2021-04-30T18:39:27.370Z,1619807967.370 [Supervisor](DEBUG): Initializing supervisor.
2021-04-30T18:39:27.374Z,1619807967.374 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-04-30T18:39:27.375Z,1619807967.375 [SyncHandler](INFO): Protected caller Thread ID is 6223
2021-04-30T18:39:27.375Z,1619807967.375 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-04-30T18:39:27.376Z,1619807967.376 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-04-30T18:39:27.376Z,1619807967.376 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6224
2021-04-30T18:39:27.381Z,1619807967.381 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-04-30T18:39:27.400Z,1619807967.400 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-04-30T18:39:27.401Z,1619807967.401 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-04-30T18:39:27.402Z,1619807967.402 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6225
2021-04-30T18:39:27.404Z,1619807967.404 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-04-30T18:39:27.405Z,1619807967.405 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-04-30T18:39:27.405Z,1619807967.405 [logger ThreadHandler](INFO): Protected caller Thread ID is 6226
2021-04-30T18:39:27.409Z,1619807967.409 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-04-30T18:39:27.410Z,1619807967.410 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-04-30T18:39:27.411Z,1619807967.411 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-04-30T18:39:27.812Z,1619807967.812 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-04-30T18:39:27.812Z,1619807967.812 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-04-30T18:39:28.022Z,1619807968.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-04-30T18:39:28.023Z,1619807968.023 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-04-30T18:39:28.223Z,1619807968.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-04-30T18:39:28.223Z,1619807968.223 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-04-30T18:39:28.321Z,1619807968.321 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-04-30T18:39:28.322Z,1619807968.322 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-04-30T18:39:28.675Z,1619807968.675 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-04-30T18:39:28.676Z,1619807968.676 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-04-30T18:39:29.024Z,1619807969.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-04-30T18:39:29.024Z,1619807969.024 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-04-30T18:39:29.120Z,1619807969.120 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-04-30T18:39:29.120Z,1619807969.120 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-04-30T18:39:29.268Z,1619807969.268 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-04-30T18:39:29.268Z,1619807969.268 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-04-30T18:39:29.869Z,1619807969.869 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-04-30T18:39:29.870Z,1619807969.870 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-04-30T18:39:30.233Z,1619807970.233 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-04-30T18:39:30.233Z,1619807970.233 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-04-30T18:39:30.313Z,1619807970.313 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-04-30T18:39:30.519Z,1619807970.519 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-04-30T18:39:30.519Z,1619807970.519 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-04-30T18:39:30.645Z,1619807970.645 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-04-30T18:39:30.645Z,1619807970.645 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-04-30T18:39:31.300Z,1619807971.300 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-04-30T18:39:31.301Z,1619807971.301 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-04-30T18:39:31.380Z,1619807971.380 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-04-30T18:39:31.628Z,1619807971.628 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-04-30T18:39:31.629Z,1619807971.629 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2021-04-30T18:39:31.630Z,1619807971.630 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2021-04-30T18:39:31.801Z,1619807971.801 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2021-04-30T18:39:31.896Z,1619807971.896 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2021-04-30T18:39:32.005Z,1619807972.005 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2021-04-30T18:39:32.166Z,1619807972.166 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2021-04-30T18:39:32.257Z,1619807972.257 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2021-04-30T18:39:32.445Z,1619807972.445 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2021-04-30T18:39:32.702Z,1619807972.702 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2021-04-30T18:39:32.900Z,1619807972.900 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2021-04-30T18:39:33.137Z,1619807973.137 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2021-04-30T18:39:33.397Z,1619807973.397 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-04-30T18:39:33.398Z,1619807973.398 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2021-04-30T18:39:33.491Z,1619807973.491 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/root/
2021-04-30T18:39:33.492Z,1619807973.492 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-04-30T18:39:33.498Z,1619807973.498 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-04-30T18:39:33.834Z,1619807973.834 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-04-30T18:39:33.834Z,1619807973.834 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-04-30T18:39:33.915Z,1619807973.915 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-04-30T18:39:33.916Z,1619807973.916 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-04-30T18:39:33.949Z,1619807973.949 [DeadReckonUsingSpeedCalculator] Loaded
2021-04-30T18:39:33.950Z,1619807973.950 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2021-04-30T18:39:33.962Z,1619807973.962 [NavChart] Loaded
2021-04-30T18:39:33.963Z,1619807973.963 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-04-30T18:39:33.969Z,1619807973.969 [UniversalFixResidualReporter] Loaded
2021-04-30T18:39:33.969Z,1619807973.969 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-04-30T18:39:33.969Z,1619807973.969 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-04-30T18:39:33.970Z,1619807973.970 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-04-30T18:39:33.981Z,1619807973.981 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-04-30T18:39:33.982Z,1619807973.982 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-04-30T18:39:34.154Z,1619807974.154 [CTD_Seabird] Loaded
2021-04-30T18:39:34.155Z,1619807974.155 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-04-30T18:39:34.156Z,1619807974.156 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 4061F4E0
2021-04-30T18:39:34.156Z,1619807974.156 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 6309
2021-04-30T18:39:34.188Z,1619807974.188 [WetLabsBB2FL] Loaded
2021-04-30T18:39:34.188Z,1619807974.188 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-04-30T18:39:34.189Z,1619807974.189 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4064F4E0
2021-04-30T18:39:34.189Z,1619807974.189 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 6310
2021-04-30T18:39:34.190Z,1619807974.190 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-04-30T18:39:34.191Z,1619807974.191 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-04-30T18:39:34.244Z,1619807974.244 [VerticalControl](DEBUG): Construct VerticalControl.
2021-04-30T18:39:34.306Z,1619807974.306 [VerticalControl] Loaded
2021-04-30T18:39:34.306Z,1619807974.306 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-04-30T18:39:34.309Z,1619807974.309 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-04-30T18:39:34.347Z,1619807974.347 [HorizontalControl] Loaded
2021-04-30T18:39:34.347Z,1619807974.347 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-04-30T18:39:34.349Z,1619807974.349 [SpeedControl](DEBUG): Construct SpeedControl.
2021-04-30T18:39:34.353Z,1619807974.353 [SpeedControl] Loaded
2021-04-30T18:39:34.353Z,1619807974.353 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-04-30T18:39:34.355Z,1619807974.355 [LoopControl](DEBUG): Construct LoopControl.
2021-04-30T18:39:34.356Z,1619807974.356 [LoopControl] Loaded
2021-04-30T18:39:34.356Z,1619807974.356 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-04-30T18:39:34.357Z,1619807974.357 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-04-30T18:39:34.357Z,1619807974.357 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-04-30T18:39:34.400Z,1619807974.400 [DepthRateCalculator] Loaded
2021-04-30T18:39:34.400Z,1619807974.400 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-04-30T18:39:34.405Z,1619807974.405 [PitchRateCalculator] Loaded
2021-04-30T18:39:34.405Z,1619807974.405 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-04-30T18:39:34.414Z,1619807974.414 [SpeedCalculator] Loaded
2021-04-30T18:39:34.415Z,1619807974.415 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-04-30T18:39:34.428Z,1619807974.428 [TempGradientCalculator] Loaded
2021-04-30T18:39:34.428Z,1619807974.428 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-04-30T18:39:34.433Z,1619807974.433 [YawRateCalculator] Loaded
2021-04-30T18:39:34.433Z,1619807974.433 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-04-30T18:39:34.450Z,1619807974.450 [ElevatorOffsetCalculator] Loaded
2021-04-30T18:39:34.451Z,1619807974.451 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-04-30T18:39:34.451Z,1619807974.451 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-04-30T18:39:34.452Z,1619807974.452 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-04-30T18:39:34.548Z,1619807974.548 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-04-30T18:39:34.549Z,1619807974.549 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-04-30T18:39:34.605Z,1619807974.605 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-04-30T18:39:34.605Z,1619807974.605 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-04-30T18:39:34.729Z,1619807974.729 [BuoyancyServo] Loaded
2021-04-30T18:39:34.729Z,1619807974.729 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-04-30T18:39:34.749Z,1619807974.749 [ElevatorServo] Loaded
2021-04-30T18:39:34.749Z,1619807974.749 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-04-30T18:39:34.768Z,1619807974.768 [MassServo] Loaded
2021-04-30T18:39:34.768Z,1619807974.768 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-04-30T18:39:34.787Z,1619807974.787 [RudderServo] Loaded
2021-04-30T18:39:34.787Z,1619807974.787 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-04-30T18:39:34.805Z,1619807974.805 [ThrusterServo] Loaded
2021-04-30T18:39:34.806Z,1619807974.806 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-04-30T18:39:34.806Z,1619807974.806 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-04-30T18:39:34.806Z,1619807974.806 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-04-30T18:39:34.913Z,1619807974.913 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-04-30T18:39:34.913Z,1619807974.913 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-04-30T18:39:35.264Z,1619807975.264 [AHRS_M2] Loaded
2021-04-30T18:39:35.265Z,1619807975.265 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-04-30T18:39:36.079Z,1619807976.079 [BPC1] Loaded
2021-04-30T18:39:36.079Z,1619807976.079 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-04-30T18:39:36.150Z,1619807976.150 [DataOverHttps] Loaded
2021-04-30T18:39:36.150Z,1619807976.150 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-04-30T18:39:36.152Z,1619807976.152 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A0A4E0
2021-04-30T18:39:36.152Z,1619807976.152 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6311
2021-04-30T18:39:36.172Z,1619807976.172 [Depth_Keller] Loaded
2021-04-30T18:39:36.172Z,1619807976.172 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-04-30T18:39:36.231Z,1619807976.231 [NAL9602] Loaded
2021-04-30T18:39:36.232Z,1619807976.232 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-04-30T18:39:36.258Z,1619807976.258 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2021-04-30T18:39:36.259Z,1619807976.259 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2021-04-30T18:39:36.259Z,1619807976.259 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2021-04-30T18:39:36.260Z,1619807976.260 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2021-04-30T18:39:36.261Z,1619807976.261 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2021-04-30T18:39:36.261Z,1619807976.261 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2021-04-30T18:39:36.262Z,1619807976.262 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2021-04-30T18:39:36.262Z,1619807976.262 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2021-04-30T18:39:36.262Z,1619807976.262 [Onboard] Loaded
2021-04-30T18:39:36.262Z,1619807976.262 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-04-30T18:39:36.264Z,1619807976.264 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A3A4E0
2021-04-30T18:39:36.264Z,1619807976.264 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 6312
2021-04-30T18:39:36.277Z,1619807976.277 [Radio_Surface] Loaded
2021-04-30T18:39:36.278Z,1619807976.278 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-04-30T18:39:36.279Z,1619807976.279 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A6A4E0
2021-04-30T18:39:36.279Z,1619807976.279 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6313
2021-04-30T18:39:36.361Z,1619807976.361 [DAT] Loaded
2021-04-30T18:39:36.362Z,1619807976.362 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2021-04-30T18:39:36.362Z,1619807976.362 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-04-30T18:39:36.363Z,1619807976.363 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-04-30T18:39:36.512Z,1619807976.512 [SBIT](DEBUG): Construct Startup Built In Test.
2021-04-30T18:39:36.521Z,1619807976.521 [SBIT] Loaded
2021-04-30T18:39:36.521Z,1619807976.521 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-04-30T18:39:36.524Z,1619807976.524 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-04-30T18:39:36.537Z,1619807976.537 [IBIT] Loaded
2021-04-30T18:39:36.537Z,1619807976.537 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-04-30T18:39:36.543Z,1619807976.543 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-04-30T18:39:36.645Z,1619807976.645 [CBIT] Loaded
2021-04-30T18:39:36.646Z,1619807976.646 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-04-30T18:39:36.646Z,1619807976.646 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-04-30T18:39:36.647Z,1619807976.647 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-04-30T18:39:36.675Z,1619807976.675 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-04-30T18:39:36.681Z,1619807976.681 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-04-30T18:39:36.684Z,1619807976.684 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-04-30T18:39:36.695Z,1619807976.695 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-04-30T18:39:36.696Z,1619807976.696 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AF54E0
2021-04-30T18:39:36.696Z,1619807976.696 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6314
2021-04-30T18:39:36.701Z,1619807976.701 [Supervisor](INFO): Main Thread ID is 6222
2021-04-30T18:39:36.701Z,1619807976.701 [Supervisor](DEBUG): Running supervisor.
2021-04-30T18:39:36.702Z,1619807976.702 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6315
2021-04-30T18:39:36.704Z,1619807976.704 [controlThread ThreadHandler](INFO): Handler Thread ID is 6316
2021-04-30T18:39:36.705Z,1619807976.705 [controlThread](DEBUG): Initializing ControlThread
2021-04-30T18:39:36.706Z,1619807976.706 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2021-04-30T18:39:36.706Z,1619807976.706 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-04-30T18:39:36.707Z,1619807976.707 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-04-30T18:39:36.707Z,1619807976.707 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-04-30T18:39:36.709Z,1619807976.709 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-04-30T18:39:36.710Z,1619807976.710 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-04-30T18:39:36.710Z,1619807976.710 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-04-30T18:39:36.711Z,1619807976.711 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-04-30T18:39:36.711Z,1619807976.711 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-04-30T18:39:36.711Z,1619807976.711 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-04-30T18:39:36.712Z,1619807976.712 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-04-30T18:39:36.712Z,1619807976.712 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-04-30T18:39:36.712Z,1619807976.712 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-04-30T18:39:36.716Z,1619807976.716 [SBIT](INFO): Initialize SBIT Component.
2021-04-30T18:39:36.716Z,1619807976.716 [SBIT](IMPORTANT): git: 2021-02-15-23-g3a852c62c
2021-04-30T18:39:36.717Z,1619807976.717 [SBIT](INFO): git hash: 3a852c62cd7a39cad2b788ae0015bb0a43866a82
2021-04-30T18:39:36.717Z,1619807976.717 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-04-30T18:39:36.718Z,1619807976.718 [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
2021-04-30T18:39:36.719Z,1619807976.719 [SBIT](INFO): Beginning SBIT in 24.000000 seconds.
2021-04-30T18:39:36.720Z,1619807976.720 [IBIT](INFO): Initialize IBIT Component.
2021-04-30T18:39:36.720Z,1619807976.720 [CBIT](DEBUG): Initialize CBIT Component.
2021-04-30T18:39:36.722Z,1619807976.722 [logger ThreadHandler](INFO): Handler Thread ID is 6317
2021-04-30T18:39:36.731Z,1619807976.731 [CBIT](DEBUG): Initialized mux pins.
2021-04-30T18:39:36.731Z,1619807976.731 [CBIT](DEBUG): Initializing the watchdog timer.
2021-04-30T18:39:36.740Z,1619807976.740 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 6318
2021-04-30T18:39:36.740Z,1619807976.740 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-04-30T18:39:36.745Z,1619807976.745 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 6320
2021-04-30T18:39:36.748Z,1619807976.748 [WetLabsBB2FL](INFO): Powering up
2021-04-30T18:39:36.749Z,1619807976.749 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6322
2021-04-30T18:39:36.750Z,1619807976.750 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-04-30T18:39:36.755Z,1619807976.755 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-04-30T18:39:36.756Z,1619807976.756 [CBIT](DEBUG): Initializing heartbeat.
2021-04-30T18:39:36.764Z,1619807976.764 [Onboard ThreadHandler](INFO): Handler Thread ID is 6323
2021-04-30T18:39:36.784Z,1619807976.784 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6324
2021-04-30T18:39:36.804Z,1619807976.804 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6325
2021-04-30T18:39:36.807Z,1619807976.807 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-04-30T18:39:36.807Z,1619807976.807 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-04-30T18:39:36.807Z,1619807976.807 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-04-30T18:39:36.808Z,1619807976.808 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-04-30T18:39:36.808Z,1619807976.808 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-04-30T18:39:36.808Z,1619807976.808 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-04-30T18:39:36.808Z,1619807976.808 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-04-30T18:39:36.808Z,1619807976.808 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-04-30T18:39:36.808Z,1619807976.808 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-04-30T18:39:36.809Z,1619807976.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-04-30T18:39:36.809Z,1619807976.809 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-04-30T18:39:36.809Z,1619807976.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-04-30T18:39:36.809Z,1619807976.809 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-04-30T18:39:36.809Z,1619807976.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-04-30T18:39:36.809Z,1619807976.809 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-04-30T18:39:36.809Z,1619807976.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-04-30T18:39:36.827Z,1619807976.827 [CBIT](DEBUG): Deactivating GF circuits.
2021-04-30T18:39:36.827Z,1619807976.827 [CBIT](DEBUG): Deactivating emergency mode.
2021-04-30T18:39:36.863Z,1619807976.863 [CBIT](DEBUG): Backplane powered.
2021-04-30T18:39:36.864Z,1619807976.864 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-04-30T18:39:36.876Z,1619807976.876 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-04-30T18:39:36.904Z,1619807976.904 [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>


2021-04-30T18:39:36.905Z,1619807976.905 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-04-30T18:39:36.977Z,1619807976.977 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-04-30T18:39:36.978Z,1619807976.978 [Default:A.Wait](DEBUG): Construct Wait.
2021-04-30T18:39:36.980Z,1619807976.980 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-04-30T18:39:37.028Z,1619807977.028 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-04-30T18:39:37.031Z,1619807977.031 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-04-30T18:39:37.053Z,1619807977.053 [Default:E.Execute](DEBUG): Construct Execute.
2021-04-30T18:39:37.056Z,1619807977.056 [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>


2021-04-30T18:39:37.074Z,1619807977.074 [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,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-04-30T18:39:37.104Z,1619807977.104 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-04-30T18:39:37.178Z,1619807977.178 [DAT](INFO): Powering up
2021-04-30T18:39:37.178Z,1619807977.178 [DAT](DEBUG): Initializing DAT.
2021-04-30T18:39:37.187Z,1619807977.187 [Radio_Surface](INFO): Powering up
2021-04-30T18:39:37.229Z,1619807977.229 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:37.230Z,1619807977.230 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-04-30T18:39:37.236Z,1619807977.236 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:37.237Z,1619807977.237 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-04-30T18:39:37.240Z,1619807977.240 [MassServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:37.242Z,1619807977.242 [MassServo](DEBUG): Initializing MassServo.
2021-04-30T18:39:37.243Z,1619807977.243 [RudderServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:37.263Z,1619807977.263 [RudderServo](DEBUG): Initializing RudderServo.
2021-04-30T18:39:37.264Z,1619807977.264 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:37.275Z,1619807977.275 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-04-30T18:39:38.211Z,1619807978.211 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-04-30T18:39:38.211Z,1619807978.211 [RudderServo](FAULT): Rudder failed to initialize
2021-04-30T18:39:38.212Z,1619807978.212 [RudderServo] Communications Fault, FailCount= 1
2021-04-30T18:39:38.212Z,1619807978.212 [RudderServo](ERROR): Communications Fault
2021-04-30T18:39:38.311Z,1619807978.311 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-04-30T18:39:38.468Z,1619807978.468 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-04-30T18:39:38.468Z,1619807978.468 [RudderServo](INFO): Powering down
2021-04-30T18:39:39.139Z,1619807979.139 [RudderServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:39.256Z,1619807979.256 [RudderServo](DEBUG): Initializing RudderServo.
2021-04-30T18:39:39.260Z,1619807979.260 [CBIT](INFO): Clearing failed state for component RudderServo
2021-04-30T18:39:39.260Z,1619807979.260 [RudderServo] No Fault, FailCount= 1
2021-04-30T18:39:39.359Z,1619807979.359 [WetLabsBB2FL](INFO): Powering down
2021-04-30T18:39:41.228Z,1619807981.228 [MassServo](FAULT): Overload Error
2021-04-30T18:39:41.228Z,1619807981.228 [MassServo] Hardware Fault, FailCount= 1
2021-04-30T18:39:41.228Z,1619807981.228 [MassServo](ERROR): Hardware Fault
2021-04-30T18:39:41.415Z,1619807981.415 [CBIT](ERROR): Hardware Fault in component: MassServo
2021-04-30T18:39:41.665Z,1619807981.665 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-04-30T18:39:41.665Z,1619807981.665 [MassServo](INFO): Powering down
2021-04-30T18:39:42.416Z,1619807982.416 [MassServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:42.536Z,1619807982.536 [MassServo](DEBUG): Initializing MassServo.
2021-04-30T18:39:42.604Z,1619807982.604 [CBIT](INFO): Clearing failed state for component MassServo
2021-04-30T18:39:42.604Z,1619807982.604 [MassServo] No Fault, FailCount= 1
2021-04-30T18:39:46.471Z,1619807986.471 [MassServo](FAULT): Overload Error
2021-04-30T18:39:46.472Z,1619807986.472 [MassServo] Hardware Fault, FailCount= 2
2021-04-30T18:39:46.472Z,1619807986.472 [MassServo](ERROR): Hardware Fault
2021-04-30T18:39:46.512Z,1619807986.512 [CBIT](ERROR): Hardware Fault in component: MassServo
2021-04-30T18:39:46.821Z,1619807986.821 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-04-30T18:39:46.821Z,1619807986.821 [MassServo](INFO): Powering down
2021-04-30T18:39:47.624Z,1619807987.624 [MassServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:47.744Z,1619807987.744 [MassServo](DEBUG): Initializing MassServo.
2021-04-30T18:39:47.749Z,1619807987.749 [CBIT](INFO): Clearing failed state for component MassServo
2021-04-30T18:39:47.749Z,1619807987.749 [MassServo] No Fault, FailCount= 2
2021-04-30T18:39:51.654Z,1619807991.654 [DAT](INFO): commRate: 800
2021-04-30T18:39:51.687Z,1619807991.687 [MassServo](FAULT): Overload Error
2021-04-30T18:39:51.688Z,1619807991.688 [MassServo] Hardware Fault, FailCount= 3
2021-04-30T18:39:51.688Z,1619807991.688 [MassServo](ERROR): Hardware Fault
2021-04-30T18:39:51.752Z,1619807991.752 [CBIT](ERROR): Hardware Fault in component: MassServo
2021-04-30T18:39:52.068Z,1619807992.068 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-04-30T18:39:52.068Z,1619807992.068 [MassServo](INFO): Powering down
2021-04-30T18:39:52.881Z,1619807992.881 [MassServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:52.996Z,1619807992.996 [MassServo](DEBUG): Initializing MassServo.
2021-04-30T18:39:53.001Z,1619807993.001 [CBIT](INFO): Clearing failed state for component MassServo
2021-04-30T18:39:53.001Z,1619807993.001 [MassServo] No Fault, FailCount= 3
2021-04-30T18:39:53.677Z,1619807993.677 [DAT](INFO): entering command mode
2021-04-30T18:39:54.077Z,1619807994.077 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:54.481Z,1619807994.481 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:54.885Z,1619807994.885 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:55.289Z,1619807995.289 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:55.693Z,1619807995.693 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:56.097Z,1619807996.097 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:56.501Z,1619807996.501 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:56.905Z,1619807996.905 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:56.951Z,1619807996.951 [MassServo](FAULT): Overload Error
2021-04-30T18:39:56.951Z,1619807996.951 [MassServo] Hardware Fault, FailCount= 4
2021-04-30T18:39:56.951Z,1619807996.951 [MassServo](ERROR): Hardware Fault
2021-04-30T18:39:57.024Z,1619807997.024 [CBIT](ERROR): Hardware Fault in component: MassServo
2021-04-30T18:39:57.309Z,1619807997.309 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:57.320Z,1619807997.320 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-04-30T18:39:57.320Z,1619807997.320 [MassServo](INFO): Powering down
2021-04-30T18:39:57.719Z,1619807997.719 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:58.117Z,1619807998.117 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:58.157Z,1619807998.157 [MassServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:39:58.276Z,1619807998.276 [MassServo](DEBUG): Initializing MassServo.
2021-04-30T18:39:58.281Z,1619807998.281 [CBIT](INFO): Clearing failed state for component MassServo
2021-04-30T18:39:58.281Z,1619807998.281 [MassServo] No Fault, FailCount= 4
2021-04-30T18:39:58.521Z,1619807998.521 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:58.925Z,1619807998.925 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:59.333Z,1619807999.333 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:39:59.733Z,1619807999.733 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:00.137Z,1619808000.137 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:00.541Z,1619808000.541 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:00.949Z,1619808000.949 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:01.349Z,1619808001.349 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:01.389Z,1619808001.389 [SBIT](IMPORTANT): Beginning Startup BIT
2021-04-30T18:40:01.397Z,1619808001.397 [CBIT](IMPORTANT): Beginning ground fault scan
2021-04-30T18:40:01.753Z,1619808001.753 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:02.157Z,1619808002.157 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:02.219Z,1619808002.219 [MassServo](FAULT): Overload Error
2021-04-30T18:40:02.219Z,1619808002.219 [MassServo] Hardware Fault, FailCount= 5
2021-04-30T18:40:02.219Z,1619808002.219 [MassServo](ERROR): Hardware Fault
2021-04-30T18:40:02.297Z,1619808002.297 [CBIT](ERROR): Hardware Fault in component: MassServo
2021-04-30T18:40:02.297Z,1619808002.297 [CBIT](CRITICAL): Hardware Fault in component: MassServo
2021-04-30T18:40:02.573Z,1619808002.573 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:02.617Z,1619808002.617 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-04-30T18:40:02.617Z,1619808002.617 [MassServo](INFO): Powering down
2021-04-30T18:40:02.620Z,1619808002.620 [CommandLine](FAULT): Scheduling is paused
2021-04-30T18:40:02.620Z,1619808002.620 [CBIT](INFO): Critical error at 20210430T184002
2021-04-30T18:40:02.621Z,1619808002.621 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-04-30T18:40:02.965Z,1619808002.965 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:03.369Z,1619808003.369 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:03.432Z,1619808003.432 [MassServo](DEBUG): Initializing EZServoServo.
2021-04-30T18:40:03.552Z,1619808003.552 [MassServo](DEBUG): Initializing MassServo.
2021-04-30T18:40:03.781Z,1619808003.781 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:04.177Z,1619808004.177 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:04.587Z,1619808004.587 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:04.985Z,1619808004.985 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:05.389Z,1619808005.389 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:05.793Z,1619808005.793 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:06.205Z,1619808006.205 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:06.601Z,1619808006.601 [NAL9602](INFO): Powering up NAL9602
2021-04-30T18:40:06.602Z,1619808006.602 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:07.005Z,1619808007.005 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:07.409Z,1619808007.409 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:07.817Z,1619808007.817 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:08.217Z,1619808008.217 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:08.621Z,1619808008.621 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:09.025Z,1619808009.025 [DAT](DEBUG): checking for command mode acknowledgment
2021-04-30T18:40:09.025Z,1619808009.025 [DAT](FAULT): failed to enter command mode
2021-04-30T18:40:09.429Z,1619808009.429 [DAT](INFO): entering command mode
2021-04-30T18:40:09.834Z,1619808009.834 [DAT](INFO): setting verbose to 3
2021-04-30T18:40:10.238Z,1619808010.238 [DAT](INFO): set verbose to 3
2021-04-30T18:40:10.238Z,1619808010.238 [DAT](INFO): setting DatVerbose to 27440
2021-04-30T18:40:10.642Z,1619808010.642 [DAT](INFO): set DatVerbose to 27440
2021-04-30T18:40:10.642Z,1619808010.642 [DAT](INFO): setting transmit power to 8
2021-04-30T18:40:11.050Z,1619808011.050 [DAT](INFO): set transmit power to 8
2021-04-30T18:40:11.050Z,1619808011.050 [DAT](INFO): setting local address to 10
2021-04-30T18:40:11.450Z,1619808011.450 [DAT](INFO): set local address to 10
2021-04-30T18:40:12.301Z,1619808012.301 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.009239
CHAN A1 (24V): 0.178125
CHAN A2 (12V): -0.005387
CHAN A3 (5V): -0.003079
CHAN B0 (3.3V): -0.001493
CHAN B1 (3.15aV): -0.000470
CHAN B2 (3.15bV): -0.000828
CHAN B3 (GND): -0.000522
OPEN: 0.004935
Full Scale Calc: 4.765 mA, -1.589 mA
2021-04-30T18:40:14.726Z,1619808014.726 [SBIT](ERROR): Could not read massPosReader_.
2021-04-30T18:40:17.523Z,1619808017.523 [NAL9602](INFO): NAL9602 initialized
2021-04-30T18:40:41.382Z,1619808041.382 [SBIT](ERROR): Could not read massPosReader_.
2021-04-30T18:40:41.382Z,1619808041.382 [SBIT](FAULT): Control surface position failure.
2021-04-30T18:40:55.105Z,1619808055.105 [SBIT](ERROR): Could not read massPosReader_.
2021-04-30T18:40:55.106Z,1619808055.106 [SBIT](FAULT): Control surface position failure.
2021-04-30T18:40:55.501Z,1619808055.501 [SBIT](CRITICAL): SBIT FAILED
2021-04-30T18:40:55.502Z,1619808055.502 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-04-30T18:40:55.502Z,1619808055.502 [SBIT](IMPORTANT): CTD_NeilBrown.loadAtStartup=0 bool;

2021-04-30T18:40:55.503Z,1619808055.503 [SBIT](IMPORTANT): DAT.loadAtStartup=1 bool;

2021-04-30T18:40:55.503Z,1619808055.503 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2021-04-30T18:40:55.503Z,1619808055.503 [SBIT](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2021-04-30T18:40:55.535Z,1619808055.535 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=235 cubic_centimeter;

2021-04-30T18:40:55.535Z,1619808055.535 [SBIT](IMPORTANT): VerticalControl.massDefault=-1 millimeter;

2021-04-30T18:40:55.537Z,1619808055.537 [CBIT](INFO): Critical error at 20210430T184055
2021-04-30T18:40:55.901Z,1619808055.901 [MissionManager](IMPORTANT): Started mission Startup
2021-04-30T18:40:55.901Z,1619808055.901 [Startup] Running Loop=1
2021-04-30T18:40:55.901Z,1619808055.901 [Startup](DEBUG): Aggregate::initialize Startup
2021-04-30T18:40:55.901Z,1619808055.901 [Startup:A.GoToSurface] Running Loop=1
2021-04-30T18:40:55.902Z,1619808055.902 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-04-30T18:40:55.902Z,1619808055.902 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-04-30T18:40:55.903Z,1619808055.903 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-04-30T18:40:55.903Z,1619808055.903 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-04-30T18:40:55.903Z,1619808055.903 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-04-30T18:40:55.904Z,1619808055.904 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-04-30T18:40:55.905Z,1619808055.905 [Startup:StartupSatComms] Running Loop=1
2021-04-30T18:40:55.905Z,1619808055.905 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-04-30T18:40:55.905Z,1619808055.905 [Startup:StartupSatComms:A] Running Loop=1
2021-04-30T18:40:56.321Z,1619808056.321 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-04-30T18:41:06.209Z,1619808066.209 [CommandLine](IMPORTANT): got command quit
2021-04-30T18:41:07.215Z,1619808067.215 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:07.216Z,1619808067.216 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:07.271Z,1619808067.271 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-04-30T18:41:07.271Z,1619808067.271 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:07.272Z,1619808067.272 [CommandLine](INFO): Join timeout helper Thread ID is 6349
2021-04-30T18:41:07.273Z,1619808067.273 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-04-30T18:41:07.273Z,1619808067.273 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:07.273Z,1619808067.273 [NavChartDb](INFO): Join timeout helper Thread ID is 6350
2021-04-30T18:41:07.555Z,1619808067.555 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:07.556Z,1619808067.556 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:07.559Z,1619808067.559 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-04-30T18:41:07.559Z,1619808067.559 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:07.560Z,1619808067.560 [Radio_Surface](INFO): Join timeout helper Thread ID is 6351
2021-04-30T18:41:07.707Z,1619808067.707 [Radio_Surface](INFO): Powering down
2021-04-30T18:41:07.708Z,1619808067.708 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:07.708Z,1619808067.708 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:07.715Z,1619808067.715 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-04-30T18:41:07.715Z,1619808067.715 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:07.716Z,1619808067.716 [Onboard](INFO): Join timeout helper Thread ID is 6352
2021-04-30T18:41:11.839Z,1619808071.839 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:11.840Z,1619808071.840 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:11.847Z,1619808071.847 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2021-04-30T18:41:11.847Z,1619808071.847 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:11.848Z,1619808071.848 [DataOverHttps](INFO): Join timeout helper Thread ID is 6353
2021-04-30T18:41:12.131Z,1619808072.131 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:12.132Z,1619808072.132 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:12.144Z,1619808072.144 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2021-04-30T18:41:12.144Z,1619808072.144 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:12.145Z,1619808072.145 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 6354
2021-04-30T18:41:12.559Z,1619808072.559 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:12.560Z,1619808072.560 [WetLabsBB2FL](INFO): Powering down
2021-04-30T18:41:12.560Z,1619808072.560 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:12.576Z,1619808072.576 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2021-04-30T18:41:12.576Z,1619808072.576 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:12.576Z,1619808072.576 [CTD_Seabird](INFO): Join timeout helper Thread ID is 6355
2021-04-30T18:41:13.123Z,1619808073.123 [CTD_Seabird](INFO): Powering down
2021-04-30T18:41:13.135Z,1619808073.135 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:13.135Z,1619808073.135 [CTD_Seabird](INFO): Powering down
2021-04-30T18:41:13.147Z,1619808073.147 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.163Z,1619808073.163 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2021-04-30T18:41:13.163Z,1619808073.163 [logger ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.163Z,1619808073.163 [logger](INFO): Join timeout helper Thread ID is 6356
2021-04-30T18:41:13.163Z,1619808073.163 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:13.164Z,1619808073.164 [logger ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.165Z,1619808073.165 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2021-04-30T18:41:13.165Z,1619808073.165 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.165Z,1619808073.165 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2021-04-30T18:41:13.165Z,1619808073.165 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.166Z,1619808073.166 [controlThread](INFO): Join timeout helper Thread ID is 6357
2021-04-30T18:41:13.251Z,1619808073.251 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2021-04-30T18:41:13.252Z,1619808073.252 [controlThread](DEBUG): Uninitializing ControlThread
2021-04-30T18:41:13.252Z,1619808073.252 [AHRS_M2](INFO): Powering down
2021-04-30T18:41:13.324Z,1619808073.324 [NAL9602](INFO): Powering down
2021-04-30T18:41:13.326Z,1619808073.326 [DAT](INFO): Powering down
2021-04-30T18:41:13.444Z,1619808073.444 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2021-04-30T18:41:13.445Z,1619808073.445 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2021-04-30T18:41:13.445Z,1619808073.445 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2021-04-30T18:41:13.446Z,1619808073.446 [MissionManager](INFO): Uninitializing Mission Default
2021-04-30T18:41:13.448Z,1619808073.448 [MissionManager](INFO): Uninitializing Mission Startup
2021-04-30T18:41:13.448Z,1619808073.448 [Startup] Stopped
2021-04-30T18:41:13.449Z,1619808073.449 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-04-30T18:41:13.449Z,1619808073.449 [Startup:A.GoToSurface] Stopped
2021-04-30T18:41:13.449Z,1619808073.449 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-04-30T18:41:13.449Z,1619808073.449 [Startup:StartupSatComms] Stopped
2021-04-30T18:41:13.449Z,1619808073.449 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-04-30T18:41:13.449Z,1619808073.449 [Startup:StartupSatComms:A] Stopped
2021-04-30T18:41:13.450Z,1619808073.450 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2021-04-30T18:41:13.451Z,1619808073.451 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2021-04-30T18:41:13.451Z,1619808073.451 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2021-04-30T18:41:13.451Z,1619808073.451 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2021-04-30T18:41:13.452Z,1619808073.452 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-04-30T18:41:13.452Z,1619808073.452 [BuoyancyServo](INFO): Powering down
2021-04-30T18:41:13.463Z,1619808073.463 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-04-30T18:41:13.463Z,1619808073.463 [ElevatorServo](INFO): Powering down
2021-04-30T18:41:13.464Z,1619808073.464 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-04-30T18:41:13.464Z,1619808073.464 [MassServo](INFO): Powering down
2021-04-30T18:41:13.465Z,1619808073.465 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-04-30T18:41:13.465Z,1619808073.465 [RudderServo](INFO): Powering down
2021-04-30T18:41:13.466Z,1619808073.466 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-04-30T18:41:13.466Z,1619808073.466 [ThrusterServo](INFO): Powering down
2021-04-30T18:41:13.467Z,1619808073.467 [SBIT](DEBUG): Uninitialize SBIT Component.
2021-04-30T18:41:13.467Z,1619808073.467 [IBIT](DEBUG): Uninitialize IBIT Component.
2021-04-30T18:41:13.468Z,1619808073.468 [CBIT](DEBUG): Uninitialize CBIT Component.
2021-04-30T18:41:13.468Z,1619808073.468 [CBIT](DEBUG): Powering off loads.
2021-04-30T18:41:13.479Z,1619808073.479 [CBIT](DEBUG): Disabling WDT.
2021-04-30T18:41:13.491Z,1619808073.491 [CBIT](DEBUG): Opening all GF detection circuits.
2021-04-30T18:41:13.492Z,1619808073.492 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.523Z,1619808073.523 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.526Z,1619808073.526 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.690Z,1619808073.690 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.691Z,1619808073.691 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.696Z,1619808073.696 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.774Z,1619808073.774 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-04-30T18:41:13.834Z,1619808073.834 [logger ThreadHandler](INFO): Thread cancelled.