2022-11-02T16:10:09.113Z,1667405409.113 [Supervisor](DEBUG): Initializing supervisor.
2022-11-02T16:10:09.117Z,1667405409.117 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-11-02T16:10:09.118Z,1667405409.118 [SyncHandler](INFO): Protected caller Thread ID is 835
2022-11-02T16:10:09.118Z,1667405409.118 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-11-02T16:10:09.119Z,1667405409.119 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-11-02T16:10:09.120Z,1667405409.120 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 836
2022-11-02T16:10:09.124Z,1667405409.124 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-11-02T16:10:09.141Z,1667405409.141 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-11-02T16:10:09.142Z,1667405409.142 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-11-02T16:10:09.142Z,1667405409.142 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 837
2022-11-02T16:10:09.146Z,1667405409.146 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-11-02T16:10:09.147Z,1667405409.147 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-11-02T16:10:09.148Z,1667405409.148 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 838
2022-11-02T16:10:09.150Z,1667405409.150 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-11-02T16:10:09.151Z,1667405409.151 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-11-02T16:10:09.151Z,1667405409.151 [logger ThreadHandler](INFO): Protected caller Thread ID is 839
2022-11-02T16:10:09.155Z,1667405409.155 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-11-02T16:10:09.155Z,1667405409.155 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-11-02T16:10:09.159Z,1667405409.159 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-11-02T16:10:09.574Z,1667405409.574 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-11-02T16:10:09.575Z,1667405409.575 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-11-02T16:10:09.785Z,1667405409.785 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-11-02T16:10:09.785Z,1667405409.785 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-11-02T16:10:09.963Z,1667405409.963 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-11-02T16:10:09.964Z,1667405409.964 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-11-02T16:10:10.069Z,1667405410.069 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-11-02T16:10:10.069Z,1667405410.069 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-11-02T16:10:10.440Z,1667405410.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-11-02T16:10:10.442Z,1667405410.442 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-11-02T16:10:10.752Z,1667405410.752 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-11-02T16:10:10.754Z,1667405410.754 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-11-02T16:10:10.849Z,1667405410.849 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-11-02T16:10:10.849Z,1667405410.849 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-11-02T16:10:11.062Z,1667405411.062 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-11-02T16:10:11.064Z,1667405411.064 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-11-02T16:10:11.558Z,1667405411.558 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-11-02T16:10:11.559Z,1667405411.559 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-11-02T16:10:11.902Z,1667405411.902 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-11-02T16:10:11.904Z,1667405411.904 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-11-02T16:10:11.985Z,1667405411.985 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-11-02T16:10:12.190Z,1667405412.190 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-11-02T16:10:12.190Z,1667405412.190 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-11-02T16:10:12.324Z,1667405412.324 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-11-02T16:10:12.326Z,1667405412.326 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-11-02T16:10:13.591Z,1667405413.591 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-11-02T16:10:13.593Z,1667405413.593 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-11-02T16:10:13.672Z,1667405413.672 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-11-02T16:10:13.952Z,1667405413.952 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-11-02T16:10:13.954Z,1667405413.954 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2022-11-02T16:10:13.957Z,1667405413.957 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2022-11-02T16:10:14.144Z,1667405414.144 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2022-11-02T16:10:14.235Z,1667405414.235 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2022-11-02T16:10:14.344Z,1667405414.344 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2022-11-02T16:10:14.442Z,1667405414.442 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2022-11-02T16:10:14.524Z,1667405414.524 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2022-11-02T16:10:14.608Z,1667405414.608 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2022-11-02T16:10:14.720Z,1667405414.720 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2022-11-02T16:10:14.818Z,1667405414.818 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2022-11-02T16:10:14.846Z,1667405414.846 [Config/Sensor](ERROR): Could not find unit: int32 following MultiRay.brightnessWhite = 20
2022-11-02T16:10:14.847Z,1667405414.847 [Config/Sensor](ERROR): Could not find unit: int32 following MultiRay.brightnessRed = 20
2022-11-02T16:10:14.971Z,1667405414.971 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2022-11-02T16:10:15.229Z,1667405415.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-11-02T16:10:15.230Z,1667405415.230 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2022-11-02T16:10:15.322Z,1667405415.322 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-11-02T16:10:15.340Z,1667405415.340 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-11-02T16:10:15.691Z,1667405415.691 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-11-02T16:10:15.693Z,1667405415.693 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-11-02T16:10:15.830Z,1667405415.830 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-11-02T16:10:15.830Z,1667405415.830 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-11-02T16:10:15.869Z,1667405415.869 [DeadReckonUsingSpeedCalculator] Loaded
2022-11-02T16:10:15.869Z,1667405415.869 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2022-11-02T16:10:15.883Z,1667405415.883 [NavChart] Loaded
2022-11-02T16:10:15.883Z,1667405415.883 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-11-02T16:10:15.888Z,1667405415.888 [UniversalFixResidualReporter] Loaded
2022-11-02T16:10:15.889Z,1667405415.889 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-11-02T16:10:15.889Z,1667405415.889 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-11-02T16:10:15.890Z,1667405415.890 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-11-02T16:10:15.905Z,1667405415.905 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-11-02T16:10:15.906Z,1667405415.906 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-11-02T16:10:16.108Z,1667405416.108 [PAR_Licor] Loaded
2022-11-02T16:10:16.108Z,1667405416.108 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-11-02T16:10:16.139Z,1667405416.139 [WetLabsBB2FL] Loaded
2022-11-02T16:10:16.139Z,1667405416.139 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2022-11-02T16:10:16.141Z,1667405416.141 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4065A4E0
2022-11-02T16:10:16.141Z,1667405416.141 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 921
2022-11-02T16:10:16.142Z,1667405416.142 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-11-02T16:10:16.143Z,1667405416.143 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-11-02T16:10:16.211Z,1667405416.211 [VerticalControl](DEBUG): Construct VerticalControl.
2022-11-02T16:10:16.271Z,1667405416.271 [VerticalControl] Loaded
2022-11-02T16:10:16.271Z,1667405416.271 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-11-02T16:10:16.274Z,1667405416.274 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-11-02T16:10:16.316Z,1667405416.316 [HorizontalControl] Loaded
2022-11-02T16:10:16.316Z,1667405416.316 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-11-02T16:10:16.318Z,1667405416.318 [SpeedControl](DEBUG): Construct SpeedControl.
2022-11-02T16:10:16.321Z,1667405416.321 [SpeedControl] Loaded
2022-11-02T16:10:16.322Z,1667405416.322 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-11-02T16:10:16.324Z,1667405416.324 [LoopControl](DEBUG): Construct LoopControl.
2022-11-02T16:10:16.325Z,1667405416.325 [LoopControl] Loaded
2022-11-02T16:10:16.325Z,1667405416.325 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-11-02T16:10:16.325Z,1667405416.325 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-11-02T16:10:16.327Z,1667405416.327 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-11-02T16:10:16.396Z,1667405416.396 [DepthRateCalculator] Loaded
2022-11-02T16:10:16.397Z,1667405416.397 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-11-02T16:10:16.402Z,1667405416.402 [PitchRateCalculator] Loaded
2022-11-02T16:10:16.402Z,1667405416.402 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-11-02T16:10:16.411Z,1667405416.411 [SpeedCalculator] Loaded
2022-11-02T16:10:16.411Z,1667405416.411 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-11-02T16:10:16.415Z,1667405416.415 [YawRateCalculator] Loaded
2022-11-02T16:10:16.416Z,1667405416.416 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-11-02T16:10:16.434Z,1667405416.434 [ElevatorOffsetCalculator] Loaded
2022-11-02T16:10:16.434Z,1667405416.434 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-11-02T16:10:16.435Z,1667405416.435 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-11-02T16:10:16.436Z,1667405416.436 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-11-02T16:10:16.553Z,1667405416.553 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-11-02T16:10:16.554Z,1667405416.554 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-11-02T16:10:16.637Z,1667405416.637 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-11-02T16:10:16.637Z,1667405416.637 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-11-02T16:10:16.785Z,1667405416.785 [BuoyancyServo] Loaded
2022-11-02T16:10:16.786Z,1667405416.786 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-11-02T16:10:16.806Z,1667405416.806 [ElevatorServo] Loaded
2022-11-02T16:10:16.806Z,1667405416.806 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-11-02T16:10:16.825Z,1667405416.825 [MassServo] Loaded
2022-11-02T16:10:16.825Z,1667405416.825 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-11-02T16:10:16.843Z,1667405416.843 [RudderServo] Loaded
2022-11-02T16:10:16.843Z,1667405416.843 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-11-02T16:10:16.858Z,1667405416.858 [ThrusterHE] Loaded
2022-11-02T16:10:16.858Z,1667405416.858 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-11-02T16:10:16.858Z,1667405416.858 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-11-02T16:10:16.859Z,1667405416.859 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-11-02T16:10:17.041Z,1667405417.041 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-11-02T16:10:17.042Z,1667405417.042 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-11-02T16:10:17.750Z,1667405417.750 [AHRS_M2] Loaded
2022-11-02T16:10:17.750Z,1667405417.750 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-11-02T16:10:18.000Z,1667405418.000 [BackseatComponent] Loaded
2022-11-02T16:10:18.000Z,1667405418.000 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-11-02T16:10:18.001Z,1667405418.001 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A544E0
2022-11-02T16:10:18.002Z,1667405418.002 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 922
2022-11-02T16:10:18.005Z,1667405418.005 [LcmUniversalReporter] Loaded
2022-11-02T16:10:18.005Z,1667405418.005 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-11-02T16:10:19.250Z,1667405419.250 [BPC1] Loaded
2022-11-02T16:10:19.251Z,1667405419.251 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-11-02T16:10:19.393Z,1667405419.393 [DataOverHttps] Loaded
2022-11-02T16:10:19.393Z,1667405419.393 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-11-02T16:10:19.394Z,1667405419.394 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A844E0
2022-11-02T16:10:19.394Z,1667405419.394 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 923
2022-11-02T16:10:19.415Z,1667405419.415 [Depth_Keller] Loaded
2022-11-02T16:10:19.415Z,1667405419.415 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-11-02T16:10:19.420Z,1667405419.420 [DropWeight] Loaded
2022-11-02T16:10:19.420Z,1667405419.420 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-11-02T16:10:19.437Z,1667405419.437 [MultiRay] Loaded
2022-11-02T16:10:19.437Z,1667405419.437 [ComponentRegistry](DEBUG): SyncComponent "MultiRay" handled in the control thread.
2022-11-02T16:10:19.498Z,1667405419.498 [NAL9602] Loaded
2022-11-02T16:10:19.498Z,1667405419.498 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-11-02T16:10:19.529Z,1667405419.529 [Onboard] Loaded
2022-11-02T16:10:19.529Z,1667405419.529 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-11-02T16:10:19.530Z,1667405419.530 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40AB44E0
2022-11-02T16:10:19.530Z,1667405419.530 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 924
2022-11-02T16:10:19.537Z,1667405419.537 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2022-11-02T16:10:19.548Z,1667405419.548 [PowerOnly] Loaded
2022-11-02T16:10:19.548Z,1667405419.548 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2022-11-02T16:10:19.559Z,1667405419.559 [Power24vConverter] Loaded
2022-11-02T16:10:19.560Z,1667405419.560 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-11-02T16:10:19.574Z,1667405419.574 [Radio_Surface] Loaded
2022-11-02T16:10:19.574Z,1667405419.574 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-11-02T16:10:19.575Z,1667405419.575 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AE44E0
2022-11-02T16:10:19.575Z,1667405419.575 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 925
2022-11-02T16:10:19.667Z,1667405419.667 [DAT] Loaded
2022-11-02T16:10:19.668Z,1667405419.668 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2022-11-02T16:10:19.669Z,1667405419.669 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40B144E0
2022-11-02T16:10:19.669Z,1667405419.669 [DAT ThreadHandler](INFO): Protected caller Thread ID is 926
2022-11-02T16:10:19.670Z,1667405419.670 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-11-02T16:10:19.670Z,1667405419.670 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-11-02T16:10:19.839Z,1667405419.839 [SBIT](DEBUG): Construct Startup Built In Test.
2022-11-02T16:10:19.848Z,1667405419.848 [SBIT] Loaded
2022-11-02T16:10:19.848Z,1667405419.848 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-11-02T16:10:19.851Z,1667405419.851 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-11-02T16:10:19.865Z,1667405419.865 [IBIT] Loaded
2022-11-02T16:10:19.865Z,1667405419.865 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-11-02T16:10:19.871Z,1667405419.871 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-11-02T16:10:19.976Z,1667405419.976 [CBIT] Loaded
2022-11-02T16:10:19.976Z,1667405419.976 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-11-02T16:10:19.976Z,1667405419.976 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-11-02T16:10:19.977Z,1667405419.977 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-11-02T16:10:20.019Z,1667405420.019 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-11-02T16:10:20.026Z,1667405420.026 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-11-02T16:10:20.029Z,1667405420.029 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-11-02T16:10:20.040Z,1667405420.040 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-11-02T16:10:20.041Z,1667405420.041 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BA24E0
2022-11-02T16:10:20.041Z,1667405420.041 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 927
2022-11-02T16:10:20.045Z,1667405420.045 [Supervisor](INFO): Main Thread ID is 830
2022-11-02T16:10:20.045Z,1667405420.045 [Supervisor](DEBUG): Running supervisor.
2022-11-02T16:10:20.046Z,1667405420.046 [CommandExec ThreadHandler](INFO): Handler Thread ID is 928
2022-11-02T16:10:20.047Z,1667405420.047 [CommandExec](INFO): Initializing the command executive.
2022-11-02T16:10:20.048Z,1667405420.048 [CommandLine ThreadHandler](INFO): Handler Thread ID is 929
2022-11-02T16:10:20.050Z,1667405420.050 [controlThread ThreadHandler](INFO): Handler Thread ID is 930
2022-11-02T16:10:20.051Z,1667405420.051 [controlThread](DEBUG): Initializing ControlThread
2022-11-02T16:10:20.052Z,1667405420.052 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2022-11-02T16:10:20.053Z,1667405420.053 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-11-02T16:10:20.053Z,1667405420.053 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-11-02T16:10:20.056Z,1667405420.056 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-11-02T16:10:20.058Z,1667405420.058 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-11-02T16:10:20.058Z,1667405420.058 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-11-02T16:10:20.059Z,1667405420.059 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-11-02T16:10:20.059Z,1667405420.059 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-11-02T16:10:20.060Z,1667405420.060 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-11-02T16:10:20.060Z,1667405420.060 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-11-02T16:10:20.060Z,1667405420.060 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-11-02T16:10:20.061Z,1667405420.061 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-11-02T16:10:20.066Z,1667405420.066 [SBIT](INFO): Initialize SBIT Component.
2022-11-02T16:10:20.067Z,1667405420.067 [SBIT](IMPORTANT): git: 2022-10-11-37-g3067145cf
2022-11-02T16:10:20.067Z,1667405420.067 [SBIT](INFO): git hash: 3067145cfe0a71a9d335ed48764d88f81a84ec20
2022-11-02T16:10:20.067Z,1667405420.067 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-11-02T16:10:20.068Z,1667405420.068 [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
2022-11-02T16:10:20.070Z,1667405420.070 [SBIT](INFO): Beginning SBIT in 109.000000 seconds.
2022-11-02T16:10:20.070Z,1667405420.070 [IBIT](INFO): Initialize IBIT Component.
2022-11-02T16:10:20.071Z,1667405420.071 [CBIT](DEBUG): Initialize CBIT Component.
2022-11-02T16:10:20.072Z,1667405420.072 [logger ThreadHandler](INFO): Handler Thread ID is 931
2022-11-02T16:10:20.084Z,1667405420.084 [CBIT](DEBUG): Initialized mux pins.
2022-11-02T16:10:20.084Z,1667405420.084 [CBIT](DEBUG): Initializing the watchdog timer.
2022-11-02T16:10:20.092Z,1667405420.092 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 932
2022-11-02T16:10:20.097Z,1667405420.097 [WetLabsBB2FL](INFO): Powering up
2022-11-02T16:10:20.098Z,1667405420.098 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 934
2022-11-02T16:10:20.104Z,1667405420.104 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 935
2022-11-02T16:10:20.105Z,1667405420.105 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2022-11-02T16:10:20.108Z,1667405420.108 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2022-11-02T16:10:20.108Z,1667405420.108 [CBIT](DEBUG): Initializing heartbeat.
2022-11-02T16:10:20.131Z,1667405420.131 [Onboard ThreadHandler](INFO): Handler Thread ID is 936
2022-11-02T16:10:20.152Z,1667405420.152 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 937
2022-11-02T16:10:20.168Z,1667405420.168 [DAT ThreadHandler](INFO): Handler Thread ID is 938
2022-11-02T16:10:20.169Z,1667405420.169 [DAT](INFO): Powering up
2022-11-02T16:10:20.169Z,1667405420.169 [DAT](DEBUG): Initializing DAT.
2022-11-02T16:10:20.173Z,1667405420.173 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 940
2022-11-02T16:10:20.180Z,1667405420.180 [CBIT](DEBUG): Deactivating GF circuits.
2022-11-02T16:10:20.180Z,1667405420.180 [CBIT](DEBUG): Deactivating emergency mode.
2022-11-02T16:10:20.182Z,1667405420.182 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2022-11-02T16:10:20.182Z,1667405420.182 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2022-11-02T16:10:20.182Z,1667405420.182 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2022-11-02T16:10:20.182Z,1667405420.182 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2022-11-02T16:10:20.182Z,1667405420.182 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2022-11-02T16:10:20.183Z,1667405420.183 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2022-11-02T16:10:20.183Z,1667405420.183 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2022-11-02T16:10:20.183Z,1667405420.183 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2022-11-02T16:10:20.216Z,1667405420.216 [CBIT](DEBUG): Backplane powered.
2022-11-02T16:10:20.217Z,1667405420.217 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-11-02T16:10:20.252Z,1667405420.252 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-11-02T16:10:20.276Z,1667405420.276 [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>


2022-11-02T16:10:20.277Z,1667405420.277 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-11-02T16:10:20.358Z,1667405420.358 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-11-02T16:10:20.359Z,1667405420.359 [Default:A.Wait](DEBUG): Construct Wait.
2022-11-02T16:10:20.369Z,1667405420.369 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-11-02T16:10:20.400Z,1667405420.400 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-11-02T16:10:20.412Z,1667405420.412 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-11-02T16:10:20.435Z,1667405420.435 [Default:E.Execute](DEBUG): Construct Execute.
2022-11-02T16:10:20.438Z,1667405420.438 [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="P4H">
                <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>


2022-11-02T16:10:20.452Z,1667405420.452 [controlThread](DEBUG): Component order: CycleStarter,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,MultiRay,NAL9602,PowerOnly,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,
2022-11-02T16:10:20.462Z,1667405420.462 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-11-02T16:10:20.560Z,1667405420.560 [Radio_Surface](INFO): Powering up
2022-11-02T16:10:20.602Z,1667405420.602 [MultiRay](INFO): Powering up MultiRay Lights
2022-11-02T16:10:20.649Z,1667405420.649 [Power24vConverter](INFO): Powering up.
2022-11-02T16:10:20.698Z,1667405420.698 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-11-02T16:10:20.704Z,1667405420.704 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-11-02T16:10:20.705Z,1667405420.705 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-11-02T16:10:20.712Z,1667405420.712 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-11-02T16:10:20.713Z,1667405420.713 [MassServo](DEBUG): Initializing EZServoServo.
2022-11-02T16:10:20.720Z,1667405420.720 [MassServo](DEBUG): Initializing MassServo.
2022-11-02T16:10:20.721Z,1667405420.721 [RudderServo](DEBUG): Initializing EZServoServo.
2022-11-02T16:10:20.728Z,1667405420.728 [RudderServo](DEBUG): Initializing RudderServo.
2022-11-02T16:10:20.729Z,1667405420.729 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-11-02T16:10:20.736Z,1667405420.736 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-11-02T16:10:20.738Z,1667405420.738 [CommandExec](FAULT): Scheduling is paused
2022-11-02T16:10:20.738Z,1667405420.738 [CBIT](INFO): Critical error at 20221102T161020
2022-11-02T16:10:20.739Z,1667405420.739 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-11-02T16:10:20.907Z,1667405420.907 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2022-11-02T16:10:20.907Z,1667405420.907 [DropWeight] Hardware Fault, FailCount= 1
2022-11-02T16:10:20.907Z,1667405420.907 [DropWeight](ERROR): Hardware Fault
2022-11-02T16:10:20.944Z,1667405420.944 [CBIT](INFO): Critical error at 20221102T161020
2022-11-02T16:10:20.947Z,1667405420.947 [CBIT](ERROR): Hardware Fault in component: DropWeight
2022-11-02T16:10:20.947Z,1667405420.947 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2022-11-02T16:10:21.600Z,1667405421.600 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-11-02T16:10:21.600Z,1667405421.600 [RudderServo](FAULT): Rudder failed to initialize
2022-11-02T16:10:21.600Z,1667405421.600 [RudderServo] Communications Fault, FailCount= 1
2022-11-02T16:10:21.600Z,1667405421.600 [RudderServo](ERROR): Communications Fault
2022-11-02T16:10:21.602Z,1667405421.602 [CBIT](INFO): Critical error at 20221102T161020
2022-11-02T16:10:21.605Z,1667405421.605 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-11-02T16:10:21.846Z,1667405421.846 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-11-02T16:10:21.847Z,1667405421.847 [RudderServo](INFO): Powering down
2022-11-02T16:10:22.508Z,1667405422.508 [RudderServo](DEBUG): Initializing EZServoServo.
2022-11-02T16:10:22.629Z,1667405422.629 [RudderServo](DEBUG): Initializing RudderServo.
2022-11-02T16:10:22.633Z,1667405422.633 [CBIT](INFO): Clearing failed state for component RudderServo
2022-11-02T16:10:22.633Z,1667405422.633 [RudderServo] No Fault, FailCount= 1
2022-11-02T16:10:22.708Z,1667405422.708 [WetLabsBB2FL](INFO): Powering down
2022-11-02T16:10:26.401Z,1667405426.401 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-11-02T16:10:35.542Z,1667405435.542 [DAT](INFO): commRate: 800
2022-11-02T16:10:37.608Z,1667405437.608 [DAT](INFO): entering command mode
2022-11-02T16:10:37.809Z,1667405437.809 [DAT](INFO): setting verbose to 3
2022-11-02T16:10:38.062Z,1667405438.062 [DAT](INFO): set verbose to 3
2022-11-02T16:10:38.062Z,1667405438.062 [DAT](INFO): setting DatVerbose to 27440
2022-11-02T16:10:38.313Z,1667405438.313 [DAT](INFO): set DatVerbose to 27440
2022-11-02T16:10:38.314Z,1667405438.314 [DAT](INFO): setting transmit power to 8
2022-11-02T16:10:38.570Z,1667405438.570 [DAT](INFO): set transmit power to 8
2022-11-02T16:10:38.570Z,1667405438.570 [DAT](INFO): setting local address to 10
2022-11-02T16:10:38.817Z,1667405438.817 [DAT](INFO): set local address to 10
2022-11-02T16:10:38.819Z,1667405438.819 [DAT](INFO): Setting time to: 16:10:38 And date to:11/2/2022
2022-11-02T16:10:39.069Z,1667405439.069 [DAT](INFO): Local DAT time set to Wed Nov 2, 2022  16:10:38  

2022-11-02T16:10:49.562Z,1667405449.562 [NAL9602](INFO): Powering up NAL9602
2022-11-02T16:10:56.784Z,1667405456.784 [CommandExec](IMPORTANT): got command load
2022-11-02T16:10:56.785Z,1667405456.785 [CommandExec](FAULT): Incomplete syntax. Try: help load
2022-11-02T16:11:00.474Z,1667405460.474 [NAL9602](INFO): NAL9602 initialized
2022-11-02T16:11:47.876Z,1667405507.876 [CommandExec](IMPORTANT): got command failComponent
2022-11-02T16:11:47.877Z,1667405507.877 [CommandExec](IMPORTANT): Failed components:
2022-11-02T16:11:47.877Z,1667405507.877 [CommandExec](IMPORTANT): DropWeight: Hardware Fault
2022-11-02T16:12:09.573Z,1667405529.573 [SBIT](IMPORTANT): Beginning Startup BIT
2022-11-02T16:12:09.577Z,1667405529.577 [CBIT](IMPORTANT): Beginning ground fault scan
2022-11-02T16:12:20.517Z,1667405540.517 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.013032
CHAN A1 (24V): 0.000734
CHAN A2 (12V): -0.005811
CHAN A3 (5V): 0.000360
CHAN B0 (3.3V): -0.001479
CHAN B1 (3.15aV): -0.001358
CHAN B2 (3.15bV): -0.000861
CHAN B3 (GND): -0.000830
OPEN: 0.004362
Full Scale: +/- 1 mA
2022-11-02T16:12:45.366Z,1667405565.366 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T16:12:45.366Z,1667405565.366 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T16:12:45.417Z,1667405565.417 [MissionManager](INFO): DefineArg multiray_lab.MissionTimeout = 90.000000 min
2022-11-02T16:12:45.420Z,1667405565.420 [MissionManager](INFO): DefineArg multiray_lab.LightDuration = 5.000000 s
2022-11-02T16:12:45.423Z,1667405565.423 [MissionManager](INFO): DefineArg multiray_lab.LightMode0 = 0.000000 count
2022-11-02T16:12:45.426Z,1667405565.426 [MissionManager](INFO): DefineArg multiray_lab.LightMode1 = 1.000000 count
2022-11-02T16:12:45.429Z,1667405565.429 [MissionManager](INFO): DefineArg multiray_lab.LightMode2 = 2.000000 count
2022-11-02T16:12:45.453Z,1667405565.453 [MissionManager](INFO): DefineArg multiray_lab.EnabledMultiray = 1 bool
2022-11-02T16:12:45.458Z,1667405565.458 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>

<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Units="Tethys/Units"
         xmlns:Sample="Tethys/Sample"
         xmlns:Sensor="Tethys/Sensor"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd"
       Id="multiray_lab">

    <Description>
        This mission is designed to run in the lab only. Turns on and off MultiRay lights.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="LightDuration"><Description>
        How long to turn on / off lights, default 30 seconds
    </Description><Units:second/><Value>5</Value></DefineArg>

    <DefineArg Name="LightMode0"><Description>
        Light mode = 0
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="LightMode1"><Description>
        Light mode = 1
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="LightMode2"><Description>
        Light mode = 2
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="EnabledMultiray"><Description>
        Automatically set to true if the Multiray is enabled.
    </Description><Science:MultiRay.loadAtStartup/></DefineArg>

    <Timeout Duration="MissionTimeout"/>

        <Timeout Duration="LightDuration">
            <Assign><Sequence/><Sensor:MultiRay.lightMode/><Arg Name="LightMode2"/></Assign>    
        </Timeout>



</Mission>


2022-11-02T16:12:45.473Z,1667405565.473 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T16:12:55.131Z,1667405575.131 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005013
2022-11-02T16:13:03.451Z,1667405583.451 [SBIT](IMPORTANT): SBIT PASSED
2022-11-02T16:13:03.451Z,1667405583.451 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-11-02T16:13:03.452Z,1667405583.452 [SBIT](IMPORTANT): BackseatComponent.needs24v=1 bool;

2022-11-02T16:13:03.452Z,1667405583.452 [SBIT](IMPORTANT): BuoyancyServo.fastPumpCoefficient=6 none;

2022-11-02T16:13:03.452Z,1667405583.452 [SBIT](IMPORTANT): CBIT.gf24Offset=149 microampere;

2022-11-02T16:13:03.452Z,1667405583.452 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2022-11-02T16:13:03.452Z,1667405583.452 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2022-11-02T16:13:03.453Z,1667405583.453 [SBIT](IMPORTANT): DAT.surfaceThreshold=-1 meter;

2022-11-02T16:13:03.453Z,1667405583.453 [SBIT](IMPORTANT): Express none _.ayeris_disk_space;

2022-11-02T16:13:03.453Z,1667405583.453 [SBIT](IMPORTANT): Express linearApproximation _.ayeris_particle_counts 250.000000 count;

2022-11-02T16:13:03.453Z,1667405583.453 [SBIT](IMPORTANT): Express none _.ayeris_particle_size;

2022-11-02T16:13:03.453Z,1667405583.453 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=5 ampere_hour;

2022-11-02T16:13:03.453Z,1667405583.453 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=11 volt;

2022-11-02T16:13:03.453Z,1667405583.453 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=210.367112 cubic_centimeter;

2022-11-02T16:13:03.453Z,1667405583.453 [SBIT](IMPORTANT): VerticalControl.massDefault=22.333859 millimeter;

2022-11-02T16:13:03.859Z,1667405583.859 [MissionManager](IMPORTANT): Started mission Startup
2022-11-02T16:13:03.860Z,1667405583.860 [Startup] Running Loop=1
2022-11-02T16:13:03.860Z,1667405583.860 [Startup](DEBUG): Aggregate::initialize Startup
2022-11-02T16:13:03.860Z,1667405583.860 [Startup:A.GoToSurface] Running Loop=1
2022-11-02T16:13:03.860Z,1667405583.860 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-11-02T16:13:03.861Z,1667405583.861 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-11-02T16:13:03.861Z,1667405583.861 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-11-02T16:13:03.861Z,1667405583.861 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-11-02T16:13:03.862Z,1667405583.862 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-11-02T16:13:03.862Z,1667405583.862 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-11-02T16:13:03.865Z,1667405583.865 [Startup:StartupSatComms] Running Loop=1
2022-11-02T16:13:03.865Z,1667405583.865 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-11-02T16:13:03.865Z,1667405583.865 [Startup:StartupSatComms:A] Running Loop=1
2022-11-02T16:13:04.285Z,1667405584.285 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-11-02T16:13:20.450Z,1667405600.450 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-11-02T16:13:20.450Z,1667405600.450 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-11-02T16:13:20.451Z,1667405600.451 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2022-11-02T16:13:20.451Z,1667405600.451 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2022-11-02T16:13:20.462Z,1667405600.462 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-11-02T16:13:20.462Z,1667405600.462 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2022-11-02T16:13:20.849Z,1667405600.849 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-11-02T16:13:20.850Z,1667405600.850 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2022-11-02T16:13:20.850Z,1667405600.850 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2022-11-02T16:13:20.850Z,1667405600.850 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2022-11-02T16:13:21.262Z,1667405601.262 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2022-11-02T16:13:34.679Z,1667405614.679 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T16:13:34.679Z,1667405614.679 [MissionManager](INFO): Uninitializing Mission multiray_lab
2022-11-02T16:13:34.681Z,1667405614.681 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T16:13:34.773Z,1667405614.773 [MissionManager](INFO): DefineArg multiray_lab.MissionTimeout = 90.000000 min
2022-11-02T16:13:34.776Z,1667405614.776 [MissionManager](INFO): DefineArg multiray_lab.LightDuration = 5.000000 s
2022-11-02T16:13:34.778Z,1667405614.778 [MissionManager](INFO): DefineArg multiray_lab.LightMode0 = 0.000000 count
2022-11-02T16:13:34.785Z,1667405614.785 [MissionManager](INFO): DefineArg multiray_lab.LightMode1 = 1.000000 count
2022-11-02T16:13:34.792Z,1667405614.792 [MissionManager](INFO): DefineArg multiray_lab.LightMode2 = 2.000000 count
2022-11-02T16:13:34.797Z,1667405614.797 [MissionManager](INFO): DefineArg multiray_lab.EnabledMultiray = 1 bool
2022-11-02T16:13:34.856Z,1667405614.856 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>

<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Units="Tethys/Units"
         xmlns:Sample="Tethys/Sample"
         xmlns:Sensor="Tethys/Sensor"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd"
       Id="multiray_lab">

    <Description>
        This mission is designed to run in the lab only. Turns on and off MultiRay lights.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="LightDuration"><Description>
        How long to turn on / off lights, default 30 seconds
    </Description><Units:second/><Value>5</Value></DefineArg>

    <DefineArg Name="LightMode0"><Description>
        Light mode = 0
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="LightMode1"><Description>
        Light mode = 1
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="LightMode2"><Description>
        Light mode = 2
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="EnabledMultiray"><Description>
        Automatically set to true if the Multiray is enabled.
    </Description><Science:MultiRay.loadAtStartup/></DefineArg>

    <Timeout Duration="MissionTimeout"/>

        <Timeout Duration="LightDuration">
            <Assign><Sequence/><Sensor:MultiRay.lightMode/><Arg Name="LightMode2"/></Assign>    
        </Timeout>



</Mission>


2022-11-02T16:13:34.857Z,1667405614.857 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T16:13:42.246Z,1667405622.246 [CommandExec](IMPORTANT): got command restart system
2022-11-02T16:13:44.303Z,1667405624.303 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2022-11-02T16:13:44.303Z,1667405624.303 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:44.303Z,1667405624.303 [CommandExec](INFO): Uninitializing the command executive.
2022-11-02T16:13:44.303Z,1667405624.303 [CommandExec](INFO): Uninitializing the command scheduler.
2022-11-02T16:13:44.304Z,1667405624.304 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:44.319Z,1667405624.319 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-11-02T16:13:44.319Z,1667405624.319 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-11-02T16:13:44.319Z,1667405624.319 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:44.320Z,1667405624.320 [NavChartDb](INFO): Join timeout helper Thread ID is 984
2022-11-02T16:13:44.627Z,1667405624.627 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:44.627Z,1667405624.627 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:44.635Z,1667405624.635 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2022-11-02T16:13:44.635Z,1667405624.635 [DAT ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:44.635Z,1667405624.635 [DAT](INFO): Join timeout helper Thread ID is 985
2022-11-02T16:13:44.859Z,1667405624.859 [DAT](INFO): Powering down
2022-11-02T16:13:44.931Z,1667405624.931 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:44.932Z,1667405624.932 [DAT](INFO): Powering down
2022-11-02T16:13:44.932Z,1667405624.932 [DAT ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:44.935Z,1667405624.935 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2022-11-02T16:13:44.935Z,1667405624.935 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:44.935Z,1667405624.935 [Radio_Surface](INFO): Join timeout helper Thread ID is 986
2022-11-02T16:13:45.231Z,1667405625.231 [Radio_Surface](INFO): Powering down
2022-11-02T16:13:45.232Z,1667405625.232 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:45.233Z,1667405625.233 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:45.235Z,1667405625.235 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-11-02T16:13:45.235Z,1667405625.235 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:45.235Z,1667405625.235 [Onboard](INFO): Join timeout helper Thread ID is 987
2022-11-02T16:13:45.335Z,1667405625.335 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2022-11-02T16:13:47.235Z,1667405627.235 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:47.235Z,1667405627.235 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.251Z,1667405627.251 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2022-11-02T16:13:47.251Z,1667405627.251 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.251Z,1667405627.251 [DataOverHttps](INFO): Join timeout helper Thread ID is 988
2022-11-02T16:13:47.343Z,1667405627.343 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:47.343Z,1667405627.343 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.363Z,1667405627.363 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2022-11-02T16:13:47.364Z,1667405627.364 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.364Z,1667405627.364 [BackseatComponent](INFO): Join timeout helper Thread ID is 989
2022-11-02T16:13:47.435Z,1667405627.435 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:47.435Z,1667405627.435 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.443Z,1667405627.443 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2022-11-02T16:13:47.443Z,1667405627.443 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.444Z,1667405627.444 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 990
2022-11-02T16:13:47.863Z,1667405627.863 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:47.863Z,1667405627.863 [WetLabsBB2FL](INFO): Powering down
2022-11-02T16:13:47.864Z,1667405627.864 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.867Z,1667405627.867 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-11-02T16:13:47.867Z,1667405627.867 [logger ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.868Z,1667405627.868 [logger](INFO): Join timeout helper Thread ID is 991
2022-11-02T16:13:47.891Z,1667405627.891 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:47.891Z,1667405627.891 [logger ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.907Z,1667405627.907 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-11-02T16:13:47.908Z,1667405627.908 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.908Z,1667405627.908 [CommandLine](INFO): Join timeout helper Thread ID is 992
2022-11-02T16:13:47.923Z,1667405627.923 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:47.923Z,1667405627.923 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.939Z,1667405627.939 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-11-02T16:13:47.940Z,1667405627.940 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.940Z,1667405627.940 [CommandExec](INFO): Join timeout helper Thread ID is 993
2022-11-02T16:13:47.944Z,1667405627.944 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-11-02T16:13:47.944Z,1667405627.944 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:47.945Z,1667405627.945 [controlThread](INFO): Join timeout helper Thread ID is 994
2022-11-02T16:13:48.311Z,1667405628.311 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T16:13:48.311Z,1667405628.311 [controlThread](DEBUG): Uninitializing ControlThread
2022-11-02T16:13:48.311Z,1667405628.311 [AHRS_M2](INFO): Powering down
2022-11-02T16:13:48.623Z,1667405628.623 [MultiRay](INFO): Powering down.
2022-11-02T16:13:48.624Z,1667405628.624 [NAL9602](INFO): Powering down
2022-11-02T16:13:48.625Z,1667405628.625 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-11-02T16:13:48.626Z,1667405628.626 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-11-02T16:13:48.627Z,1667405628.627 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-11-02T16:13:48.628Z,1667405628.628 [MissionManager](INFO): Uninitializing Mission Default
2022-11-02T16:13:48.630Z,1667405628.630 [MissionManager](INFO): Uninitializing Mission multiray_lab
2022-11-02T16:13:48.632Z,1667405628.632 [MissionManager](INFO): Uninitializing Mission Startup
2022-11-02T16:13:48.632Z,1667405628.632 [Startup] Stopped
2022-11-02T16:13:48.632Z,1667405628.632 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-11-02T16:13:48.632Z,1667405628.632 [Startup:A.GoToSurface] Stopped
2022-11-02T16:13:48.632Z,1667405628.632 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-11-02T16:13:48.632Z,1667405628.632 [Startup:StartupSatComms] Stopped
2022-11-02T16:13:48.632Z,1667405628.632 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-11-02T16:13:48.632Z,1667405628.632 [Startup:StartupSatComms:A] Stopped
2022-11-02T16:13:48.634Z,1667405628.634 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-11-02T16:13:48.634Z,1667405628.634 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-11-02T16:13:48.635Z,1667405628.635 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-11-02T16:13:48.635Z,1667405628.635 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-11-02T16:13:48.635Z,1667405628.635 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-11-02T16:13:48.635Z,1667405628.635 [BuoyancyServo](INFO): Powering down
2022-11-02T16:13:48.647Z,1667405628.647 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2022-11-02T16:13:48.647Z,1667405628.647 [ElevatorServo](INFO): Powering down
2022-11-02T16:13:48.648Z,1667405628.648 [MassServo](DEBUG): Uninitialize Mass Servo.
2022-11-02T16:13:48.648Z,1667405628.648 [MassServo](INFO): Powering down
2022-11-02T16:13:48.649Z,1667405628.649 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-11-02T16:13:48.649Z,1667405628.649 [RudderServo](INFO): Powering down
2022-11-02T16:13:48.650Z,1667405628.650 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2022-11-02T16:13:48.650Z,1667405628.650 [ThrusterHE](INFO): Powering down
2022-11-02T16:13:48.651Z,1667405628.651 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-11-02T16:13:48.651Z,1667405628.651 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-11-02T16:13:48.652Z,1667405628.652 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-11-02T16:13:48.652Z,1667405628.652 [CBIT](DEBUG): Powering off loads.
2022-11-02T16:13:48.663Z,1667405628.663 [CBIT](DEBUG): Disabling WDT.
2022-11-02T16:13:48.674Z,1667405628.674 [CBIT](DEBUG): Opening all GF detection circuits.
2022-11-02T16:13:48.675Z,1667405628.675 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:48.709Z,1667405628.709 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:48.762Z,1667405628.762 [DAT ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:48.767Z,1667405628.767 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:48.769Z,1667405628.769 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:48.776Z,1667405628.776 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:48.824Z,1667405628.824 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:48.873Z,1667405628.873 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-11-02T16:13:48.933Z,1667405628.933 [logger ThreadHandler](INFO): Thread cancelled.