2021-12-01T22:32:11.873Z,1638397931.873 [Supervisor](DEBUG): Initializing supervisor.
2021-12-01T22:32:11.877Z,1638397931.877 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-12-01T22:32:11.878Z,1638397931.878 [SyncHandler](INFO): Protected caller Thread ID is 827
2021-12-01T22:32:11.878Z,1638397931.878 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-12-01T22:32:11.879Z,1638397931.879 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-12-01T22:32:11.880Z,1638397931.880 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 828
2021-12-01T22:32:11.884Z,1638397931.884 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-12-01T22:32:11.902Z,1638397931.902 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2021-12-01T22:32:11.903Z,1638397931.903 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-12-01T22:32:11.903Z,1638397931.903 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 829
2021-12-01T22:32:11.907Z,1638397931.907 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-12-01T22:32:11.908Z,1638397931.908 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-12-01T22:32:11.909Z,1638397931.909 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 830
2021-12-01T22:32:11.911Z,1638397931.911 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-12-01T22:32:11.912Z,1638397931.912 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2021-12-01T22:32:11.912Z,1638397931.912 [logger ThreadHandler](INFO): Protected caller Thread ID is 831
2021-12-01T22:32:11.916Z,1638397931.916 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-12-01T22:32:11.916Z,1638397931.916 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-12-01T22:32:11.921Z,1638397931.921 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-12-01T22:32:12.017Z,1638397932.017 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-12-01T22:32:12.019Z,1638397932.019 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-12-01T22:32:12.225Z,1638397932.225 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-12-01T22:32:12.226Z,1638397932.226 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-12-01T22:32:12.446Z,1638397932.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-12-01T22:32:12.446Z,1638397932.446 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-12-01T22:32:12.552Z,1638397932.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-12-01T22:32:12.554Z,1638397932.554 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-12-01T22:32:13.191Z,1638397933.191 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-12-01T22:32:13.193Z,1638397933.193 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-12-01T22:32:13.630Z,1638397933.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-12-01T22:32:13.631Z,1638397933.631 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-12-01T22:32:14.158Z,1638397934.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-12-01T22:32:14.159Z,1638397934.159 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-12-01T22:32:14.523Z,1638397934.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-12-01T22:32:14.525Z,1638397934.525 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-12-01T22:32:14.848Z,1638397934.848 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-12-01T22:32:14.848Z,1638397934.848 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-12-01T22:32:15.209Z,1638397935.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-12-01T22:32:15.210Z,1638397935.210 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-12-01T22:32:15.734Z,1638397935.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-12-01T22:32:15.736Z,1638397935.736 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-12-01T22:32:15.863Z,1638397935.863 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-12-01T22:32:15.863Z,1638397935.863 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-12-01T22:32:15.944Z,1638397935.944 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-12-01T22:32:16.023Z,1638397936.023 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-12-01T22:32:16.208Z,1638397936.208 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-12-01T22:32:16.209Z,1638397936.209 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-12-01T22:32:16.414Z,1638397936.414 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-12-01T22:32:16.416Z,1638397936.416 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2021-12-01T22:32:16.418Z,1638397936.418 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2021-12-01T22:32:16.502Z,1638397936.502 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2021-12-01T22:32:16.758Z,1638397936.758 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-12-01T22:32:16.758Z,1638397936.758 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2021-12-01T22:32:16.855Z,1638397936.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2021-12-01T22:32:17.012Z,1638397937.012 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2021-12-01T22:32:17.193Z,1638397937.193 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2021-12-01T22:32:17.277Z,1638397937.277 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2021-12-01T22:32:17.379Z,1638397937.379 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2021-12-01T22:32:17.479Z,1638397937.479 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2021-12-01T22:32:17.634Z,1638397937.634 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2021-12-01T22:32:17.737Z,1638397937.737 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2021-12-01T22:32:17.835Z,1638397937.835 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2021-12-01T22:32:17.839Z,1638397937.839 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-12-01T22:32:17.973Z,1638397937.973 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-12-01T22:32:17.975Z,1638397937.975 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-12-01T22:32:18.158Z,1638397938.158 [BuoyancyServo] Loaded
2021-12-01T22:32:18.158Z,1638397938.158 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-12-01T22:32:18.178Z,1638397938.178 [ElevatorServo] Loaded
2021-12-01T22:32:18.179Z,1638397938.179 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-12-01T22:32:18.198Z,1638397938.198 [MassServo] Loaded
2021-12-01T22:32:18.198Z,1638397938.198 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-12-01T22:32:18.217Z,1638397938.217 [RudderServo] Loaded
2021-12-01T22:32:18.218Z,1638397938.218 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-12-01T22:32:18.236Z,1638397938.236 [ThrusterServo] Loaded
2021-12-01T22:32:18.236Z,1638397938.236 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-12-01T22:32:18.237Z,1638397938.237 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-12-01T22:32:18.237Z,1638397938.237 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-12-01T22:32:18.409Z,1638397938.409 [SBIT](DEBUG): Construct Startup Built In Test.
2021-12-01T22:32:18.424Z,1638397938.424 [SBIT] Loaded
2021-12-01T22:32:18.424Z,1638397938.424 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-12-01T22:32:18.427Z,1638397938.427 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-12-01T22:32:18.448Z,1638397938.448 [IBIT] Loaded
2021-12-01T22:32:18.448Z,1638397938.448 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-12-01T22:32:18.454Z,1638397938.454 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-12-01T22:32:18.659Z,1638397938.659 [CBIT] Loaded
2021-12-01T22:32:18.659Z,1638397938.659 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-12-01T22:32:18.660Z,1638397938.660 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-12-01T22:32:18.660Z,1638397938.660 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-12-01T22:32:18.878Z,1638397938.878 [CTD_Seabird] Loaded
2021-12-01T22:32:18.879Z,1638397938.879 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-12-01T22:32:18.880Z,1638397938.880 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406554E0
2021-12-01T22:32:18.880Z,1638397938.880 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 913
2021-12-01T22:32:18.910Z,1638397938.910 [ESPComponent] Loaded
2021-12-01T22:32:18.911Z,1638397938.911 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2021-12-01T22:32:18.930Z,1638397938.930 [PAR_Licor] Loaded
2021-12-01T22:32:18.930Z,1638397938.930 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-12-01T22:32:18.961Z,1638397938.961 [WetLabsBB2FL] Loaded
2021-12-01T22:32:18.962Z,1638397938.962 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-12-01T22:32:18.963Z,1638397938.963 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406854E0
2021-12-01T22:32:18.963Z,1638397938.963 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 914
2021-12-01T22:32:18.964Z,1638397938.964 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-12-01T22:32:18.966Z,1638397938.966 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-12-01T22:32:19.026Z,1638397939.026 [DepthRateCalculator] Loaded
2021-12-01T22:32:19.026Z,1638397939.026 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-12-01T22:32:19.031Z,1638397939.031 [PitchRateCalculator] Loaded
2021-12-01T22:32:19.032Z,1638397939.032 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-12-01T22:32:19.042Z,1638397939.042 [SpeedCalculator] Loaded
2021-12-01T22:32:19.042Z,1638397939.042 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-12-01T22:32:19.055Z,1638397939.055 [TempGradientCalculator] Loaded
2021-12-01T22:32:19.055Z,1638397939.055 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-12-01T22:32:19.060Z,1638397939.060 [YawRateCalculator] Loaded
2021-12-01T22:32:19.060Z,1638397939.060 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-12-01T22:32:19.079Z,1638397939.079 [ElevatorOffsetCalculator] Loaded
2021-12-01T22:32:19.079Z,1638397939.079 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-12-01T22:32:19.080Z,1638397939.080 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-12-01T22:32:19.080Z,1638397939.080 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-12-01T22:32:19.200Z,1638397939.200 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-12-01T22:32:19.201Z,1638397939.201 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-12-01T22:32:19.244Z,1638397939.244 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-12-01T22:32:19.245Z,1638397939.245 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-12-01T22:32:19.342Z,1638397939.342 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-12-01T22:32:19.342Z,1638397939.342 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-12-01T22:32:19.355Z,1638397939.355 [NavChart] Loaded
2021-12-01T22:32:19.355Z,1638397939.355 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-12-01T22:32:19.361Z,1638397939.361 [UniversalFixResidualReporter] Loaded
2021-12-01T22:32:19.361Z,1638397939.361 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-12-01T22:32:19.362Z,1638397939.362 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-12-01T22:32:19.363Z,1638397939.363 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-12-01T22:32:20.118Z,1638397940.118 [AHRS_M2] Loaded
2021-12-01T22:32:20.119Z,1638397940.119 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-12-01T22:32:20.821Z,1638397940.821 [BPC1] Loaded
2021-12-01T22:32:20.822Z,1638397940.822 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-12-01T22:32:20.841Z,1638397940.841 [Depth_Keller] Loaded
2021-12-01T22:32:20.841Z,1638397940.841 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-12-01T22:32:20.846Z,1638397940.846 [DropWeight] Loaded
2021-12-01T22:32:20.846Z,1638397940.846 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-12-01T22:32:20.883Z,1638397940.883 [DVL_micro] Loaded
2021-12-01T22:32:20.883Z,1638397940.883 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2021-12-01T22:32:20.940Z,1638397940.940 [NAL9602] Loaded
2021-12-01T22:32:20.941Z,1638397940.941 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-12-01T22:32:20.966Z,1638397940.966 [Onboard] Loaded
2021-12-01T22:32:20.966Z,1638397940.966 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-12-01T22:32:20.967Z,1638397940.967 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409DC4E0
2021-12-01T22:32:20.968Z,1638397940.968 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 915
2021-12-01T22:32:20.979Z,1638397940.979 [Power24vConverter] Loaded
2021-12-01T22:32:20.980Z,1638397940.980 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-12-01T22:32:20.994Z,1638397940.994 [Radio_Surface] Loaded
2021-12-01T22:32:20.994Z,1638397940.994 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-12-01T22:32:20.995Z,1638397940.995 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A0C4E0
2021-12-01T22:32:20.995Z,1638397940.995 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 916
2021-12-01T22:32:21.009Z,1638397941.009 [DAT](INFO): DAT constructor
2021-12-01T22:32:21.078Z,1638397941.078 [DAT] Loaded
2021-12-01T22:32:21.078Z,1638397941.078 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2021-12-01T22:32:21.078Z,1638397941.078 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-12-01T22:32:21.079Z,1638397941.079 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-12-01T22:32:21.450Z,1638397941.450 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-12-01T22:32:21.450Z,1638397941.450 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-12-01T22:32:21.586Z,1638397941.586 [VerticalControl](DEBUG): Construct VerticalControl.
2021-12-01T22:32:21.639Z,1638397941.639 [VerticalControl] Loaded
2021-12-01T22:32:21.639Z,1638397941.639 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-12-01T22:32:21.642Z,1638397941.642 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-12-01T22:32:21.677Z,1638397941.677 [HorizontalControl] Loaded
2021-12-01T22:32:21.678Z,1638397941.678 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-12-01T22:32:21.680Z,1638397941.680 [SpeedControl](DEBUG): Construct SpeedControl.
2021-12-01T22:32:21.682Z,1638397941.682 [SpeedControl] Loaded
2021-12-01T22:32:21.682Z,1638397941.682 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-12-01T22:32:21.685Z,1638397941.685 [LoopControl](DEBUG): Construct LoopControl.
2021-12-01T22:32:21.685Z,1638397941.685 [LoopControl] Loaded
2021-12-01T22:32:21.686Z,1638397941.686 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-12-01T22:32:21.686Z,1638397941.686 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-12-01T22:32:21.687Z,1638397941.687 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-12-01T22:32:21.703Z,1638397941.703 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-12-01T22:32:21.703Z,1638397941.703 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-12-01T22:32:22.078Z,1638397942.078 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-12-01T22:32:22.084Z,1638397942.084 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-12-01T22:32:22.086Z,1638397942.086 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-12-01T22:32:22.097Z,1638397942.097 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-12-01T22:32:22.098Z,1638397942.098 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B114E0
2021-12-01T22:32:22.098Z,1638397942.098 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 917
2021-12-01T22:32:22.103Z,1638397942.103 [Supervisor](INFO): Main Thread ID is 823
2021-12-01T22:32:22.103Z,1638397942.103 [Supervisor](DEBUG): Running supervisor.
2021-12-01T22:32:22.104Z,1638397942.104 [CommandExec ThreadHandler](INFO): Handler Thread ID is 918
2021-12-01T22:32:22.104Z,1638397942.104 [CommandExec](INFO): Initializing the command executive.
2021-12-01T22:32:22.106Z,1638397942.106 [CommandLine ThreadHandler](INFO): Handler Thread ID is 919
2021-12-01T22:32:22.108Z,1638397942.108 [controlThread ThreadHandler](INFO): Handler Thread ID is 920
2021-12-01T22:32:22.108Z,1638397942.108 [controlThread](DEBUG): Initializing ControlThread
2021-12-01T22:32:22.110Z,1638397942.110 [SBIT](INFO): Initialize SBIT Component.
2021-12-01T22:32:22.111Z,1638397942.111 [SBIT](IMPORTANT): git: 2021-11-29_Tethys-21-gfc6cb1248
2021-12-01T22:32:22.111Z,1638397942.111 [SBIT](INFO): git hash: fc6cb1248608f41a4a7449d887defc8de896d7bf
2021-12-01T22:32:22.111Z,1638397942.111 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-12-01T22:32:22.113Z,1638397942.113 [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
2021-12-01T22:32:22.114Z,1638397942.114 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2021-12-01T22:32:22.115Z,1638397942.115 [IBIT](INFO): Initialize IBIT Component.
2021-12-01T22:32:22.116Z,1638397942.116 [CBIT](DEBUG): Initialize CBIT Component.
2021-12-01T22:32:22.117Z,1638397942.117 [logger ThreadHandler](INFO): Handler Thread ID is 921
2021-12-01T22:32:22.127Z,1638397942.127 [CBIT](DEBUG): Initialized mux pins.
2021-12-01T22:32:22.127Z,1638397942.127 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2021-12-01T22:32:22.127Z,1638397942.127 [CBIT](DEBUG): Initializing the watchdog timer.
2021-12-01T22:32:22.136Z,1638397942.136 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 922
2021-12-01T22:32:22.136Z,1638397942.136 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-12-01T22:32:22.141Z,1638397942.141 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 924
2021-12-01T22:32:22.144Z,1638397942.144 [WetLabsBB2FL](INFO): Powering up
2021-12-01T22:32:22.145Z,1638397942.145 [Onboard ThreadHandler](INFO): Handler Thread ID is 926
2021-12-01T22:32:22.152Z,1638397942.152 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2021-12-01T22:32:22.153Z,1638397942.153 [CBIT](DEBUG): Initializing heartbeat.
2021-12-01T22:32:22.160Z,1638397942.160 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 927
2021-12-01T22:32:22.188Z,1638397942.188 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 928
2021-12-01T22:32:22.197Z,1638397942.197 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2021-12-01T22:32:22.198Z,1638397942.198 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2021-12-01T22:32:22.198Z,1638397942.198 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2021-12-01T22:32:22.198Z,1638397942.198 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2021-12-01T22:32:22.198Z,1638397942.198 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2021-12-01T22:32:22.198Z,1638397942.198 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2021-12-01T22:32:22.199Z,1638397942.199 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2021-12-01T22:32:22.199Z,1638397942.199 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2021-12-01T22:32:22.199Z,1638397942.199 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2021-12-01T22:32:22.199Z,1638397942.199 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2021-12-01T22:32:22.199Z,1638397942.199 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2021-12-01T22:32:22.200Z,1638397942.200 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2021-12-01T22:32:22.223Z,1638397942.223 [CBIT](DEBUG): Deactivating GF circuits.
2021-12-01T22:32:22.223Z,1638397942.223 [CBIT](DEBUG): Deactivating emergency mode.
2021-12-01T22:32:22.260Z,1638397942.260 [CBIT](DEBUG): Backplane powered.
2021-12-01T22:32:22.264Z,1638397942.264 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-12-01T22:32:22.264Z,1638397942.264 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-12-01T22:32:22.264Z,1638397942.264 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-12-01T22:32:22.265Z,1638397942.265 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-12-01T22:32:22.265Z,1638397942.265 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-12-01T22:32:22.266Z,1638397942.266 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-12-01T22:32:22.267Z,1638397942.267 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-12-01T22:32:22.268Z,1638397942.268 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-12-01T22:32:22.282Z,1638397942.282 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-12-01T22:32:22.292Z,1638397942.292 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-12-01T22:32:22.293Z,1638397942.293 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-12-01T22:32:22.293Z,1638397942.293 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-12-01T22:32:22.294Z,1638397942.294 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-12-01T22:32:22.345Z,1638397942.345 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-01T22:32:22.381Z,1638397942.381 [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>


2021-12-01T22:32:22.382Z,1638397942.382 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-12-01T22:32:22.450Z,1638397942.450 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-12-01T22:32:22.451Z,1638397942.451 [Default:A.Wait](DEBUG): Construct Wait.
2021-12-01T22:32:22.470Z,1638397942.470 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-01T22:32:22.493Z,1638397942.493 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-12-01T22:32:22.516Z,1638397942.516 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-12-01T22:32:22.530Z,1638397942.530 [Default:E.Execute](DEBUG): Construct Execute.
2021-12-01T22:32:22.533Z,1638397942.533 [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>


2021-12-01T22:32:22.544Z,1638397942.544 [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,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-12-01T22:32:22.554Z,1638397942.554 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-12-01T22:32:22.567Z,1638397942.567 [Radio_Surface](INFO): Powering up
2021-12-01T22:32:22.680Z,1638397942.680 [Depth_Keller](ERROR): Pressure reading out of range: 1896.040405 decibar
2021-12-01T22:32:22.689Z,1638397942.689 [Power24vConverter](INFO): Powering up.
2021-12-01T22:32:22.689Z,1638397942.689 [DAT](INFO): Powering up
2021-12-01T22:32:22.689Z,1638397942.689 [DAT](DEBUG): Initializing DAT.
2021-12-01T22:32:22.716Z,1638397942.716 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-12-01T22:32:22.782Z,1638397942.782 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:32:22.788Z,1638397942.788 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-01T22:32:22.789Z,1638397942.789 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:32:22.796Z,1638397942.796 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-12-01T22:32:22.797Z,1638397942.797 [MassServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:32:22.804Z,1638397942.804 [MassServo](DEBUG): Initializing MassServo.
2021-12-01T22:32:22.804Z,1638397942.804 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:32:22.815Z,1638397942.815 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-01T22:32:22.816Z,1638397942.816 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-12-01T22:32:22.824Z,1638397942.824 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-12-01T22:32:22.826Z,1638397942.826 [CommandExec](FAULT): Scheduling is paused
2021-12-01T22:32:22.826Z,1638397942.826 [CBIT](INFO): Critical error at 20211201T223222
2021-12-01T22:32:22.826Z,1638397942.826 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-12-01T22:32:22.990Z,1638397942.990 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2021-12-01T22:32:22.990Z,1638397942.990 [DropWeight] Hardware Fault, FailCount= 1
2021-12-01T22:32:22.990Z,1638397942.990 [DropWeight](ERROR): Hardware Fault
2021-12-01T22:32:23.034Z,1638397943.034 [CBIT](INFO): Critical error at 20211201T223222
2021-12-01T22:32:23.037Z,1638397943.037 [CBIT](ERROR): Hardware Fault in component: DropWeight
2021-12-01T22:32:23.037Z,1638397943.037 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2021-12-01T22:32:23.683Z,1638397943.683 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-12-01T22:32:23.683Z,1638397943.683 [RudderServo](FAULT): Rudder failed to initialize
2021-12-01T22:32:23.683Z,1638397943.683 [RudderServo] Communications Fault, FailCount= 1
2021-12-01T22:32:23.684Z,1638397943.684 [RudderServo](ERROR): Communications Fault
2021-12-01T22:32:23.779Z,1638397943.779 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2021-12-01T22:32:24.103Z,1638397944.103 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2021-12-01T22:32:24.103Z,1638397944.103 [ThrusterServo](FAULT): Thruster failed to initialize
2021-12-01T22:32:24.103Z,1638397944.103 [ThrusterServo] Communications Fault, FailCount