2022-05-03T17:16:55.769Z,1651598215.769 [Supervisor](DEBUG): Initializing supervisor.
2022-05-03T17:16:55.774Z,1651598215.774 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-05-03T17:16:55.775Z,1651598215.775 [SyncHandler](INFO): Protected caller Thread ID is 1001
2022-05-03T17:16:55.775Z,1651598215.775 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-05-03T17:16:55.777Z,1651598215.777 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-05-03T17:16:55.777Z,1651598215.777 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1002
2022-05-03T17:16:55.781Z,1651598215.781 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-05-03T17:16:55.799Z,1651598215.799 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-05-03T17:16:55.800Z,1651598215.800 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-05-03T17:16:55.801Z,1651598215.801 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1003
2022-05-03T17:16:55.805Z,1651598215.805 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-05-03T17:16:55.806Z,1651598215.806 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-05-03T17:16:55.806Z,1651598215.806 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1004
2022-05-03T17:16:55.808Z,1651598215.808 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-05-03T17:16:55.809Z,1651598215.809 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-05-03T17:16:55.810Z,1651598215.810 [logger ThreadHandler](INFO): Protected caller Thread ID is 1005
2022-05-03T17:16:55.813Z,1651598215.813 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-05-03T17:16:55.814Z,1651598215.814 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-05-03T17:16:55.815Z,1651598215.815 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-05-03T17:16:55.910Z,1651598215.910 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-05-03T17:16:55.911Z,1651598215.911 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-05-03T17:16:56.125Z,1651598216.125 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-05-03T17:16:56.125Z,1651598216.125 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-05-03T17:16:56.378Z,1651598216.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-05-03T17:16:56.378Z,1651598216.378 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-05-03T17:16:56.485Z,1651598216.485 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-05-03T17:16:56.486Z,1651598216.486 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-05-03T17:16:57.127Z,1651598217.127 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-05-03T17:16:57.128Z,1651598217.128 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-05-03T17:16:57.571Z,1651598217.571 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-05-03T17:16:57.572Z,1651598217.572 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-05-03T17:16:58.134Z,1651598218.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-05-03T17:16:58.135Z,1651598218.135 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-05-03T17:16:58.514Z,1651598218.514 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-05-03T17:16:58.514Z,1651598218.514 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-05-03T17:16:58.839Z,1651598218.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-05-03T17:16:58.840Z,1651598218.840 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-05-03T17:16:59.209Z,1651598219.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-05-03T17:16:59.210Z,1651598219.210 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-05-03T17:16:59.429Z,1651598219.429 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-05-03T17:16:59.429Z,1651598219.429 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-05-03T17:16:59.559Z,1651598219.559 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-05-03T17:16:59.560Z,1651598219.560 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-05-03T17:16:59.641Z,1651598219.641 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-05-03T17:16:59.721Z,1651598219.721 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-05-03T17:16:59.912Z,1651598219.912 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-05-03T17:16:59.912Z,1651598219.912 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-05-03T17:17:00.387Z,1651598220.387 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-05-03T17:17:00.389Z,1651598220.389 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2022-05-03T17:17:00.390Z,1651598220.390 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2022-05-03T17:17:00.528Z,1651598220.528 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2022-05-03T17:17:00.808Z,1651598220.808 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-05-03T17:17:00.808Z,1651598220.808 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2022-05-03T17:17:00.905Z,1651598220.905 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2022-05-03T17:17:01.065Z,1651598221.065 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2022-05-03T17:17:01.247Z,1651598221.247 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2022-05-03T17:17:01.333Z,1651598221.333 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2022-05-03T17:17:01.439Z,1651598221.439 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2022-05-03T17:17:01.540Z,1651598221.540 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2022-05-03T17:17:01.700Z,1651598221.700 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2022-05-03T17:17:01.803Z,1651598221.803 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2022-05-03T17:17:01.904Z,1651598221.904 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2022-05-03T17:17:01.904Z,1651598221.904 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-05-03T17:17:01.923Z,1651598221.923 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-05-03T17:17:02.069Z,1651598222.069 [InternalSim] Loaded
2022-05-03T17:17:02.069Z,1651598222.069 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2022-05-03T17:17:02.069Z,1651598222.069 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-05-03T17:17:02.070Z,1651598222.070 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-05-03T17:17:02.217Z,1651598222.217 [BuoyancyServo] Loaded
2022-05-03T17:17:02.217Z,1651598222.217 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-05-03T17:17:02.232Z,1651598222.232 [ThrusterHE] Loaded
2022-05-03T17:17:02.232Z,1651598222.232 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-05-03T17:17:02.233Z,1651598222.233 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-05-03T17:17:02.233Z,1651598222.233 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-05-03T17:17:02.374Z,1651598222.374 [SBIT](DEBUG): Construct Startup Built In Test.
2022-05-03T17:17:02.389Z,1651598222.389 [SBIT] Loaded
2022-05-03T17:17:02.389Z,1651598222.389 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-05-03T17:17:02.391Z,1651598222.391 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-05-03T17:17:02.410Z,1651598222.410 [IBIT] Loaded
2022-05-03T17:17:02.411Z,1651598222.411 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-05-03T17:17:02.416Z,1651598222.416 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-05-03T17:17:02.628Z,1651598222.628 [CBIT] Loaded
2022-05-03T17:17:02.628Z,1651598222.628 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-05-03T17:17:02.628Z,1651598222.628 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-05-03T17:17:02.629Z,1651598222.629 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-05-03T17:17:02.769Z,1651598222.769 [ESPComponent] Loaded
2022-05-03T17:17:02.769Z,1651598222.769 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2022-05-03T17:17:02.788Z,1651598222.788 [PAR_Licor] Loaded
2022-05-03T17:17:02.789Z,1651598222.789 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-05-03T17:17:02.789Z,1651598222.789 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-05-03T17:17:02.790Z,1651598222.790 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-05-03T17:17:02.840Z,1651598222.840 [DepthRateCalculator] Loaded
2022-05-03T17:17:02.840Z,1651598222.840 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-05-03T17:17:02.845Z,1651598222.845 [PitchRateCalculator] Loaded
2022-05-03T17:17:02.845Z,1651598222.845 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-05-03T17:17:02.855Z,1651598222.855 [SpeedCalculator] Loaded
2022-05-03T17:17:02.856Z,1651598222.856 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-05-03T17:17:02.860Z,1651598222.860 [YawRateCalculator] Loaded
2022-05-03T17:17:02.861Z,1651598222.861 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-05-03T17:17:02.879Z,1651598222.879 [ElevatorOffsetCalculator] Loaded
2022-05-03T17:17:02.879Z,1651598222.879 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-05-03T17:17:02.880Z,1651598222.880 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-05-03T17:17:02.881Z,1651598222.881 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-05-03T17:17:02.974Z,1651598222.974 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-05-03T17:17:02.975Z,1651598222.975 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-05-03T17:17:03.001Z,1651598223.001 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-05-03T17:17:03.002Z,1651598223.002 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-05-03T17:17:03.109Z,1651598223.109 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-05-03T17:17:03.109Z,1651598223.109 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-05-03T17:17:03.122Z,1651598223.122 [NavChart] Loaded
2022-05-03T17:17:03.123Z,1651598223.123 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-05-03T17:17:03.128Z,1651598223.128 [UniversalFixResidualReporter] Loaded
2022-05-03T17:17:03.129Z,1651598223.129 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-05-03T17:17:03.129Z,1651598223.129 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-05-03T17:17:03.130Z,1651598223.130 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-05-03T17:17:03.537Z,1651598223.537 [DataOverHttps] Loaded
2022-05-03T17:17:03.537Z,1651598223.537 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-05-03T17:17:03.538Z,1651598223.538 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409AD4E0
2022-05-03T17:17:03.538Z,1651598223.538 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1087
2022-05-03T17:17:03.558Z,1651598223.558 [Depth_Keller] Loaded
2022-05-03T17:17:03.558Z,1651598223.558 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-05-03T17:17:03.615Z,1651598223.615 [NAL9602] Loaded
2022-05-03T17:17:03.615Z,1651598223.615 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-05-03T17:17:03.639Z,1651598223.639 [Onboard] Loaded
2022-05-03T17:17:03.640Z,1651598223.640 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-05-03T17:17:03.641Z,1651598223.641 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409DD4E0
2022-05-03T17:17:03.641Z,1651598223.641 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1088
2022-05-03T17:17:03.652Z,1651598223.652 [Power24vConverter] Loaded
2022-05-03T17:17:03.652Z,1651598223.652 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-05-03T17:17:03.665Z,1651598223.665 [Radio_Surface] Loaded
2022-05-03T17:17:03.665Z,1651598223.665 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-05-03T17:17:03.666Z,1651598223.666 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A0D4E0
2022-05-03T17:17:03.667Z,1651598223.667 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1089
2022-05-03T17:17:03.668Z,1651598223.668 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-05-03T17:17:03.668Z,1651598223.668 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-05-03T17:17:03.727Z,1651598223.727 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-05-03T17:17:03.727Z,1651598223.727 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-05-03T17:17:03.778Z,1651598223.778 [VerticalControl](DEBUG): Construct VerticalControl.
2022-05-03T17:17:03.829Z,1651598223.829 [VerticalControl] Loaded
2022-05-03T17:17:03.829Z,1651598223.829 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-05-03T17:17:03.832Z,1651598223.832 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-05-03T17:17:03.867Z,1651598223.867 [HorizontalControl] Loaded
2022-05-03T17:17:03.867Z,1651598223.867 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-05-03T17:17:03.869Z,1651598223.869 [SpeedControl](DEBUG): Construct SpeedControl.
2022-05-03T17:17:03.871Z,1651598223.871 [SpeedControl] Loaded
2022-05-03T17:17:03.871Z,1651598223.871 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-05-03T17:17:03.874Z,1651598223.874 [LoopControl](DEBUG): Construct LoopControl.
2022-05-03T17:17:03.874Z,1651598223.874 [LoopControl] Loaded
2022-05-03T17:17:03.875Z,1651598223.875 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-05-03T17:17:03.875Z,1651598223.875 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-05-03T17:17:03.876Z,1651598223.876 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-05-03T17:17:03.886Z,1651598223.886 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-05-03T17:17:03.887Z,1651598223.887 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-05-03T17:17:04.194Z,1651598224.194 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-05-03T17:17:04.201Z,1651598224.201 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-05-03T17:17:04.203Z,1651598224.203 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-05-03T17:17:04.213Z,1651598224.213 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-05-03T17:17:04.215Z,1651598224.215 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B174E0
2022-05-03T17:17:04.215Z,1651598224.215 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1090
2022-05-03T17:17:04.219Z,1651598224.219 [Supervisor](INFO): Main Thread ID is 823
2022-05-03T17:17:04.219Z,1651598224.219 [Supervisor](DEBUG): Running supervisor.
2022-05-03T17:17:04.220Z,1651598224.220 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1091
2022-05-03T17:17:04.221Z,1651598224.221 [CommandExec](INFO): Initializing the command executive.
2022-05-03T17:17:04.222Z,1651598224.222 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1092
2022-05-03T17:17:04.224Z,1651598224.224 [controlThread ThreadHandler](INFO): Handler Thread ID is 1093
2022-05-03T17:17:04.225Z,1651598224.225 [controlThread](DEBUG): Initializing ControlThread
2022-05-03T17:17:04.226Z,1651598224.226 [InternalSim](DEBUG):  InternalSim initializing...
2022-05-03T17:17:04.232Z,1651598224.232 [InternalSim](DEBUG): oceanModelVarCount=0
2022-05-03T17:17:04.260Z,1651598224.260 [logger ThreadHandler](INFO): Handler Thread ID is 1094
2022-05-03T17:17:04.261Z,1651598224.261 [SBIT](INFO): Initialize SBIT Component.
2022-05-03T17:17:04.261Z,1651598224.261 [SBIT](IMPORTANT): git: 2022-04-25-22-gbba9717a9
2022-05-03T17:17:04.261Z,1651598224.261 [SBIT](INFO): git hash: bba9717a96859589430d0564560a696dfdab6d49
2022-05-03T17:17:04.262Z,1651598224.262 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-05-03T17:17:04.263Z,1651598224.263 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2022-05-03T17:17:04.264Z,1651598224.264 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2022-05-03T17:17:04.288Z,1651598224.288 [IBIT](INFO): Initialize IBIT Component.
2022-05-03T17:17:04.289Z,1651598224.289 [CBIT](DEBUG): Initialize CBIT Component.
2022-05-03T17:17:04.290Z,1651598224.290 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1095
2022-05-03T17:17:04.291Z,1651598224.291 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2022-05-03T17:17:04.300Z,1651598224.300 [CBIT](DEBUG): Initialized mux pins.
2022-05-03T17:17:04.300Z,1651598224.300 [CBIT](DEBUG): Initializing the watchdog timer.
2022-05-03T17:17:04.312Z,1651598224.312 [Onboard ThreadHandler](INFO): Handler Thread ID is 1096
2022-05-03T17:17:04.325Z,1651598224.325 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-05-03T17:17:04.325Z,1651598224.325 [CBIT](DEBUG): Initializing heartbeat.
2022-05-03T17:17:04.337Z,1651598224.337 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1097
2022-05-03T17:17:04.347Z,1651598224.347 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1098
2022-05-03T17:17:04.358Z,1651598224.358 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2022-05-03T17:17:04.358Z,1651598224.358 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2022-05-03T17:17:04.359Z,1651598224.359 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2022-05-03T17:17:04.359Z,1651598224.359 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2022-05-03T17:17:04.359Z,1651598224.359 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2022-05-03T17:17:04.359Z,1651598224.359 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2022-05-03T17:17:04.359Z,1651598224.359 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2022-05-03T17:17:04.359Z,1651598224.359 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2022-05-03T17:17:04.360Z,1651598224.360 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2022-05-03T17:17:04.360Z,1651598224.360 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2022-05-03T17:17:04.360Z,1651598224.360 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2022-05-03T17:17:04.360Z,1651598224.360 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2022-05-03T17:17:04.396Z,1651598224.396 [CBIT](DEBUG): Deactivating GF circuits.
2022-05-03T17:17:04.396Z,1651598224.396 [CBIT](DEBUG): Deactivating emergency mode.
2022-05-03T17:17:04.432Z,1651598224.432 [CBIT](DEBUG): Backplane powered.
2022-05-03T17:17:04.436Z,1651598224.436 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-05-03T17:17:04.437Z,1651598224.437 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-05-03T17:17:04.437Z,1651598224.437 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-05-03T17:17:04.437Z,1651598224.437 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-05-03T17:17:04.438Z,1651598224.438 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-05-03T17:17:04.439Z,1651598224.439 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-05-03T17:17:04.439Z,1651598224.439 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-05-03T17:17:04.449Z,1651598224.449 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-05-03T17:17:04.451Z,1651598224.451 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-05-03T17:17:04.460Z,1651598224.460 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-05-03T17:17:04.460Z,1651598224.460 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-05-03T17:17:04.461Z,1651598224.461 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-05-03T17:17:04.503Z,1651598224.503 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-05-03T17:17:04.553Z,1651598224.553 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2022-05-03T17:17:04.568Z,1651598224.568 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-05-03T17:17:04.638Z,1651598224.638 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-05-03T17:17:04.639Z,1651598224.639 [Default:A.Wait](DEBUG): Construct Wait.
2022-05-03T17:17:04.641Z,1651598224.641 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-05-03T17:17:04.697Z,1651598224.697 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-05-03T17:17:04.700Z,1651598224.700 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-05-03T17:17:04.723Z,1651598224.723 [Default:E.Execute](DEBUG): Construct Execute.
2022-05-03T17:17:04.735Z,1651598224.735 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="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>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2022-05-03T17:17:04.744Z,1651598224.744 [Radio_Surface](INFO): Powering up
2022-05-03T17:17:04.748Z,1651598224.748 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,ESPComponent,PAR_Licor,Depth_Keller,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ThrusterHE,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2022-05-03T17:17:04.832Z,1651598224.832 [Depth_Keller](ERROR): Pressure reading out of range: 1896.040405 decibar
2022-05-03T17:17:04.840Z,1651598224.840 [Power24vConverter](INFO): Powering up.
2022-05-03T17:17:04.870Z,1651598224.870 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-05-03T17:17:04.876Z,1651598224.876 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-05-03T17:17:04.877Z,1651598224.877 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-05-03T17:17:04.884Z,1651598224.884 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-05-03T17:17:10.588Z,1651598230.588 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-05-03T17:17:33.859Z,1651598253.859 [NAL9602](INFO): Powering up NAL9602
2022-05-03T17:17:34.671Z,1651598254.671 [CBIT](IMPORTANT): Fuelgauge reading: 134654686

2022-05-03T17:17:38.383Z,1651598258.383 [CommandExec](IMPORTANT): got command configSet ShortestDistanceToPolygonSidesCalculator.loadAtStartup 1 bool persist
2022-05-03T17:17:38.394Z,1651598258.394 [CommandExec](IMPORTANT): configSet ShortestDistanceToPolygonSidesCalculator.loadAtStartup requires a restart to take effect.
2022-05-03T17:17:44.772Z,1651598264.772 [NAL9602](INFO): NAL9602 initialized
2022-05-03T17:17:46.013Z,1651598266.013 [CommandExec](IMPORTANT): got command restart application
2022-05-03T17:17:47.016Z,1651598267.016 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2022-05-03T17:17:47.016Z,1651598267.016 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-05-03T17:17:47.016Z,1651598267.016 [CommandExec](INFO): Uninitializing the command executive.
2022-05-03T17:17:47.016Z,1651598267.016 [CommandExec](INFO): Uninitializing the command scheduler.
2022-05-03T17:17:47.017Z,1651598267.017 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:47.044Z,1651598267.044 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-05-03T17:17:47.044Z,1651598267.044 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-05-03T17:17:47.044Z,1651598267.044 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:47.045Z,1651598267.045 [NavChartDb](INFO): Join timeout helper Thread ID is 1103
2022-05-03T17:17:47.344Z,1651598267.344 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-05-03T17:17:47.344Z,1651598267.344 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:47.352Z,1651598267.352 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2022-05-03T17:17:47.352Z,1651598267.352 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:47.352Z,1651598267.352 [Radio_Surface](INFO): Join timeout helper Thread ID is 1104
2022-05-03T17:17:47.568Z,1651598267.568 [Radio_Surface](INFO): Powering down
2022-05-03T17:17:47.569Z,1651598267.569 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2022-05-03T17:17:47.569Z,1651598267.569 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:47.588Z,1651598267.588 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-05-03T17:17:47.588Z,1651598267.588 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:47.588Z,1651598267.588 [Onboard](INFO): Join timeout helper Thread ID is 1105
2022-05-03T17:17:49.348Z,1651598269.348 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-05-03T17:17:49.348Z,1651598269.348 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.352Z,1651598269.352 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2022-05-03T17:17:49.352Z,1651598269.352 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.352Z,1651598269.352 [DataOverHttps](INFO): Join timeout helper Thread ID is 1106
2022-05-03T17:17:49.468Z,1651598269.468 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2022-05-03T17:17:49.468Z,1651598269.468 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.472Z,1651598269.472 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-05-03T17:17:49.472Z,1651598269.472 [logger ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.472Z,1651598269.472 [logger](INFO): Join timeout helper Thread ID is 1107
2022-05-03T17:17:49.500Z,1651598269.500 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-05-03T17:17:49.500Z,1651598269.500 [logger ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.513Z,1651598269.513 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-05-03T17:17:49.513Z,1651598269.513 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.513Z,1651598269.513 [CommandLine](INFO): Join timeout helper Thread ID is 1108
2022-05-03T17:17:49.612Z,1651598269.612 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-05-03T17:17:49.612Z,1651598269.612 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.633Z,1651598269.633 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-05-03T17:17:49.633Z,1651598269.633 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.633Z,1651598269.633 [CommandExec](INFO): Join timeout helper Thread ID is 1109
2022-05-03T17:17:49.634Z,1651598269.634 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-05-03T17:17:49.634Z,1651598269.634 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:49.635Z,1651598269.635 [controlThread](INFO): Join timeout helper Thread ID is 1110
2022-05-03T17:17:49.996Z,1651598269.996 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-05-03T17:17:49.996Z,1651598269.996 [controlThread](DEBUG): Uninitializing ControlThread
2022-05-03T17:17:49.998Z,1651598269.998 [NAL9602](INFO): Powering down
2022-05-03T17:17:50.000Z,1651598270.000 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-05-03T17:17:50.001Z,1651598270.001 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-05-03T17:17:50.001Z,1651598270.001 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-05-03T17:17:50.001Z,1651598270.001 [MissionManager](INFO): Uninitializing Mission Default
2022-05-03T17:17:50.004Z,1651598270.004 [MissionManager](INFO): Uninitializing Mission Startup
2022-05-03T17:17:50.005Z,1651598270.005 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-05-03T17:17:50.005Z,1651598270.005 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-05-03T17:17:50.006Z,1651598270.006 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-05-03T17:17:50.006Z,1651598270.006 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-05-03T17:17:50.006Z,1651598270.006 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-05-03T17:17:50.006Z,1651598270.006 [BuoyancyServo](INFO): Powering down
2022-05-03T17:17:50.020Z,1651598270.020 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2022-05-03T17:17:50.020Z,1651598270.020 [ThrusterHE](INFO): Powering down
2022-05-03T17:17:50.021Z,1651598270.021 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-05-03T17:17:50.021Z,1651598270.021 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-05-03T17:17:50.021Z,1651598270.021 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-05-03T17:17:50.021Z,1651598270.021 [CBIT](DEBUG): Powering off loads.
2022-05-03T17:17:50.036Z,1651598270.036 [CBIT](DEBUG): Disabling WDT.
2022-05-03T17:17:50.048Z,1651598270.048 [CBIT](DEBUG): Opening all GF detection circuits.
2022-05-03T17:17:50.048Z,1651598270.048 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:50.155Z,1651598270.155 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:50.158Z,1651598270.158 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:50.163Z,1651598270.163 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:50.211Z,1651598270.211 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-05-03T17:17:50.270Z,1651598270.270 [logger ThreadHandler](INFO): Thread cancelled.