2021-08-03T21:03:40.892Z,1628024620.892 [Supervisor](DEBUG): Initializing supervisor.
2021-08-03T21:03:40.897Z,1628024620.897 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-08-03T21:03:40.897Z,1628024620.897 [SyncHandler](INFO): Protected caller Thread ID is 814
2021-08-03T21:03:40.898Z,1628024620.898 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-08-03T21:03:40.899Z,1628024620.899 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-08-03T21:03:40.899Z,1628024620.899 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 815
2021-08-03T21:03:40.903Z,1628024620.903 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-08-03T21:03:40.923Z,1628024620.923 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-08-03T21:03:40.924Z,1628024620.924 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-03T21:03:40.925Z,1628024620.925 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 816
2021-08-03T21:03:40.927Z,1628024620.927 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-08-03T21:03:40.928Z,1628024620.928 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-08-03T21:03:40.928Z,1628024620.928 [logger ThreadHandler](INFO): Protected caller Thread ID is 817
2021-08-03T21:03:40.932Z,1628024620.932 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-08-03T21:03:40.933Z,1628024620.933 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-08-03T21:03:40.937Z,1628024620.937 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-08-03T21:03:41.362Z,1628024621.362 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-08-03T21:03:41.364Z,1628024621.364 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-08-03T21:03:41.581Z,1628024621.581 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-08-03T21:03:41.583Z,1628024621.583 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-08-03T21:03:41.778Z,1628024621.778 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-08-03T21:03:41.778Z,1628024621.778 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-08-03T21:03:41.888Z,1628024621.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-08-03T21:03:41.888Z,1628024621.888 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-08-03T21:03:42.294Z,1628024622.294 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-08-03T21:03:42.295Z,1628024622.295 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-08-03T21:03:42.636Z,1628024622.636 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-08-03T21:03:42.637Z,1628024622.637 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-08-03T21:03:42.736Z,1628024622.736 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-08-03T21:03:42.736Z,1628024622.736 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-08-03T21:03:42.889Z,1628024622.889 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-08-03T21:03:42.889Z,1628024622.889 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-08-03T21:03:43.440Z,1628024623.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-08-03T21:03:43.441Z,1628024623.441 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-08-03T21:03:43.804Z,1628024623.804 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-08-03T21:03:43.806Z,1628024623.806 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-08-03T21:03:43.888Z,1628024623.888 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-08-03T21:03:44.183Z,1628024624.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-08-03T21:03:44.184Z,1628024624.184 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-08-03T21:03:44.317Z,1628024624.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-08-03T21:03:44.318Z,1628024624.318 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-08-03T21:03:45.301Z,1628024625.301 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-08-03T21:03:45.301Z,1628024625.301 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-08-03T21:03:45.381Z,1628024625.381 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-08-03T21:03:45.637Z,1628024625.637 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-08-03T21:03:45.639Z,1628024625.639 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2021-08-03T21:03:45.641Z,1628024625.641 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2021-08-03T21:03:45.816Z,1628024625.816 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2021-08-03T21:03:45.911Z,1628024625.911 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2021-08-03T21:03:46.037Z,1628024626.037 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2021-08-03T21:03:46.140Z,1628024626.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2021-08-03T21:03:46.224Z,1628024626.224 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2021-08-03T21:03:46.312Z,1628024626.312 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2021-08-03T21:03:46.426Z,1628024626.426 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2021-08-03T21:03:46.527Z,1628024626.527 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2021-08-03T21:03:46.672Z,1628024626.672 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2021-08-03T21:03:46.938Z,1628024626.938 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-08-03T21:03:46.939Z,1628024626.939 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2021-08-03T21:03:47.035Z,1628024627.035 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/root/
2021-08-03T21:03:47.036Z,1628024627.036 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-08-03T21:03:47.051Z,1628024627.051 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-08-03T21:03:47.459Z,1628024627.459 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-08-03T21:03:47.460Z,1628024627.460 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-08-03T21:03:47.563Z,1628024627.563 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-08-03T21:03:47.563Z,1628024627.563 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-08-03T21:03:47.599Z,1628024627.599 [DeadReckonUsingSpeedCalculator] Loaded
2021-08-03T21:03:47.599Z,1628024627.599 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2021-08-03T21:03:47.613Z,1628024627.613 [NavChart] Loaded
2021-08-03T21:03:47.613Z,1628024627.613 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-08-03T21:03:47.619Z,1628024627.619 [UniversalFixResidualReporter] Loaded
2021-08-03T21:03:47.619Z,1628024627.619 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-08-03T21:03:47.620Z,1628024627.620 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-08-03T21:03:47.620Z,1628024627.620 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-08-03T21:03:47.637Z,1628024627.637 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-08-03T21:03:47.638Z,1628024627.638 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-08-03T21:03:47.870Z,1628024627.870 [ESPComponent] Loaded
2021-08-03T21:03:47.870Z,1628024627.870 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2021-08-03T21:03:47.871Z,1628024627.871 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-08-03T21:03:47.872Z,1628024627.872 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-08-03T21:03:47.946Z,1628024627.946 [VerticalControl](DEBUG): Construct VerticalControl.
2021-08-03T21:03:48.009Z,1628024628.009 [VerticalControl] Loaded
2021-08-03T21:03:48.009Z,1628024628.009 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-08-03T21:03:48.012Z,1628024628.012 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-08-03T21:03:48.052Z,1628024628.052 [HorizontalControl] Loaded
2021-08-03T21:03:48.052Z,1628024628.052 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-08-03T21:03:48.054Z,1628024628.054 [SpeedControl](DEBUG): Construct SpeedControl.
2021-08-03T21:03:48.058Z,1628024628.058 [SpeedControl] Loaded
2021-08-03T21:03:48.058Z,1628024628.058 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-08-03T21:03:48.061Z,1628024628.061 [LoopControl](DEBUG): Construct LoopControl.
2021-08-03T21:03:48.061Z,1628024628.061 [LoopControl] Loaded
2021-08-03T21:03:48.061Z,1628024628.061 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-08-03T21:03:48.062Z,1628024628.062 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-08-03T21:03:48.063Z,1628024628.063 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-08-03T21:03:48.125Z,1628024628.125 [DepthRateCalculator] Loaded
2021-08-03T21:03:48.126Z,1628024628.126 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-08-03T21:03:48.130Z,1628024628.130 [PitchRateCalculator] Loaded
2021-08-03T21:03:48.131Z,1628024628.131 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-08-03T21:03:48.140Z,1628024628.140 [SpeedCalculator] Loaded
2021-08-03T21:03:48.141Z,1628024628.141 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-08-03T21:03:48.154Z,1628024628.154 [TempGradientCalculator] Loaded
2021-08-03T21:03:48.155Z,1628024628.155 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-08-03T21:03:48.159Z,1628024628.159 [YawRateCalculator] Loaded
2021-08-03T21:03:48.160Z,1628024628.160 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-08-03T21:03:48.177Z,1628024628.177 [ElevatorOffsetCalculator] Loaded
2021-08-03T21:03:48.178Z,1628024628.178 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-08-03T21:03:48.178Z,1628024628.178 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-08-03T21:03:48.179Z,1628024628.179 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-08-03T21:03:48.305Z,1628024628.305 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-08-03T21:03:48.306Z,1628024628.306 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-08-03T21:03:48.392Z,1628024628.392 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-08-03T21:03:48.392Z,1628024628.392 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-08-03T21:03:48.549Z,1628024628.549 [BuoyancyServo] Loaded
2021-08-03T21:03:48.549Z,1628024628.549 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-08-03T21:03:48.569Z,1628024628.569 [ElevatorServo] Loaded
2021-08-03T21:03:48.569Z,1628024628.569 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-08-03T21:03:48.588Z,1628024628.588 [MassServo] Loaded
2021-08-03T21:03:48.588Z,1628024628.588 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-08-03T21:03:48.607Z,1628024628.607 [RudderServo] Loaded
2021-08-03T21:03:48.608Z,1628024628.608 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-08-03T21:03:48.625Z,1628024628.625 [ThrusterServo] Loaded
2021-08-03T21:03:48.626Z,1628024628.626 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-08-03T21:03:48.626Z,1628024628.626 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-08-03T21:03:48.628Z,1628024628.628 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-08-03T21:03:48.771Z,1628024628.771 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-08-03T21:03:48.771Z,1628024628.771 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-08-03T21:03:50.535Z,1628024630.535 [BPC1] Loaded
2021-08-03T21:03:50.535Z,1628024630.535 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-08-03T21:03:50.675Z,1628024630.675 [DataOverHttps] Loaded
2021-08-03T21:03:50.675Z,1628024630.675 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-08-03T21:03:50.676Z,1628024630.676 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409B34E0
2021-08-03T21:03:50.677Z,1628024630.677 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 900
2021-08-03T21:03:50.698Z,1628024630.698 [Depth_Keller] Loaded
2021-08-03T21:03:50.698Z,1628024630.698 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-08-03T21:03:50.759Z,1628024630.759 [NAL9602] Loaded
2021-08-03T21:03:50.759Z,1628024630.759 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-08-03T21:03:50.787Z,1628024630.787 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2021-08-03T21:03:50.788Z,1628024630.788 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2021-08-03T21:03:50.789Z,1628024630.789 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2021-08-03T21:03:50.789Z,1628024630.789 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2021-08-03T21:03:50.790Z,1628024630.790 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2021-08-03T21:03:50.790Z,1628024630.790 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2021-08-03T21:03:50.791Z,1628024630.791 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2021-08-03T21:03:50.792Z,1628024630.792 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2021-08-03T21:03:50.792Z,1628024630.792 [Onboard] Loaded
2021-08-03T21:03:50.792Z,1628024630.792 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-08-03T21:03:50.793Z,1628024630.793 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409E34E0
2021-08-03T21:03:50.794Z,1628024630.794 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 901
2021-08-03T21:03:50.807Z,1628024630.807 [Power24vConverter] Loaded
2021-08-03T21:03:50.807Z,1628024630.807 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-08-03T21:03:50.820Z,1628024630.820 [Radio_Surface] Loaded
2021-08-03T21:03:50.821Z,1628024630.821 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-08-03T21:03:50.822Z,1628024630.822 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A134E0
2021-08-03T21:03:50.822Z,1628024630.822 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 902
2021-08-03T21:03:50.908Z,1628024630.908 [DAT] Loaded
2021-08-03T21:03:50.908Z,1628024630.908 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2021-08-03T21:03:50.908Z,1628024630.908 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-08-03T21:03:50.909Z,1628024630.909 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-08-03T21:03:51.097Z,1628024631.097 [SBIT](DEBUG): Construct Startup Built In Test.
2021-08-03T21:03:51.107Z,1628024631.107 [SBIT] Loaded
2021-08-03T21:03:51.107Z,1628024631.107 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-08-03T21:03:51.110Z,1628024631.110 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-08-03T21:03:51.124Z,1628024631.124 [IBIT] Loaded
2021-08-03T21:03:51.125Z,1628024631.125 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-08-03T21:03:51.131Z,1628024631.131 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-08-03T21:03:51.235Z,1628024631.235 [CBIT] Loaded
2021-08-03T21:03:51.235Z,1628024631.235 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-08-03T21:03:51.236Z,1628024631.236 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-08-03T21:03:51.236Z,1628024631.236 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-08-03T21:03:51.281Z,1628024631.281 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-08-03T21:03:51.287Z,1628024631.287 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-08-03T21:03:51.289Z,1628024631.289 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-08-03T21:03:51.300Z,1628024631.300 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-08-03T21:03:51.301Z,1628024631.301 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A9E4E0
2021-08-03T21:03:51.301Z,1628024631.301 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 903
2021-08-03T21:03:51.306Z,1628024631.306 [Supervisor](INFO): Main Thread ID is 810
2021-08-03T21:03:51.306Z,1628024631.306 [Supervisor](DEBUG): Running supervisor.
2021-08-03T21:03:51.307Z,1628024631.307 [CommandLine ThreadHandler](INFO): Handler Thread ID is 904
2021-08-03T21:03:51.314Z,1628024631.314 [CommandLine](IMPORTANT): got command quit
2021-08-03T21:03:51.319Z,1628024631.319 [controlThread ThreadHandler](INFO): Handler Thread ID is 905
2021-08-03T21:03:51.319Z,1628024631.319 [controlThread](DEBUG): Initializing ControlThread
2021-08-03T21:03:51.321Z,1628024631.321 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2021-08-03T21:03:51.321Z,1628024631.321 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-08-03T21:03:51.322Z,1628024631.322 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-08-03T21:03:51.322Z,1628024631.322 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-08-03T21:03:51.324Z,1628024631.324 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-08-03T21:03:51.325Z,1628024631.325 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-08-03T21:03:51.325Z,1628024631.325 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-08-03T21:03:51.326Z,1628024631.326 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-08-03T21:03:51.326Z,1628024631.326 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-08-03T21:03:51.327Z,1628024631.327 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-08-03T21:03:51.327Z,1628024631.327 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-08-03T21:03:51.327Z,1628024631.327 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-08-03T21:03:51.328Z,1628024631.328 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-08-03T21:03:51.332Z,1628024631.332 [SBIT](INFO): Initialize SBIT Component.
2021-08-03T21:03:51.332Z,1628024631.332 [SBIT](IMPORTANT): git: 2021-06-24-10-g1c68dac98
2021-08-03T21:03:51.332Z,1628024631.332 [SBIT](INFO): git hash: 1c68dac98e3954a039edc16fe17de653428a8fd0
2021-08-03T21:03:51.333Z,1628024631.333 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-08-03T21:03:51.334Z,1628024631.334 [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
2021-08-03T21:03:51.335Z,1628024631.335 [SBIT](INFO): Beginning SBIT in 20.000000 seconds.
2021-08-03T21:03:51.336Z,1628024631.336 [IBIT](INFO): Initialize IBIT Component.
2021-08-03T21:03:51.337Z,1628024631.337 [CBIT](DEBUG): Initialize CBIT Component.
2021-08-03T21:03:51.338Z,1628024631.338 [logger ThreadHandler](INFO): Handler Thread ID is 906
2021-08-03T21:03:51.350Z,1628024631.350 [CBIT](DEBUG): Initialized mux pins.
2021-08-03T21:03:51.351Z,1628024631.351 [CBIT](DEBUG): Initializing the watchdog timer.
2021-08-03T21:03:51.355Z,1628024631.355 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 907
2021-08-03T21:03:51.356Z,1628024631.356 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-08-03T21:03:51.363Z,1628024631.363 [Onboard ThreadHandler](INFO): Handler Thread ID is 908
2021-08-03T21:03:51.375Z,1628024631.375 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-08-03T21:03:51.376Z,1628024631.376 [CBIT](DEBUG): Initializing heartbeat.
2021-08-03T21:03:51.383Z,1628024631.383 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 909
2021-08-03T21:03:51.399Z,1628024631.399 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 910
2021-08-03T21:03:51.408Z,1628024631.408 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-08-03T21:03:51.408Z,1628024631.408 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-08-03T21:03:51.408Z,1628024631.408 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-08-03T21:03:51.408Z,1628024631.408 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-08-03T21:03:51.408Z,1628024631.408 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-08-03T21:03:51.409Z,1628024631.409 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-08-03T21:03:51.409Z,1628024631.409 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-08-03T21:03:51.409Z,1628024631.409 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-08-03T21:03:51.409Z,1628024631.409 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-08-03T21:03:51.409Z,1628024631.409 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-08-03T21:03:51.410Z,1628024631.410 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-08-03T21:03:51.410Z,1628024631.410 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-08-03T21:03:51.410Z,1628024631.410 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-08-03T21:03:51.410Z,1628024631.410 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-08-03T21:03:51.410Z,1628024631.410 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-08-03T21:03:51.411Z,1628024631.411 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-08-03T21:03:51.446Z,1628024631.446 [CBIT](DEBUG): Deactivating GF circuits.
2021-08-03T21:03:51.447Z,1628024631.447 [CBIT](DEBUG): Deactivating emergency mode.
2021-08-03T21:03:51.482Z,1628024631.482 [CBIT](DEBUG): Backplane powered.
2021-08-03T21:03:51.484Z,1628024631.484 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2021-08-03T21:03:51.510Z,1628024631.510 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-03T21:03:51.555Z,1628024631.555 [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>


2021-08-03T21:03:51.556Z,1628024631.556 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2021-08-03T21:03:51.654Z,1628024631.654 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-08-03T21:03:51.656Z,1628024631.656 [Default:A.Wait](DEBUG): Construct Wait.
2021-08-03T21:03:51.658Z,1628024631.658 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-03T21:03:51.703Z,1628024631.703 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-08-03T21:03:51.705Z,1628024631.705 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-08-03T21:03:51.727Z,1628024631.727 [Default:E.Execute](DEBUG): Construct Execute.
2021-08-03T21:03:51.731Z,1628024631.731 [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>


2021-08-03T21:03:51.743Z,1628024631.743 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,BPC1,Depth_Keller,NAL9602,Power24vConverter,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,
2021-08-03T21:03:51.783Z,1628024631.783 [Depth_Keller](ERROR): Pressure reading out of range: 1628.471313 decibar
2021-08-03T21:03:51.784Z,1628024631.784 [Power24vConverter](INFO): Powering up.
2021-08-03T21:03:51.785Z,1628024631.785 [DAT](INFO): Powering up
2021-08-03T21:03:51.785Z,1628024631.785 [DAT](DEBUG): Initializing DAT.
2021-08-03T21:03:51.787Z,1628024631.787 [Radio_Surface](INFO): Powering up
2021-08-03T21:03:51.807Z,1628024631.807 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-08-03T21:03:52.048Z,1628024632.048 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-08-03T21:03:52.055Z,1628024632.055 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-08-03T21:03:52.056Z,1628024632.056 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-03T21:03:52.063Z,1628024632.063 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-03T21:03:52.064Z,1628024632.064 [MassServo](DEBUG): Initializing EZServoServo.
2021-08-03T21:03:52.071Z,1628024632.071 [MassServo](DEBUG): Initializing MassServo.
2021-08-03T21:03:52.072Z,1628024632.072 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-03T21:03:52.079Z,1628024632.079 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-03T21:03:52.080Z,1628024632.080 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-03T21:03:52.087Z,1628024632.087 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-03T21:03:52.318Z,1628024632.318 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2021-08-03T21:03:52.319Z,1628024632.319 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-08-03T21:03:52.319Z,1628024632.319 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-08-03T21:03:52.422Z,1628024632.422 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-08-03T21:03:52.423Z,1628024632.423 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-08-03T21:03:52.423Z,1628024632.423 [CommandLine](INFO): Join timeout helper Thread ID is 917
2021-08-03T21:03:52.438Z,1628024632.438 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-08-03T21:03:52.439Z,1628024632.439 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-08-03T21:03:52.439Z,1628024632.439 [NavChartDb](INFO): Join timeout helper Thread ID is 918