2022-11-02T17:12:14.757Z,1667409134.757 [Supervisor](DEBUG): Initializing supervisor.
2022-11-02T17:12:14.761Z,1667409134.761 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-11-02T17:12:14.761Z,1667409134.761 [SyncHandler](INFO): Protected caller Thread ID is 834
2022-11-02T17:12:14.762Z,1667409134.762 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-11-02T17:12:14.763Z,1667409134.763 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-11-02T17:12:14.763Z,1667409134.763 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 835
2022-11-02T17:12:14.767Z,1667409134.767 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-11-02T17:12:14.784Z,1667409134.784 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-11-02T17:12:14.785Z,1667409134.785 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-11-02T17:12:14.786Z,1667409134.786 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 836
2022-11-02T17:12:14.790Z,1667409134.790 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-11-02T17:12:14.791Z,1667409134.791 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-11-02T17:12:14.791Z,1667409134.791 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 837
2022-11-02T17:12:14.793Z,1667409134.793 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-11-02T17:12:14.794Z,1667409134.794 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-11-02T17:12:14.794Z,1667409134.794 [logger ThreadHandler](INFO): Protected caller Thread ID is 838
2022-11-02T17:12:14.798Z,1667409134.798 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-11-02T17:12:14.798Z,1667409134.798 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-11-02T17:12:14.803Z,1667409134.803 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-11-02T17:12:15.220Z,1667409135.220 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-11-02T17:12:15.222Z,1667409135.222 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-11-02T17:12:15.432Z,1667409135.432 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-11-02T17:12:15.433Z,1667409135.433 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-11-02T17:12:15.611Z,1667409135.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-11-02T17:12:15.611Z,1667409135.611 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-11-02T17:12:15.716Z,1667409135.716 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-11-02T17:12:15.717Z,1667409135.717 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-11-02T17:12:16.077Z,1667409136.077 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-11-02T17:12:16.079Z,1667409136.079 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-11-02T17:12:16.418Z,1667409136.418 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-11-02T17:12:16.420Z,1667409136.420 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-11-02T17:12:16.516Z,1667409136.516 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-11-02T17:12:16.518Z,1667409136.518 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-11-02T17:12:16.732Z,1667409136.732 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-11-02T17:12:16.734Z,1667409136.734 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-11-02T17:12:17.337Z,1667409137.337 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-11-02T17:12:17.337Z,1667409137.337 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-11-02T17:12:17.681Z,1667409137.681 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-11-02T17:12:17.683Z,1667409137.683 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-11-02T17:12:17.763Z,1667409137.763 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-11-02T17:12:17.968Z,1667409137.968 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-11-02T17:12:17.969Z,1667409137.969 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-11-02T17:12:18.134Z,1667409138.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-11-02T17:12:18.138Z,1667409138.138 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-11-02T17:12:19.482Z,1667409139.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-11-02T17:12:19.483Z,1667409139.483 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-11-02T17:12:19.562Z,1667409139.562 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-11-02T17:12:19.843Z,1667409139.843 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-11-02T17:12:19.845Z,1667409139.845 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2022-11-02T17:12:19.849Z,1667409139.849 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2022-11-02T17:12:20.023Z,1667409140.023 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2022-11-02T17:12:20.115Z,1667409140.115 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2022-11-02T17:12:20.224Z,1667409140.224 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2022-11-02T17:12:20.322Z,1667409140.322 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2022-11-02T17:12:20.405Z,1667409140.405 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2022-11-02T17:12:20.490Z,1667409140.490 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2022-11-02T17:12:20.602Z,1667409140.602 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2022-11-02T17:12:20.702Z,1667409140.702 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2022-11-02T17:12:20.853Z,1667409140.853 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2022-11-02T17:12:21.114Z,1667409141.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-11-02T17:12:21.115Z,1667409141.115 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2022-11-02T17:12:21.208Z,1667409141.208 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/root/
2022-11-02T17:12:21.209Z,1667409141.209 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2022-11-02T17:12:21.213Z,1667409141.213 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-11-02T17:12:21.571Z,1667409141.571 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-11-02T17:12:21.573Z,1667409141.573 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-11-02T17:12:21.710Z,1667409141.710 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-11-02T17:12:21.710Z,1667409141.710 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-11-02T17:12:21.749Z,1667409141.749 [DeadReckonUsingSpeedCalculator] Loaded
2022-11-02T17:12:21.749Z,1667409141.749 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2022-11-02T17:12:21.763Z,1667409141.763 [NavChart] Loaded
2022-11-02T17:12:21.763Z,1667409141.763 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-11-02T17:12:21.768Z,1667409141.768 [UniversalFixResidualReporter] Loaded
2022-11-02T17:12:21.769Z,1667409141.769 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-11-02T17:12:21.769Z,1667409141.769 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-11-02T17:12:21.770Z,1667409141.770 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-11-02T17:12:21.785Z,1667409141.785 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-11-02T17:12:21.786Z,1667409141.786 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-11-02T17:12:22.024Z,1667409142.024 [CTD_Seabird] Loaded
2022-11-02T17:12:22.024Z,1667409142.024 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2022-11-02T17:12:22.025Z,1667409142.025 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 4065A4E0
2022-11-02T17:12:22.026Z,1667409142.026 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 922
2022-11-02T17:12:22.046Z,1667409142.046 [PAR_Licor] Loaded
2022-11-02T17:12:22.046Z,1667409142.046 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-11-02T17:12:22.077Z,1667409142.077 [WetLabsBB2FL] Loaded
2022-11-02T17:12:22.077Z,1667409142.077 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2022-11-02T17:12:22.078Z,1667409142.078 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2022-11-02T17:12:22.078Z,1667409142.078 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 923
2022-11-02T17:12:22.079Z,1667409142.079 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-11-02T17:12:22.081Z,1667409142.081 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-11-02T17:12:22.149Z,1667409142.149 [VerticalControl](DEBUG): Construct VerticalControl.
2022-11-02T17:12:22.209Z,1667409142.209 [VerticalControl] Loaded
2022-11-02T17:12:22.209Z,1667409142.209 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-11-02T17:12:22.212Z,1667409142.212 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-11-02T17:12:22.254Z,1667409142.254 [HorizontalControl] Loaded
2022-11-02T17:12:22.254Z,1667409142.254 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-11-02T17:12:22.256Z,1667409142.256 [SpeedControl](DEBUG): Construct SpeedControl.
2022-11-02T17:12:22.259Z,1667409142.259 [SpeedControl] Loaded
2022-11-02T17:12:22.260Z,1667409142.260 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-11-02T17:12:22.262Z,1667409142.262 [LoopControl](DEBUG): Construct LoopControl.
2022-11-02T17:12:22.263Z,1667409142.263 [LoopControl] Loaded
2022-11-02T17:12:22.263Z,1667409142.263 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-11-02T17:12:22.264Z,1667409142.264 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-11-02T17:12:22.265Z,1667409142.265 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-11-02T17:12:22.335Z,1667409142.335 [DepthRateCalculator] Loaded
2022-11-02T17:12:22.335Z,1667409142.335 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-11-02T17:12:22.340Z,1667409142.340 [PitchRateCalculator] Loaded
2022-11-02T17:12:22.341Z,1667409142.341 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-11-02T17:12:22.350Z,1667409142.350 [SpeedCalculator] Loaded
2022-11-02T17:12:22.350Z,1667409142.350 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-11-02T17:12:22.354Z,1667409142.354 [YawRateCalculator] Loaded
2022-11-02T17:12:22.354Z,1667409142.354 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-11-02T17:12:22.373Z,1667409142.373 [ElevatorOffsetCalculator] Loaded
2022-11-02T17:12:22.373Z,1667409142.373 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-11-02T17:12:22.373Z,1667409142.373 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-11-02T17:12:22.375Z,1667409142.375 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-11-02T17:12:22.494Z,1667409142.494 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-11-02T17:12:22.496Z,1667409142.496 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-11-02T17:12:22.578Z,1667409142.578 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-11-02T17:12:22.578Z,1667409142.578 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-11-02T17:12:22.726Z,1667409142.726 [BuoyancyServo] Loaded
2022-11-02T17:12:22.726Z,1667409142.726 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-11-02T17:12:22.746Z,1667409142.746 [ElevatorServo] Loaded
2022-11-02T17:12:22.746Z,1667409142.746 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-11-02T17:12:22.766Z,1667409142.766 [MassServo] Loaded
2022-11-02T17:12:22.766Z,1667409142.766 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-11-02T17:12:22.784Z,1667409142.784 [RudderServo] Loaded
2022-11-02T17:12:22.785Z,1667409142.785 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-11-02T17:12:22.799Z,1667409142.799 [ThrusterHE] Loaded
2022-11-02T17:12:22.799Z,1667409142.799 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-11-02T17:12:22.800Z,1667409142.800 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-11-02T17:12:22.800Z,1667409142.800 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-11-02T17:12:22.981Z,1667409142.981 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-11-02T17:12:22.982Z,1667409142.982 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-11-02T17:12:24.346Z,1667409144.346 [AHRS_M2] Loaded
2022-11-02T17:12:24.347Z,1667409144.347 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-11-02T17:12:24.596Z,1667409144.596 [BackseatComponent] Loaded
2022-11-02T17:12:24.597Z,1667409144.597 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-11-02T17:12:24.598Z,1667409144.598 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A854E0
2022-11-02T17:12:24.598Z,1667409144.598 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 924
2022-11-02T17:12:24.601Z,1667409144.601 [LcmUniversalReporter] Loaded
2022-11-02T17:12:24.601Z,1667409144.601 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-11-02T17:12:25.415Z,1667409145.415 [BPC1] Loaded
2022-11-02T17:12:25.415Z,1667409145.415 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-11-02T17:12:25.558Z,1667409145.558 [DataOverHttps] Loaded
2022-11-02T17:12:25.558Z,1667409145.558 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-11-02T17:12:25.559Z,1667409145.559 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40AB54E0
2022-11-02T17:12:25.559Z,1667409145.559 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 925
2022-11-02T17:12:25.580Z,1667409145.580 [Depth_Keller] Loaded
2022-11-02T17:12:25.580Z,1667409145.580 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-11-02T17:12:25.585Z,1667409145.585 [DropWeight] Loaded
2022-11-02T17:12:25.585Z,1667409145.585 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-11-02T17:12:25.602Z,1667409145.602 [MultiRay] Loaded
2022-11-02T17:12:25.602Z,1667409145.602 [ComponentRegistry](DEBUG): SyncComponent "MultiRay" handled in the control thread.
2022-11-02T17:12:25.664Z,1667409145.664 [NAL9602] Loaded
2022-11-02T17:12:25.664Z,1667409145.664 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-11-02T17:12:25.694Z,1667409145.694 [Onboard] Loaded
2022-11-02T17:12:25.694Z,1667409145.694 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-11-02T17:12:25.695Z,1667409145.695 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40AE54E0
2022-11-02T17:12:25.695Z,1667409145.695 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 926
2022-11-02T17:12:25.702Z,1667409145.702 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2022-11-02T17:12:25.712Z,1667409145.712 [PowerOnly] Loaded
2022-11-02T17:12:25.713Z,1667409145.713 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2022-11-02T17:12:25.724Z,1667409145.724 [Power24vConverter] Loaded
2022-11-02T17:12:25.724Z,1667409145.724 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-11-02T17:12:25.738Z,1667409145.738 [Radio_Surface] Loaded
2022-11-02T17:12:25.738Z,1667409145.738 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-11-02T17:12:25.739Z,1667409145.739 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B154E0
2022-11-02T17:12:25.739Z,1667409145.739 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 927
2022-11-02T17:12:25.832Z,1667409145.832 [DAT] Loaded
2022-11-02T17:12:25.832Z,1667409145.832 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2022-11-02T17:12:25.833Z,1667409145.833 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40B454E0
2022-11-02T17:12:25.833Z,1667409145.833 [DAT ThreadHandler](INFO): Protected caller Thread ID is 928
2022-11-02T17:12:25.834Z,1667409145.834 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-11-02T17:12:25.835Z,1667409145.835 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-11-02T17:12:26.004Z,1667409146.004 [SBIT](DEBUG): Construct Startup Built In Test.
2022-11-02T17:12:26.014Z,1667409146.014 [SBIT] Loaded
2022-11-02T17:12:26.015Z,1667409146.015 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-11-02T17:12:26.018Z,1667409146.018 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-11-02T17:12:26.030Z,1667409146.030 [IBIT] Loaded
2022-11-02T17:12:26.031Z,1667409146.031 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-11-02T17:12:26.037Z,1667409146.037 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-11-02T17:12:26.142Z,1667409146.142 [CBIT] Loaded
2022-11-02T17:12:26.142Z,1667409146.142 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-11-02T17:12:26.142Z,1667409146.142 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-11-02T17:12:26.143Z,1667409146.143 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-11-02T17:12:26.185Z,1667409146.185 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-11-02T17:12:26.191Z,1667409146.191 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-11-02T17:12:26.194Z,1667409146.194 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-11-02T17:12:26.205Z,1667409146.205 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-11-02T17:12:26.206Z,1667409146.206 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BD34E0
2022-11-02T17:12:26.207Z,1667409146.207 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 929
2022-11-02T17:12:26.211Z,1667409146.211 [Supervisor](INFO): Main Thread ID is 829
2022-11-02T17:12:26.211Z,1667409146.211 [Supervisor](DEBUG): Running supervisor.
2022-11-02T17:12:26.212Z,1667409146.212 [CommandExec ThreadHandler](INFO): Handler Thread ID is 930
2022-11-02T17:12:26.212Z,1667409146.212 [CommandExec](INFO): Initializing the command executive.
2022-11-02T17:12:26.255Z,1667409146.255 [CommandLine ThreadHandler](INFO): Handler Thread ID is 931
2022-11-02T17:12:26.265Z,1667409146.265 [controlThread ThreadHandler](INFO): Handler Thread ID is 932
2022-11-02T17:12:26.266Z,1667409146.266 [controlThread](DEBUG): Initializing ControlThread
2022-11-02T17:12:26.267Z,1667409146.267 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2022-11-02T17:12:26.267Z,1667409146.267 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-11-02T17:12:26.267Z,1667409146.267 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-11-02T17:12:26.269Z,1667409146.269 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-11-02T17:12:26.271Z,1667409146.271 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-11-02T17:12:26.271Z,1667409146.271 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-11-02T17:12:26.272Z,1667409146.272 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-11-02T17:12:26.272Z,1667409146.272 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-11-02T17:12:26.272Z,1667409146.272 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-11-02T17:12:26.273Z,1667409146.273 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-11-02T17:12:26.273Z,1667409146.273 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-11-02T17:12:26.273Z,1667409146.273 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-11-02T17:12:26.279Z,1667409146.279 [SBIT](INFO): Initialize SBIT Component.
2022-11-02T17:12:26.279Z,1667409146.279 [SBIT](IMPORTANT): git: 2022-10-11-37-g3067145cf
2022-11-02T17:12:26.279Z,1667409146.279 [SBIT](INFO): git hash: 3067145cfe0a71a9d335ed48764d88f81a84ec20
2022-11-02T17:12:26.280Z,1667409146.280 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-11-02T17:12:26.281Z,1667409146.281 [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
2022-11-02T17:12:26.282Z,1667409146.282 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2022-11-02T17:12:26.283Z,1667409146.283 [IBIT](INFO): Initialize IBIT Component.
2022-11-02T17:12:26.284Z,1667409146.284 [CBIT](DEBUG): Initialize CBIT Component.
2022-11-02T17:12:26.293Z,1667409146.293 [logger ThreadHandler](INFO): Handler Thread ID is 933
2022-11-02T17:12:26.297Z,1667409146.297 [CBIT](DEBUG): Initialized mux pins.
2022-11-02T17:12:26.297Z,1667409146.297 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2022-11-02T17:12:26.297Z,1667409146.297 [CBIT](DEBUG): Initializing the watchdog timer.
2022-11-02T17:12:26.313Z,1667409146.313 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 934
2022-11-02T17:12:26.314Z,1667409146.314 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-11-02T17:12:26.319Z,1667409146.319 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 936
2022-11-02T17:12:26.321Z,1667409146.321 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2022-11-02T17:12:26.321Z,1667409146.321 [CBIT](DEBUG): Initializing heartbeat.
2022-11-02T17:12:26.333Z,1667409146.333 [WetLabsBB2FL](INFO): Powering up
2022-11-02T17:12:26.349Z,1667409146.349 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 938
2022-11-02T17:12:26.351Z,1667409146.351 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 939
2022-11-02T17:12:26.352Z,1667409146.352 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2022-11-02T17:12:26.354Z,1667409146.354 [Onboard ThreadHandler](INFO): Handler Thread ID is 940
2022-11-02T17:12:26.390Z,1667409146.390 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 941
2022-11-02T17:12:26.391Z,1667409146.391 [DAT ThreadHandler](INFO): Handler Thread ID is 942
2022-11-02T17:12:26.392Z,1667409146.392 [DAT](INFO): Powering up
2022-11-02T17:12:26.392Z,1667409146.392 [DAT](DEBUG): Initializing DAT.
2022-11-02T17:12:26.393Z,1667409146.393 [CBIT](DEBUG): Deactivating GF circuits.
2022-11-02T17:12:26.393Z,1667409146.393 [CBIT](DEBUG): Deactivating emergency mode.
2022-11-02T17:12:26.398Z,1667409146.398 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 944
2022-11-02T17:12:26.429Z,1667409146.429 [CBIT](DEBUG): Backplane powered.
2022-11-02T17:12:26.430Z,1667409146.430 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-11-02T17:12:26.793Z,1667409146.793 [Radio_Surface](INFO): Powering up
2022-11-02T17:12:26.972Z,1667409146.972 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-11-02T17:12:26.974Z,1667409146.974 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2022-11-02T17:12:26.975Z,1667409146.975 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2022-11-02T17:12:26.975Z,1667409146.975 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2022-11-02T17:12:26.975Z,1667409146.975 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2022-11-02T17:12:26.975Z,1667409146.975 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2022-11-02T17:12:26.975Z,1667409146.975 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2022-11-02T17:12:26.975Z,1667409146.975 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2022-11-02T17:12:26.976Z,1667409146.976 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2022-11-02T17:12:27.048Z,1667409147.048 [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>


2022-11-02T17:12:27.061Z,1667409147.061 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-11-02T17:12:27.146Z,1667409147.146 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-11-02T17:12:27.148Z,1667409147.148 [Default:A.Wait](DEBUG): Construct Wait.
2022-11-02T17:12:27.151Z,1667409147.151 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-11-02T17:12:27.172Z,1667409147.172 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-11-02T17:12:27.213Z,1667409147.213 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-11-02T17:12:27.219Z,1667409147.219 [Default:E.Execute](DEBUG): Construct Execute.
2022-11-02T17:12:27.234Z,1667409147.234 [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>


2022-11-02T17:12:27.239Z,1667409147.239 [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,
2022-11-02T17:12:27.263Z,1667409147.263 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-11-02T17:12:27.410Z,1667409147.410 [Depth_Keller](ERROR): Pressure reading out of range: 1628.471313 decibar
2022-11-02T17:12:27.411Z,1667409147.411 [MultiRay](INFO): Start
2022-11-02T17:12:27.411Z,1667409147.411 [MultiRay](INFO): Powering up MultiRay Lights
2022-11-02T17:12:27.446Z,1667409147.446 [Power24vConverter](INFO): Powering up.
2022-11-02T17:12:27.453Z,1667409147.453 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-11-02T17:12:27.473Z,1667409147.473 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-11-02T17:12:27.481Z,1667409147.481 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-11-02T17:12:27.482Z,1667409147.482 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-11-02T17:12:27.489Z,1667409147.489 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-11-02T17:12:27.490Z,1667409147.490 [MassServo](DEBUG): Initializing EZServoServo.
2022-11-02T17:12:27.497Z,1667409147.497 [MassServo](DEBUG): Initializing MassServo.
2022-11-02T17:12:27.498Z,1667409147.498 [RudderServo](DEBUG): Initializing EZServoServo.
2022-11-02T17:12:27.505Z,1667409147.505 [RudderServo](DEBUG): Initializing RudderServo.
2022-11-02T17:12:27.506Z,1667409147.506 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-11-02T17:12:27.513Z,1667409147.513 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-11-02T17:12:27.515Z,1667409147.515 [CommandExec](FAULT): Scheduling is paused
2022-11-02T17:12:27.515Z,1667409147.515 [CBIT](INFO): Critical error at 20221102T171226
2022-11-02T17:12:27.515Z,1667409147.515 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-11-02T17:12:27.714Z,1667409147.714 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2022-11-02T17:12:27.715Z,1667409147.715 [DropWeight] Hardware Fault, FailCount= 1
2022-11-02T17:12:27.715Z,1667409147.715 [DropWeight](ERROR): Hardware Fault
2022-11-02T17:12:27.715Z,1667409147.715 [MultiRay](INFO): Starting
2022-11-02T17:12:27.715Z,1667409147.715 [MultiRay](INFO): Finished reading config
2022-11-02T17:12:27.743Z,1667409147.743 [CBIT](INFO): Critical error at 20221102T171227
2022-11-02T17:12:27.754Z,1667409147.754 [CBIT](ERROR): Hardware Fault in component: DropWeight
2022-11-02T17:12:27.754Z,1667409147.754 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2022-11-02T17:12:28.405Z,1667409148.405 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-11-02T17:12:28.405Z,1667409148.405 [RudderServo](FAULT): Rudder failed to initialize
2022-11-02T17:12:28.405Z,1667409148.405 [RudderServo] Communications Fault, FailCount= 1
2022-11-02T17:12:28.405Z,1667409148.405 [RudderServo](ERROR): Communications Fault
2022-11-02T17:12:28.407Z,1667409148.407 [CBIT](INFO): Critical error at 20221102T171227
2022-11-02T17:12:28.410Z,1667409148.410 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-11-02T17:12:28.650Z,1667409148.650 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-11-02T17:12:28.650Z,1667409148.650 [RudderServo](INFO): Powering down
2022-11-02T17:12:28.933Z,1667409148.933 [WetLabsBB2FL](INFO): Powering down
2022-11-02T17:12:29.291Z,1667409149.291 [RudderServo](DEBUG): Initializing EZServoServo.
2022-11-02T17:12:29.410Z,1667409149.410 [RudderServo](DEBUG): Initializing RudderServo.
2022-11-02T17:12:29.414Z,1667409149.414 [CBIT](INFO): Clearing failed state for component RudderServo
2022-11-02T17:12:29.414Z,1667409149.414 [RudderServo] No Fault, FailCount= 1
2022-11-02T17:12:33.262Z,1667409153.262 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-11-02T17:12:42.271Z,1667409162.271 [DAT](INFO): commRate: 800
2022-11-02T17:12:44.337Z,1667409164.337 [DAT](INFO): entering command mode
2022-11-02T17:12:44.538Z,1667409164.538 [DAT](INFO): setting verbose to 3
2022-11-02T17:12:44.790Z,1667409164.790 [DAT](INFO): set verbose to 3
2022-11-02T17:12:44.791Z,1667409164.791 [DAT](INFO): setting DatVerbose to 27440
2022-11-02T17:12:45.042Z,1667409165.042 [DAT](INFO): set DatVerbose to 27440
2022-11-02T17:12:45.042Z,1667409165.042 [DAT](INFO): setting transmit power to 8
2022-11-02T17:12:45.294Z,1667409165.294 [DAT](INFO): set transmit power to 8
2022-11-02T17:12:45.295Z,1667409165.295 [DAT](INFO): setting local address to 10
2022-11-02T17:12:45.546Z,1667409165.546 [DAT](INFO): set local address to 10
2022-11-02T17:12:45.547Z,1667409165.547 [DAT](INFO): Setting time to: 17:12:45 And date to:11/2/2022
2022-11-02T17:12:45.798Z,1667409165.798 [DAT](INFO): Local DAT time set to Wed Nov 2, 2022  17:12:45  

2022-11-02T17:12:54.811Z,1667409174.811 [SBIT](IMPORTANT): Beginning Startup BIT
2022-11-02T17:12:54.819Z,1667409174.819 [CBIT](IMPORTANT): Beginning ground fault scan
2022-11-02T17:12:55.987Z,1667409175.987 [NAL9602](INFO): Powering up NAL9602
2022-11-02T17:13:05.770Z,1667409185.770 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.010167
CHAN A1 (24V): 0.000312
CHAN A2 (12V): -0.005154
CHAN A3 (5V): -0.002699
CHAN B0 (3.3V): -0.001850
CHAN B1 (3.15aV): -0.001169
CHAN B2 (3.15bV): -0.001458
CHAN B3 (GND): -0.000416
OPEN: 0.006532
Full Scale: +/- 1 mA
2022-11-02T17:13:06.895Z,1667409186.895 [NAL9602](INFO): NAL9602 initialized
2022-11-02T17:13:21.270Z,1667409201.270 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/multiray_mode1.xml
2022-11-02T17:13:21.270Z,1667409201.270 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/multiray_mode1.xml
2022-11-02T17:13:21.292Z,1667409201.292 [MissionManager](INFO): DefineArg multiray_lab.MissionTimeout = 90.000000 min
2022-11-02T17:13:21.295Z,1667409201.295 [MissionManager](INFO): DefineArg multiray_lab.LightDuration = 5.000000 s
2022-11-02T17:13:21.298Z,1667409201.298 [MissionManager](INFO): DefineArg multiray_lab.LightMode0 = 0.000000 count
2022-11-02T17:13:21.301Z,1667409201.301 [MissionManager](INFO): DefineArg multiray_lab.LightMode1 = 1.000000 count
2022-11-02T17:13:21.304Z,1667409201.304 [MissionManager](INFO): DefineArg multiray_lab.LightMode2 = 2.000000 count
2022-11-02T17:13:21.307Z,1667409201.307 [MissionManager](INFO): DefineArg multiray_lab.EnabledMultiray = 1 bool
2022-11-02T17:13:21.312Z,1667409201.312 [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="LightMode1"/></Assign>    
        </Timeout>


</Mission>


2022-11-02T17:13:21.314Z,1667409201.314 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/multiray_mode1.xml
2022-11-02T17:13:48.929Z,1667409228.929 [SBIT](IMPORTANT): SBIT PASSED
2022-11-02T17:13:48.930Z,1667409228.930 [SBIT](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2022-11-02T17:13:49.316Z,1667409229.316 [MissionManager](IMPORTANT): Started mission Startup
2022-11-02T17:13:49.317Z,1667409229.317 [Startup] Running Loop=1
2022-11-02T17:13:49.317Z,1667409229.317 [Startup](DEBUG): Aggregate::initialize Startup
2022-11-02T17:13:49.317Z,1667409229.317 [Startup:A.GoToSurface] Running Loop=1
2022-11-02T17:13:49.317Z,1667409229.317 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-11-02T17:13:49.318Z,1667409229.318 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-11-02T17:13:49.318Z,1667409229.318 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-11-02T17:13:49.318Z,1667409229.318 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-11-02T17:13:49.319Z,1667409229.319 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-11-02T17:13:49.319Z,1667409229.319 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-11-02T17:13:49.321Z,1667409229.321 [Startup:StartupSatComms] Running Loop=1
2022-11-02T17:13:49.321Z,1667409229.321 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-11-02T17:13:49.321Z,1667409229.321 [Startup:StartupSatComms:A] Running Loop=1
2022-11-02T17:13:49.726Z,1667409229.726 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-11-02T17:14:45.594Z,1667409285.594 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T17:14:45.594Z,1667409285.594 [MissionManager](INFO): Uninitializing Mission multiray_lab
2022-11-02T17:14:45.595Z,1667409285.595 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T17:14:45.615Z,1667409285.615 [MissionManager](INFO): DefineArg multiray_lab.MissionTimeout = 5.000000 min
2022-11-02T17:14:45.617Z,1667409285.617 [MissionManager](INFO): DefineArg multiray_lab.LightDuration = 5.000000 s
2022-11-02T17:14:45.619Z,1667409285.619 [MissionManager](INFO): DefineArg multiray_lab.LightMode0 = 0.000000 count
2022-11-02T17:14:45.621Z,1667409285.621 [MissionManager](INFO): DefineArg multiray_lab.LightMode1 = 1.000000 count
2022-11-02T17:14:45.623Z,1667409285.623 [MissionManager](INFO): DefineArg multiray_lab.LightMode2 = 2.000000 count
2022-11-02T17:14:45.626Z,1667409285.626 [MissionManager](INFO): DefineArg multiray_lab.EnabledMultiray = 1 bool
2022-11-02T17:14:45.630Z,1667409285.630 [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>5</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>


2022-11-02T17:14:45.632Z,1667409285.632 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/multiray_mode2.xml
2022-11-02T17:14:49.539Z,1667409289.539 [Startup:StartupSatComms:A](INFO): Timed out from 2022-11-02T17:13:49.3Z
2022-11-02T17:14:49.539Z,1667409289.539 [Startup:StartupSatComms:A] Stopped
2022-11-02T17:14:49.539Z,1667409289.539 [Startup:StartupSatComms:B] Running Loop=1
2022-11-02T17:14:49.944Z,1667409289.944 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-11-02T17:15:13.780Z,1667409313.780 [CommandExec](IMPORTANT): got command restart system
2022-11-02T17:15:15.847Z,1667409315.847 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2022-11-02T17:15:15.847Z,1667409315.847 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:15.847Z,1667409315.847 [CommandExec](INFO): Uninitializing the command executive.
2022-11-02T17:15:15.847Z,1667409315.847 [CommandExec](INFO): Uninitializing the command scheduler.
2022-11-02T17:15:15.848Z,1667409315.848 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:16.046Z,1667409316.046 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-11-02T17:15:16.047Z,1667409316.047 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-11-02T17:15:16.047Z,1667409316.047 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:16.048Z,1667409316.048 [NavChartDb](INFO): Join timeout helper Thread ID is 984
2022-11-02T17:15:16.143Z,1667409316.143 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:16.143Z,1667409316.143 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:16.150Z,1667409316.150 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2022-11-02T17:15:16.151Z,1667409316.151 [DAT ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:16.151Z,1667409316.151 [DAT](INFO): Join timeout helper Thread ID is 985
2022-11-02T17:15:16.287Z,1667409316.287 [DAT](INFO): Powering down
2022-11-02T17:15:16.361Z,1667409316.361 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:16.361Z,1667409316.361 [DAT](INFO): Powering down
2022-11-02T17:15:16.362Z,1667409316.362 [DAT ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:16.371Z,1667409316.371 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2022-11-02T17:15:16.371Z,1667409316.371 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:16.371Z,1667409316.371 [Radio_Surface](INFO): Join timeout helper Thread ID is 986
2022-11-02T17:15:16.615Z,1667409316.615 [Radio_Surface](INFO): Powering down
2022-11-02T17:15:16.616Z,1667409316.616 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:16.616Z,1667409316.616 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:16.623Z,1667409316.623 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-11-02T17:15:16.623Z,1667409316.623 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:16.623Z,1667409316.623 [Onboard](INFO): Join timeout helper Thread ID is 987
2022-11-02T17:15:17.191Z,1667409317.191 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2022-11-02T17:15:18.415Z,1667409318.415 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:18.415Z,1667409318.415 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:18.419Z,1667409318.419 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2022-11-02T17:15:18.419Z,1667409318.419 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:18.419Z,1667409318.419 [DataOverHttps](INFO): Join timeout helper Thread ID is 988
2022-11-02T17:15:19.199Z,1667409319.199 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:19.199Z,1667409319.199 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:19.212Z,1667409319.212 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2022-11-02T17:15:19.212Z,1667409319.212 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:19.212Z,1667409319.212 [BackseatComponent](INFO): Join timeout helper Thread ID is 989
2022-11-02T17:15:19.287Z,1667409319.287 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:19.287Z,1667409319.287 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:19.291Z,1667409319.291 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2022-11-02T17:15:19.291Z,1667409319.291 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:19.292Z,1667409319.292 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 990
2022-11-02T17:15:19.727Z,1667409319.727 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:19.727Z,1667409319.727 [WetLabsBB2FL](INFO): Powering down
2022-11-02T17:15:19.728Z,1667409319.728 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:19.749Z,1667409319.749 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2022-11-02T17:15:19.749Z,1667409319.749 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:19.749Z,1667409319.749 [CTD_Seabird](INFO): Join timeout helper Thread ID is 991
2022-11-02T17:15:20.163Z,1667409320.163 [CTD_Seabird](INFO): Powering down
2022-11-02T17:15:20.174Z,1667409320.174 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:20.175Z,1667409320.175 [CTD_Seabird](INFO): Powering down
2022-11-02T17:15:20.186Z,1667409320.186 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.203Z,1667409320.203 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-11-02T17:15:20.203Z,1667409320.203 [logger ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.204Z,1667409320.204 [logger](INFO): Join timeout helper Thread ID is 992
2022-11-02T17:15:20.211Z,1667409320.211 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:20.211Z,1667409320.211 [logger ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.223Z,1667409320.223 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-11-02T17:15:20.223Z,1667409320.223 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.224Z,1667409320.224 [CommandLine](INFO): Join timeout helper Thread ID is 993
2022-11-02T17:15:20.311Z,1667409320.311 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:20.311Z,1667409320.311 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.323Z,1667409320.323 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-11-02T17:15:20.323Z,1667409320.323 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.324Z,1667409320.324 [CommandExec](INFO): Join timeout helper Thread ID is 994
2022-11-02T17:15:20.325Z,1667409320.325 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-11-02T17:15:20.325Z,1667409320.325 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.325Z,1667409320.325 [controlThread](INFO): Join timeout helper Thread ID is 995
2022-11-02T17:15:20.331Z,1667409320.331 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-02T17:15:20.331Z,1667409320.331 [controlThread](DEBUG): Uninitializing ControlThread
2022-11-02T17:15:20.332Z,1667409320.332 [AHRS_M2](INFO): Powering down
2022-11-02T17:15:20.643Z,1667409320.643 [MultiRay](INFO): Powering down.
2022-11-02T17:15:20.644Z,1667409320.644 [NAL9602](INFO): Powering down
2022-11-02T17:15:20.645Z,1667409320.645 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-11-02T17:15:20.646Z,1667409320.646 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-11-02T17:15:20.647Z,1667409320.647 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-11-02T17:15:20.647Z,1667409320.647 [MissionManager](INFO): Uninitializing Mission Default
2022-11-02T17:15:20.650Z,1667409320.650 [MissionManager](INFO): Uninitializing Mission multiray_lab
2022-11-02T17:15:20.652Z,1667409320.652 [MissionManager](INFO): Uninitializing Mission Startup
2022-11-02T17:15:20.652Z,1667409320.652 [Startup] Stopped
2022-11-02T17:15:20.652Z,1667409320.652 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-11-02T17:15:20.652Z,1667409320.652 [Startup:A.GoToSurface] Stopped
2022-11-02T17:15:20.652Z,1667409320.652 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-11-02T17:15:20.652Z,1667409320.652 [Startup:StartupSatComms] Stopped
2022-11-02T17:15:20.652Z,1667409320.652 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-11-02T17:15:20.653Z,1667409320.653 [Startup:StartupSatComms:B] Stopped
2022-11-02T17:15:20.654Z,1667409320.654 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-11-02T17:15:20.655Z,1667409320.655 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-11-02T17:15:20.655Z,1667409320.655 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-11-02T17:15:20.655Z,1667409320.655 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-11-02T17:15:20.656Z,1667409320.656 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-11-02T17:15:20.656Z,1667409320.656 [BuoyancyServo](INFO): Powering down
2022-11-02T17:15:20.671Z,1667409320.671 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2022-11-02T17:15:20.671Z,1667409320.671 [ElevatorServo](INFO): Powering down
2022-11-02T17:15:20.672Z,1667409320.672 [MassServo](DEBUG): Uninitialize Mass Servo.
2022-11-02T17:15:20.672Z,1667409320.672 [MassServo](INFO): Powering down
2022-11-02T17:15:20.673Z,1667409320.673 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-11-02T17:15:20.673Z,1667409320.673 [RudderServo](INFO): Powering down
2022-11-02T17:15:20.674Z,1667409320.674 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2022-11-02T17:15:20.674Z,1667409320.674 [ThrusterHE](INFO): Powering down
2022-11-02T17:15:20.675Z,1667409320.675 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-11-02T17:15:20.675Z,1667409320.675 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-11-02T17:15:20.676Z,1667409320.676 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-11-02T17:15:20.676Z,1667409320.676 [CBIT](DEBUG): Powering off loads.
2022-11-02T17:15:20.686Z,1667409320.686 [CBIT](DEBUG): Disabling WDT.
2022-11-02T17:15:20.698Z,1667409320.698 [CBIT](DEBUG): Opening all GF detection circuits.
2022-11-02T17:15:20.699Z,1667409320.699 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.727Z,1667409320.727 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.731Z,1667409320.731 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.785Z,1667409320.785 [DAT ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.790Z,1667409320.790 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.793Z,1667409320.793 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.799Z,1667409320.799 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.846Z,1667409320.846 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.892Z,1667409320.892 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-11-02T17:15:20.951Z,1667409320.951 [logger ThreadHandler](INFO): Thread cancelled.