Construct Initiated Built In Test. 2024-05-24T19:12:08.111Z,1716577928.111 [IBIT] Loaded 2024-05-24T19:12:08.111Z,1716577928.111 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2024-05-24T19:12:08.117Z,1716577928.117 [CBIT](DEBUG): Construct Continuous Built In Test. 2024-05-24T19:12:08.220Z,1716577928.220 [CBIT] Loaded 2024-05-24T19:12:08.220Z,1716577928.220 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2024-05-24T19:12:08.221Z,1716577928.221 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2024-05-24T19:12:08.221Z,1716577928.221 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2024-05-24T19:12:08.326Z,1716577928.326 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2024-05-24T19:12:08.332Z,1716577928.332 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2024-05-24T19:12:08.335Z,1716577928.335 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2024-05-24T19:12:08.346Z,1716577928.346 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2024-05-24T19:12:08.347Z,1716577928.347 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BD74E0 2024-05-24T19:12:08.348Z,1716577928.348 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5647 2024-05-24T19:12:08.352Z,1716577928.352 [Supervisor](INFO): Main Thread ID is 5554 2024-05-24T19:12:08.352Z,1716577928.352 [Supervisor](DEBUG): Running supervisor. 2024-05-24T19:12:08.353Z,1716577928.353 [CommandExec ThreadHandler](INFO): Handler Thread ID is 5648 2024-05-24T19:12:08.353Z,1716577928.353 [CommandExec](INFO): Initializing the command executive. 2024-05-24T19:12:08.355Z,1716577928.355 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5649 2024-05-24T19:12:08.357Z,1716577928.357 [controlThread ThreadHandler](INFO): Handler Thread ID is 5650 2024-05-24T19:12:08.357Z,1716577928.357 [controlThread](DEBUG): Initializing ControlThread 2024-05-24T19:12:08.358Z,1716577928.358 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2024-05-24T19:12:08.360Z,1716577928.360 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2024-05-24T19:12:08.360Z,1716577928.360 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2024-05-24T19:12:08.361Z,1716577928.361 [LoopControl](DEBUG): Initialize LoopControlComponent. 2024-05-24T19:12:08.363Z,1716577928.363 [NavChart](DEBUG): Initialize NavChart Navigation. 2024-05-24T19:12:08.363Z,1716577928.363 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2024-05-24T19:12:08.369Z,1716577928.369 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2024-05-24T19:12:08.369Z,1716577928.369 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2024-05-24T19:12:08.369Z,1716577928.369 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2024-05-24T19:12:08.369Z,1716577928.369 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2024-05-24T19:12:08.370Z,1716577928.370 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2024-05-24T19:12:08.375Z,1716577928.375 [SBIT](INFO): Initialize SBIT Component. 2024-05-24T19:12:08.375Z,1716577928.375 [SBIT](IMPORTANT): git: 2024-05-10 2024-05-24T19:12:08.376Z,1716577928.376 [SBIT](INFO): git hash: a134c88d686ec779525c21b16fbeda2a3b596732 2024-05-24T19:12:08.376Z,1716577928.376 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-05-24T19:12:08.377Z,1716577928.377 [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 2024-05-24T19:12:08.378Z,1716577928.378 [SBIT](INFO): Beginning SBIT in 26.000000 seconds. 2024-05-24T19:12:08.379Z,1716577928.379 [IBIT](INFO): Initialize IBIT Component. 2024-05-24T19:12:08.380Z,1716577928.380 [CBIT](DEBUG): Initialize CBIT Component. 2024-05-24T19:12:08.380Z,1716577928.380 [logger ThreadHandler](INFO): Handler Thread ID is 5651 2024-05-24T19:12:08.391Z,1716577928.391 [CBIT](DEBUG): Initialized mux pins. 2024-05-24T19:12:08.391Z,1716577928.391 [CBIT](DEBUG): Initializing the watchdog timer. 2024-05-24T19:12:08.399Z,1716577928.399 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5652 2024-05-24T19:12:08.401Z,1716577928.401 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2024-05-24T19:12:08.411Z,1716577928.411 [Onboard ThreadHandler](INFO): Handler Thread ID is 5653 2024-05-24T19:12:08.415Z,1716577928.415 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2024-05-24T19:12:08.416Z,1716577928.416 [CBIT](DEBUG): Initializing heartbeat. 2024-05-24T19:12:08.432Z,1716577928.432 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5654 2024-05-24T19:12:08.443Z,1716577928.443 [DAT ThreadHandler](INFO): Handler Thread ID is 5655 2024-05-24T19:12:08.444Z,1716577928.444 [DAT](INFO): Powering up 2024-05-24T19:12:08.444Z,1716577928.444 [DAT](DEBUG): Initializing DAT. 2024-05-24T19:12:08.448Z,1716577928.448 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 5657 2024-05-24T19:12:08.449Z,1716577928.449 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2024-05-24T19:12:08.452Z,1716577928.452 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5659 2024-05-24T19:12:08.456Z,1716577928.456 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2024-05-24T19:12:08.456Z,1716577928.456 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2024-05-24T19:12:08.456Z,1716577928.456 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2024-05-24T19:12:08.456Z,1716577928.456 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2024-05-24T19:12:08.456Z,1716577928.456 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2024-05-24T19:12:08.456Z,1716577928.456 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2024-05-24T19:12:08.457Z,1716577928.457 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2024-05-24T19:12:08.457Z,1716577928.457 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2024-05-24T19:12:08.486Z,1716577928.486 [CBIT](DEBUG): Deactivating GF circuits. 2024-05-24T19:12:08.487Z,1716577928.487 [CBIT](DEBUG): Deactivating emergency mode. 2024-05-24T19:12:08.527Z,1716577928.527 [CBIT](DEBUG): Backplane powered. 2024-05-24T19:12:08.528Z,1716577928.528 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-05-24T19:12:08.528Z,1716577928.528 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2024-05-24T19:12:08.529Z,1716577928.529 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2024-05-24T19:12:08.530Z,1716577928.530 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2024-05-24T19:12:08.577Z,1716577928.577 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2024-05-24T19:12:08.582Z,1716577928.582 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-24T19:12:08.629Z,1716577928.629 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission Startup { behavior Guidance:GoToSurface { run in progression } aggregate StartupSatComms { run in sequence readDatum { timeout duration=P1M Universal:latitude_fix } readDatum { timeout duration=P1M Universal:platform_communications } } } 2024-05-24T19:12:08.630Z,1716577928.630 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2024-05-24T19:12:08.630Z,1716577928.630 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2024-05-24T19:12:08.631Z,1716577928.631 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2024-05-24T19:12:08.835Z,1716577928.835 [Radio_Surface](INFO): Powering up 2024-05-24T19:12:08.916Z,1716577928.916 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into: 0 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs 2024-05-24T19:12:08.936Z,1716577928.936 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2024-05-24T19:12:08.947Z,1716577928.947 [Default:A.Wait](DEBUG): Construct Wait. 2024-05-24T19:12:08.950Z,1716577928.950 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2024-05-24T19:12:08.995Z,1716577928.995 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2024-05-24T19:12:08.998Z,1716577928.998 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2024-05-24T19:12:09.014Z,1716577929.014 [Default:E.Execute](DEBUG): Construct Execute. 2024-05-24T19:12:09.017Z,1716577929.017 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission Default { arguments { ElapsedSinceDefaultStarted = 0 minute } behavior Guidance:Wait { """ Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. """ run in sequence set duration = 13 second } behavior Guidance:GoToSurface { run in progression } aggregate CheckIn { run in sequence repeat=288 readDatum id="Read_GPS" { timeout duration=P5M Universal:time_fix } readDatum id="Read_Iridium" { timeout duration=P4H { behavior Guidance:Execute { run in sequence set command = "Burn on" } syslog critical "Dropped weight due to communications timeout." } Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started ) syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute } syslog important "Restarting logs and Default mission." behavior Guidance:Execute { run in sequence set command = "restart logs" } } 2024-05-24T19:12:09.026Z,1716577929.026 [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, 2024-05-24T19:12:09.039Z,1716577929.039 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2024-05-24T19:12:09.110Z,1716577929.110 [Power24vConverter](INFO): Powering up. 2024-05-24T19:12:09.111Z,1716577929.111 [Sonardyne_Nano](INFO): Initializing. 2024-05-24T19:12:09.131Z,1716577929.131 [CANONSampler](INFO): Powering down 2024-05-24T19:12:09.196Z,1716577929.196 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2024-05-24T19:12:09.203Z,1716577929.203 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2024-05-24T19:12:09.204Z,1716577929.204 [ElevatorServo](DEBUG): Initializing EZServoServo. 2024-05-24T19:12:09.211Z,1716577929.211 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2024-05-24T19:12:09.212Z,1716577929.212 [MassServo](DEBUG): Initializing EZServoServo. 2024-05-24T19:12:09.219Z,1716577929.219 [MassServo](DEBUG): Initializing MassServo. 2024-05-24T19:12:09.220Z,1716577929.220 [RudderServo](DEBUG): Initializing EZServoServo. 2024-05-24T19:12:09.227Z,1716577929.227 [RudderServo](DEBUG): Initializing RudderServo. 2024-05-24T19:12:09.228Z,1716577929.228 [ThrusterHE](DEBUG): Initializing EZServoServo. 2024-05-24T19:12:09.235Z,1716577929.235 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2024-05-24T19:12:09.472Z,1716577929.472 [DropWeight](CRITICAL): DROP WEIGHT MISSING. 2024-05-24T19:12:09.472Z,1716577929.472 [DropWeight] Hardware Fault, FailCount= 1 2024-05-24T19:12:09.472Z,1716577929.472 [DropWeight](ERROR): Hardware Fault 2024-05-24T19:12:09.518Z,1716577929.518 [CommandExec](FAULT): Scheduling is paused 2024-05-24T19:12:09.518Z,1716577929.518 [CBIT](INFO): Critical error at 20240524T191209 2024-05-24T19:12:09.518Z,1716577929.518 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2024-05-24T19:12:09.529Z,1716577929.529 [CBIT](ERROR): Hardware Fault in component: DropWeight 2024-05-24T19:12:09.529Z,1716577929.529 [CBIT](CRITICAL): Hardware Fault in component: DropWeight 2024-05-24T19:12:09.863Z,1716577929.863 [CBIT](INFO): Critical error at 20240524T191209 2024-05-24T19:12:11.061Z,1716577931.061 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2024-05-24T19:12:12.347Z,1716577932.347 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2109 2024-05-24T19:12:14.971Z,1716577934.971 [ThrusterHE](ERROR): Zero Speed Commanded. 2024-05-24T19:12:21.047Z,1716577941.047 [DAT](INFO): DAT read: 2024-05-24T19:12:21.048Z,1716577941.048 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2024-05-24T19:12:22.265Z,1716577942.265 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004894 2024-05-24T19:12:22.812Z,1716577942.812 [DAT](INFO): DAT read: MF Frequency Band 2024-05-24T19:12:22.813Z,1716577942.813 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2024-05-24T19:12:22.813Z,1716577942.813 [DAT](INFO): DAT read: May 24 2024 19:10:07 2024-05-24T19:12:24.072Z,1716577944.072 [DAT](INFO): DAT read: Features enabled [Bearing] 2024-05-24T19:12:24.073Z,1716577944.073 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC 2024-05-24T19:12:24.073Z,1716577944.073 [DAT](INFO): commRate: 1200 2024-05-24T19:12:26.139Z,1716577946.139 [DAT](INFO): entering command mode 2024-05-24T19:12:26.339Z,1716577946.339 [DAT](INFO): DAT read: 2024-05-24T19:12:26.340Z,1716577946.340 [DAT](INFO): DAT read: user:1> 2024-05-24T19:12:26.340Z,1716577946.340 [DAT](INFO): setting verbose to 3 2024-05-24T19:12:26.591Z,1716577946.591 [DAT](INFO): DAT read: user:1> 2024-05-24T19:12:26.592Z,1716577946.592 [DAT](INFO): DAT read: Verbose | 3 2024-05-24T19:12:26.593Z,1716577946.593 [DAT](INFO): set verbose to 3 2024-05-24T19:12:26.593Z,1716577946.593 [DAT](INFO): setting DatVerbose to 27440 2024-05-24T19:12:26.843Z,1716577946.843 [DAT](INFO): DAT read: user:2> 2024-05-24T19:12:26.844Z,1716577946.844 [DAT](INFO): DAT read: DatVerbose | 27440 2024-05-24T19:12:26.845Z,1716577946.845 [DAT](INFO): set DatVerbose to 27440 2024-05-24T19:12:26.845Z,1716577946.845 [DAT](INFO): setting transmit power to 8 2024-05-24T19:12:27.095Z,1716577947.095 [DAT](INFO): DAT read: user:3> 2024-05-24T19:12:27.096Z,1716577947.096 [DAT](INFO): DAT read: TxPower | 8 (Max) 2024-05-24T19:12:27.097Z,1716577947.097 [DAT](INFO): set transmit power to 8 2024-05-24T19:12:27.097Z,1716577947.097 [DAT](INFO): setting local address to 8 2024-05-24T19:12:27.347Z,1716577947.347 [DAT](INFO): DAT read: user:4> 2024-05-24T19:12:27.348Z,1716577947.348 [DAT](INFO): DAT read: LocalAddr | 8 2024-05-24T19:12:27.349Z,1716577947.349 [DAT](INFO): set local address to 8 2024-05-24T19:12:27.350Z,1716577947.350 [DAT](INFO): Setting time to: 19:12:27 And date to:5/24/2024 2024-05-24T19:12:27.599Z,1716577947.599 [DAT](INFO): DAT read: user:5> 2024-05-24T19:12:27.600Z,1716577947.600 [DAT](INFO): DAT read: Fri May 24, 2024 19:12:27 2024-05-24T19:12:27.601Z,1716577947.601 [DAT](INFO): Local DAT time set to Fri May 24, 2024 19:12:27 2024-05-24T19:12:34.933Z,1716577954.933 [SBIT](IMPORTANT): Beginning Startup BIT 2024-05-24T19:12:34.941Z,1716577954.941 [CBIT](IMPORTANT): Beginning ground fault scan 2024-05-24T19:12:37.328Z,1716577957.328 [NAL9602](INFO): Powering up NAL9602 2024-05-24T19:12:45.875Z,1716577965.875 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.000135 CHAN A1 (24V): 0.000493 CHAN A2 (12V): -0.002070 CHAN A3 (5V): -0.001693 CHAN B0 (3.3V): -0.000105 CHAN B1 (3.15aV): -0.000084 CHAN B2 (3.15bV): -0.000292 CHAN B3 (GND): 0.000064 OPEN: -0.000312 Full Scale: +/- 1 mA 2024-05-24T19:12:48.228Z,1716577968.228 [NAL9602](INFO): NAL9602 initialized 2024-05-24T19:13:10.871Z,1716577990.871 [CommandExec](IMPORTANT): got command quit 2024-05-24T19:13:11.875Z,1716577991.875 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread. 2024-05-24T19:13:11.875Z,1716577991.875 [CommandExec](INFO): Uninitializing the command executive. 2024-05-24T19:13:11.875Z,1716577991.875 [CommandExec](INFO): Uninitializing the command scheduler. 2024-05-24T19:13:11.875Z,1716577991.875 [CommandExec ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:11.970Z,1716577991.970 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup. Bye! 2024-05-24T19:13:11.971Z,1716577991.971 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler 2024-05-24T19:13:11.971Z,1716577991.971 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:11.971Z,1716577991.971 [NavChartDb](INFO): Join timeout helper Thread ID is 5672 2024-05-24T19:13:12.031Z,1716577992.031 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread. 2024-05-24T19:13:12.031Z,1716577992.031 [NavChartDb ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:12.059Z,1716577992.059 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler 2024-05-24T19:13:12.059Z,1716577992.059 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:12.059Z,1716577992.059 [CTD_Seabird](INFO): Join timeout helper Thread ID is 5673 2024-05-24T19:13:12.703Z,1716577992.703 [CTD_Seabird](INFO): Powering down 2024-05-24T19:13:12.715Z,1716577992.715 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread. 2024-05-24T19:13:12.715Z,1716577992.715 [CTD_Seabird](INFO): Powering down 2024-05-24T19:13:12.727Z,1716577992.727 [CTD_Seabird ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:12.737Z,1716577992.737 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler 2024-05-24T19:13:12.737Z,1716577992.737 [DAT ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:12.738Z,1716577992.738 [DAT](INFO): Join timeout helper Thread ID is 5674 2024-05-24T19:13:12.987Z,1716577992.987 [DAT](INFO): Powering down 2024-05-24T19:13:13.059Z,1716577993.059 [DAT ThreadHandler](INFO): Uninitializing protected caller thread. 2024-05-24T19:13:13.059Z,1716577993.059 [DAT](INFO): Powering down 2024-05-24T19:13:13.060Z,1716577993.060 [DAT ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:13.063Z,1716577993.063 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler 2024-05-24T19:13:13.063Z,1716577993.063 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:13.063Z,1716577993.063 [Radio_Surface](INFO): Join timeout helper Thread ID is 5675 2024-05-24T19:13:13.071Z,1716577993.071 [Radio_Surface](INFO): Powering down 2024-05-24T19:13:13.072Z,1716577993.072 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread. 2024-05-24T19:13:13.072Z,1716577993.072 [Radio_Surface ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:13.072Z,1716577993.072 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler 2024-05-24T19:13:13.072Z,1716577993.072 [Onboard ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:13.073Z,1716577993.073 [Onboard](INFO): Join timeout helper Thread ID is 5676 2024-05-24T19:13:13.463Z,1716577993.463 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread. 2024-05-24T19:13:13.463Z,1716577993.463 [Onboard ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:13.476Z,1716577993.476 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler 2024-05-24T19:13:13.476Z,1716577993.476 [DataOverHttps ThreadHandler](INFO): Thread cancelled. 2024-05-24T19:13:13.476Z,1716577993.476 [DataOverHttps](INFO): Join timeout helper Thread ID is 5677