2022-11-07T22:50:21.031Z,1667861421.031 [Supervisor](DEBUG): Initializing supervisor.
2022-11-07T22:50:21.036Z,1667861421.036 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-11-07T22:50:21.036Z,1667861421.036 [SyncHandler](INFO): Protected caller Thread ID is 2500
2022-11-07T22:50:21.037Z,1667861421.037 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-11-07T22:50:21.038Z,1667861421.038 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-11-07T22:50:21.038Z,1667861421.038 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2501
2022-11-07T22:50:21.042Z,1667861421.042 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-11-07T22:50:21.059Z,1667861421.059 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-11-07T22:50:21.060Z,1667861421.060 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-11-07T22:50:21.061Z,1667861421.061 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 2502
2022-11-07T22:50:21.065Z,1667861421.065 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-11-07T22:50:21.066Z,1667861421.066 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-11-07T22:50:21.066Z,1667861421.066 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2503
2022-11-07T22:50:21.068Z,1667861421.068 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-11-07T22:50:21.069Z,1667861421.069 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-11-07T22:50:21.069Z,1667861421.069 [logger ThreadHandler](INFO): Protected caller Thread ID is 2504
2022-11-07T22:50:21.073Z,1667861421.073 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-11-07T22:50:21.073Z,1667861421.073 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-11-07T22:50:21.075Z,1667861421.075 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-11-07T22:50:21.483Z,1667861421.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-11-07T22:50:21.484Z,1667861421.484 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-11-07T22:50:21.690Z,1667861421.690 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-11-07T22:50:21.691Z,1667861421.691 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-11-07T22:50:21.868Z,1667861421.868 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-11-07T22:50:21.869Z,1667861421.869 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-11-07T22:50:21.972Z,1667861421.972 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-11-07T22:50:21.973Z,1667861421.973 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-11-07T22:50:22.325Z,1667861422.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-11-07T22:50:22.326Z,1667861422.326 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-11-07T22:50:22.633Z,1667861422.633 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-11-07T22:50:22.634Z,1667861422.634 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-11-07T22:50:22.727Z,1667861422.727 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-11-07T22:50:22.728Z,1667861422.728 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-11-07T22:50:22.940Z,1667861422.940 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-11-07T22:50:22.940Z,1667861422.940 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-11-07T22:50:23.432Z,1667861423.432 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-11-07T22:50:23.432Z,1667861423.432 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-11-07T22:50:23.772Z,1667861423.772 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-11-07T22:50:23.773Z,1667861423.773 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-11-07T22:50:23.851Z,1667861423.851 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-11-07T22:50:24.054Z,1667861424.054 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-11-07T22:50:24.054Z,1667861424.054 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-11-07T22:50:24.186Z,1667861424.186 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-11-07T22:50:24.187Z,1667861424.187 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-11-07T22:50:24.890Z,1667861424.890 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-11-07T22:50:24.890Z,1667861424.890 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-11-07T22:50:24.967Z,1667861424.967 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-11-07T22:50:25.247Z,1667861425.247 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-11-07T22:50:25.249Z,1667861425.249 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2022-11-07T22:50:25.250Z,1667861425.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2022-11-07T22:50:25.421Z,1667861425.421 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2022-11-07T22:50:25.512Z,1667861425.512 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2022-11-07T22:50:25.621Z,1667861425.621 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2022-11-07T22:50:25.718Z,1667861425.718 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2022-11-07T22:50:25.839Z,1667861425.839 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2022-11-07T22:50:26.035Z,1667861426.035 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2022-11-07T22:50:26.208Z,1667861426.208 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2022-11-07T22:50:26.366Z,1667861426.366 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2022-11-07T22:50:26.565Z,1667861426.565 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2022-11-07T22:50:26.999Z,1667861426.999 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-11-07T22:50:26.999Z,1667861426.999 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2022-11-07T22:50:27.090Z,1667861427.091 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-11-07T22:50:27.103Z,1667861427.103 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-11-07T22:50:27.408Z,1667861427.408 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-11-07T22:50:27.409Z,1667861427.409 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-11-07T22:50:27.519Z,1667861427.519 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-11-07T22:50:27.520Z,1667861427.520 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-11-07T22:50:27.558Z,1667861427.558 [DeadReckonUsingSpeedCalculator] Loaded
2022-11-07T22:50:27.558Z,1667861427.558 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2022-11-07T22:50:27.571Z,1667861427.571 [NavChart] Loaded
2022-11-07T22:50:27.571Z,1667861427.571 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-11-07T22:50:27.577Z,1667861427.577 [UniversalFixResidualReporter] Loaded
2022-11-07T22:50:27.577Z,1667861427.577 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-11-07T22:50:27.577Z,1667861427.577 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-11-07T22:50:27.578Z,1667861427.578 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-11-07T22:50:27.588Z,1667861427.588 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-11-07T22:50:27.589Z,1667861427.589 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-11-07T22:50:27.722Z,1667861427.722 [PAR_Licor] Loaded
2022-11-07T22:50:27.722Z,1667861427.722 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-11-07T22:50:27.753Z,1667861427.753 [WetLabsBB2FL] Loaded
2022-11-07T22:50:27.753Z,1667861427.753 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2022-11-07T22:50:27.754Z,1667861427.754 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4065A4E0
2022-11-07T22:50:27.754Z,1667861427.754 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 2587
2022-11-07T22:50:27.755Z,1667861427.755 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-11-07T22:50:27.756Z,1667861427.756 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-11-07T22:50:27.807Z,1667861427.807 [VerticalControl](DEBUG): Construct VerticalControl.
2022-11-07T22:50:27.867Z,1667861427.867 [VerticalControl] Loaded
2022-11-07T22:50:27.868Z,1667861427.868 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-11-07T22:50:27.870Z,1667861427.870 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-11-07T22:50:27.911Z,1667861427.911 [HorizontalControl] Loaded
2022-11-07T22:50:27.911Z,1667861427.911 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-11-07T22:50:27.914Z,1667861427.914 [SpeedControl](DEBUG): Construct SpeedControl.
2022-11-07T22:50:27.917Z,1667861427.917 [SpeedControl] Loaded
2022-11-07T22:50:27.917Z,1667861427.917 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-11-07T22:50:27.920Z,1667861427.920 [LoopControl](DEBUG): Construct LoopControl.
2022-11-07T22:50:27.920Z,1667861427.920 [LoopControl] Loaded
2022-11-07T22:50:27.921Z,1667861427.921 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-11-07T22:50:27.921Z,1667861427.921 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-11-07T22:50:27.922Z,1667861427.922 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-11-07T22:50:27.971Z,1667861427.971 [DepthRateCalculator] Loaded
2022-11-07T22:50:27.971Z,1667861427.971 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-11-07T22:50:27.976Z,1667861427.976 [PitchRateCalculator] Loaded
2022-11-07T22:50:27.976Z,1667861427.976 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-11-07T22:50:27.985Z,1667861427.985 [SpeedCalculator] Loaded
2022-11-07T22:50:27.985Z,1667861427.985 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-11-07T22:50:27.989Z,1667861427.989 [YawRateCalculator] Loaded
2022-11-07T22:50:27.990Z,1667861427.990 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-11-07T22:50:28.007Z,1667861428.007 [ElevatorOffsetCalculator] Loaded
2022-11-07T22:50:28.008Z,1667861428.008 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-11-07T22:50:28.008Z,1667861428.008 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-11-07T22:50:28.009Z,1667861428.009 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-11-07T22:50:28.101Z,1667861428.101 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-11-07T22:50:28.101Z,1667861428.101 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-11-07T22:50:28.159Z,1667861428.159 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-11-07T22:50:28.160Z,1667861428.160 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-11-07T22:50:28.282Z,1667861428.282 [BuoyancyServo] Loaded
2022-11-07T22:50:28.282Z,1667861428.282 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-11-07T22:50:28.302Z,1667861428.302 [ElevatorServo] Loaded
2022-11-07T22:50:28.302Z,1667861428.302 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-11-07T22:50:28.321Z,1667861428.321 [MassServo] Loaded
2022-11-07T22:50:28.321Z,1667861428.321 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-11-07T22:50:28.340Z,1667861428.340 [RudderServo] Loaded
2022-11-07T22:50:28.340Z,1667861428.340 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-11-07T22:50:28.354Z,1667861428.354 [ThrusterHE] Loaded
2022-11-07T22:50:28.354Z,1667861428.354 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-11-07T22:50:28.355Z,1667861428.355 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-11-07T22:50:28.355Z,1667861428.355 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-11-07T22:50:28.506Z,1667861428.506 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-11-07T22:50:28.507Z,1667861428.507 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-11-07T22:50:28.907Z,1667861428.907 [AHRS_M2] Loaded
2022-11-07T22:50:28.908Z,1667861428.908 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-11-07T22:50:28.942Z,1667861428.942 [BackseatComponent] Loaded
2022-11-07T22:50:28.943Z,1667861428.943 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-11-07T22:50:28.944Z,1667861428.944 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A554E0
2022-11-07T22:50:28.944Z,1667861428.944 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 2588
2022-11-07T22:50:28.947Z,1667861428.947 [LcmUniversalReporter] Loaded
2022-11-07T22:50:28.947Z,1667861428.947 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-11-07T22:50:29.762Z,1667861429.762 [BPC1] Loaded
2022-11-07T22:50:29.763Z,1667861429.763 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-11-07T22:50:29.836Z,1667861429.836 [DataOverHttps] Loaded
2022-11-07T22:50:29.837Z,1667861429.837 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-11-07T22:50:29.838Z,1667861429.838 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A854E0
2022-11-07T22:50:29.838Z,1667861429.838 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2589
2022-11-07T22:50:29.859Z,1667861429.859 [Depth_Keller] Loaded
2022-11-07T22:50:29.859Z,1667861429.859 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-11-07T22:50:29.864Z,1667861429.864 [DropWeight] Loaded
2022-11-07T22:50:29.864Z,1667861429.864 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-11-07T22:50:29.881Z,1667861429.881 [MultiRay] Loaded
2022-11-07T22:50:29.882Z,1667861429.882 [ComponentRegistry](DEBUG): SyncComponent "MultiRay" handled in the control thread.
2022-11-07T22:50:29.942Z,1667861429.942 [NAL9602] Loaded
2022-11-07T22:50:29.943Z,1667861429.943 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-11-07T22:50:29.973Z,1667861429.973 [Onboard] Loaded
2022-11-07T22:50:29.973Z,1667861429.973 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-11-07T22:50:29.974Z,1667861429.974 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40AB54E0
2022-11-07T22:50:29.974Z,1667861429.974 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 2590
2022-11-07T22:50:29.980Z,1667861429.980 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2022-11-07T22:50:29.991Z,1667861429.991 [PowerOnly] Loaded
2022-11-07T22:50:29.992Z,1667861429.992 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2022-11-07T22:50:30.003Z,1667861430.003 [Power24vConverter] Loaded
2022-11-07T22:50:30.004Z,1667861430.004 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-11-07T22:50:30.017Z,1667861430.017 [Radio_Surface] Loaded
2022-11-07T22:50:30.017Z,1667861430.017 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-11-07T22:50:30.018Z,1667861430.018 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AE54E0
2022-11-07T22:50:30.019Z,1667861430.019 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2591
2022-11-07T22:50:30.110Z,1667861430.110 [DAT] Loaded
2022-11-07T22:50:30.110Z,1667861430.110 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2022-11-07T22:50:30.111Z,1667861430.111 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40B154E0
2022-11-07T22:50:30.112Z,1667861430.112 [DAT ThreadHandler](INFO): Protected caller Thread ID is 2592
2022-11-07T22:50:30.112Z,1667861430.112 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-11-07T22:50:30.113Z,1667861430.113 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-11-07T22:50:30.257Z,1667861430.257 [SBIT](DEBUG): Construct Startup Built In Test.
2022-11-07T22:50:30.265Z,1667861430.265 [SBIT] Loaded
2022-11-07T22:50:30.266Z,1667861430.266 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-11-07T22:50:30.268Z,1667861430.268 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-11-07T22:50:30.282Z,1667861430.282 [IBIT] Loaded
2022-11-07T22:50:30.282Z,1667861430.282 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-11-07T22:50:30.288Z,1667861430.288 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-11-07T22:50:30.389Z,1667861430.389 [CBIT] Loaded
2022-11-07T22:50:30.390Z,1667861430.390 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-11-07T22:50:30.390Z,1667861430.390 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-11-07T22:50:30.391Z,1667861430.391 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-11-07T22:50:30.417Z,1667861430.417 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-11-07T22:50:30.423Z,1667861430.423 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-11-07T22:50:30.426Z,1667861430.426 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-11-07T22:50:30.437Z,1667861430.437 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-11-07T22:50:30.438Z,1667861430.438 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BA34E0
2022-11-07T22:50:30.439Z,1667861430.439 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2593
2022-11-07T22:50:30.443Z,1667861430.443 [Supervisor](INFO): Main Thread ID is 2499
2022-11-07T22:50:30.443Z,1667861430.443 [Supervisor](DEBUG): Running supervisor.
2022-11-07T22:50:30.444Z,1667861430.444 [CommandExec ThreadHandler](INFO): Handler Thread ID is 2594
2022-11-07T22:50:30.444Z,1667861430.444 [CommandExec](INFO): Initializing the command executive.
2022-11-07T22:50:30.446Z,1667861430.446 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2595
2022-11-07T22:50:30.453Z,1667861430.453 [controlThread ThreadHandler](INFO): Handler Thread ID is 2596
2022-11-07T22:50:30.453Z,1667861430.453 [controlThread](DEBUG): Initializing ControlThread
2022-11-07T22:50:30.454Z,1667861430.454 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2022-11-07T22:50:30.455Z,1667861430.455 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-11-07T22:50:30.455Z,1667861430.455 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-11-07T22:50:30.457Z,1667861430.457 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-11-07T22:50:30.459Z,1667861430.459 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-11-07T22:50:30.459Z,1667861430.459 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-11-07T22:50:30.460Z,1667861430.460 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-11-07T22:50:30.460Z,1667861430.460 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-11-07T22:50:30.460Z,1667861430.460 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-11-07T22:50:30.461Z,1667861430.461 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-11-07T22:50:30.461Z,1667861430.461 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-11-07T22:50:30.461Z,1667861430.461 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-11-07T22:50:30.467Z,1667861430.467 [SBIT](INFO): Initialize SBIT Component.
2022-11-07T22:50:30.468Z,1667861430.468 [SBIT](IMPORTANT): git: 2022-10-11-37-g3067145cf
2022-11-07T22:50:30.468Z,1667861430.468 [SBIT](INFO): git hash: 3067145cfe0a71a9d335ed48764d88f81a84ec20
2022-11-07T22:50:30.468Z,1667861430.468 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-11-07T22:50:30.469Z,1667861430.469 [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
2022-11-07T22:50:30.470Z,1667861430.470 [SBIT](INFO): Beginning SBIT in 109.000000 seconds.
2022-11-07T22:50:30.471Z,1667861430.471 [IBIT](INFO): Initialize IBIT Component.
2022-11-07T22:50:30.472Z,1667861430.472 [CBIT](DEBUG): Initialize CBIT Component.
2022-11-07T22:50:30.473Z,1667861430.473 [logger ThreadHandler](INFO): Handler Thread ID is 2597
2022-11-07T22:50:30.485Z,1667861430.485 [CBIT](DEBUG): Initialized mux pins.
2022-11-07T22:50:30.485Z,1667861430.485 [CBIT](DEBUG): Initializing the watchdog timer.
2022-11-07T22:50:30.493Z,1667861430.493 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 2598
2022-11-07T22:50:30.498Z,1667861430.498 [WetLabsBB2FL](INFO): Powering up
2022-11-07T22:50:30.499Z,1667861430.499 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 2600
2022-11-07T22:50:30.505Z,1667861430.505 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2601
2022-11-07T22:50:30.506Z,1667861430.506 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2022-11-07T22:50:30.509Z,1667861430.509 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-11-07T22:50:30.510Z,1667861430.510 [CBIT](DEBUG): Initializing heartbeat.
2022-11-07T22:50:30.517Z,1667861430.517 [Onboard ThreadHandler](INFO): Handler Thread ID is 2602
2022-11-07T22:50:30.535Z,1667861430.535 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2603
2022-11-07T22:50:30.557Z,1667861430.557 [DAT ThreadHandler](INFO): Handler Thread ID is 2604
2022-11-07T22:50:30.558Z,1667861430.558 [DAT](INFO): Powering up
2022-11-07T22:50:30.558Z,1667861430.558 [DAT](DEBUG): Initializing DAT.
2022-11-07T22:50:30.562Z,1667861430.562 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2606
2022-11-07T22:50:30.565Z,1667861430.565 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2022-11-07T22:50:30.565Z,1667861430.565 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2022-11-07T22:50:30.565Z,1667861430.565 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2022-11-07T22:50:30.565Z,1667861430.565 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2022-11-07T22:50:30.566Z,1667861430.566 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2022-11-07T22:50:30.566Z,1667861430.566 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2022-11-07T22:50:30.566Z,1667861430.566 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2022-11-07T22:50:30.566Z,1667861430.566 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2022-11-07T22:50:30.581Z,1667861430.581 [CBIT](DEBUG): Deactivating GF circuits.
2022-11-07T22:50:30.581Z,1667861430.581 [CBIT](DEBUG): Deactivating emergency mode.
2022-11-07T22:50:30.617Z,1667861430.617 [CBIT](DEBUG): Backplane powered.
2022-11-07T22:50:30.618Z,1667861430.618 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-11-07T22:50:30.630Z,1667861430.630 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-11-07T22:50:30.654Z,1667861430.654 [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>


2022-11-07T22:50:30.655Z,1667861430.655 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-11-07T22:50:30.733Z,1667861430.733 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-11-07T22:50:30.734Z,1667861430.734 [Default:A.Wait](DEBUG): Construct Wait.
2022-11-07T22:50:30.736Z,1667861430.736 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-11-07T22:50:30.776Z,1667861430.776 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-11-07T22:50:30.778Z,1667861430.778 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-11-07T22:50:30.823Z,1667861430.823 [Default:E.Execute](DEBUG): Construct Execute.
2022-11-07T22:50:30.827Z,1667861430.827 [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>


2022-11-07T22:50:30.837Z,1667861430.837 [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,
2022-11-07T22:50:30.870Z,1667861430.870 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-11-07T22:50:30.941Z,1667861430.941 [Radio_Surface](INFO): Powering up
2022-11-07T22:50:30.971Z,1667861430.971 [MultiRay](INFO): Powering up MultiRay Lights
2022-11-07T22:50:31.066Z,1667861431.066 [Power24vConverter](INFO): Powering up.
2022-11-07T22:50:31.084Z,1667861431.084 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-11-07T22:50:31.097Z,1667861431.097 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-11-07T22:50:31.098Z,1667861431.098 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-11-07T22:50:31.105Z,1667861431.105 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-11-07T22:50:31.106Z,1667861431.106 [MassServo](DEBUG): Initializing EZServoServo.
2022-11-07T22:50:31.113Z,1667861431.113 [MassServo](DEBUG): Initializing MassServo.
2022-11-07T22:50:31.114Z,1667861431.114 [RudderServo](DEBUG): Initializing EZServoServo.
2022-11-07T22:50:31.121Z,1667861431.121 [RudderServo](DEBUG): Initializing RudderServo.
2022-11-07T22:50:31.122Z,1667861431.122 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-11-07T22:50:31.129Z,1667861431.129 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-11-07T22:50:31.316Z,1667861431.316 [Depth_Keller](ERROR): Pressure reading out of range: 1628.471313 decibar
2022-11-07T22:50:31.325Z,1667861431.325 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2022-11-07T22:50:31.325Z,1667861431.325 [DropWeight] Hardware Fault, FailCount= 1
2022-11-07T22:50:31.325Z,1667861431.325 [DropWeight](ERROR): Hardware Fault
2022-11-07T22:50:31.349Z,1667861431.349 [MultiRay](IMPORTANT): All lights off
2022-11-07T22:50:31.398Z,1667861431.398 [CommandExec](FAULT): Scheduling is paused
2022-11-07T22:50:31.399Z,1667861431.399 [CBIT](INFO): Critical error at 20221107T225031
2022-11-07T22:50:31.399Z,1667861431.399 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-11-07T22:50:31.409Z,1667861431.409 [CBIT](ERROR): Hardware Fault in component: DropWeight
2022-11-07T22:50:31.410Z,1667861431.410 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2022-11-07T22:50:31.969Z,1667861431.969 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-11-07T22:50:31.969Z,1667861431.969 [RudderServo](FAULT): Rudder failed to initialize
2022-11-07T22:50:31.969Z,1667861431.969 [RudderServo] Communications Fault, FailCount= 1
2022-11-07T22:50:31.969Z,1667861431.969 [RudderServo](ERROR): Communications Fault
2022-11-07T22:50:31.971Z,1667861431.971 [CBIT](INFO): Critical error at 20221107T225031
2022-11-07T22:50:31.973Z,1667861431.973 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-11-07T22:50:32.220Z,1667861432.220 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-11-07T22:50:32.222Z,1667861432.222 [RudderServo](INFO): Powering down
2022-11-07T22:50:32.934Z,1667861432.934 [RudderServo](DEBUG): Initializing EZServoServo.
2022-11-07T22:50:33.054Z,1667861433.054 [RudderServo](DEBUG): Initializing RudderServo.
2022-11-07T22:50:33.058Z,1667861433.058 [CBIT](INFO): Clearing failed state for component RudderServo
2022-11-07T22:50:33.058Z,1667861433.058 [RudderServo] No Fault, FailCount= 1
2022-11-07T22:50:33.109Z,1667861433.109 [WetLabsBB2FL](INFO): Powering down
2022-11-07T22:50:36.802Z,1667861436.802 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-11-07T22:50:43.391Z,1667861443.391 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004585
2022-11-07T22:50:45.679Z,1667861445.679 [DAT](INFO): commRate: 800
2022-11-07T22:50:47.745Z,1667861447.745 [DAT](INFO): entering command mode
2022-11-07T22:50:47.946Z,1667861447.946 [DAT](INFO): setting verbose to 3
2022-11-07T22:50:48.199Z,1667861448.199 [DAT](INFO): set verbose to 3
2022-11-07T22:50:48.199Z,1667861448.199 [DAT](INFO): setting DatVerbose to 27440
2022-11-07T22:50:48.450Z,1667861448.450 [DAT](INFO): set DatVerbose to 27440
2022-11-07T22:50:48.451Z,1667861448.451 [DAT](INFO): setting transmit power to 8
2022-11-07T22:50:48.702Z,1667861448.702 [DAT](INFO): set transmit power to 8
2022-11-07T22:50:48.703Z,1667861448.703 [DAT](INFO): setting local address to 10
2022-11-07T22:50:48.955Z,1667861448.955 [DAT](INFO): set local address to 10
2022-11-07T22:50:48.956Z,1667861448.956 [DAT](INFO): Setting time to: 22:50:48 And date to:11/7/2022
2022-11-07T22:50:49.206Z,1667861449.206 [DAT](INFO): Local DAT time set to Mon Nov 7, 2022  22:50:48  

2022-11-07T22:50:59.947Z,1667861459.947 [NAL9602](INFO): Powering up NAL9602
2022-11-07T22:51:10.867Z,1667861470.867 [NAL9602](INFO): NAL9602 initialized
2022-11-07T22:51:24.573Z,1667861484.573 [CommandExec](IMPORTANT): got command failComponent
2022-11-07T22:51:24.574Z,1667861484.574 [CommandExec](IMPORTANT): Failed components:
2022-11-07T22:51:24.574Z,1667861484.574 [CommandExec](IMPORTANT): DropWeight: Hardware Fault
2022-11-07T22:52:18.830Z,1667861538.830 [CommandExec](IMPORTANT): got command restart system
2022-11-07T22:52:20.137Z,1667861540.137 [SBIT](IMPORTANT): Beginning Startup BIT
2022-11-07T22:52:20.154Z,1667861540.154 [CBIT](IMPORTANT): Beginning ground fault scan
2022-11-07T22:52:20.917Z,1667861540.917 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-07T22:52:20.917Z,1667861540.917 [CommandExec](INFO): Uninitializing the command executive.
2022-11-07T22:52:20.917Z,1667861540.917 [CommandExec](INFO): Uninitializing the command scheduler.
2022-11-07T22:52:20.918Z,1667861540.918 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-11-07T22:52:20.974Z,1667861540.974 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-11-07T22:52:20.974Z,1667861540.974 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-11-07T22:52:20.974Z,1667861540.974 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-11-07T22:52:20.975Z,1667861540.975 [NavChartDb](INFO): Join timeout helper Thread ID is 2634
2022-11-07T22:52:21.037Z,1667861541.037 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-11-07T22:52:21.037Z,1667861541.037 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-11-07T22:52:21.043Z,1667861541.043 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2022-11-07T22:52:21.043Z,1667861541.043 [DAT ThreadHandler](INFO): Thread cancelled.
2022-11-07T22:52:21.044Z,1667861541.044 [DAT](INFO): Join timeout helper Thread ID is 2635
2022-11-07T22:52:21.045Z,16678615