2021-12-01T23:37:33.194Z,1638401853.194 [Supervisor](DEBUG): Initializing supervisor.
2021-12-01T23:37:33.199Z,1638401853.199 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-12-01T23:37:33.200Z,1638401853.200 [SyncHandler](INFO): Protected caller Thread ID is 1393
2021-12-01T23:37:33.200Z,1638401853.200 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-12-01T23:37:33.201Z,1638401853.201 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-12-01T23:37:33.201Z,1638401853.201 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1394
2021-12-01T23:37:33.206Z,1638401853.206 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-12-01T23:37:33.224Z,1638401853.224 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2021-12-01T23:37:33.225Z,1638401853.225 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-12-01T23:37:33.225Z,1638401853.225 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1395
2021-12-01T23:37:33.229Z,1638401853.229 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-12-01T23:37:33.230Z,1638401853.230 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-12-01T23:37:33.231Z,1638401853.231 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1396
2021-12-01T23:37:33.233Z,1638401853.233 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-12-01T23:37:33.234Z,1638401853.234 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2021-12-01T23:37:33.234Z,1638401853.234 [logger ThreadHandler](INFO): Protected caller Thread ID is 1397
2021-12-01T23:37:33.239Z,1638401853.239 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-12-01T23:37:33.239Z,1638401853.239 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-12-01T23:37:33.241Z,1638401853.241 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-12-01T23:37:33.335Z,1638401853.335 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-12-01T23:37:33.336Z,1638401853.336 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-12-01T23:37:33.564Z,1638401853.564 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-12-01T23:37:33.565Z,1638401853.565 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-12-01T23:37:33.871Z,1638401853.871 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-12-01T23:37:33.871Z,1638401853.871 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-12-01T23:37:33.976Z,1638401853.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-12-01T23:37:33.977Z,1638401853.977 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-12-01T23:37:34.610Z,1638401854.610 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-12-01T23:37:34.611Z,1638401854.611 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-12-01T23:37:35.052Z,1638401855.052 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-12-01T23:37:35.053Z,1638401855.053 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-12-01T23:37:35.656Z,1638401855.656 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-12-01T23:37:35.657Z,1638401855.657 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-12-01T23:37:36.026Z,1638401856.026 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-12-01T23:37:36.027Z,1638401856.027 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-12-01T23:37:36.346Z,1638401856.346 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-12-01T23:37:36.347Z,1638401856.347 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-12-01T23:37:36.694Z,1638401856.694 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-12-01T23:37:36.695Z,1638401856.695 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-12-01T23:37:36.841Z,1638401856.841 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-12-01T23:37:36.841Z,1638401856.841 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-12-01T23:37:36.966Z,1638401856.966 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-12-01T23:37:36.967Z,1638401856.967 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-12-01T23:37:37.046Z,1638401857.046 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-12-01T23:37:37.123Z,1638401857.123 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-12-01T23:37:37.320Z,1638401857.320 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-12-01T23:37:37.320Z,1638401857.320 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-12-01T23:37:37.775Z,1638401857.775 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-12-01T23:37:37.777Z,1638401857.777 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2021-12-01T23:37:37.777Z,1638401857.777 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2021-12-01T23:37:37.859Z,1638401857.859 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2021-12-01T23:37:38.114Z,1638401858.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-12-01T23:37:38.115Z,1638401858.115 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2021-12-01T23:37:38.209Z,1638401858.209 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2021-12-01T23:37:38.363Z,1638401858.363 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2021-12-01T23:37:38.541Z,1638401858.541 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2021-12-01T23:37:38.624Z,1638401858.624 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2021-12-01T23:37:38.724Z,1638401858.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2021-12-01T23:37:38.822Z,1638401858.822 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2021-12-01T23:37:38.974Z,1638401858.974 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2021-12-01T23:37:39.074Z,1638401859.074 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2021-12-01T23:37:39.171Z,1638401859.171 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2021-12-01T23:37:39.171Z,1638401859.171 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-12-01T23:37:39.190Z,1638401859.190 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-12-01T23:37:39.296Z,1638401859.296 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-12-01T23:37:39.297Z,1638401859.297 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-12-01T23:37:39.454Z,1638401859.454 [BuoyancyServo] Loaded
2021-12-01T23:37:39.454Z,1638401859.454 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-12-01T23:37:39.475Z,1638401859.475 [ElevatorServo] Loaded
2021-12-01T23:37:39.475Z,1638401859.475 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-12-01T23:37:39.494Z,1638401859.494 [MassServo] Loaded
2021-12-01T23:37:39.494Z,1638401859.494 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-12-01T23:37:39.514Z,1638401859.514 [RudderServo] Loaded
2021-12-01T23:37:39.514Z,1638401859.514 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-12-01T23:37:39.533Z,1638401859.533 [ThrusterServo] Loaded
2021-12-01T23:37:39.533Z,1638401859.533 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-12-01T23:37:39.533Z,1638401859.533 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-12-01T23:37:39.534Z,1638401859.534 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-12-01T23:37:39.681Z,1638401859.681 [SBIT](DEBUG): Construct Startup Built In Test.
2021-12-01T23:37:39.695Z,1638401859.695 [SBIT] Loaded
2021-12-01T23:37:39.696Z,1638401859.696 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-12-01T23:37:39.698Z,1638401859.698 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-12-01T23:37:39.719Z,1638401859.719 [IBIT] Loaded
2021-12-01T23:37:39.719Z,1638401859.719 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-12-01T23:37:39.725Z,1638401859.725 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-12-01T23:37:39.930Z,1638401859.930 [CBIT] Loaded
2021-12-01T23:37:39.930Z,1638401859.930 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-12-01T23:37:39.931Z,1638401859.931 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-12-01T23:37:39.931Z,1638401859.931 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-12-01T23:37:40.102Z,1638401860.102 [CTD_Seabird] Loaded
2021-12-01T23:37:40.102Z,1638401860.102 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-12-01T23:37:40.104Z,1638401860.104 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406554E0
2021-12-01T23:37:40.104Z,1638401860.104 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1481
2021-12-01T23:37:40.135Z,1638401860.135 [ESPComponent] Loaded
2021-12-01T23:37:40.135Z,1638401860.135 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2021-12-01T23:37:40.154Z,1638401860.154 [PAR_Licor] Loaded
2021-12-01T23:37:40.154Z,1638401860.154 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-12-01T23:37:40.186Z,1638401860.186 [WetLabsBB2FL] Loaded
2021-12-01T23:37:40.186Z,1638401860.186 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-12-01T23:37:40.187Z,1638401860.187 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406854E0
2021-12-01T23:37:40.187Z,1638401860.187 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1482
2021-12-01T23:37:40.188Z,1638401860.188 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-12-01T23:37:40.189Z,1638401860.189 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-12-01T23:37:40.231Z,1638401860.231 [DepthRateCalculator] Loaded
2021-12-01T23:37:40.232Z,1638401860.232 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-12-01T23:37:40.237Z,1638401860.237 [PitchRateCalculator] Loaded
2021-12-01T23:37:40.237Z,1638401860.237 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-12-01T23:37:40.247Z,1638401860.247 [SpeedCalculator] Loaded
2021-12-01T23:37:40.248Z,1638401860.248 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-12-01T23:37:40.261Z,1638401860.261 [TempGradientCalculator] Loaded
2021-12-01T23:37:40.261Z,1638401860.261 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-12-01T23:37:40.265Z,1638401860.265 [YawRateCalculator] Loaded
2021-12-01T23:37:40.266Z,1638401860.266 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-12-01T23:37:40.284Z,1638401860.284 [ElevatorOffsetCalculator] Loaded
2021-12-01T23:37:40.284Z,1638401860.284 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-12-01T23:37:40.285Z,1638401860.285 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-12-01T23:37:40.285Z,1638401860.285 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-12-01T23:37:40.381Z,1638401860.381 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-12-01T23:37:40.381Z,1638401860.381 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-12-01T23:37:40.410Z,1638401860.410 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-12-01T23:37:40.410Z,1638401860.410 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-12-01T23:37:40.486Z,1638401860.486 [DeadReckonUsingSpeedCalculator] Loaded
2021-12-01T23:37:40.487Z,1638401860.487 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2021-12-01T23:37:40.500Z,1638401860.500 [NavChart] Loaded
2021-12-01T23:37:40.500Z,1638401860.500 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-12-01T23:37:40.506Z,1638401860.506 [UniversalFixResidualReporter] Loaded
2021-12-01T23:37:40.506Z,1638401860.506 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-12-01T23:37:40.506Z,1638401860.506 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-12-01T23:37:40.507Z,1638401860.507 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-12-01T23:37:40.898Z,1638401860.898 [AHRS_M2] Loaded
2021-12-01T23:37:40.898Z,1638401860.898 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-12-01T23:37:41.605Z,1638401861.605 [BPC1] Loaded
2021-12-01T23:37:41.605Z,1638401861.605 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-12-01T23:37:41.625Z,1638401861.625 [Depth_Keller] Loaded
2021-12-01T23:37:41.625Z,1638401861.625 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-12-01T23:37:41.629Z,1638401861.629 [DropWeight] Loaded
2021-12-01T23:37:41.630Z,1638401861.630 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-12-01T23:37:41.667Z,1638401861.667 [DVL_micro] Loaded
2021-12-01T23:37:41.668Z,1638401861.668 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2021-12-01T23:37:41.725Z,1638401861.725 [NAL9602] Loaded
2021-12-01T23:37:41.725Z,1638401861.725 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-12-01T23:37:41.750Z,1638401861.750 [Onboard] Loaded
2021-12-01T23:37:41.751Z,1638401861.751 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-12-01T23:37:41.752Z,1638401861.752 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409DB4E0
2021-12-01T23:37:41.752Z,1638401861.752 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1483
2021-12-01T23:37:41.764Z,1638401861.764 [Power24vConverter] Loaded
2021-12-01T23:37:41.764Z,1638401861.764 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-12-01T23:37:41.778Z,1638401861.778 [Radio_Surface] Loaded
2021-12-01T23:37:41.779Z,1638401861.779 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-12-01T23:37:41.780Z,1638401861.780 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A0B4E0
2021-12-01T23:37:41.780Z,1638401861.780 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1484
2021-12-01T23:37:41.863Z,1638401861.863 [DAT] Loaded
2021-12-01T23:37:41.863Z,1638401861.863 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2021-12-01T23:37:41.863Z,1638401861.863 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-12-01T23:37:41.864Z,1638401861.864 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-12-01T23:37:41.922Z,1638401861.922 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-12-01T23:37:41.922Z,1638401861.922 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-12-01T23:37:41.977Z,1638401861.977 [VerticalControl](DEBUG): Construct VerticalControl.
2021-12-01T23:37:42.030Z,1638401862.030 [VerticalControl] Loaded
2021-12-01T23:37:42.031Z,1638401862.031 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-12-01T23:37:42.034Z,1638401862.034 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-12-01T23:37:42.068Z,1638401862.068 [HorizontalControl] Loaded
2021-12-01T23:37:42.069Z,1638401862.069 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-12-01T23:37:42.071Z,1638401862.071 [SpeedControl](DEBUG): Construct SpeedControl.
2021-12-01T23:37:42.073Z,1638401862.073 [SpeedControl] Loaded
2021-12-01T23:37:42.073Z,1638401862.073 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-12-01T23:37:42.076Z,1638401862.076 [LoopControl](DEBUG): Construct LoopControl.
2021-12-01T23:37:42.077Z,1638401862.077 [LoopControl] Loaded
2021-12-01T23:37:42.077Z,1638401862.077 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-12-01T23:37:42.077Z,1638401862.077 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-12-01T23:37:42.078Z,1638401862.078 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-12-01T23:37:42.089Z,1638401862.089 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-12-01T23:37:42.089Z,1638401862.089 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-12-01T23:37:42.416Z,1638401862.416 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-12-01T23:37:42.440Z,1638401862.440 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-12-01T23:37:42.443Z,1638401862.443 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-12-01T23:37:42.512Z,1638401862.512 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-12-01T23:37:42.513Z,1638401862.513 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B104E0
2021-12-01T23:37:42.513Z,1638401862.513 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1485
2021-12-01T23:37:42.518Z,1638401862.518 [Supervisor](INFO): Main Thread ID is 1262
2021-12-01T23:37:42.518Z,1638401862.518 [Supervisor](DEBUG): Running supervisor.
2021-12-01T23:37:42.519Z,1638401862.519 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1486
2021-12-01T23:37:42.519Z,1638401862.519 [CommandExec](INFO): Initializing the command executive.
2021-12-01T23:37:42.544Z,1638401862.544 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1487
2021-12-01T23:37:42.576Z,1638401862.576 [controlThread ThreadHandler](INFO): Handler Thread ID is 1488
2021-12-01T23:37:42.577Z,1638401862.577 [controlThread](DEBUG): Initializing ControlThread
2021-12-01T23:37:42.578Z,1638401862.578 [SBIT](INFO): Initialize SBIT Component.
2021-12-01T23:37:42.579Z,1638401862.579 [SBIT](IMPORTANT): git: 2021-11-01-22-gea1679f0f
2021-12-01T23:37:42.579Z,1638401862.579 [SBIT](INFO): git hash: ea1679f0fbc9f895a669b42c70dfc339166fc8a2
2021-12-01T23:37:42.579Z,1638401862.579 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-12-01T23:37:42.581Z,1638401862.581 [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
2021-12-01T23:37:42.582Z,1638401862.582 [SBIT](INFO): Beginning SBIT in 48.000000 seconds.
2021-12-01T23:37:42.582Z,1638401862.582 [IBIT](INFO): Initialize IBIT Component.
2021-12-01T23:37:42.583Z,1638401862.583 [CBIT](DEBUG): Initialize CBIT Component.
2021-12-01T23:37:42.585Z,1638401862.585 [logger ThreadHandler](INFO): Handler Thread ID is 1489
2021-12-01T23:37:42.596Z,1638401862.596 [CBIT](DEBUG): Initialized mux pins.
2021-12-01T23:37:42.596Z,1638401862.596 [CBIT](DEBUG): Initializing the watchdog timer.
2021-12-01T23:37:42.604Z,1638401862.604 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1490
2021-12-01T23:37:42.605Z,1638401862.605 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-12-01T23:37:42.609Z,1638401862.609 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1492
2021-12-01T23:37:42.612Z,1638401862.612 [WetLabsBB2FL](INFO): Powering up
2021-12-01T23:37:42.614Z,1638401862.614 [Onboard ThreadHandler](INFO): Handler Thread ID is 1494
2021-12-01T23:37:42.621Z,1638401862.621 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2021-12-01T23:37:42.621Z,1638401862.621 [CBIT](DEBUG): Initializing heartbeat.
2021-12-01T23:37:42.642Z,1638401862.642 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1495
2021-12-01T23:37:42.652Z,1638401862.652 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1496
2021-12-01T23:37:42.655Z,1638401862.655 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2021-12-01T23:37:42.655Z,1638401862.655 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2021-12-01T23:37:42.656Z,1638401862.656 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2021-12-01T23:37:42.656Z,1638401862.656 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2021-12-01T23:37:42.656Z,1638401862.656 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2021-12-01T23:37:42.656Z,1638401862.656 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2021-12-01T23:37:42.657Z,1638401862.657 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2021-12-01T23:37:42.657Z,1638401862.657 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2021-12-01T23:37:42.657Z,1638401862.657 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2021-12-01T23:37:42.657Z,1638401862.657 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2021-12-01T23:37:42.657Z,1638401862.657 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2021-12-01T23:37:42.658Z,1638401862.658 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2021-12-01T23:37:42.692Z,1638401862.692 [CBIT](DEBUG): Deactivating GF circuits.
2021-12-01T23:37:42.692Z,1638401862.692 [CBIT](DEBUG): Deactivating emergency mode.
2021-12-01T23:37:42.728Z,1638401862.728 [CBIT](DEBUG): Backplane powered.
2021-12-01T23:37:42.732Z,1638401862.732 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-12-01T23:37:42.733Z,1638401862.733 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-12-01T23:37:42.733Z,1638401862.733 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-12-01T23:37:42.733Z,1638401862.733 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-12-01T23:37:42.734Z,1638401862.734 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-12-01T23:37:42.734Z,1638401862.734 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-12-01T23:37:42.735Z,1638401862.735 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2021-12-01T23:37:42.736Z,1638401862.736 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-12-01T23:37:42.736Z,1638401862.736 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-12-01T23:37:42.743Z,1638401862.743 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-12-01T23:37:42.746Z,1638401862.746 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-12-01T23:37:42.747Z,1638401862.747 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-12-01T23:37:42.747Z,1638401862.747 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-12-01T23:37:42.765Z,1638401862.765 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-12-01T23:37:42.867Z,1638401862.867 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-01T23:37:42.897Z,1638401862.897 [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>


2021-12-01T23:37:42.898Z,1638401862.898 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-12-01T23:37:42.974Z,1638401862.974 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-12-01T23:37:42.975Z,1638401862.975 [Default:A.Wait](DEBUG): Construct Wait.
2021-12-01T23:37:42.986Z,1638401862.986 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-01T23:37:43.048Z,1638401863.048 [Radio_Surface](INFO): Powering up
2021-12-01T23:37:43.074Z,1638401863.074 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-12-01T23:37:43.109Z,1638401863.109 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-12-01T23:37:43.127Z,1638401863.127 [Default:E.Execute](DEBUG): Construct Execute.
2021-12-01T23:37:43.131Z,1638401863.131 [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>


2021-12-01T23:37:43.160Z,1638401863.160 [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,
2021-12-01T23:37:43.193Z,1638401863.193 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-12-01T23:37:43.381Z,1638401863.381 [Power24vConverter](INFO): Powering up.
2021-12-01T23:37:43.382Z,1638401863.382 [DAT](INFO): Powering up
2021-12-01T23:37:43.382Z,1638401863.382 [DAT](DEBUG): Initializing DAT.
2021-12-01T23:37:43.454Z,1638401863.454 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-01T23:37:43.460Z,1638401863.460 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-01T23:37:43.461Z,1638401863.461 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-12-01T23:37:43.468Z,1638401863.468 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-12-01T23:37:43.469Z,1638401863.469 [MassServo](DEBUG): Initializing EZServoServo.
2021-12-01T23:37:43.480Z,1638401863.480 [MassServo](DEBUG): Initializing MassServo.
2021-12-01T23:37:43.481Z,1638401863.481 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-01T23:37:43.488Z,1638401863.488 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-01T23:37:43.489Z,1638401863.489 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-12-01T23:37:43.496Z,1638401863.496 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-12-01T23:37:43.498Z,1638401863.498 [CommandExec](FAULT): Scheduling is paused
2021-12-01T23:37:43.499Z,1638401863.499 [CBIT](INFO): Critical error at 20211201T233742
2021-12-01T23:37:43.499Z,1638401863.499 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-12-01T23:37:43.604Z,1638401863.604 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2021-12-01T23:37:43.604Z,1638401863.604 [DropWeight] Hardware Fault, FailCount= 1
2021-12-01T23:37:43.604Z,1638401863.604 [DropWeight](ERROR): Hardware Fault
2021-12-01T23:37:43.696Z,1638401863.696 [DVL_micro](INFO): Powering down
2021-12-01T23:37:43.710Z,1638401863.710 [CBIT](INFO): Critical error at 20211201T233743
2021-12-01T23:37:43.713Z,1638401863.713 [CBIT](ERROR): Hardware Fault in component: DropWeight
2021-12-01T23:37:43.713Z,1638401863.713 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2021-12-01T23:37:44.324Z,1638401864.324 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-12-01T23:37:44.324Z,1638401864.324 [RudderServo](FAULT): Rudder failed to initialize
2021-12-01T23:37:44.324Z,1638401864.324 [RudderServo] Communications Fault, FailCount= 1
2021-12-01T23:37:44.324Z,1638401864.324 [RudderServo](ERROR): Communications Fault
2021-12-01T23:37:44.420Z,1638401864.420 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2021-12-01T23:37:44.744Z,1638401864.744 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2021-12-01T23:37:44.744Z,1638401864.744 [ThrusterServo](FAULT): Thruster failed to initialize
2021-12-01T23:37:44.744Z,1638401864.744 [ThrusterServo] Communications Fault, FailCount= 1
2021-12-01T23:37:44.744Z,1638401864.744 [Th