2021-12-01T22:01:27.646Z,1638396087.646 [Supervisor](DEBUG): Initializing supervisor.
2021-12-01T22:01:27.652Z,1638396087.652 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-12-01T22:01:27.660Z,1638396087.660 [SyncHandler](INFO): Protected caller Thread ID is 7840
2021-12-01T22:01:27.661Z,1638396087.661 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-12-01T22:01:27.661Z,1638396087.661 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-12-01T22:01:27.662Z,1638396087.662 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7841
2021-12-01T22:01:27.666Z,1638396087.666 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-12-01T22:01:27.693Z,1638396087.693 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2021-12-01T22:01:27.694Z,1638396087.694 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-12-01T22:01:27.695Z,1638396087.695 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 7842
2021-12-01T22:01:27.699Z,1638396087.699 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-12-01T22:01:27.708Z,1638396087.708 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-12-01T22:01:27.708Z,1638396087.708 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7843
2021-12-01T22:01:27.710Z,1638396087.710 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-12-01T22:01:27.711Z,1638396087.711 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2021-12-01T22:01:27.712Z,1638396087.712 [logger ThreadHandler](INFO): Protected caller Thread ID is 7844
2021-12-01T22:01:27.716Z,1638396087.716 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-12-01T22:01:27.716Z,1638396087.716 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-12-01T22:01:27.718Z,1638396087.718 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-12-01T22:01:27.967Z,1638396087.967 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-12-01T22:01:27.968Z,1638396087.968 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-12-01T22:01:28.331Z,1638396088.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-12-01T22:01:28.331Z,1638396088.331 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-12-01T22:01:28.700Z,1638396088.700 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-12-01T22:01:28.701Z,1638396088.701 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-12-01T22:01:28.855Z,1638396088.855 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-12-01T22:01:28.856Z,1638396088.856 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-12-01T22:01:30.125Z,1638396090.125 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-12-01T22:01:30.125Z,1638396090.125 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-12-01T22:01:30.924Z,1638396090.924 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-12-01T22:01:30.925Z,1638396090.925 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-12-01T22:01:31.490Z,1638396091.490 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-12-01T22:01:31.491Z,1638396091.491 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-12-01T22:01:31.884Z,1638396091.884 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-12-01T22:01:31.885Z,1638396091.885 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-12-01T22:01:32.237Z,1638396092.237 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-12-01T22:01:32.237Z,1638396092.237 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-12-01T22:01:32.614Z,1638396092.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-12-01T22:01:32.615Z,1638396092.615 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-12-01T22:01:32.773Z,1638396092.773 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-12-01T22:01:32.773Z,1638396092.773 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-12-01T22:01:32.907Z,1638396092.907 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-12-01T22:01:32.907Z,1638396092.907 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-12-01T22:01:32.991Z,1638396092.991 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-12-01T22:01:33.074Z,1638396093.074 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-12-01T22:01:33.321Z,1638396093.321 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-12-01T22:01:33.322Z,1638396093.322 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-12-01T22:01:33.760Z,1638396093.760 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-12-01T22:01:33.762Z,1638396093.762 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2021-12-01T22:01:33.763Z,1638396093.763 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2021-12-01T22:01:33.852Z,1638396093.852 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2021-12-01T22:01:34.202Z,1638396094.202 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-12-01T22:01:34.202Z,1638396094.202 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2021-12-01T22:01:34.302Z,1638396094.302 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2021-12-01T22:01:34.473Z,1638396094.473 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2021-12-01T22:01:34.668Z,1638396094.668 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2021-12-01T22:01:34.756Z,1638396094.756 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2021-12-01T22:01:34.863Z,1638396094.863 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2021-12-01T22:01:34.968Z,1638396094.968 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2021-12-01T22:01:35.134Z,1638396095.134 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2021-12-01T22:01:35.241Z,1638396095.241 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2021-12-01T22:01:35.345Z,1638396095.345 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2021-12-01T22:01:35.345Z,1638396095.345 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-12-01T22:01:35.365Z,1638396095.365 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-12-01T22:01:35.474Z,1638396095.474 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-12-01T22:01:35.475Z,1638396095.475 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-12-01T22:01:35.634Z,1638396095.634 [BuoyancyServo] Loaded
2021-12-01T22:01:35.635Z,1638396095.635 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-12-01T22:01:35.655Z,1638396095.655 [ElevatorServo] Loaded
2021-12-01T22:01:35.656Z,1638396095.656 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-12-01T22:01:35.675Z,1638396095.675 [MassServo] Loaded
2021-12-01T22:01:35.675Z,1638396095.675 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-12-01T22:01:35.696Z,1638396095.696 [RudderServo] Loaded
2021-12-01T22:01:35.696Z,1638396095.696 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-12-01T22:01:35.715Z,1638396095.715 [ThrusterServo] Loaded
2021-12-01T22:01:35.715Z,1638396095.715 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-12-01T22:01:35.715Z,1638396095.715 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-12-01T22:01:35.716Z,1638396095.716 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-12-01T22:01:35.867Z,1638396095.867 [SBIT](DEBUG): Construct Startup Built In Test.
2021-12-01T22:01:35.882Z,1638396095.882 [SBIT] Loaded
2021-12-01T22:01:35.882Z,1638396095.882 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-12-01T22:01:35.885Z,1638396095.885 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-12-01T22:01:35.905Z,1638396095.905 [IBIT] Loaded
2021-12-01T22:01:35.906Z,1638396095.906 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-12-01T22:01:35.911Z,1638396095.911 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-12-01T22:01:36.122Z,1638396096.122 [CBIT] Loaded
2021-12-01T22:01:36.122Z,1638396096.122 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-12-01T22:01:36.123Z,1638396096.123 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-12-01T22:01:36.123Z,1638396096.123 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-12-01T22:01:36.299Z,1638396096.299 [CTD_Seabird] Loaded
2021-12-01T22:01:36.299Z,1638396096.299 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-12-01T22:01:36.300Z,1638396096.300 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406554E0
2021-12-01T22:01:36.301Z,1638396096.301 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 7926
2021-12-01T22:01:36.332Z,1638396096.332 [ESPComponent] Loaded
2021-12-01T22:01:36.332Z,1638396096.332 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2021-12-01T22:01:36.352Z,1638396096.352 [PAR_Licor] Loaded
2021-12-01T22:01:36.352Z,1638396096.352 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-12-01T22:01:36.385Z,1638396096.385 [WetLabsBB2FL] Loaded
2021-12-01T22:01:36.385Z,1638396096.385 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-12-01T22:01:36.386Z,1638396096.386 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406854E0
2021-12-01T22:01:36.386Z,1638396096.386 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 7927
2021-12-01T22:01:36.387Z,1638396096.387 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-12-01T22:01:36.388Z,1638396096.388 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-12-01T22:01:36.431Z,1638396096.431 [DepthRateCalculator] Loaded
2021-12-01T22:01:36.431Z,1638396096.431 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-12-01T22:01:36.436Z,1638396096.436 [PitchRateCalculator] Loaded
2021-12-01T22:01:36.437Z,1638396096.437 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-12-01T22:01:36.447Z,1638396096.447 [SpeedCalculator] Loaded
2021-12-01T22:01:36.447Z,1638396096.447 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-12-01T22:01:36.461Z,1638396096.461 [TempGradientCalculator] Loaded
2021-12-01T22:01:36.461Z,1638396096.461 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-12-01T22:01:36.466Z,1638396096.466 [YawRateCalculator] Loaded
2021-12-01T22:01:36.466Z,1638396096.466 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-12-01T22:01:36.484Z,1638396096.484 [ElevatorOffsetCalculator] Loaded
2021-12-01T22:01:36.485Z,1638396096.485 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-12-01T22:01:36.485Z,1638396096.485 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-12-01T22:01:36.486Z,1638396096.486 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-12-01T22:01:36.584Z,1638396096.584 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-12-01T22:01:36.585Z,1638396096.585 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-12-01T22:01:36.613Z,1638396096.613 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-12-01T22:01:36.614Z,1638396096.614 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-12-01T22:01:36.691Z,1638396096.691 [DeadReckonUsingSpeedCalculator] Loaded
2021-12-01T22:01:36.691Z,1638396096.691 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2021-12-01T22:01:36.704Z,1638396096.704 [NavChart] Loaded
2021-12-01T22:01:36.705Z,1638396096.705 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-12-01T22:01:36.711Z,1638396096.711 [UniversalFixResidualReporter] Loaded
2021-12-01T22:01:36.711Z,1638396096.711 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-12-01T22:01:36.711Z,1638396096.711 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-12-01T22:01:36.712Z,1638396096.712 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-12-01T22:01:37.127Z,1638396097.127 [AHRS_M2] Loaded
2021-12-01T22:01:37.127Z,1638396097.127 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-12-01T22:01:37.857Z,1638396097.857 [BPC1] Loaded
2021-12-01T22:01:37.857Z,1638396097.857 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-12-01T22:01:37.877Z,1638396097.877 [Depth_Keller] Loaded
2021-12-01T22:01:37.878Z,1638396097.878 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-12-01T22:01:37.882Z,1638396097.882 [DropWeight] Loaded
2021-12-01T22:01:37.883Z,1638396097.883 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-12-01T22:01:37.921Z,1638396097.921 [DVL_micro] Loaded
2021-12-01T22:01:37.922Z,1638396097.922 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2021-12-01T22:01:37.982Z,1638396097.982 [NAL9602] Loaded
2021-12-01T22:01:37.982Z,1638396097.982 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-12-01T22:01:38.008Z,1638396098.008 [Onboard] Loaded
2021-12-01T22:01:38.009Z,1638396098.009 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-12-01T22:01:38.010Z,1638396098.010 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409DC4E0
2021-12-01T22:01:38.010Z,1638396098.010 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 7928
2021-12-01T22:01:38.022Z,1638396098.022 [Power24vConverter] Loaded
2021-12-01T22:01:38.023Z,1638396098.023 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-12-01T22:01:38.038Z,1638396098.038 [Radio_Surface] Loaded
2021-12-01T22:01:38.039Z,1638396098.039 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-12-01T22:01:38.040Z,1638396098.040 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A0C4E0
2021-12-01T22:01:38.040Z,1638396098.040 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 7929
2021-12-01T22:01:38.055Z,1638396098.055 [DAT](INFO): DAT constructor
2021-12-01T22:01:38.125Z,1638396098.125 [DAT] Loaded
2021-12-01T22:01:38.125Z,1638396098.125 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2021-12-01T22:01:38.125Z,1638396098.125 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-12-01T22:01:38.126Z,1638396098.126 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-12-01T22:01:38.186Z,1638396098.186 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-12-01T22:01:38.186Z,1638396098.186 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-12-01T22:01:38.242Z,1638396098.242 [VerticalControl](DEBUG): Construct VerticalControl.
2021-12-01T22:01:38.296Z,1638396098.296 [VerticalControl] Loaded
2021-12-01T22:01:38.296Z,1638396098.296 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-12-01T22:01:38.299Z,1638396098.299 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-12-01T22:01:38.334Z,1638396098.334 [HorizontalControl] Loaded
2021-12-01T22:01:38.334Z,1638396098.334 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-12-01T22:01:38.337Z,1638396098.337 [SpeedControl](DEBUG): Construct SpeedControl.
2021-12-01T22:01:38.338Z,1638396098.338 [SpeedControl] Loaded
2021-12-01T22:01:38.339Z,1638396098.339 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-12-01T22:01:38.341Z,1638396098.341 [LoopControl](DEBUG): Construct LoopControl.
2021-12-01T22:01:38.342Z,1638396098.342 [LoopControl] Loaded
2021-12-01T22:01:38.342Z,1638396098.342 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-12-01T22:01:38.343Z,1638396098.343 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-12-01T22:01:38.343Z,1638396098.343 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-12-01T22:01:38.409Z,1638396098.409 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-12-01T22:01:38.409Z,1638396098.409 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-12-01T22:01:39.178Z,1638396099.178 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-12-01T22:01:39.184Z,1638396099.184 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-12-01T22:01:39.187Z,1638396099.187 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-12-01T22:01:39.198Z,1638396099.198 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-12-01T22:01:39.199Z,1638396099.199 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B114E0
2021-12-01T22:01:39.199Z,1638396099.199 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7930
2021-12-01T22:01:39.205Z,1638396099.205 [Supervisor](INFO): Main Thread ID is 6625
2021-12-01T22:01:39.205Z,1638396099.205 [Supervisor](DEBUG): Running supervisor.
2021-12-01T22:01:39.205Z,1638396099.205 [CommandExec ThreadHandler](INFO): Handler Thread ID is 7931
2021-12-01T22:01:39.206Z,1638396099.206 [CommandExec](INFO): Initializing the command executive.
2021-12-01T22:01:39.208Z,1638396099.208 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7932
2021-12-01T22:01:39.210Z,1638396099.210 [controlThread ThreadHandler](INFO): Handler Thread ID is 7933
2021-12-01T22:01:39.211Z,1638396099.211 [controlThread](DEBUG): Initializing ControlThread
2021-12-01T22:01:39.213Z,1638396099.213 [SBIT](INFO): Initialize SBIT Component.
2021-12-01T22:01:39.213Z,1638396099.213 [SBIT](IMPORTANT): git: 2021-11-01-22-gea1679f0f
2021-12-01T22:01:39.213Z,1638396099.213 [SBIT](INFO): git hash: ea1679f0fbc9f895a669b42c70dfc339166fc8a2
2021-12-01T22:01:39.214Z,1638396099.214 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-12-01T22:01:39.215Z,1638396099.215 [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
2021-12-01T22:01:39.217Z,1638396099.217 [SBIT](INFO): Beginning SBIT in 48.000000 seconds.
2021-12-01T22:01:39.217Z,1638396099.217 [IBIT](INFO): Initialize IBIT Component.
2021-12-01T22:01:39.218Z,1638396099.218 [CBIT](DEBUG): Initialize CBIT Component.
2021-12-01T22:01:39.219Z,1638396099.219 [logger ThreadHandler](INFO): Handler Thread ID is 7934
2021-12-01T22:01:39.232Z,1638396099.232 [CBIT](DEBUG): Initialized mux pins.
2021-12-01T22:01:39.232Z,1638396099.232 [CBIT](DEBUG): Initializing the watchdog timer.
2021-12-01T22:01:39.244Z,1638396099.244 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 7935
2021-12-01T22:01:39.245Z,1638396099.245 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-12-01T22:01:39.249Z,1638396099.249 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 7937
2021-12-01T22:01:39.252Z,1638396099.252 [WetLabsBB2FL](INFO): Powering up
2021-12-01T22:01:39.254Z,1638396099.254 [Onboard ThreadHandler](INFO): Handler Thread ID is 7939
2021-12-01T22:01:39.256Z,1638396099.256 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-12-01T22:01:39.257Z,1638396099.257 [CBIT](DEBUG): Initializing heartbeat.
2021-12-01T22:01:39.282Z,1638396099.282 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 7940
2021-12-01T22:01:39.292Z,1638396099.292 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7941
2021-12-01T22:01:39.297Z,1638396099.297 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2021-12-01T22:01:39.297Z,1638396099.297 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2021-12-01T22:01:39.298Z,1638396099.298 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2021-12-01T22:01:39.298Z,1638396099.298 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2021-12-01T22:01:39.298Z,1638396099.298 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2021-12-01T22:01:39.298Z,1638396099.298 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2021-12-01T22:01:39.299Z,1638396099.299 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2021-12-01T22:01:39.299Z,1638396099.299 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2021-12-01T22:01:39.299Z,1638396099.299 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2021-12-01T22:01:39.299Z,1638396099.299 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2021-12-01T22:01:39.299Z,1638396099.299 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2021-12-01T22:01:39.299Z,1638396099.299 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2021-12-01T22:01:39.328Z,1638396099.328 [CBIT](DEBUG): Deactivating GF circuits.
2021-12-01T22:01:39.328Z,1638396099.328 [CBIT](DEBUG): Deactivating emergency mode.
2021-12-01T22:01:39.364Z,1638396099.364 [CBIT](DEBUG): Backplane powered.
2021-12-01T22:01:39.368Z,1638396099.368 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-12-01T22:01:39.369Z,1638396099.369 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-12-01T22:01:39.369Z,1638396099.369 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-12-01T22:01:39.369Z,1638396099.369 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-12-01T22:01:39.370Z,1638396099.370 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-12-01T22:01:39.370Z,1638396099.370 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-12-01T22:01:39.371Z,1638396099.371 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2021-12-01T22:01:39.372Z,1638396099.372 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-12-01T22:01:39.372Z,1638396099.372 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-12-01T22:01:39.382Z,1638396099.382 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-12-01T22:01:39.392Z,1638396099.392 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-12-01T22:01:39.393Z,1638396099.393 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-12-01T22:01:39.394Z,1638396099.394 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-12-01T22:01:39.395Z,1638396099.395 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-12-01T22:01:39.442Z,1638396099.442 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-01T22:01:39.487Z,1638396099.487 [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>


2021-12-01T22:01:39.487Z,1638396099.487 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-12-01T22:01:39.558Z,1638396099.558 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-12-01T22:01:39.559Z,1638396099.559 [Default:A.Wait](DEBUG): Construct Wait.
2021-12-01T22:01:39.562Z,1638396099.562 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-01T22:01:39.630Z,1638396099.630 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-12-01T22:01:39.633Z,1638396099.633 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-12-01T22:01:39.639Z,1638396099.639 [Default:E.Execute](DEBUG): Construct Execute.
2021-12-01T22:01:39.654Z,1638396099.654 [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="P1M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>1</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>


2021-12-01T22:01:39.673Z,1638396099.673 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,Power24vConverter,DAT,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-12-01T22:01:39.684Z,1638396099.684 [Radio_Surface](INFO): Powering up
2021-12-01T22:01:39.695Z,1638396099.695 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-12-01T22:01:39.778Z,1638396099.778 [Depth_Keller](ERROR): Pressure reading out of range: 1895.694336 decibar
2021-12-01T22:01:39.781Z,1638396099.781 [Power24vConverter](INFO): Powering up.
2021-12-01T22:01:39.782Z,1638396099.782 [DAT](INFO): Powering up
2021-12-01T22:01:39.782Z,1638396099.782 [DAT](DEBUG): Initializing DAT.
2021-12-01T22:01:39.808Z,1638396099.808 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-12-01T22:01:39.836Z,1638396099.836 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:01:39.852Z,1638396099.852 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-01T22:01:39.853Z,1638396099.853 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:01:39.860Z,1638396099.860 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-12-01T22:01:39.861Z,1638396099.861 [MassServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:01:39.872Z,1638396099.872 [MassServo](DEBUG): Initializing MassServo.
2021-12-01T22:01:39.873Z,1638396099.873 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:01:39.888Z,1638396099.888 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-01T22:01:39.889Z,1638396099.889 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:01:39.896Z,1638396099.896 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-12-01T22:01:40.107Z,1638396100.107 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2021-12-01T22:01:40.107Z,1638396100.107 [DropWeight] Hardware Fault, FailCount= 1
2021-12-01T22:01:40.117Z,1638396100.117 [DropWeight](ERROR): Hardware Fault
2021-12-01T22:01:40.188Z,1638396100.188 [DVL_micro](INFO): Powering down
2021-12-01T22:01:40.219Z,1638396100.219 [CommandExec](FAULT): Scheduling is paused
2021-12-01T22:01:40.220Z,1638396100.220 [CBIT](INFO): Critical error at 20211201T220140
2021-12-01T22:01:40.220Z,1638396100.220 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-12-01T22:01:40.223Z,1638396100.223 [CBIT](ERROR): Hardware Fault in component: DropWeight
2021-12-01T22:01:40.223Z,1638396100.223 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2021-12-01T22:01:40.840Z,1638396100.840 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-12-01T22:01:40.840Z,1638396100.840 [RudderServo](FAULT): Rudder failed to initialize
2021-12-01T22:01:40.840Z,1638396100.840 [RudderServo] Communications Fault, FailCount= 1
2021-12-01T22:01:40.840Z,1638396100.840 [RudderServo](ERROR): Communications Fault
2021-12-01T22:01:40.936Z,1638396100.936 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2021-12-01T22:01:41.260Z,1638396101.260 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2021-12-01T22:01:41.260Z,1638396101.260 [ThrusterServo](FAULT): Thruster failed to initialize
2021-12-01T22:01:41.260Z,1638396101.260 [ThrusterServo] Communications Fault, FailCount= 1
2021-12-01T22:01:41.260Z,1638396101.260 [ThrusterServo](ERROR): Communications Fault
2021-12-01T22:01:41.262Z,1638396101.262 [CBIT](INFO): Critical error at 20211201T220140
2021-12-01T22:01:41.265Z,1638396101.265 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-12-01T22:01:41.265Z,1638396101.265 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-12-01T22:01:41.652Z,1638396101.652 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2021-12-01T22:01:41.652Z,1638396101.652 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2021-12-01T22:01:41.652Z,1638396101.652 [BuoyancyServo] Communications Fault, FailCount= 1
2021-12-01T22:01:41.652Z,1638396101.652 [BuoyancyServo](ERROR): Communications Fault
2021-12-01T22:01:41.964Z,1638396101.964 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2021-12-01T22:01:41.964Z,1638396101.964 [ElevatorServo](FAULT): Elevator failed to initialize
2021-12-01T22:01:41.964Z,1638396101.964 [ElevatorServo] Communications Fault, FailCount= 1
2021-12-01T22:01:41.964Z,1638396101.964 [ElevatorServo](ERROR): Communications Fault
2021-12-01T22:01:41.967Z,1638396101.967 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-12-01T22:01:41.968Z,1638396101.968 [RudderServo](INFO): Powering down
2021-12-01T22:01:41.975Z,1638396101.975 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-12-01T22:01:41.976Z,1638396101.976 [ThrusterServo](INFO): Powering down
2021-12-01T22:01:41.999Z,1638396101.999 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2021-12-01T22:01:41.999Z,1638396101.999 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2021-12-01T22:01:42.134Z,1638396102.134 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-12-01T22:01:42.135Z,1638396102.135 [ElevatorServo](INFO): Powering down
2021-12-01T22:01:42.439Z,1638396102.439 [ElevatorServo](FAULT): LCB fault:  Software Overcurrent.
2021-12-01T22:01:42.439Z,1638396102.439 [ElevatorServo] Hardware Fault, FailCount= 1
2021-12-01T22:01:42.439Z,1638396102.439 [ElevatorServo](ERROR): Hardware Fault
2021-12-01T22:01:42.441Z,1638396102.441 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:01:42.561Z,1638396102.561 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-01T22:01:44.540Z,1638396104.540 [WetLabsBB2FL] Communications Fault, FailCount= 1
2021-12-01T22:01:44.540Z,1638396104.540 [WetLabsBB2FL](ERROR): Communications Fault
2021-12-01T22:01:45.040Z,1638396105.040 [WetLabsBB2FL](INFO): Powering down
2021-12-01T22:01:52.296Z,1638396112.296 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2021-12-01T22:01:52.296Z,1638396112.296 [CTD_Seabird] Communications Fault, FailCount= 1
2021-12-01T22:01:52.296Z,1638396112.296 [CTD_Seabird](ERROR): Communications Fault
2021-12-01T22:01:52.701Z,1638396112.701 [CTD_Seabird](INFO): Powering down
2021-12-01T22:02:12.684Z,1638396132.684 [CBIT](CRITICAL): Environmental Failure. Press:14.689584 PSI. Humidity:34%. Temp:24 C. ABORTING MISSION
2021-12-01T22:02:12.684Z,1638396132.684 [CBIT](INFO): Clearing failed state for component RudderServo
2021-12-01T22:02:12.685Z,1638396132.685 [RudderServo] No Fault, FailCount= 1
2021-12-01T22:02:12.685Z,1638396132.685 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-12-01T22:02:12.685Z,1638396132.685 [ThrusterServo] No Fault, FailCount= 1
2021-12-01T22:02:12.685Z,1638396132.685 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2021-12-01T22:02:12.685Z,1638396132.685 [CBIT](INFO): Clearing failed state for component CTD_Seabird
2021-12-01T22:02:12.685Z,1638396132.685 [CTD_Seabird] No Fault, FailCount= 1
2021-12-01T22:02:12.686Z,1638396132.686 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2021-12-01T22:02:12.686Z,1638396132.686 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2021-12-01T22:02:12.686Z,1638396132.686 [WetLabsBB2FL] No Fault, FailCount= 1
2021-12-01T22:02:12.917Z,1638396132.917 [WetLabsBB2FL](INFO): Powering up
2021-12-01T22:02:13.032Z,1638396133.032 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-12-01T22:02:13.068Z,1638396133.068 [AHRS_M2](ERROR): setBoresightMatrix UART error: serial timeout
2021-12-01T22:02:13.068Z,1638396133.068 [AHRS_M2](FAULT): Failed to initialize within timeout.
2021-12-01T22:02:13.068Z,1638396133.068 [AHRS_M2] Communications Fault, FailCount= 1
2021-12-01T22:02:13.068Z,1638396133.068 [AHRS_M2](ERROR): Communications Fault
2021-12-01T22:02:13.078Z,1638396133.078 [NAL9602](INFO): Powering up NAL9602
2021-12-01T22:02:13.079Z,1638396133.079 [DAT](INFO): DAT read: 

2021-12-01T22:02:13.090Z,1638396133.090 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:02:13.205Z,1638396133.205 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-12-01T22:02:13.256Z,1638396133.256 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:02:13.257Z,1638396133.257 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-12-01T22:02:13.259Z,1638396133.259 [CBIT](INFO): Critical error at 20211201T220212
2021-12-01T22:02:13.261Z,1638396133.261 [CBIT](INFO): Clearing failed state for component ElevatorServo
2021-12-01T22:02:13.261Z,1638396133.261 [ElevatorServo] No Fault, FailCount= 1
2021-12-01T22:02:13.262Z,1638396133.262 [CBIT](ERROR): Communications Fault in component: AHRS_M2
2021-12-01T22:02:13.290Z,1638396133.290 [AHRS_M2](INFO): Powering down
2021-12-01T22:02:13.431Z,1638396133.431 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-12-01T22:02:13.431Z,1638396133.431 [BuoyancyServo] No Fault, FailCount= 1
2021-12-01T22:02:13.692Z,1638396133.692 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:02:13.813Z,1638396133.813 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-01T22:02:14.140Z,1638396134.140 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2021-12-01T22:02:14.224Z,1638396134.224 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2021-12-01T22:02:14.224Z,1638396134.224 [ThrusterServo](FAULT): Thruster failed to initialize
2021-12-01T22:02:14.224Z,1638396134.224 [ThrusterServo] Communications Fault, FailCount= 2
2021-12-01T22:02:14.224Z,1638396134.224 [ThrusterServo](ERROR): Communications Fault
2021-12-01T22:02:14.228Z,1638396134.228 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-12-01T22:02:14.345Z,1638396134.345 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-12-01T22:02:14.345Z,1638396134.345 [ThrusterServo](INFO): Powering down
2021-12-01T22:02:14.353Z,1638396134.353 [CBIT](INFO): Clearing failed state for component AHRS_M2
2021-12-01T22:02:14.353Z,1638396134.353 [AHRS_M2] No Fault, FailCount= 1
2021-12-01T22:02:14.640Z,1638396134.640 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-12-01T22:02:14.988Z,1638396134.988 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2021-12-01T22:02:14.988Z,1638396134.988 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2021-12-01T22:02:14.988Z,1638396134.988 [BuoyancyServo] Communications Fault, FailCount= 2
2021-12-01T22:02:14.988Z,1638396134.988 [BuoyancyServo](ERROR): Communications Fault
2021-12-01T22:02:15.300Z,1638396135.300 [MassServo](ERROR): isCommunicating uart error serial timeout
2021-12-01T22:02:15.300Z,1638396135.300 [MassServo](FAULT): Invalid EZ Servo response:""
2021-12-01T22:02:15.300Z,1638396135.300 [MassServo] Communications Fault, FailCount= 1
2021-12-01T22:02:15.300Z,1638396135.300 [MassServo](ERROR): Communications Fault
2021-12-01T22:02:15.301Z,1638396135.301 [MassServo](FAULT): Mass Shifter error waiting for homing. Uart error: serial timeout
2021-12-01T22:02:15.301Z,1638396135.301 [MassServo] Hardware Fault, FailCount= 1
2021-12-01T22:02:15.301Z,1638396135.301 [MassServo](ERROR): Hardware Fault
2021-12-01T22:02:15.306Z,1638396135.306 [MassServo](FAULT): Invalid EZ Servo response:"89"
2021-12-01T22:02:15.306Z,1638396135.306 [MassServo] Communications Fault, FailCount= 1
2021-12-01T22:02:15.306Z,1638396135.306 [MassServo](ERROR): Communications Fault
2021-12-01T22:02:15.337Z,1638396135.337 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2021-12-01T22:02:15.337Z,1638396135.337 [CBIT](ERROR): Communications Fault in component: MassServo
2021-12-01T22:02:15.405Z,1638396135.405 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-12-01T22:02:15.405Z,1638396135.405 [MassServo](INFO): Powering down
2021-12-01T22:02:18.212Z,1638396138.212 [WetLabsBB2FL] Communications Fault, FailCount= 2
2021-12-01T22:02:18.212Z,1638396138.212 [WetLabsBB2FL](ERROR): Communications Fault
2021-12-01T22:02:18.712Z,1638396138.712 [WetLabsBB2FL](INFO): Powering down
2021-12-01T22:02:26.084Z,1638396146.084 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2021-12-01T22:02:26.084Z,1638396146.084 [CTD_Seabird] Communications Fault, FailCount= 2
2021-12-01T22:02:26.084Z,1638396146.084 [CTD_Seabird](ERROR): Communications Fault
2021-12-01T22:02:26.488Z,1638396146.488 [CTD_Seabird](INFO): Powering down
2021-12-01T22:02:45.531Z,1638396165.531 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-12-01T22:02:45.531Z,1638396165.531 [ThrusterServo] No Fault, FailCount= 2
2021-12-01T22:02:45.532Z,1638396165.532 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2021-12-01T22:02:45.532Z,1638396165.532 [CBIT](INFO): Clearing failed state for component CTD_Seabird
2021-12-01T22:02:45.532Z,1638396165.532 [CTD_Seabird] No Fault, FailCount= 2
2021-12-01T22:02:45.532Z,1638396165.532 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2021-12-01T22:02:45.533Z,1638396165.533 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2021-12-01T22:02:45.533Z,1638396165.533 [WetLabsBB2FL] No Fault, FailCount= 2
2021-12-01T22:02:45.605Z,1638396165.605 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-12-01T22:02:45.696Z,1638396165.696 [AHRS_M2](ERROR): setBoresightMatrix UART error: serial timeout
2021-12-01T22:02:45.696Z,1638396165.696 [AHRS_M2](FAULT): Failed to initialize within timeout.
2021-12-01T22:02:45.696Z,1638396165.696 [AHRS_M2] Communications Fault, FailCount= 2
2021-12-01T22:02:45.696Z,1638396165.696 [AHRS_M2](ERROR): Communications Fault
2021-12-01T22:02:45.703Z,1638396165.703 [DAT](FAULT): failed to initialize, no bytes available on serial interface
2021-12-01T22:02:45.703Z,1638396165.703 [DAT] Communications Fault, FailCount= 1
2021-12-01T22:02:45.703Z,1638396165.703 [DAT](ERROR): Communications Fault
2021-12-01T22:02:45.781Z,1638396165.781 [WetLabsBB2FL](INFO): Powering up
2021-12-01T22:02:45.853Z,1638396165.853 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:02:45.854Z,1638396165.854 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-12-01T22:02:45.855Z,1638396165.855 [SBIT](IMPORTANT): Beginning Startup BIT
2021-12-01T22:02:45.859Z,1638396165.859 [CBIT](ERROR): Communications Fault in component: AHRS_M2
2021-12-01T22:02:45.860Z,1638396165.860 [CBIT](ERROR): Communications Fault in component: DAT
2021-12-01T22:02:45.877Z,1638396165.877 [CBIT](IMPORTANT): Beginning ground fault scan
2021-12-01T22:02:45.945Z,1638396165.945 [AHRS_M2](INFO): Powering down
2021-12-01T22:02:46.064Z,1638396166.064 [DAT](INFO): Powering down
2021-12-01T22:02:46.198Z,1638396166.198 [MassServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:02:46.317Z,1638396166.317 [MassServo](DEBUG): Initializing MassServo.
2021-12-01T22:02:46.349Z,1638396166.349 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-12-01T22:02:46.350Z,1638396166.350 [BuoyancyServo] No Fault, FailCount= 2
2021-12-01T22:02:46.350Z,1638396166.350 [CBIT](INFO): Clearing failed state for component MassServo
2021-12-01T22:02:46.350Z,1638396166.350 [MassServo] No Fault, FailCount= 1
2021-12-01T22:02:46.418Z,1638396166.418 [NAL9602](INFO): NAL9602 initialized
2021-12-01T22:02:46.448Z,1638396166.448 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:02:46.569Z,1638396166.569 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-01T22:02:46.988Z,1638396166.988 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2021-12-01T22:02:47.312Z,1638396167.312 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2021-12-01T22:02:47.312Z,1638396167.312 [ThrusterServo](FAULT): Thruster failed to initialize
2021-12-01T22:02:47.312Z,1638396167.312 [ThrusterServo] Communications Fault, FailCount= 3
2021-12-01T22:02:47.312Z,1638396167.312 [ThrusterServo](ERROR): Communications Fault
2021-12-01T22:02:47.316Z,1638396167.316 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-12-01T22:02:47.704Z,1638396167.704 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2021-12-01T22:02:47.704Z,1638396167.704 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2021-12-01T22:02:47.704Z,1638396167.704 [BuoyancyServo] Communications Fault, FailCount= 3
2021-12-01T22:02:47.704Z,1638396167.704 [BuoyancyServo](ERROR): Communications Fault
2021-12-01T22:02:48.012Z,1638396168.012 [ElevatorServo](ERROR): getPosition uart error serial timeout
2021-12-01T22:02:48.012Z,1638396168.012 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2021-12-01T22:02:48.012Z,1638396168.012 [ElevatorServo] Communications Fault, FailCount= 2
2021-12-01T22:02:48.012Z,1638396168.012 [ElevatorServo](ERROR): Communications Fault
2021-12-01T22:02:48.055Z,1638396168.055 [RudderServo](FAULT): Overload Error
2021-12-01T22:02:48.055Z,1638396168.055 [RudderServo] Hardware Fault, FailCount= 2
2021-12-01T22:02:48.055Z,1638396168.055 [RudderServo](ERROR): Hardware Fault
2021-12-01T22:02:48.372Z,1638396168.372 [RudderServo](FAULT): Rudder uart error: serial timeout
2021-12-01T22:02:48.372Z,1638396168.372 [RudderServo] Communications Fault, FailCount= 2
2021-12-01T22:02:48.372Z,1638396168.372 [RudderServo](ERROR): Communications Fault
2021-12-01T22:02:48.373Z,1638396168.373 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-12-01T22:02:48.373Z,1638396168.373 [ThrusterServo](INFO): Powering down
2021-12-01T22:02:48.377Z,1638396168.377 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2021-12-01T22:02:48.378Z,1638396168.378 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2021-12-01T22:02:48.378Z,1638396168.378 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-12-01T22:02:48.378Z,1638396168.378 [CBIT](INFO): Clearing failed state for component AHRS_M2
2021-12-01T22:02:48.378Z,1638396168.378 [AHRS_M2] No Fault, FailCount= 2
2021-12-01T22:02:48.379Z,1638396168.379 [CBIT](INFO): Clearing failed state for component DAT
2021-12-01T22:02:48.379Z,1638396168.379 [DAT] No Fault, FailCount= 1
2021-12-01T22:02:48.493Z,1638396168.493 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-12-01T22:02:48.552Z,1638396168.552 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-12-01T22:02:48.553Z,1638396168.553 [ElevatorServo](INFO): Powering down
2021-12-01T22:02:48.559Z,1638396168.559 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-12-01T22:02:48.559Z,1638396168.559 [RudderServo](INFO): Powering down
2021-12-01T22:02:48.561Z,1638396168.561 [ThrusterServo](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2021-12-01T22:02:48.561Z,1638396168.561 [ThrusterServo] Hardware Fault, FailCount= 3
2021-12-01T22:02:48.561Z,1638396168.561 [ThrusterServo](ERROR): Hardware Fault
2021-12-01T22:02:48.917Z,1638396168.917 [ElevatorServo](FAULT): LCB fault:  Software Overcurrent.
2021-12-01T22:02:48.917Z,1638396168.917 [ElevatorServo] Hardware Fault, FailCount= 2
2021-12-01T22:02:48.917Z,1638396168.917 [ElevatorServo](ERROR): Hardware Fault
2021-12-01T22:02:51.072Z,1638396171.072 [WetLabsBB2FL] Communications Fault, FailCount= 3
2021-12-01T22:02:51.072Z,1638396171.072 [WetLabsBB2FL](ERROR): Communications Fault
2021-12-01T22:02:51.572Z,1638396171.572 [WetLabsBB2FL](INFO): Powering down
2021-12-01T22:02:58.656Z,1638396178.656 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2021-12-01T22:02:58.656Z,1638396178.656 [CTD_Seabird] Communications Fault, FailCount= 3
2021-12-01T22:02:58.656Z,1638396178.656 [CTD_Seabird](ERROR): Communications Fault
2021-12-01T22:02:59.060Z,1638396179.060 [CTD_Seabird](INFO): Powering down
2021-12-01T22:03:19.037Z,1638396199.037 [SBIT](ERROR): Could not read elevatorAngleReader_.
2021-12-01T22:03:19.037Z,1638396199.037 [SBIT](ERROR): Could not read rudderAngleReader_.
2021-12-01T22:03:19.037Z,1638396199.037 [SBIT](ERROR): Could not read massPosReader_.
2021-12-01T22:03:19.041Z,1638396199.041 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-12-01T22:03:19.041Z,1638396199.041 [ThrusterServo] No Fault, FailCount= 3
2021-12-01T22:03:19.041Z,1638396199.041 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2021-12-01T22:03:19.041Z,1638396199.041 [CBIT](FAULT): Communications Fault in component: CTD_Seabird
2021-12-01T22:03:19.042Z,1638396199.042 [CBIT](ERROR): Communications Fault in component: WetLabsBB2FL
2021-12-01T22:03:19.042Z,1638396199.042 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2021-12-01T22:03:19.042Z,1638396199.042 [WetLabsBB2FL] No Fault, FailCount= 3
2021-12-01T22:03:19.070Z,1638396199.070 [WetLabsBB2FL](INFO): Powering up
2021-12-01T22:03:19.228Z,1638396199.228 [AHRS_M2](ERROR): setBoresightMatrix UART error: serial timeout
2021-12-01T22:03:19.228Z,1638396199.228 [AHRS_M2](FAULT): Failed to initialize within timeout.
2021-12-01T22:03:19.228Z,1638396199.228 [AHRS_M2] Communications Fault, FailCount= 3
2021-12-01T22:03:19.228Z,1638396199.228 [AHRS_M2](ERROR): Communications Fault
2021-12-01T22:03:19.296Z,1638396199.296 [DAT](INFO): Powering up
2021-12-01T22:03:19.297Z,1638396199.297 [DAT](DEBUG): Initializing DAT.
2021-12-01T22:03:19.366Z,1638396199.366 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:03:19.485Z,1638396199.485 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-12-01T22:03:19.486Z,1638396199.486 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:03:19.605Z,1638396199.605 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-01T22:03:19.606Z,1638396199.606 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:03:19.607Z,1638396199.607 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-12-01T22:03:19.612Z,1638396199.612 [CBIT](INFO): Clearing failed state for component ElevatorServo
2021-12-01T22:03:19.612Z,1638396199.612 [ElevatorServo] No Fault, FailCount= 2
2021-12-01T22:03:19.612Z,1638396199.612 [CBIT](INFO): Clearing failed state for component RudderServo
2021-12-01T22:03:19.612Z,1638396199.612 [RudderServo] No Fault, FailCount= 2
2021-12-01T22:03:19.613Z,1638396199.613 [CBIT](ERROR): Communications Fault in component: AHRS_M2
2021-12-01T22:03:19.653Z,1638396199.653 [AHRS_M2](INFO): Powering down
2021-12-01T22:03:19.745Z,1638396199.745 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2021-12-01T22:03:19.821Z,1638396199.821 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-12-01T22:03:19.822Z,1638396199.822 [BuoyancyServo] No Fault, FailCount= 3
2021-12-01T22:03:20.075Z,1638396200.075 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:03:20.197Z,1638396200.197 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-01T22:03:20.576Z,1638396200.576 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2021-12-01T22:03:20.656Z,1638396200.656 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2021-12-01T22:03:20.656Z,1638396200.656 [ThrusterServo](FAULT): Thruster failed to initialize
2021-12-01T22:03:20.656Z,1638396200.656 [ThrusterServo] Communications Fault, FailCount= 4
2021-12-01T22:03:20.656Z,1638396200.656 [ThrusterServo](ERROR): Communications Fault
2021-12-01T22:03:20.660Z,1638396200.660 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-12-01T22:03:21.096Z,1638396201.096 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2021-12-01T22:03:21.096Z,1638396201.096 [ElevatorServo](FAULT): Elevator failed to initialize
2021-12-01T22:03:21.0