2022-03-16T20:27:35.213Z,1647462455.213 [Supervisor](DEBUG): Initializing supervisor.
2022-03-16T20:27:35.218Z,1647462455.218 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-03-16T20:27:35.218Z,1647462455.218 [SyncHandler](INFO): Protected caller Thread ID is 833
2022-03-16T20:27:35.219Z,1647462455.219 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-03-16T20:27:35.219Z,1647462455.219 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-03-16T20:27:35.220Z,1647462455.220 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 834
2022-03-16T20:27:35.224Z,1647462455.224 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-03-16T20:27:35.242Z,1647462455.242 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-03-16T20:27:35.243Z,1647462455.243 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-03-16T20:27:35.243Z,1647462455.243 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 835
2022-03-16T20:27:35.248Z,1647462455.248 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-03-16T20:27:35.249Z,1647462455.249 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-03-16T20:27:35.249Z,1647462455.249 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 836
2022-03-16T20:27:35.251Z,1647462455.251 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-03-16T20:27:35.252Z,1647462455.252 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-03-16T20:27:35.252Z,1647462455.252 [logger ThreadHandler](INFO): Protected caller Thread ID is 837
2022-03-16T20:27:35.256Z,1647462455.256 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-03-16T20:27:35.256Z,1647462455.256 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-03-16T20:27:35.261Z,1647462455.261 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-03-16T20:27:35.711Z,1647462455.711 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-03-16T20:27:35.713Z,1647462455.713 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-03-16T20:27:35.935Z,1647462455.935 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-03-16T20:27:35.937Z,1647462455.937 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-03-16T20:27:36.134Z,1647462456.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-03-16T20:27:36.136Z,1647462456.136 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-03-16T20:27:36.245Z,1647462456.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-03-16T20:27:36.247Z,1647462456.247 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-03-16T20:27:36.624Z,1647462456.624 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-03-16T20:27:36.626Z,1647462456.626 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-03-16T20:27:36.967Z,1647462456.967 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-03-16T20:27:36.967Z,1647462456.967 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-03-16T20:27:37.065Z,1647462457.065 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-03-16T20:27:37.066Z,1647462457.066 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-03-16T20:27:37.284Z,1647462457.284 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-03-16T20:27:37.286Z,1647462457.286 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-03-16T20:27:37.868Z,1647462457.868 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-03-16T20:27:37.870Z,1647462457.870 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-03-16T20:27:38.234Z,1647462458.234 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-03-16T20:27:38.235Z,1647462458.235 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-03-16T20:27:38.319Z,1647462458.319 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-03-16T20:27:38.536Z,1647462458.536 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-03-16T20:27:38.536Z,1647462458.536 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-03-16T20:27:38.669Z,1647462458.669 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-03-16T20:27:38.669Z,1647462458.669 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-03-16T20:27:39.865Z,1647462459.865 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-03-16T20:27:39.866Z,1647462459.866 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-03-16T20:27:39.947Z,1647462459.947 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-03-16T20:27:40.245Z,1647462460.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-03-16T20:27:40.247Z,1647462460.247 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2022-03-16T20:27:40.250Z,1647462460.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2022-03-16T20:27:40.435Z,1647462460.435 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2022-03-16T20:27:40.530Z,1647462460.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2022-03-16T20:27:40.644Z,1647462460.644 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2022-03-16T20:27:40.746Z,1647462460.746 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2022-03-16T20:27:40.830Z,1647462460.830 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2022-03-16T20:27:40.916Z,1647462460.916 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2022-03-16T20:27:41.035Z,1647462461.035 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2022-03-16T20:27:41.136Z,1647462461.136 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2022-03-16T20:27:41.295Z,1647462461.295 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2022-03-16T20:27:41.560Z,1647462461.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-03-16T20:27:41.561Z,1647462461.561 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2022-03-16T20:27:41.656Z,1647462461.656 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-03-16T20:27:41.677Z,1647462461.677 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-03-16T20:27:42.048Z,1647462462.048 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-03-16T20:27:42.048Z,1647462462.048 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-03-16T20:27:42.186Z,1647462462.186 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-03-16T20:27:42.186Z,1647462462.186 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-03-16T20:27:42.224Z,1647462462.224 [DeadReckonUsingSpeedCalculator] Loaded
2022-03-16T20:27:42.224Z,1647462462.224 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2022-03-16T20:27:42.237Z,1647462462.237 [NavChart] Loaded
2022-03-16T20:27:42.238Z,1647462462.238 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-03-16T20:27:42.243Z,1647462462.243 [UniversalFixResidualReporter] Loaded
2022-03-16T20:27:42.243Z,1647462462.243 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-03-16T20:27:42.244Z,1647462462.244 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-03-16T20:27:42.244Z,1647462462.244 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-03-16T20:27:42.260Z,1647462462.260 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-03-16T20:27:42.262Z,1647462462.262 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-03-16T20:27:42.500Z,1647462462.500 [CTD_Seabird] Loaded
2022-03-16T20:27:42.500Z,1647462462.500 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2022-03-16T20:27:42.501Z,1647462462.501 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406614E0
2022-03-16T20:27:42.502Z,1647462462.502 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 919
2022-03-16T20:27:42.521Z,1647462462.521 [PAR_Licor] Loaded
2022-03-16T20:27:42.521Z,1647462462.521 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-03-16T20:27:42.553Z,1647462462.553 [WetLabsBB2FL] Loaded
2022-03-16T20:27:42.553Z,1647462462.553 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2022-03-16T20:27:42.554Z,1647462462.554 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406914E0
2022-03-16T20:27:42.554Z,1647462462.554 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 920
2022-03-16T20:27:42.555Z,1647462462.555 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-03-16T20:27:42.557Z,1647462462.557 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-03-16T20:27:42.626Z,1647462462.626 [VerticalControl](DEBUG): Construct VerticalControl.
2022-03-16T20:27:42.687Z,1647462462.687 [VerticalControl] Loaded
2022-03-16T20:27:42.687Z,1647462462.687 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-03-16T20:27:42.690Z,1647462462.690 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-03-16T20:27:42.729Z,1647462462.729 [HorizontalControl] Loaded
2022-03-16T20:27:42.730Z,1647462462.730 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-03-16T20:27:42.732Z,1647462462.732 [SpeedControl](DEBUG): Construct SpeedControl.
2022-03-16T20:27:42.735Z,1647462462.735 [SpeedControl] Loaded
2022-03-16T20:27:42.736Z,1647462462.736 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-03-16T20:27:42.738Z,1647462462.738 [LoopControl](DEBUG): Construct LoopControl.
2022-03-16T20:27:42.739Z,1647462462.739 [LoopControl] Loaded
2022-03-16T20:27:42.739Z,1647462462.739 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-03-16T20:27:42.739Z,1647462462.739 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-03-16T20:27:42.740Z,1647462462.740 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-03-16T20:27:42.799Z,1647462462.799 [DepthRateCalculator] Loaded
2022-03-16T20:27:42.799Z,1647462462.799 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-03-16T20:27:42.804Z,1647462462.804 [PitchRateCalculator] Loaded
2022-03-16T20:27:42.804Z,1647462462.804 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-03-16T20:27:42.814Z,1647462462.814 [SpeedCalculator] Loaded
2022-03-16T20:27:42.814Z,1647462462.814 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-03-16T20:27:42.818Z,1647462462.818 [YawRateCalculator] Loaded
2022-03-16T20:27:42.818Z,1647462462.818 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-03-16T20:27:42.836Z,1647462462.836 [ElevatorOffsetCalculator] Loaded
2022-03-16T20:27:42.836Z,1647462462.836 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-03-16T20:27:42.837Z,1647462462.837 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-03-16T20:27:42.837Z,1647462462.837 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-03-16T20:27:42.953Z,1647462462.953 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-03-16T20:27:42.954Z,1647462462.954 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-03-16T20:27:43.035Z,1647462463.035 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-03-16T20:27:43.036Z,1647462463.036 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-03-16T20:27:43.189Z,1647462463.189 [BuoyancyServo] Loaded
2022-03-16T20:27:43.190Z,1647462463.190 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-03-16T20:27:43.210Z,1647462463.210 [ElevatorServo] Loaded
2022-03-16T20:27:43.210Z,1647462463.210 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-03-16T20:27:43.229Z,1647462463.229 [MassServo] Loaded
2022-03-16T20:27:43.229Z,1647462463.229 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-03-16T20:27:43.247Z,1647462463.247 [RudderServo] Loaded
2022-03-16T20:27:43.247Z,1647462463.247 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-03-16T20:27:43.262Z,1647462463.262 [ThrusterHE] Loaded
2022-03-16T20:27:43.262Z,1647462463.262 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-03-16T20:27:43.263Z,1647462463.263 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-03-16T20:27:43.263Z,1647462463.263 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-03-16T20:27:43.396Z,1647462463.396 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-03-16T20:27:43.397Z,1647462463.397 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-03-16T20:27:44.105Z,1647462464.105 [AHRS_M2] Loaded
2022-03-16T20:27:44.106Z,1647462464.106 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-03-16T20:27:44.494Z,1647462464.494 [BackseatComponent] Loaded
2022-03-16T20:27:44.494Z,1647462464.494 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-03-16T20:27:44.512Z,1647462464.512 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A734E0
2022-03-16T20:27:44.513Z,1647462464.513 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 921
2022-03-16T20:27:44.597Z,1647462464.597 [LcmUniversalReporter] Loaded
2022-03-16T20:27:44.597Z,1647462464.597 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-03-16T20:27:45.568Z,1647462465.568 [BPC1] Loaded
2022-03-16T20:27:45.568Z,1647462465.568 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-03-16T20:27:45.710Z,1647462465.710 [DataOverHttps] Loaded
2022-03-16T20:27:45.710Z,1647462465.710 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-03-16T20:27:45.711Z,1647462465.711 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40AA34E0
2022-03-16T20:27:45.712Z,1647462465.712 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 922
2022-03-16T20:27:45.731Z,1647462465.731 [Depth_Keller] Loaded
2022-03-16T20:27:45.732Z,1647462465.732 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-03-16T20:27:45.791Z,1647462465.791 [NAL9602] Loaded
2022-03-16T20:27:45.792Z,1647462465.792 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-03-16T20:27:45.821Z,1647462465.821 [Onboard] Loaded
2022-03-16T20:27:45.821Z,1647462465.821 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-03-16T20:27:45.822Z,1647462465.822 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40AD34E0
2022-03-16T20:27:45.822Z,1647462465.822 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 923
2022-03-16T20:27:45.834Z,1647462465.834 [Power24vConverter] Loaded
2022-03-16T20:27:45.834Z,1647462465.834 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-03-16T20:27:45.847Z,1647462465.847 [Radio_Surface] Loaded
2022-03-16T20:27:45.847Z,1647462465.847 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-03-16T20:27:45.848Z,1647462465.848 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B034E0
2022-03-16T20:27:45.849Z,1647462465.849 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 924
2022-03-16T20:27:45.933Z,1647462465.933 [DAT] Loaded
2022-03-16T20:27:45.933Z,1647462465.933 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2022-03-16T20:27:45.934Z,1647462465.934 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40B334E0
2022-03-16T20:27:45.934Z,1647462465.934 [DAT ThreadHandler](INFO): Protected caller Thread ID is 925
2022-03-16T20:27:45.935Z,1647462465.935 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-03-16T20:27:45.936Z,1647462465.936 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-03-16T20:27:46.111Z,1647462466.111 [SBIT](DEBUG): Construct Startup Built In Test.
2022-03-16T20:27:46.120Z,1647462466.120 [SBIT] Loaded
2022-03-16T20:27:46.120Z,1647462466.120 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-03-16T20:27:46.123Z,1647462466.123 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-03-16T20:27:46.137Z,1647462466.137 [IBIT] Loaded
2022-03-16T20:27:46.137Z,1647462466.137 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-03-16T20:27:46.143Z,1647462466.143 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-03-16T20:27:46.245Z,1647462466.246 [CBIT] Loaded
2022-03-16T20:27:46.246Z,1647462466.246 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-03-16T20:27:46.246Z,1647462466.246 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-03-16T20:27:46.247Z,1647462466.247 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-03-16T20:27:46.288Z,1647462466.288 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-03-16T20:27:46.295Z,1647462466.295 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-03-16T20:27:46.298Z,1647462466.298 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-03-16T20:27:46.309Z,1647462466.309 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-03-16T20:27:46.310Z,1647462466.310 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BC04E0
2022-03-16T20:27:46.310Z,1647462466.310 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 926
2022-03-16T20:27:46.314Z,1647462466.314 [Supervisor](INFO): Main Thread ID is 829
2022-03-16T20:27:46.314Z,1647462466.314 [Supervisor](DEBUG): Running supervisor.
2022-03-16T20:27:46.315Z,1647462466.315 [CommandExec ThreadHandler](INFO): Handler Thread ID is 927
2022-03-16T20:27:46.316Z,1647462466.316 [CommandExec](INFO): Initializing the command executive.
2022-03-16T20:27:46.317Z,1647462466.317 [CommandLine ThreadHandler](INFO): Handler Thread ID is 928
2022-03-16T20:27:46.319Z,1647462466.319 [controlThread ThreadHandler](INFO): Handler Thread ID is 929
2022-03-16T20:27:46.320Z,1647462466.320 [controlThread](DEBUG): Initializing ControlThread
2022-03-16T20:27:46.321Z,1647462466.321 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2022-03-16T20:27:46.322Z,1647462466.322 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-03-16T20:27:46.322Z,1647462466.322 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-03-16T20:27:46.325Z,1647462466.325 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-03-16T20:27:46.327Z,1647462466.327 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-03-16T20:27:46.327Z,1647462466.327 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-03-16T20:27:46.328Z,1647462466.328 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-03-16T20:27:46.328Z,1647462466.328 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-03-16T20:27:46.328Z,1647462466.328 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-03-16T20:27:46.329Z,1647462466.329 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-03-16T20:27:46.329Z,1647462466.329 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-03-16T20:27:46.329Z,1647462466.329 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-03-16T20:27:46.334Z,1647462466.334 [SBIT](INFO): Initialize SBIT Component.
2022-03-16T20:27:46.334Z,1647462466.334 [SBIT](IMPORTANT): git: 
2022-03-16T20:27:46.334Z,1647462466.334 [SBIT](INFO): git hash: 94f36c2aa8aad8877d203e04a097eef7a3110380
2022-03-16T20:27:46.335Z,1647462466.335 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-03-16T20:27:46.336Z,1647462466.336 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2022-03-16T20:27:46.337Z,1647462466.337 [SBIT](INFO): Beginning SBIT in 38.000000 seconds.
2022-03-16T20:27:46.338Z,1647462466.338 [IBIT](INFO): Initialize IBIT Component.
2022-03-16T20:27:46.338Z,1647462466.338 [CBIT](DEBUG): Initialize CBIT Component.
2022-03-16T20:27:46.339Z,1647462466.339 [logger ThreadHandler](INFO): Handler Thread ID is 930
2022-03-16T20:27:46.353Z,1647462466.353 [CBIT](DEBUG): Initialized mux pins.
2022-03-16T20:27:46.353Z,1647462466.353 [CBIT](DEBUG): Initializing the watchdog timer.
2022-03-16T20:27:46.357Z,1647462466.357 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 931
2022-03-16T20:27:46.358Z,1647462466.358 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-03-16T20:27:46.362Z,1647462466.362 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 933
2022-03-16T20:27:46.365Z,1647462466.365 [WetLabsBB2FL](INFO): Powering up
2022-03-16T20:27:46.366Z,1647462466.366 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 935
2022-03-16T20:27:46.373Z,1647462466.373 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 936
2022-03-16T20:27:46.374Z,1647462466.374 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2022-03-16T20:27:46.377Z,1647462466.377 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-03-16T20:27:46.377Z,1647462466.377 [CBIT](DEBUG): Initializing heartbeat.
2022-03-16T20:27:46.385Z,1647462466.385 [Onboard ThreadHandler](INFO): Handler Thread ID is 937
2022-03-16T20:27:46.403Z,1647462466.403 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 938
2022-03-16T20:27:46.425Z,1647462466.425 [DAT ThreadHandler](INFO): Handler Thread ID is 939
2022-03-16T20:27:46.426Z,1647462466.426 [DAT](INFO): Powering up
2022-03-16T20:27:46.426Z,1647462466.426 [DAT](DEBUG): Initializing DAT.
2022-03-16T20:27:46.430Z,1647462466.430 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 941
2022-03-16T20:27:46.438Z,1647462466.438 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2022-03-16T20:27:46.438Z,1647462466.438 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2022-03-16T20:27:46.439Z,1647462466.439 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2022-03-16T20:27:46.439Z,1647462466.439 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2022-03-16T20:27:46.439Z,1647462466.439 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2022-03-16T20:27:46.439Z,1647462466.439 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2022-03-16T20:27:46.439Z,1647462466.439 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2022-03-16T20:27:46.439Z,1647462466.439 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2022-03-16T20:27:46.440Z,1647462466.440 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2022-03-16T20:27:46.440Z,1647462466.440 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2022-03-16T20:27:46.440Z,1647462466.440 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2022-03-16T20:27:46.440Z,1647462466.440 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2022-03-16T20:27:46.440Z,1647462466.440 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2022-03-16T20:27:46.441Z,1647462466.441 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2022-03-16T20:27:46.441Z,1647462466.441 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2022-03-16T20:27:46.441Z,1647462466.441 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2022-03-16T20:27:46.449Z,1647462466.449 [CBIT](DEBUG): Deactivating GF circuits.
2022-03-16T20:27:46.449Z,1647462466.449 [CBIT](DEBUG): Deactivating emergency mode.
2022-03-16T20:27:46.485Z,1647462466.485 [CBIT](DEBUG): Backplane powered.
2022-03-16T20:27:46.486Z,1647462466.486 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-03-16T20:27:46.520Z,1647462466.520 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-03-16T20:27:46.563Z,1647462466.563 [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>


2022-03-16T20:27:46.564Z,1647462466.564 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-03-16T20:27:46.629Z,1647462466.629 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-03-16T20:27:46.631Z,1647462466.631 [Default:A.Wait](DEBUG): Construct Wait.
2022-03-16T20:27:46.649Z,1647462466.649 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-03-16T20:27:46.681Z,1647462466.681 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-03-16T20:27:46.684Z,1647462466.684 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-03-16T20:27:46.710Z,1647462466.710 [Default:E.Execute](DEBUG): Construct Execute.
2022-03-16T20:27:46.725Z,1647462466.725 [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>


2022-03-16T20:27:46.730Z,1647462466.730 [controlThread](DEBUG): Component order: CycleStarter,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-03-16T20:27:46.738Z,1647462466.738 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-03-16T20:27:46.809Z,1647462466.809 [Radio_Surface](INFO): Powering up
2022-03-16T20:27:46.907Z,1647462466.907 [Power24vConverter](INFO): Powering up.
2022-03-16T20:27:46.954Z,1647462466.954 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-03-16T20:27:46.961Z,1647462466.961 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-03-16T20:27:46.962Z,1647462466.962 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-03-16T20:27:46.969Z,1647462466.969 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-03-16T20:27:46.970Z,1647462466.970 [MassServo](DEBUG): Initializing EZServoServo.
2022-03-16T20:27:46.977Z,1647462466.977 [MassServo](DEBUG): Initializing MassServo.
2022-03-16T20:27:46.978Z,1647462466.978 [RudderServo](DEBUG): Initializing EZServoServo.
2022-03-16T20:27:46.985Z,1647462466.985 [RudderServo](DEBUG): Initializing RudderServo.
2022-03-16T20:27:46.986Z,1647462466.986 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-03-16T20:27:46.993Z,1647462466.993 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-03-16T20:27:47.877Z,1647462467.877 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-03-16T20:27:47.877Z,1647462467.877 [RudderServo](FAULT): Rudder failed to initialize
2022-03-16T20:27:47.877Z,1647462467.877 [RudderServo] Communications Fault, FailCount= 1
2022-03-16T20:27:47.877Z,1647462467.877 [RudderServo](ERROR): Communications Fault
2022-03-16T20:27:47.881Z,1647462467.881 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-03-16T20:27:48.110Z,1647462468.110 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-03-16T20:27:48.111Z,1647462468.111 [RudderServo](INFO): Powering down
2022-03-16T20:27:48.777Z,1647462468.777 [RudderServo](DEBUG): Initializing EZServoServo.
2022-03-16T20:27:48.898Z,1647462468.898 [RudderServo](DEBUG): Initializing RudderServo.
2022-03-16T20:27:48.902Z,1647462468.902 [CBIT](INFO): Clearing failed state for component RudderServo
2022-03-16T20:27:48.902Z,1647462468.902 [RudderServo] No Fault, FailCount= 1
2022-03-16T20:27:48.977Z,1647462468.977 [WetLabsBB2FL](INFO): Powering down
2022-03-16T20:27:52.689Z,1647462472.689 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-03-16T20:27:58.785Z,1647462478.785 [DAT](INFO): DAT read: 

2022-03-16T20:27:58.787Z,1647462478.787 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2022-03-16T20:28:00.298Z,1647462480.298 [DAT](INFO): DAT read: MF Frequency Band

2022-03-16T20:28:00.299Z,1647462480.299 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2022-03-16T20:28:00.299Z,1647462480.299 [DAT](INFO): DAT read: Mar 16 2022 20:27:54 

2022-03-16T20:28:01.307Z,1647462481.307 [DAT](INFO): DAT read: Features enabled [Bearing]

2022-03-16T20:28:01.558Z,1647462481.558 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2022-03-16T20:28:01.559Z,1647462481.559 [DAT](INFO): commRate: 800
2022-03-16T20:28:03.625Z,1647462483.625 [DAT](INFO): entering command mode
2022-03-16T20:28:03.825Z,1647462483.825 [DAT](INFO): DAT read: 

2022-03-16T20:28:03.826Z,1647462483.826 [DAT](INFO): DAT read: user:1>

2022-03-16T20:28:03.826Z,1647462483.826 [DAT](INFO): setting verbose to 3
2022-03-16T20:28:04.077Z,1647462484.077 [DAT](INFO): DAT read: user:1>

2022-03-16T20:28:04.078Z,1647462484.078 [DAT](INFO): DAT read: Verbose         | 3           

2022-03-16T20:28:04.079Z,1647462484.079 [DAT](INFO): set verbose to 3
2022-03-16T20:28:04.079Z,1647462484.079 [DAT](INFO): setting DatVerbose to 27440
2022-03-16T20:28:04.329Z,1647462484.329 [DAT](INFO): DAT read: user:2>

2022-03-16T20:28:04.330Z,1647462484.330 [DAT](INFO): DAT read: DatVerbose      | 27440       

2022-03-16T20:28:04.331Z,1647462484.331 [DAT](INFO): set DatVerbose to 27440
2022-03-16T20:28:04.331Z,1647462484.331 [DAT](INFO): setting transmit power to 8
2022-03-16T20:28:04.581Z,1647462484.581 [DAT](INFO): DAT read: user:3>

2022-03-16T20:28:04.582Z,1647462484.582 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2022-03-16T20:28:04.582Z,1647462484.582 [DAT](INFO): set transmit power to 8
2022-03-16T20:28:04.583Z,1647462484.583 [DAT](INFO): setting local address to 10
2022-03-16T20:28:04.833Z,1647462484.833 [DAT](INFO): DAT read: user:4>

2022-03-16T20:28:04.834Z,1647462484.834 [DAT](INFO): DAT read: LocalAddr       | 10          

2022-03-16T20:28:04.834Z,1647462484.834 [DAT](INFO): set local address to 10
2022-03-16T20:28:04.836Z,1647462484.836 [DAT](INFO): Setting time to: 20:28:4 And date to:3/16/2022
2022-03-16T20:28:05.085Z,1647462485.085 [DAT](INFO): DAT read: user:5>

2022-03-16T20:28:05.086Z,1647462485.086 [DAT](INFO): DAT read: Wed Mar 16, 2022  20:28:04  

2022-03-16T20:28:05.087Z,1647462485.087 [DAT](INFO): Local DAT time set to Wed Mar 16, 2022  20:28:04  

2022-03-16T20:28:15.846Z,1647462495.846 [NAL9602](INFO): Powering up NAL9602
2022-03-16T20:28:24.755Z,1647462504.755 [SBIT](IMPORTANT): Beginning Startup BIT
2022-03-16T20:28:24.786Z,1647462504.786 [CBIT](IMPORTANT): Beginning ground fault scan
2022-03-16T20:28:26.747Z,1647462506.747 [NAL9602](INFO): NAL9602 initialized
2022-03-16T20:28:35.725Z,1647462515.725 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.001015
CHAN A1 (24V): 0.001025
CHAN A2 (12V): -0.005069
CHAN A3 (5V): -0.003261
CHAN B0 (3.3V): -0.000830
CHAN B1 (3.15aV): -0.001461
CHAN B2 (3.15bV): -0.001697
CHAN B3 (GND): -0.000571
OPEN: 0.006229
F