2023-08-02T23:46:01.042Z,1691019961.042 [Supervisor](DEBUG): Initializing supervisor.
2023-08-02T23:46:01.046Z,1691019961.046 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-08-02T23:46:01.047Z,1691019961.047 [SyncHandler](INFO): Protected caller Thread ID is 9099
2023-08-02T23:46:01.047Z,1691019961.047 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-08-02T23:46:01.048Z,1691019961.048 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-08-02T23:46:01.049Z,1691019961.049 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 9100
2023-08-02T23:46:01.052Z,1691019961.052 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-08-02T23:46:01.069Z,1691019961.069 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-08-02T23:46:01.070Z,1691019961.070 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-08-02T23:46:01.070Z,1691019961.070 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 9101
2023-08-02T23:46:01.074Z,1691019961.074 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-08-02T23:46:01.076Z,1691019961.076 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-08-02T23:46:01.076Z,1691019961.076 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 9102
2023-08-02T23:46:01.078Z,1691019961.078 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-08-02T23:46:01.079Z,1691019961.079 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-08-02T23:46:01.079Z,1691019961.079 [logger ThreadHandler](INFO): Protected caller Thread ID is 9103
2023-08-02T23:46:01.083Z,1691019961.083 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-08-02T23:46:01.083Z,1691019961.083 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-08-02T23:46:01.085Z,1691019961.085 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-08-02T23:46:01.293Z,1691019961.293 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-08-02T23:46:01.293Z,1691019961.293 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-08-02T23:46:01.398Z,1691019961.398 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-08-02T23:46:01.398Z,1691019961.398 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-08-02T23:46:01.492Z,1691019961.492 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-08-02T23:46:01.493Z,1691019961.493 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-08-02T23:46:01.941Z,1691019961.941 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-08-02T23:46:01.941Z,1691019961.941 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-08-02T23:46:02.272Z,1691019962.272 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-08-02T23:46:02.272Z,1691019962.272 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-08-02T23:46:02.585Z,1691019962.585 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-08-02T23:46:02.585Z,1691019962.585 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-08-02T23:46:02.762Z,1691019962.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-08-02T23:46:02.763Z,1691019962.763 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-08-02T23:46:02.842Z,1691019962.842 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-08-02T23:46:02.922Z,1691019962.922 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-08-02T23:46:03.301Z,1691019963.301 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-08-02T23:46:03.302Z,1691019963.302 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-08-02T23:46:03.568Z,1691019963.568 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-08-02T23:46:03.568Z,1691019963.568 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-08-02T23:46:04.061Z,1691019964.061 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-08-02T23:46:04.062Z,1691019964.062 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-08-02T23:46:04.272Z,1691019964.272 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-08-02T23:46:04.273Z,1691019964.273 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-08-02T23:46:04.497Z,1691019964.497 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-08-02T23:46:04.498Z,1691019964.498 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-08-02T23:46:04.632Z,1691019964.632 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-08-02T23:46:04.633Z,1691019964.633 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-08-02T23:46:05.406Z,1691019965.406 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-08-02T23:46:05.408Z,1691019965.408 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-galene/
2023-08-02T23:46:05.409Z,1691019965.409 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/secure.cfg
2023-08-02T23:46:05.493Z,1691019965.493 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/vehicle.cfg
2023-08-02T23:46:05.621Z,1691019965.621 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Battery.cfg
2023-08-02T23:46:05.945Z,1691019965.945 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-08-02T23:46:05.945Z,1691019965.945 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Science.cfg
2023-08-02T23:46:06.170Z,1691019966.170 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Control.cfg
2023-08-02T23:46:06.273Z,1691019966.273 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/logger.cfg
2023-08-02T23:46:06.367Z,1691019966.367 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Servo.cfg
2023-08-02T23:46:06.540Z,1691019966.540 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Navigation.cfg
2023-08-02T23:46:06.696Z,1691019966.696 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Simulator.cfg
2023-08-02T23:46:06.854Z,1691019966.854 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/BIT.cfg
2023-08-02T23:46:06.952Z,1691019966.952 [Supervisor](INFO): Opening Config file at: Config/lrauv-galene/Sensor.cfg
2023-08-02T23:46:07.111Z,1691019967.111 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2023-08-02T23:46:07.172Z,1691019967.172 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-08-02T23:46:07.221Z,1691019967.221 [DepthRateCalculator] Loaded
2023-08-02T23:46:07.221Z,1691019967.221 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-08-02T23:46:07.226Z,1691019967.226 [PitchRateCalculator] Loaded
2023-08-02T23:46:07.226Z,1691019967.226 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-08-02T23:46:07.236Z,1691019967.236 [SpeedCalculator] Loaded
2023-08-02T23:46:07.237Z,1691019967.237 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-08-02T23:46:07.241Z,1691019967.241 [YawRateCalculator] Loaded
2023-08-02T23:46:07.242Z,1691019967.242 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-08-02T23:46:07.262Z,1691019967.262 [ElevatorOffsetCalculator] Loaded
2023-08-02T23:46:07.262Z,1691019967.262 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-08-02T23:46:07.263Z,1691019967.263 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-08-02T23:46:07.263Z,1691019967.263 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-08-02T23:46:07.289Z,1691019967.289 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-08-02T23:46:07.290Z,1691019967.290 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-08-02T23:46:07.300Z,1691019967.300 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-08-02T23:46:07.300Z,1691019967.300 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-08-02T23:46:07.688Z,1691019967.688 [BackseatComponent] Loaded
2023-08-02T23:46:07.688Z,1691019967.688 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2023-08-02T23:46:07.689Z,1691019967.689 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4084C4E0
2023-08-02T23:46:07.690Z,1691019967.690 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 9185
2023-08-02T23:46:07.692Z,1691019967.692 [LcmUniversalReporter] Loaded
2023-08-02T23:46:07.693Z,1691019967.693 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2023-08-02T23:46:08.475Z,1691019968.475 [BPC1] Loaded
2023-08-02T23:46:08.476Z,1691019968.476 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-08-02T23:46:08.547Z,1691019968.547 [DataOverHttps] Loaded
2023-08-02T23:46:08.547Z,1691019968.547 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-08-02T23:46:08.548Z,1691019968.548 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087C4E0
2023-08-02T23:46:08.548Z,1691019968.548 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 9186
2023-08-02T23:46:08.569Z,1691019968.569 [Depth_Keller] Loaded
2023-08-02T23:46:08.569Z,1691019968.569 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-08-02T23:46:08.630Z,1691019968.630 [NAL9602] Loaded
2023-08-02T23:46:08.630Z,1691019968.630 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-08-02T23:46:08.658Z,1691019968.658 [Onboard] Loaded
2023-08-02T23:46:08.659Z,1691019968.659 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-08-02T23:46:08.660Z,1691019968.660 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408AC4E0
2023-08-02T23:46:08.660Z,1691019968.660 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 9187
2023-08-02T23:46:08.666Z,1691019968.666 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2023-08-02T23:46:08.676Z,1691019968.676 [PowerOnly] Loaded
2023-08-02T23:46:08.677Z,1691019968.677 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2023-08-02T23:46:08.688Z,1691019968.688 [Power24vConverter] Loaded
2023-08-02T23:46:08.688Z,1691019968.688 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-08-02T23:46:08.702Z,1691019968.702 [Radio_Surface] Loaded
2023-08-02T23:46:08.702Z,1691019968.702 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-08-02T23:46:08.703Z,1691019968.703 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408DC4E0
2023-08-02T23:46:08.704Z,1691019968.704 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 9188
2023-08-02T23:46:08.705Z,1691019968.705 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-08-02T23:46:08.705Z,1691019968.705 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-08-02T23:46:08.813Z,1691019968.813 [DeadReckonUsingMultipleVelocitySources] Loaded
2023-08-02T23:46:08.813Z,1691019968.813 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2023-08-02T23:46:08.853Z,1691019968.853 [DeadReckonUsingSpeedCalculator] Loaded
2023-08-02T23:46:08.853Z,1691019968.853 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2023-08-02T23:46:08.866Z,1691019968.866 [NavChart] Loaded
2023-08-02T23:46:08.867Z,1691019968.867 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-08-02T23:46:08.872Z,1691019968.872 [UniversalFixResidualReporter] Loaded
2023-08-02T23:46:08.872Z,1691019968.872 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-08-02T23:46:08.873Z,1691019968.873 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-08-02T23:46:08.873Z,1691019968.873 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-08-02T23:46:09.006Z,1691019969.006 [SBIT](DEBUG): Construct Startup Built In Test.
2023-08-02T23:46:09.020Z,1691019969.020 [SBIT] Loaded
2023-08-02T23:46:09.020Z,1691019969.020 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-08-02T23:46:09.023Z,1691019969.023 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-08-02T23:46:09.036Z,1691019969.036 [IBIT] Loaded
2023-08-02T23:46:09.036Z,1691019969.036 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-08-02T23:46:09.042Z,1691019969.042 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-08-02T23:46:09.141Z,1691019969.141 [CBIT] Loaded
2023-08-02T23:46:09.141Z,1691019969.141 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-08-02T23:46:09.142Z,1691019969.142 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-08-02T23:46:09.142Z,1691019969.142 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-08-02T23:46:09.268Z,1691019969.268 [PAR_Licor] Loaded
2023-08-02T23:46:09.268Z,1691019969.268 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-08-02T23:46:09.299Z,1691019969.299 [WetLabsBB2FL] Loaded
2023-08-02T23:46:09.299Z,1691019969.299 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2023-08-02T23:46:09.300Z,1691019969.300 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409E04E0
2023-08-02T23:46:09.300Z,1691019969.300 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 9189
2023-08-02T23:46:09.301Z,1691019969.301 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-08-02T23:46:09.302Z,1691019969.302 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-08-02T23:46:09.426Z,1691019969.426 [BuoyancyServo] Loaded
2023-08-02T23:46:09.426Z,1691019969.426 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-08-02T23:46:09.446Z,1691019969.446 [ElevatorServo] Loaded
2023-08-02T23:46:09.447Z,1691019969.447 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-08-02T23:46:09.466Z,1691019969.466 [MassServo] Loaded
2023-08-02T23:46:09.467Z,1691019969.467 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-08-02T23:46:09.487Z,1691019969.487 [RudderServo] Loaded
2023-08-02T23:46:09.487Z,1691019969.487 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-08-02T23:46:09.502Z,1691019969.502 [ThrusterHE] Loaded
2023-08-02T23:46:09.502Z,1691019969.502 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-08-02T23:46:09.503Z,1691019969.503 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-08-02T23:46:09.503Z,1691019969.503 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-08-02T23:46:09.551Z,1691019969.551 [VerticalControl](DEBUG): Construct VerticalControl.
2023-08-02T23:46:09.601Z,1691019969.601 [VerticalControl] Loaded
2023-08-02T23:46:09.601Z,1691019969.601 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-08-02T23:46:09.604Z,1691019969.604 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-08-02T23:46:09.640Z,1691019969.640 [HorizontalControl] Loaded
2023-08-02T23:46:09.640Z,1691019969.640 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-08-02T23:46:09.643Z,1691019969.643 [SpeedControl](DEBUG): Construct SpeedControl.
2023-08-02T23:46:09.644Z,1691019969.644 [SpeedControl] Loaded
2023-08-02T23:46:09.645Z,1691019969.645 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-08-02T23:46:09.647Z,1691019969.647 [LoopControl](DEBUG): Construct LoopControl.
2023-08-02T23:46:09.648Z,1691019969.648 [LoopControl] Loaded
2023-08-02T23:46:09.648Z,1691019969.648 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-08-02T23:46:09.649Z,1691019969.649 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-08-02T23:46:09.649Z,1691019969.649 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-08-02T23:46:09.744Z,1691019969.744 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-08-02T23:46:09.745Z,1691019969.745 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-08-02T23:46:09.883Z,1691019969.883 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-08-02T23:46:09.884Z,1691019969.884 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-08-02T23:46:10.174Z,1691019970.174 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-08-02T23:46:10.175Z,1691019970.175 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-08-02T23:46:10.244Z,1691019970.244 [StratificationFrontDetector](INFO): thresholdVTHI set to: 0.399988 degC
2023-08-02T23:46:10.244Z,1691019970.244 [StratificationFrontDetector](DEBUG): (re)initializing
2023-08-02T23:46:10.245Z,1691019970.245 [StratificationFrontDetector] Loaded
2023-08-02T23:46:10.245Z,1691019970.245 [ComponentRegistry](DEBUG): SyncComponent "StratificationFrontDetector" handled in the control thread.
2023-08-02T23:46:10.245Z,1691019970.245 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-08-02T23:46:10.251Z,1691019970.251 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-08-02T23:46:10.254Z,1691019970.254 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-08-02T23:46:10.265Z,1691019970.265 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-08-02T23:46:10.266Z,1691019970.266 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B944E0
2023-08-02T23:46:10.266Z,1691019970.266 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 9190
2023-08-02T23:46:10.271Z,1691019970.271 [Supervisor](INFO): Main Thread ID is 9098
2023-08-02T23:46:10.271Z,1691019970.271 [Supervisor](DEBUG): Running supervisor.
2023-08-02T23:46:10.271Z,1691019970.271 [CommandExec ThreadHandler](INFO): Handler Thread ID is 9191
2023-08-02T23:46:10.272Z,1691019970.272 [CommandExec](INFO): Initializing the command executive.
2023-08-02T23:46:10.273Z,1691019970.273 [CommandLine ThreadHandler](INFO): Handler Thread ID is 9192
2023-08-02T23:46:10.276Z,1691019970.276 [controlThread ThreadHandler](INFO): Handler Thread ID is 9193
2023-08-02T23:46:10.276Z,1691019970.276 [controlThread](DEBUG): Initializing ControlThread
2023-08-02T23:46:10.277Z,1691019970.277 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-08-02T23:46:10.277Z,1691019970.277 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-08-02T23:46:10.278Z,1691019970.278 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-08-02T23:46:10.278Z,1691019970.278 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-08-02T23:46:10.278Z,1691019970.278 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-08-02T23:46:10.285Z,1691019970.285 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2023-08-02T23:46:10.285Z,1691019970.285 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-08-02T23:46:10.285Z,1691019970.285 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-08-02T23:46:10.286Z,1691019970.286 [SBIT](INFO): Initialize SBIT Component.
2023-08-02T23:46:10.286Z,1691019970.286 [SBIT](IMPORTANT): git: 2023-06-27_B
2023-08-02T23:46:10.286Z,1691019970.286 [SBIT](INFO): git hash: ff84f56c2b48606b9e34bb544c9bbe31deaa129e
2023-08-02T23:46:10.287Z,1691019970.287 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-08-02T23:46:10.288Z,1691019970.288 [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
2023-08-02T23:46:10.289Z,1691019970.289 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2023-08-02T23:46:10.290Z,1691019970.290 [IBIT](INFO): Initialize IBIT Component.
2023-08-02T23:46:10.290Z,1691019970.290 [CBIT](DEBUG): Initialize CBIT Component.
2023-08-02T23:46:10.291Z,1691019970.291 [logger ThreadHandler](INFO): Handler Thread ID is 9194
2023-08-02T23:46:10.303Z,1691019970.303 [CBIT](DEBUG): Initialized mux pins.
2023-08-02T23:46:10.303Z,1691019970.303 [CBIT](DEBUG): Initializing the watchdog timer.
2023-08-02T23:46:10.312Z,1691019970.312 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 9195
2023-08-02T23:46:10.324Z,1691019970.324 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 9196
2023-08-02T23:46:10.325Z,1691019970.325 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-08-02T23:46:10.328Z,1691019970.328 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2023-08-02T23:46:10.328Z,1691019970.328 [CBIT](DEBUG): Initializing heartbeat.
2023-08-02T23:46:10.336Z,1691019970.336 [Onboard ThreadHandler](INFO): Handler Thread ID is 9197
2023-08-02T23:46:10.365Z,1691019970.365 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 9198
2023-08-02T23:46:10.376Z,1691019970.376 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 9199
2023-08-02T23:46:10.380Z,1691019970.380 [WetLabsBB2FL](INFO): Powering up
2023-08-02T23:46:10.381Z,1691019970.381 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 9201
2023-08-02T23:46:10.384Z,1691019970.384 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2023-08-02T23:46:10.384Z,1691019970.384 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2023-08-02T23:46:10.384Z,1691019970.384 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2023-08-02T23:46:10.384Z,1691019970.384 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2023-08-02T23:46:10.384Z,1691019970.384 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2023-08-02T23:46:10.385Z,1691019970.385 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2023-08-02T23:46:10.385Z,1691019970.385 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2023-08-02T23:46:10.385Z,1691019970.385 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2023-08-02T23:46:10.399Z,1691019970.399 [CBIT](DEBUG): Deactivating GF circuits.
2023-08-02T23:46:10.399Z,1691019970.399 [CBIT](DEBUG): Deactivating emergency mode.
2023-08-02T23:46:10.439Z,1691019970.439 [CBIT](DEBUG): Backplane powered.
2023-08-02T23:46:10.445Z,1691019970.445 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-08-02T23:46:10.446Z,1691019970.446 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-08-02T23:46:10.447Z,1691019970.447 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-08-02T23:46:10.448Z,1691019970.448 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-08-02T23:46:10.449Z,1691019970.449 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-08-02T23:46:10.462Z,1691019970.462 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-02T23:46:10.490Z,1691019970.490 [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>


2023-08-02T23:46:10.491Z,1691019970.491 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-08-02T23:46:10.550Z,1691019970.550 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-08-02T23:46:10.551Z,1691019970.551 [Default:A.Wait](DEBUG): Construct Wait.
2023-08-02T23:46:10.553Z,1691019970.553 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-02T23:46:10.587Z,1691019970.587 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-08-02T23:46:10.590Z,1691019970.590 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-08-02T23:46:10.623Z,1691019970.623 [Default:E.Execute](DEBUG): Construct Execute.
2023-08-02T23:46:10.627Z,1691019970.627 [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>


2023-08-02T23:46:10.631Z,1691019970.631 [controlThread](DEBUG): Component order: CycleStarter,BPC1,Depth_Keller,NAL9602,PowerOnly,Power24vConverter,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,StratificationFrontDetector,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2023-08-02T23:46:10.679Z,1691019970.679 [Power24vConverter](INFO): Powering up.
2023-08-02T23:46:10.710Z,1691019970.710 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-08-02T23:46:10.716Z,1691019970.716 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-08-02T23:46:10.717Z,1691019970.717 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-08-02T23:46:10.724Z,1691019970.724 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-08-02T23:46:10.725Z,1691019970.725 [MassServo](DEBUG): Initializing EZServoServo.
2023-08-02T23:46:10.732Z,1691019970.732 [MassServo](DEBUG): Initializing MassServo.
2023-08-02T23:46:10.732Z,1691019970.732 [RudderServo](DEBUG): Initializing EZServoServo.
2023-08-02T23:46:10.740Z,1691019970.740 [RudderServo](DEBUG): Initializing RudderServo.
2023-08-02T23:46:10.740Z,1691019970.740 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-08-02T23:46:10.748Z,1691019970.748 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-08-02T23:46:10.750Z,1691019970.750 [CommandExec](FAULT): Scheduling is paused
2023-08-02T23:46:10.750Z,1691019970.750 [CBIT](INFO): Critical error at 20230802T234610
2023-08-02T23:46:10.750Z,1691019970.750 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2023-08-02T23:46:10.767Z,1691019970.767 [Radio_Surface](INFO): Powering up
2023-08-02T23:46:12.991Z,1691019972.991 [WetLabsBB2FL](INFO): Powering down
2023-08-02T23:46:16.469Z,1691019976.469 [ThrusterHE](ERROR): Zero Speed Commanded.
2023-08-02T23:46:19.654Z,1691019979.654 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004553
2023-08-02T23:46:38.918Z,1691019998.918 [NAL9602](INFO): Powering up NAL9602
2023-08-02T23:46:49.829Z,1691020009.829 [NAL9602](INFO): NAL9602 initialized
2023-08-02T23:47:10.042Z,1691020030.042 [SBIT](IMPORTANT): Beginning Startup BIT
2023-08-02T23:47:10.046Z,1691020030.046 [CBIT](IMPORTANT): Beginning ground fault scan
2023-08-02T23:47:21.000Z,1691020041.000 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.003514
CHAN A1 (24V): 0.002553
CHAN A2 (12V): -0.005093
CHAN A3 (5V): -0.003791
CHAN B0 (3.3V): -0.002009
CHAN B1 (3.15aV): -0.001667
CHAN B2 (3.15bV): -0.001279
CHAN B3 (GND): -0.001281
OPEN: 0.003779
Full Scale: +/- 1 mA
2023-08-02T23:48:04.182Z,1691020084.182 [SBIT](IMPORTANT): SBIT PASSED
2023-08-02T23:48:04.182Z,1691020084.182 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2023-08-02T23:48:04.183Z,1691020084.183 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2023-08-02T23:48:04.183Z,1691020084.183 [SBIT](IMPORTANT): CBIT.gfScanTimeout=1 hour;

2023-08-02T23:48:04.183Z,1691020084.183 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2023-08-02T23:48:04.184Z,1691020084.184 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2023-08-02T23:48:04.184Z,1691020084.184 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2023-08-02T23:48:04.184Z,1691020084.184 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2023-08-02T23:48:04.184Z,1691020084.184 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=2 minute;

2023-08-02T23:48:04.184Z,1691020084.184 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2023-08-02T23:48:04.184Z,1691020084.184 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_temperature;

2023-08-02T23:48:04.184Z,1691020084.184 [SBIT](IMPORTANT): Express none WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water;

2023-08-02T23:48:04.184Z,1691020084.184 [SBIT](IMPORTANT): Express none WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): Express linearApproximation _.ayeris_disk_space 100.000000 gigabyte;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): Express linearApproximation _.ayeris_particle_counts 300.000000 count_per_second;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): Express none _.ayeris_particle_shape;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): Express none _.ayeris_particle_slope;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): Express linearApproximation depth 5.000000 meter;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): Express linearApproximation latitude 0.005000 degree;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): Express linearApproximation longitude 0.005000 degree;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=0 bool;

2023-08-02T23:48:04.185Z,1691020084.185 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=1 bool;

2023-08-02T23:48:04.186Z,1691020084.186 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=514.499632 cubic_centimeter;

2023-08-02T23:48:04.186Z,1691020084.186 [SBIT](IMPORTANT): VerticalControl.massDefault=-9.969354 millimeter;

2023-08-02T23:48:04.186Z,1691020084.186 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.depth3=20 meter;

2023-08-02T23:48:04.186Z,1691020084.186 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.depth4=30 meter;

2023-08-02T23:48:04.186Z,1691020084.186 [SBIT](IMPORTANT): Waterlinked.loadAtStartup=0 bool;

2023-08-02T23:48:04.586Z,1691020084.586 [MissionManager](IMPORTANT): Started mission Startup
2023-08-02T23:48:04.586Z,1691020084.586 [Startup] Running Loop=1
2023-08-02T23:48:04.586Z,1691020084.586 [Startup](DEBUG): Aggregate::initialize Startup
2023-08-02T23:48:04.586Z,1691020084.586 [Startup:A.GoToSurface] Running Loop=1
2023-08-02T23:48:04.586Z,1691020084.586 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-08-02T23:48:04.587Z,1691020084.587 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-08-02T23:48:04.588Z,1691020084.588 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-08-02T23:48:04.588Z,1691020084.588 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-08-02T23:48:04.588Z,1691020084.588 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-08-02T23:48:04.589Z,1691020084.589 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-08-02T23:48:04.590Z,1691020084.590 [Startup:StartupSatComms] Running Loop=1
2023-08-02T23:48:04.590Z,1691020084.590 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2023-08-02T23:48:04.590Z,1691020084.590 [Startup:StartupSatComms:A] Running Loop=1
2023-08-02T23:48:04.997Z,1691020084.997 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2023-08-02T23:48:10.638Z,1691020090.638 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2023-08-02T23:48:10.638Z,1691020090.638 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2023-08-02T23:48:10.639Z,1691020090.639 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2023-08-02T23:48:10.641Z,1691020090.641 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotat