2021-03-31T21:49:20.932Z,1617227360.932 [Supervisor](DEBUG): Initializing supervisor.
2021-03-31T21:49:20.936Z,1617227360.936 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-03-31T21:49:20.936Z,1617227360.936 [SyncHandler](INFO): Protected caller Thread ID is 816
2021-03-31T21:49:20.937Z,1617227360.937 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-03-31T21:49:20.938Z,1617227360.938 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-03-31T21:49:20.938Z,1617227360.938 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 817
2021-03-31T21:49:20.942Z,1617227360.942 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-03-31T21:49:20.962Z,1617227360.962 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-03-31T21:49:20.963Z,1617227360.963 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-03-31T21:49:20.963Z,1617227360.963 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 818
2021-03-31T21:49:20.966Z,1617227360.966 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-03-31T21:49:20.967Z,1617227360.967 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-03-31T21:49:20.967Z,1617227360.967 [logger ThreadHandler](INFO): Protected caller Thread ID is 819
2021-03-31T21:49:20.971Z,1617227360.971 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-03-31T21:49:20.971Z,1617227360.971 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-03-31T21:49:20.974Z,1617227360.974 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-03-31T21:49:21.429Z,1617227361.429 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-03-31T21:49:21.431Z,1617227361.431 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-03-31T21:49:21.643Z,1617227361.643 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-03-31T21:49:21.645Z,1617227361.645 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-03-31T21:49:21.847Z,1617227361.847 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-03-31T21:49:21.848Z,1617227361.848 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-03-31T21:49:21.949Z,1617227361.949 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-03-31T21:49:21.951Z,1617227361.951 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-03-31T21:49:22.305Z,1617227362.305 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-03-31T21:49:22.307Z,1617227362.307 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-03-31T21:49:22.657Z,1617227362.657 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-03-31T21:49:22.659Z,1617227362.659 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-03-31T21:49:22.756Z,1617227362.756 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-03-31T21:49:22.758Z,1617227362.758 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-03-31T21:49:22.907Z,1617227362.907 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-03-31T21:49:22.908Z,1617227362.908 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-03-31T21:49:23.439Z,1617227363.439 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-03-31T21:49:23.440Z,1617227363.440 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-03-31T21:49:23.802Z,1617227363.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-03-31T21:49:23.802Z,1617227363.802 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-03-31T21:49:24.436Z,1617227364.436 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-03-31T21:49:24.913Z,1617227364.913 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-03-31T21:49:24.914Z,1617227364.914 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-03-31T21:49:25.042Z,1617227365.042 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-03-31T21:49:25.044Z,1617227365.044 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-03-31T21:49:25.746Z,1617227365.746 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-03-31T21:49:25.747Z,1617227365.747 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-03-31T21:49:25.829Z,1617227365.829 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-03-31T21:49:26.164Z,1617227366.164 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-03-31T21:49:26.166Z,1617227366.166 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2021-03-31T21:49:26.169Z,1617227366.169 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2021-03-31T21:49:26.346Z,1617227366.346 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2021-03-31T21:49:26.443Z,1617227366.443 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2021-03-31T21:49:26.555Z,1617227366.555 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2021-03-31T21:49:26.656Z,1617227366.656 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2021-03-31T21:49:26.740Z,1617227366.740 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2021-03-31T21:49:26.827Z,1617227366.827 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2021-03-31T21:49:26.942Z,1617227366.942 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2021-03-31T21:49:27.044Z,1617227367.044 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2021-03-31T21:49:27.193Z,1617227367.193 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2021-03-31T21:49:27.456Z,1617227367.456 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-03-31T21:49:27.457Z,1617227367.457 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2021-03-31T21:49:27.552Z,1617227367.552 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/root/
2021-03-31T21:49:27.553Z,1617227367.553 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-03-31T21:49:27.566Z,1617227367.566 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-03-31T21:49:27.957Z,1617227367.957 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-03-31T21:49:27.958Z,1617227367.958 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-03-31T21:49:28.058Z,1617227368.058 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-03-31T21:49:28.058Z,1617227368.058 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-03-31T21:49:28.092Z,1617227368.092 [DeadReckonUsingSpeedCalculator] Loaded
2021-03-31T21:49:28.093Z,1617227368.093 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2021-03-31T21:49:28.106Z,1617227368.106 [NavChart] Loaded
2021-03-31T21:49:28.106Z,1617227368.106 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-03-31T21:49:28.112Z,1617227368.112 [UniversalFixResidualReporter] Loaded
2021-03-31T21:49:28.112Z,1617227368.112 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-03-31T21:49:28.113Z,1617227368.113 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-03-31T21:49:28.113Z,1617227368.113 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-03-31T21:49:28.130Z,1617227368.130 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-03-31T21:49:28.130Z,1617227368.130 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-03-31T21:49:28.295Z,1617227368.295 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-03-31T21:49:28.295Z,1617227368.295 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-03-31T21:49:28.368Z,1617227368.368 [VerticalControl](DEBUG): Construct VerticalControl.
2021-03-31T21:49:28.429Z,1617227368.429 [VerticalControl] Loaded
2021-03-31T21:49:28.430Z,1617227368.430 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-03-31T21:49:28.432Z,1617227368.432 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-03-31T21:49:28.471Z,1617227368.471 [HorizontalControl] Loaded
2021-03-31T21:49:28.471Z,1617227368.471 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-03-31T21:49:28.473Z,1617227368.473 [SpeedControl](DEBUG): Construct SpeedControl.
2021-03-31T21:49:28.477Z,1617227368.477 [SpeedControl] Loaded
2021-03-31T21:49:28.477Z,1617227368.477 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-03-31T21:49:28.479Z,1617227368.479 [LoopControl](DEBUG): Construct LoopControl.
2021-03-31T21:49:28.480Z,1617227368.480 [LoopControl] Loaded
2021-03-31T21:49:28.480Z,1617227368.480 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-03-31T21:49:28.481Z,1617227368.481 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-03-31T21:49:28.481Z,1617227368.481 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-03-31T21:49:28.539Z,1617227368.539 [DepthRateCalculator] Loaded
2021-03-31T21:49:28.540Z,1617227368.540 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-03-31T21:49:28.544Z,1617227368.544 [PitchRateCalculator] Loaded
2021-03-31T21:49:28.544Z,1617227368.544 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-03-31T21:49:28.554Z,1617227368.554 [SpeedCalculator] Loaded
2021-03-31T21:49:28.554Z,1617227368.554 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-03-31T21:49:28.568Z,1617227368.568 [TempGradientCalculator] Loaded
2021-03-31T21:49:28.568Z,1617227368.568 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-03-31T21:49:28.572Z,1617227368.572 [YawRateCalculator] Loaded
2021-03-31T21:49:28.573Z,1617227368.573 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-03-31T21:49:28.590Z,1617227368.590 [ElevatorOffsetCalculator] Loaded
2021-03-31T21:49:28.590Z,1617227368.590 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-03-31T21:49:28.591Z,1617227368.591 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-03-31T21:49:28.591Z,1617227368.591 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-03-31T21:49:28.712Z,1617227368.712 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-03-31T21:49:28.713Z,1617227368.713 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-03-31T21:49:28.792Z,1617227368.792 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-03-31T21:49:28.793Z,1617227368.793 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-03-31T21:49:28.968Z,1617227368.968 [BuoyancyServo] Loaded
2021-03-31T21:49:28.969Z,1617227368.969 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-03-31T21:49:28.988Z,1617227368.988 [ElevatorServo] Loaded
2021-03-31T21:49:28.988Z,1617227368.988 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-03-31T21:49:29.012Z,1617227369.012 [DockingServo] Loaded
2021-03-31T21:49:29.012Z,1617227369.012 [ComponentRegistry](DEBUG): SyncComponent "DockingServo" handled in the control thread.
2021-03-31T21:49:29.031Z,1617227369.031 [RudderServo] Loaded
2021-03-31T21:49:29.031Z,1617227369.031 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-03-31T21:49:29.048Z,1617227369.048 [ThrusterServo] Loaded
2021-03-31T21:49:29.048Z,1617227369.048 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-03-31T21:49:29.049Z,1617227369.049 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-03-31T21:49:29.050Z,1617227369.050 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-03-31T21:49:29.186Z,1617227369.186 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-03-31T21:49:29.186Z,1617227369.186 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-03-31T21:49:30.017Z,1617227370.017 [AHRS_M2] Loaded
2021-03-31T21:49:30.018Z,1617227370.018 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-03-31T21:49:30.822Z,1617227370.822 [BPC1] Loaded
2021-03-31T21:49:30.822Z,1617227370.822 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-03-31T21:49:31.147Z,1617227371.147 [DataOverHttps] Loaded
2021-03-31T21:49:31.148Z,1617227371.148 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-03-31T21:49:31.149Z,1617227371.149 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409AA4E0
2021-03-31T21:49:31.149Z,1617227371.149 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 903
2021-03-31T21:49:31.169Z,1617227371.169 [Depth_Keller] Loaded
2021-03-31T21:49:31.169Z,1617227371.169 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-03-31T21:49:31.229Z,1617227371.229 [NAL9602] Loaded
2021-03-31T21:49:31.229Z,1617227371.229 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-03-31T21:49:31.255Z,1617227371.255 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2021-03-31T21:49:31.256Z,1617227371.256 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2021-03-31T21:49:31.256Z,1617227371.256 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2021-03-31T21:49:31.257Z,1617227371.257 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2021-03-31T21:49:31.257Z,1617227371.257 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2021-03-31T21:49:31.258Z,1617227371.258 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2021-03-31T21:49:31.258Z,1617227371.258 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2021-03-31T21:49:31.259Z,1617227371.259 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2021-03-31T21:49:31.259Z,1617227371.259 [Onboard] Loaded
2021-03-31T21:49:31.259Z,1617227371.259 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-03-31T21:49:31.260Z,1617227371.260 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409DA4E0
2021-03-31T21:49:31.261Z,1617227371.261 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 904
2021-03-31T21:49:31.274Z,1617227371.274 [Radio_Surface] Loaded
2021-03-31T21:49:31.274Z,1617227371.274 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-03-31T21:49:31.275Z,1617227371.275 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A0A4E0
2021-03-31T21:49:31.275Z,1617227371.275 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 905
2021-03-31T21:49:31.358Z,1617227371.358 [DAT] Loaded
2021-03-31T21:49:31.358Z,1617227371.358 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2021-03-31T21:49:31.358Z,1617227371.358 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-03-31T21:49:31.359Z,1617227371.359 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-03-31T21:49:31.768Z,1617227371.768 [SBIT](DEBUG): Construct Startup Built In Test.
2021-03-31T21:49:31.777Z,1617227371.777 [SBIT] Loaded
2021-03-31T21:49:31.778Z,1617227371.778 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-03-31T21:49:31.780Z,1617227371.780 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-03-31T21:49:31.793Z,1617227371.793 [IBIT] Loaded
2021-03-31T21:49:31.794Z,1617227371.794 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-03-31T21:49:31.799Z,1617227371.799 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-03-31T21:49:32.049Z,1617227372.049 [CBIT] Loaded
2021-03-31T21:49:32.049Z,1617227372.049 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-03-31T21:49:32.050Z,1617227372.050 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-03-31T21:49:32.050Z,1617227372.050 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-03-31T21:49:32.138Z,1617227372.138 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-03-31T21:49:32.144Z,1617227372.144 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-03-31T21:49:32.146Z,1617227372.146 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-03-31T21:49:32.157Z,1617227372.157 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-03-31T21:49:32.158Z,1617227372.158 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A954E0
2021-03-31T21:49:32.159Z,1617227372.159 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 906
2021-03-31T21:49:32.163Z,1617227372.163 [Supervisor](INFO): Main Thread ID is 812
2021-03-31T21:49:32.163Z,1617227372.163 [Supervisor](DEBUG): Running supervisor.
2021-03-31T21:49:32.164Z,1617227372.164 [CommandLine ThreadHandler](INFO): Handler Thread ID is 907
2021-03-31T21:49:32.171Z,1617227372.171 [CommandLine](IMPORTANT): got command quit
2021-03-31T21:49:32.176Z,1617227372.176 [controlThread ThreadHandler](INFO): Handler Thread ID is 908
2021-03-31T21:49:32.176Z,1617227372.176 [controlThread](DEBUG): Initializing ControlThread
2021-03-31T21:49:32.178Z,1617227372.178 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2021-03-31T21:49:32.178Z,1617227372.178 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-03-31T21:49:32.179Z,1617227372.179 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-03-31T21:49:32.179Z,1617227372.179 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-03-31T21:49:32.181Z,1617227372.181 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-03-31T21:49:32.182Z,1617227372.182 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-03-31T21:49:32.182Z,1617227372.182 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-03-31T21:49:32.182Z,1617227372.182 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-03-31T21:49:32.183Z,1617227372.183 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-03-31T21:49:32.183Z,1617227372.183 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-03-31T21:49:32.183Z,1617227372.183 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-03-31T21:49:32.184Z,1617227372.184 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-03-31T21:49:32.184Z,1617227372.184 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-03-31T21:49:32.189Z,1617227372.189 [SBIT](INFO): Initialize SBIT Component.
2021-03-31T21:49:32.190Z,1617227372.190 [SBIT](IMPORTANT): git: 2021-02-15-23-g3a852c62c
2021-03-31T21:49:32.190Z,1617227372.190 [SBIT](INFO): git hash: 3a852c62cd7a39cad2b788ae0015bb0a43866a82
2021-03-31T21:49:32.191Z,1617227372.191 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-03-31T21:49:32.192Z,1617227372.192 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
2021-03-31T21:49:32.193Z,1617227372.193 [SBIT](INFO): Beginning SBIT in 24.000000 seconds.
2021-03-31T21:49:32.193Z,1617227372.193 [IBIT](INFO): Initialize IBIT Component.
2021-03-31T21:49:32.194Z,1617227372.194 [CBIT](DEBUG): Initialize CBIT Component.
2021-03-31T21:49:32.195Z,1617227372.195 [logger ThreadHandler](INFO): Handler Thread ID is 909
2021-03-31T21:49:32.205Z,1617227372.205 [CBIT](DEBUG): Initialized mux pins.
2021-03-31T21:49:32.205Z,1617227372.205 [CBIT](DEBUG): Initializing the watchdog timer.
2021-03-31T21:49:32.213Z,1617227372.213 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 910
2021-03-31T21:49:32.214Z,1617227372.214 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-03-31T21:49:32.225Z,1617227372.225 [Onboard ThreadHandler](INFO): Handler Thread ID is 911
2021-03-31T21:49:32.229Z,1617227372.229 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-03-31T21:49:32.230Z,1617227372.230 [CBIT](DEBUG): Initializing heartbeat.
2021-03-31T21:49:32.242Z,1617227372.242 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 912
2021-03-31T21:49:32.257Z,1617227372.257 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 913
2021-03-31T21:49:32.266Z,1617227372.266 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-03-31T21:49:32.266Z,1617227372.266 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-03-31T21:49:32.267Z,1617227372.267 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-03-31T21:49:32.267Z,1617227372.267 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-03-31T21:49:32.267Z,1617227372.267 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-03-31T21:49:32.267Z,1617227372.267 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-03-31T21:49:32.267Z,1617227372.267 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-03-31T21:49:32.267Z,1617227372.267 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-03-31T21:49:32.268Z,1617227372.268 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-03-31T21:49:32.268Z,1617227372.268 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-03-31T21:49:32.268Z,1617227372.268 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-03-31T21:49:32.268Z,1617227372.268 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-03-31T21:49:32.268Z,1617227372.268 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-03-31T21:49:32.269Z,1617227372.269 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-03-31T21:49:32.269Z,1617227372.269 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-03-31T21:49:32.269Z,1617227372.269 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-03-31T21:49:32.301Z,1617227372.301 [CBIT](DEBUG): Deactivating GF circuits.
2021-03-31T21:49:32.301Z,1617227372.301 [CBIT](DEBUG): Deactivating emergency mode.
2021-03-31T21:49:32.337Z,1617227372.337 [CBIT](DEBUG): Backplane powered.
2021-03-31T21:49:32.338Z,1617227372.338 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-03-31T21:49:32.363Z,1617227372.363 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-31T21:49:32.390Z,1617227372.390 [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>


2021-03-31T21:49:32.391Z,1617227372.391 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-03-31T21:49:32.464Z,1617227372.464 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-03-31T21:49:32.482Z,1617227372.482 [Default:A.Wait](DEBUG): Construct Wait.
2021-03-31T21:49:32.484Z,1617227372.484 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-31T21:49:32.526Z,1617227372.526 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-03-31T21:49:32.529Z,1617227372.529 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-03-31T21:49:32.543Z,1617227372.543 [Default:E.Execute](DEBUG): Construct Execute.
2021-03-31T21:49:32.547Z,1617227372.547 [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="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>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>


2021-03-31T21:49:32.564Z,1617227372.564 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,DAT,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-03-31T21:49:32.577Z,1617227372.577 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-03-31T21:49:32.642Z,1617227372.642 [Depth_Keller](ERROR): Pressure reading out of range: 1628.471313 decibar
2021-03-31T21:49:32.643Z,1617227372.643 [DAT](INFO): Powering up
2021-03-31T21:49:32.643Z,1617227372.643 [DAT](DEBUG): Initializing DAT.
2021-03-31T21:49:32.645Z,1617227372.645 [Radio_Surface](INFO): Powering up
2021-03-31T21:49:32.665Z,1617227372.665 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-03-31T21:49:32.730Z,1617227372.730 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-03-31T21:49:32.737Z,1617227372.737 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-03-31T21:49:32.738Z,1617227372.738 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-03-31T21:49:32.745Z,1617227372.745 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-03-31T21:49:32.746Z,1617227372.746 [DockingServo](INFO): Start
2021-03-31T21:49:32.746Z,1617227372.746 [DockingServo](DEBUG): Initializing EZServoServo.
2021-03-31T21:49:32.753Z,1617227372.753 [DockingServo](DEBUG): Initializing DockingServo.
2021-03-31T21:49:32.754Z,1617227372.754 [RudderServo](DEBUG): Initializing EZServoServo.
2021-03-31T21:49:32.761Z,1617227372.761 [RudderServo](DEBUG): Initializing RudderServo.
2021-03-31T21:49:32.762Z,1617227372.762 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-03-31T21:49:32.769Z,1617227372.769 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-03-31T21:49:33.001Z,1617227373.001 [DockingServo](INFO): Starting
2021-03-31T21:49:33.177Z,1617227373.177 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2021-03-31T21:49:33.177Z,1617227373.177 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-31T21:49:33.177Z,1617227373.177 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-31T21:49:33.281Z,1617227373.281 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-03-31T21:49:33.281Z,1617227373.281 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-31T21:49:33.282Z,1617227373.282 [CommandLine](INFO): Join timeout helper Thread ID is 921
2021-03-31T21:49:33.297Z,1617227373.297 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-03-31T21:49:33.297Z,1617227373.297 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-31T21:49:33.297Z,1617227373.297 [NavChartDb](INFO): Join timeout helper Thread ID is 922
2021-03-31T21:49:33.392Z,1617227373.392 [DockingServo](INFO): Starting
2021-03-31T21:49:33.697Z,1617227373.697 [DockingServo](ERROR): Docking arm initialization uart error serial timeout
2021-03-31T21:49:33.697Z,1617227373.697 [DockingServo](FAULT): Failed to initialize
2021-03-31T21:49:33.697Z,1617227373.697 [DockingServo] Communications Fault, FailCount= 1
2021-03-31T21:49:33.697Z,1617227373.697 [DockingServo](ERROR): Communications Fault
2021-03-31T21:49:34.009Z,1617227374.009 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-03-31T21:49:34.009Z,1617227374.009 [RudderServo](FAULT): Rudder failed to initialize
2021-03-31T21:49:34.009Z,1617227374.009 [RudderServo] Communications Fault, FailCount= 1
2021-03-31T21:49:34.009Z,1617227374.009 [RudderServo](ERROR): Communications Fault
2021-03-31T21:49:34.333Z,1617227374.333 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2021-03-31T21:49:34.358Z,1617227374.358 [ThrusterServo](FAULT): Thruster failed to initialize
2021-03-31T21:49:34.358Z,1617227374.358 [ThrusterServo] Communications Fault, FailCount= 1
2021-03-31T21:49:34.358Z,1617227374.358 [ThrusterServo](ERROR): Communications Fault
2021-03-31T21:49:34.370Z,1617227374.370 [CBIT](ERROR): Communications Fault in component: DockingServo
2021-03-31T21:49:34.371Z,1617227374.371 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-03-31T21:49:34.372Z,1617227374.372 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-03-31T21:49:34.773Z,1617227374.773 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2021-03-31T21:49:34.773Z,1617227374.773 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2021-03-31T21:49:34.773Z,1617227374.773 [BuoyancyServo] Communications Fault, FailCount= 1
2021-03-31T21:49:34.773Z,1617227374.773 [BuoyancyServo](ERROR): Communications Fault
2021-03-31T21:49:35.085Z,1617227375.085 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2021-03-31T21:49:35.085Z,1617227375.085 [ElevatorServo](FAULT): Elevator failed to initialize
2021-03-31T21:49:35.085Z,1617227375.085 [ElevatorServo] Communications Fault, FailCount= 1
2021-03-31T21:49:35.085Z,1617227375.085 [ElevatorServo](ERROR): Communications Fault
2021-03-31T21:49:35.085Z,1617227375.085 [DockingServo](INFO): Stop
2021-03-31T21:49:35.086Z,1617227375.086 [DockingServo](DEBUG): Uninitialize Docking Servo.
2021-03-31T21:49:35.086Z,1617227375.086 [DockingServo](INFO): Powering down
2021-03-31T21:49:35.087Z,1617227375.087 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-03-31T21:49:35.087Z,1617227375.087 [RudderServo](INFO): Powering down
2021-03-31T21:49:35.088Z,1617227375.088 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-03-31T21:49:35.088Z,1617227375.088 [ThrusterServo](INFO): Powering down
2021-03-31T21:49:35.092Z,1617227375.092 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2021-03-31T21:49:35.092Z,1617227375.092 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2021-03-31T21:49:35.149Z,1617227375.149 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-03-31T21:49:35.149Z,1617227375.149 [ElevatorServo](INFO): Powering down
2021-03-31T21:49:35.150Z,1617227375.150 [DockingServo](INFO): Stopping
2021-03-31T21:49:35.516Z,1617227375.516 [DockingServo](INFO): Stopped
2021-03-31T21:49:35.517Z,1617227375.517 [DockingServo](INFO): Is needed returning:1
2021-03-31T21:49:35.517Z,1617227375.517 [DockingServo](INFO): Start
2021-03-31T21:49:35.517Z,1617227375.517 [DockingServo](DEBUG): Initializing EZServoServo.
2021-03-31T21:49:37.773Z,1617227377.773 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-31T21:49:37.774Z,1617227377.774 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-31T21:49:37.793Z,1617227377.793 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-03-31T21:49:37.793Z,1617227377.793 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-31T21:49:37.793Z,1617227377.793 [Radio_Surface](INFO): Join timeout helper Thread ID is 923
2021-03-31T21:49:37.897Z,1617227377.897 [Radio_Surface](INFO): Powering down
2021-03-31T21:49:37.898Z,1617227377.898 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-31T21:49:37.898Z,1617227377.898 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-31T21:49:37.909Z,1617227377.909 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-03-31T21:49:37.909Z,1617227377.909 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-31T21:49:37.909Z,1617227377.909 [Onboard](INFO): Join timeout helper Thread ID is 924
2021-03-31T21:49:42.233Z,161