2024-05-10T16:27:25.317Z,1715358445.317 [Supervisor](DEBUG): Initializing supervisor.
2024-05-10T16:27:25.321Z,1715358445.321 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2024-05-10T16:27:25.322Z,1715358445.322 [SyncHandler](INFO): Protected caller Thread ID is 829
2024-05-10T16:27:25.322Z,1715358445.322 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2024-05-10T16:27:25.323Z,1715358445.323 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2024-05-10T16:27:25.323Z,1715358445.323 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 830
2024-05-10T16:27:25.327Z,1715358445.327 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2024-05-10T16:27:25.346Z,1715358445.346 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2024-05-10T16:27:25.347Z,1715358445.347 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2024-05-10T16:27:25.348Z,1715358445.348 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 831
2024-05-10T16:27:25.352Z,1715358445.352 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2024-05-10T16:27:25.353Z,1715358445.353 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2024-05-10T16:27:25.353Z,1715358445.353 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 832
2024-05-10T16:27:25.355Z,1715358445.355 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2024-05-10T16:27:25.356Z,1715358445.356 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2024-05-10T16:27:25.357Z,1715358445.357 [logger ThreadHandler](INFO): Protected caller Thread ID is 833
2024-05-10T16:27:25.361Z,1715358445.361 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2024-05-10T16:27:25.361Z,1715358445.361 [Supervisor](INFO): Looking for Config files in directory: Config/
2024-05-10T16:27:25.366Z,1715358445.366 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2024-05-10T16:27:25.476Z,1715358445.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2024-05-10T16:27:25.478Z,1715358445.478 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2024-05-10T16:27:25.735Z,1715358445.735 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2024-05-10T16:27:25.736Z,1715358445.736 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2024-05-10T16:27:26.038Z,1715358446.038 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2024-05-10T16:27:26.039Z,1715358446.039 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2024-05-10T16:27:26.164Z,1715358446.164 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2024-05-10T16:27:26.166Z,1715358446.166 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2024-05-10T16:27:27.030Z,1715358447.030 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2024-05-10T16:27:27.032Z,1715358447.032 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2024-05-10T16:27:27.586Z,1715358447.586 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2024-05-10T16:27:27.587Z,1715358447.587 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2024-05-10T16:27:28.177Z,1715358448.177 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2024-05-10T16:27:28.178Z,1715358448.178 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2024-05-10T16:27:28.658Z,1715358448.658 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2024-05-10T16:27:28.670Z,1715358448.670 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2024-05-10T16:27:29.496Z,1715358449.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2024-05-10T16:27:29.497Z,1715358449.497 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2024-05-10T16:27:29.910Z,1715358449.910 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2024-05-10T16:27:29.912Z,1715358449.912 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2024-05-10T16:27:30.172Z,1715358450.172 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2024-05-10T16:27:30.173Z,1715358450.173 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2024-05-10T16:27:30.331Z,1715358450.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2024-05-10T16:27:30.332Z,1715358450.332 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2024-05-10T16:27:30.427Z,1715358450.427 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2024-05-10T16:27:30.520Z,1715358450.520 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2024-05-10T16:27:30.730Z,1715358450.730 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2024-05-10T16:27:30.731Z,1715358450.731 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2024-05-10T16:27:30.988Z,1715358450.988 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2024-05-10T16:27:30.990Z,1715358450.990 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2024-05-10T16:27:30.992Z,1715358450.992 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2024-05-10T16:27:31.089Z,1715358451.089 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2024-05-10T16:27:31.371Z,1715358451.371 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2024-05-10T16:27:31.372Z,1715358451.372 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2024-05-10T16:27:31.482Z,1715358451.482 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2024-05-10T16:27:31.669Z,1715358451.669 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2024-05-10T16:27:31.781Z,1715358451.781 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2024-05-10T16:27:31.907Z,1715358451.907 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2024-05-10T16:27:32.035Z,1715358452.035 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2024-05-10T16:27:32.156Z,1715358452.156 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2024-05-10T16:27:32.337Z,1715358452.337 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg
2024-05-10T16:27:32.449Z,1715358452.449 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2024-05-10T16:27:32.561Z,1715358452.561 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2024-05-10T16:27:32.662Z,1715358452.662 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2024-05-10T16:27:32.679Z,1715358452.679 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2024-05-10T16:27:32.902Z,1715358452.902 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2024-05-10T16:27:32.903Z,1715358452.903 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2024-05-10T16:27:33.094Z,1715358453.094 [BuoyancyServo] Loaded
2024-05-10T16:27:33.094Z,1715358453.094 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2024-05-10T16:27:33.116Z,1715358453.116 [ElevatorServo] Loaded
2024-05-10T16:27:33.116Z,1715358453.116 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2024-05-10T16:27:33.137Z,1715358453.137 [MassServo] Loaded
2024-05-10T16:27:33.138Z,1715358453.138 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2024-05-10T16:27:33.158Z,1715358453.158 [RudderServo] Loaded
2024-05-10T16:27:33.159Z,1715358453.159 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2024-05-10T16:27:33.174Z,1715358453.174 [ThrusterHE] Loaded
2024-05-10T16:27:33.175Z,1715358453.175 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2024-05-10T16:27:33.175Z,1715358453.175 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2024-05-10T16:27:33.177Z,1715358453.177 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2024-05-10T16:27:33.351Z,1715358453.351 [SBIT](DEBUG): Construct Startup Built In Test.
2024-05-10T16:27:33.366Z,1715358453.366 [SBIT] Loaded
2024-05-10T16:27:33.367Z,1715358453.367 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2024-05-10T16:27:33.369Z,1715358453.369 [IBIT](DEBUG): Construct Initiated Built In Test.
2024-05-10T16:27:33.391Z,1715358453.391 [IBIT] Loaded
2024-05-10T16:27:33.391Z,1715358453.391 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2024-05-10T16:27:33.397Z,1715358453.397 [CBIT](DEBUG): Construct Continuous Built In Test.
2024-05-10T16:27:33.622Z,1715358453.622 [CBIT] Loaded
2024-05-10T16:27:33.622Z,1715358453.622 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2024-05-10T16:27:33.622Z,1715358453.622 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2024-05-10T16:27:33.623Z,1715358453.623 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2024-05-10T16:27:34.007Z,1715358454.007 [CTD_Seabird] Loaded
2024-05-10T16:27:34.007Z,1715358454.007 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2024-05-10T16:27:34.016Z,1715358454.016 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406784E0
2024-05-10T16:27:34.017Z,1715358454.017 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 919
2024-05-10T16:27:34.137Z,1715358454.137 [ESPComponent] Loaded
2024-05-10T16:27:34.137Z,1715358454.137 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2024-05-10T16:27:34.250Z,1715358454.250 [PAR_Licor] Loaded
2024-05-10T16:27:34.250Z,1715358454.250 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2024-05-10T16:27:34.368Z,1715358454.368 [WetLabsBB2FL] Loaded
2024-05-10T16:27:34.376Z,1715358454.376 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2024-05-10T16:27:34.377Z,1715358454.377 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406A84E0
2024-05-10T16:27:34.378Z,1715358454.378 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 920
2024-05-10T16:27:34.379Z,1715358454.379 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2024-05-10T16:27:34.379Z,1715358454.379 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2024-05-10T16:27:35.364Z,1715358455.364 [DepthRateCalculator] Loaded
2024-05-10T16:27:35.364Z,1715358455.364 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2024-05-10T16:27:35.370Z,1715358455.370 [PitchRateCalculator] Loaded
2024-05-10T16:27:35.370Z,1715358455.370 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2024-05-10T16:27:35.381Z,1715358455.381 [SpeedCalculator] Loaded
2024-05-10T16:27:35.381Z,1715358455.381 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2024-05-10T16:27:35.386Z,1715358455.386 [YawRateCalculator] Loaded
2024-05-10T16:27:35.386Z,1715358455.386 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2024-05-10T16:27:35.406Z,1715358455.406 [ElevatorOffsetCalculator] Loaded
2024-05-10T16:27:35.406Z,1715358455.406 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2024-05-10T16:27:35.407Z,1715358455.407 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2024-05-10T16:27:35.407Z,1715358455.407 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2024-05-10T16:27:35.551Z,1715358455.551 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2024-05-10T16:27:35.552Z,1715358455.552 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2024-05-10T16:27:35.596Z,1715358455.596 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2024-05-10T16:27:35.596Z,1715358455.596 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2024-05-10T16:27:35.737Z,1715358455.737 [DeadReckonUsingMultipleVelocitySources] Loaded
2024-05-10T16:27:35.737Z,1715358455.737 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2024-05-10T16:27:35.751Z,1715358455.751 [NavChart] Loaded
2024-05-10T16:27:35.752Z,1715358455.752 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2024-05-10T16:27:35.757Z,1715358455.757 [UniversalFixResidualReporter] Loaded
2024-05-10T16:27:35.758Z,1715358455.758 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2024-05-10T16:27:35.758Z,1715358455.758 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2024-05-10T16:27:35.759Z,1715358455.759 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2024-05-10T16:27:36.597Z,1715358456.597 [AHRS_M2] Loaded
2024-05-10T16:27:36.597Z,1715358456.597 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2024-05-10T16:27:36.847Z,1715358456.847 [BackseatComponent] Loaded
2024-05-10T16:27:36.847Z,1715358456.847 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2024-05-10T16:27:36.848Z,1715358456.848 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A534E0
2024-05-10T16:27:36.849Z,1715358456.849 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 921
2024-05-10T16:27:36.852Z,1715358456.852 [LcmUniversalReporter] Loaded
2024-05-10T16:27:36.852Z,1715358456.852 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2024-05-10T16:27:37.603Z,1715358457.603 [BPC1] Loaded
2024-05-10T16:27:37.603Z,1715358457.603 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2024-05-10T16:27:37.746Z,1715358457.746 [DataOverHttps] Loaded
2024-05-10T16:27:37.746Z,1715358457.746 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2024-05-10T16:27:37.747Z,1715358457.747 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A834E0
2024-05-10T16:27:37.747Z,1715358457.747 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 922
2024-05-10T16:27:37.768Z,1715358457.768 [Depth_Keller] Loaded
2024-05-10T16:27:37.769Z,1715358457.769 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2024-05-10T16:27:37.774Z,1715358457.774 [DropWeight] Loaded
2024-05-10T16:27:37.774Z,1715358457.774 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2024-05-10T16:27:37.814Z,1715358457.814 [DVL_micro] Loaded
2024-05-10T16:27:37.814Z,1715358457.814 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2024-05-10T16:27:37.875Z,1715358457.875 [NAL9602] Loaded
2024-05-10T16:27:37.876Z,1715358457.876 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2024-05-10T16:27:37.902Z,1715358457.902 [Onboard] Loaded
2024-05-10T16:27:37.903Z,1715358457.903 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2024-05-10T16:27:37.904Z,1715358457.904 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40AB34E0
2024-05-10T16:27:37.904Z,1715358457.904 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 923
2024-05-10T16:27:37.917Z,1715358457.917 [Power24vConverter] Loaded
2024-05-10T16:27:37.917Z,1715358457.917 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2024-05-10T16:27:37.930Z,1715358457.930 [Radio_Surface] Loaded
2024-05-10T16:27:37.931Z,1715358457.931 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2024-05-10T16:27:37.932Z,1715358457.932 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AE34E0
2024-05-10T16:27:37.932Z,1715358457.932 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 924
2024-05-10T16:27:37.946Z,1715358457.946 [Sonardyne_Nano] Loaded
2024-05-10T16:27:37.946Z,1715358457.946 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2024-05-10T16:27:38.043Z,1715358458.043 [DAT] Loaded
2024-05-10T16:27:38.043Z,1715358458.043 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2024-05-10T16:27:38.044Z,1715358458.044 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40B134E0
2024-05-10T16:27:38.044Z,1715358458.044 [DAT ThreadHandler](INFO): Protected caller Thread ID is 925
2024-05-10T16:27:38.045Z,1715358458.045 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2024-05-10T16:27:38.045Z,1715358458.045 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2024-05-10T16:27:38.130Z,1715358458.130 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2024-05-10T16:27:38.132Z,1715358458.132 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2024-05-10T16:27:38.205Z,1715358458.205 [VerticalControl](DEBUG): Construct VerticalControl.
2024-05-10T16:27:38.258Z,1715358458.258 [VerticalControl] Loaded
2024-05-10T16:27:38.258Z,1715358458.258 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2024-05-10T16:27:38.261Z,1715358458.261 [HorizontalControl](DEBUG): Construct HorizontalControl.
2024-05-10T16:27:38.306Z,1715358458.306 [HorizontalControl] Loaded
2024-05-10T16:27:38.307Z,1715358458.307 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2024-05-10T16:27:38.309Z,1715358458.309 [SpeedControl](DEBUG): Construct SpeedControl.
2024-05-10T16:27:38.311Z,1715358458.311 [SpeedControl] Loaded
2024-05-10T16:27:38.311Z,1715358458.311 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2024-05-10T16:27:38.314Z,1715358458.314 [LoopControl](DEBUG): Construct LoopControl.
2024-05-10T16:27:38.315Z,1715358458.315 [LoopControl] Loaded
2024-05-10T16:27:38.315Z,1715358458.315 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2024-05-10T16:27:38.315Z,1715358458.315 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2024-05-10T16:27:38.316Z,1715358458.316 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2024-05-10T16:27:38.331Z,1715358458.331 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2024-05-10T16:27:38.332Z,1715358458.332 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2024-05-10T16:27:38.739Z,1715358458.739 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2024-05-10T16:27:38.746Z,1715358458.746 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2024-05-10T16:27:38.749Z,1715358458.749 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2024-05-10T16:27:38.761Z,1715358458.761 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2024-05-10T16:27:38.762Z,1715358458.762 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C374E0
2024-05-10T16:27:38.762Z,1715358458.762 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 926
2024-05-10T16:27:38.767Z,1715358458.767 [Supervisor](INFO): Main Thread ID is 822
2024-05-10T16:27:38.767Z,1715358458.767 [Supervisor](DEBUG): Running supervisor.
2024-05-10T16:27:38.767Z,1715358458.767 [CommandExec ThreadHandler](INFO): Handler Thread ID is 927
2024-05-10T16:27:38.768Z,1715358458.768 [CommandExec](INFO): Initializing the command executive.
2024-05-10T16:27:38.769Z,1715358458.769 [CommandLine ThreadHandler](INFO): Handler Thread ID is 928
2024-05-10T16:27:38.771Z,1715358458.771 [controlThread ThreadHandler](INFO): Handler Thread ID is 929
2024-05-10T16:27:38.772Z,1715358458.772 [controlThread](DEBUG): Initializing ControlThread
2024-05-10T16:27:38.774Z,1715358458.774 [SBIT](INFO): Initialize SBIT Component.
2024-05-10T16:27:38.774Z,1715358458.774 [SBIT](IMPORTANT): git: 2024-05-09-7-g15715e8ac
2024-05-10T16:27:38.774Z,1715358458.774 [SBIT](INFO): git hash: 15715e8acfbb6948193c3f3fc6d9d6046c65c371
2024-05-10T16:27:38.775Z,1715358458.775 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2024-05-10T16:27:38.776Z,1715358458.776 [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
2024-05-10T16:27:38.777Z,1715358458.777 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2024-05-10T16:27:38.778Z,1715358458.778 [IBIT](INFO): Initialize IBIT Component.
2024-05-10T16:27:38.779Z,1715358458.779 [CBIT](DEBUG): Initialize CBIT Component.
2024-05-10T16:27:38.780Z,1715358458.780 [logger ThreadHandler](INFO): Handler Thread ID is 930
2024-05-10T16:27:38.792Z,1715358458.792 [CBIT](DEBUG): Initialized mux pins.
2024-05-10T16:27:38.793Z,1715358458.793 [CBIT](DEBUG): Initializing the watchdog timer.
2024-05-10T16:27:38.805Z,1715358458.805 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 931
2024-05-10T16:27:38.806Z,1715358458.806 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2024-05-10T16:27:38.810Z,1715358458.810 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 933
2024-05-10T16:27:38.813Z,1715358458.813 [WetLabsBB2FL](INFO): Powering up
2024-05-10T16:27:38.814Z,1715358458.814 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 935
2024-05-10T16:27:38.817Z,1715358458.817 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2024-05-10T16:27:38.817Z,1715358458.817 [CBIT](DEBUG): Initializing heartbeat.
2024-05-10T16:27:38.831Z,1715358458.831 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 936
2024-05-10T16:27:38.833Z,1715358458.833 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2024-05-10T16:27:38.845Z,1715358458.845 [Onboard ThreadHandler](INFO): Handler Thread ID is 937
2024-05-10T16:27:38.862Z,1715358458.862 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 938
2024-05-10T16:27:38.885Z,1715358458.885 [DAT ThreadHandler](INFO): Handler Thread ID is 939
2024-05-10T16:27:38.886Z,1715358458.886 [DAT](INFO): Powering up
2024-05-10T16:27:38.886Z,1715358458.886 [DAT](DEBUG): Initializing DAT.
2024-05-10T16:27:38.889Z,1715358458.889 [CBIT](DEBUG): Deactivating GF circuits.
2024-05-10T16:27:38.889Z,1715358458.889 [CBIT](DEBUG): Deactivating emergency mode.
2024-05-10T16:27:38.890Z,1715358458.890 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 941
2024-05-10T16:27:38.898Z,1715358458.898 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK1NORSO.000
2024-05-10T16:27:38.898Z,1715358458.898 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK1NORSO.000
2024-05-10T16:27:38.898Z,1715358458.898 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK2NORS.000
2024-05-10T16:27:38.899Z,1715358458.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK2NORS.000
2024-05-10T16:27:38.899Z,1715358458.899 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/DK3HORRO.000
2024-05-10T16:27:38.899Z,1715358458.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from DK3HORRO.000
2024-05-10T16:27:38.929Z,1715358458.929 [CBIT](DEBUG): Backplane powered.
2024-05-10T16:27:38.933Z,1715358458.933 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2024-05-10T16:27:38.933Z,1715358458.933 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2024-05-10T16:27:38.934Z,1715358458.934 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2024-05-10T16:27:38.934Z,1715358458.934 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2024-05-10T16:27:38.934Z,1715358458.934 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2024-05-10T16:27:38.935Z,1715358458.935 [NavChart](DEBUG): Initialize NavChart Navigation.
2024-05-10T16:27:38.936Z,1715358458.936 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2024-05-10T16:27:38.947Z,1715358458.947 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2024-05-10T16:27:38.949Z,1715358458.949 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2024-05-10T16:27:38.949Z,1715358458.949 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2024-05-10T16:27:38.950Z,1715358458.950 [LoopControl](DEBUG): Initialize LoopControlComponent.
2024-05-10T16:27:38.950Z,1715358458.950 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2024-05-10T16:27:38.951Z,1715358458.951 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2024-05-10T16:27:38.951Z,1715358458.951 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2024-05-10T16:27:38.958Z,1715358458.958 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2024-05-10T16:27:39.030Z,1715358459.030 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
2024-05-10T16:27:39.050Z,1715358459.050 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2024-05-10T16:27:39.083Z,1715358459.083 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission Startup {
behavior Guidance:GoToSurface {
run in progression
}
aggregate StartupSatComms {
run in sequence
readDatum {
timeout duration=P1M
Universal:latitude_fix
}
readDatum {
timeout duration=P1M
Universal:platform_communications
}
}
}
2024-05-10T16:27:39.083Z,1715358459.083 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2024-05-10T16:27:39.083Z,1715358459.083 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2024-05-10T16:27:39.105Z,1715358459.105 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2024-05-10T16:27:39.269Z,1715358459.269 [Radio_Surface](INFO): Powering up
2024-05-10T16:27:39.379Z,1715358459.379 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
0
13
Burn on
Dropped weight due to communications timeout.
5
Default mission has been running for
Restarting logs and Default mission.
restart logs
2024-05-10T16:27:39.405Z,1715358459.405 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2024-05-10T16:27:39.406Z,1715358459.406 [Default:A.Wait](DEBUG): Construct Wait.
2024-05-10T16:27:39.408Z,1715358459.408 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2024-05-10T16:27:39.466Z,1715358459.466 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2024-05-10T16:27:39.485Z,1715358459.485 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2024-05-10T16:27:39.490Z,1715358459.490 [Default:E.Execute](DEBUG): Construct Execute.
2024-05-10T16:27:39.505Z,1715358459.505 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission Default {
arguments {
ElapsedSinceDefaultStarted = 0 minute
}
behavior Guidance:Wait {
"""
Wait a moment to see if the scheduler starts a new mission before
starting to actually run Default.
"""
run in sequence
set duration = 13 second
}
behavior Guidance:GoToSurface {
run in progression
}
aggregate CheckIn {
run in sequence repeat=288
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P4H {
behavior Guidance:Execute {
run in sequence
set command = "Burn on"
}
syslog critical "Dropped weight due to communications timeout."
}
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )
syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
}
syslog important "Restarting logs and Default mission."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
2024-05-10T16:27:39.510Z,1715358459.510 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2024-05-10T16:27:39.536Z,1715358459.536 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2024-05-10T16:27:39.670Z,1715358459.670 [Depth_Keller](ERROR): Pressure or depth reading out of range: 1895.444336 decibar, 0.000000 m
2024-05-10T16:27:39.678Z,1715358459.678 [Power24vConverter](INFO): Powering up.
2024-05-10T16:27:39.679Z,1715358459.679 [Sonardyne_Nano](INFO): Initializing.
2024-05-10T16:27:39.705Z,1715358459.705 [DepthRateCalculator](ERROR): Depth measurement is not active
2024-05-10T16:27:39.753Z,1715358459.753 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2024-05-10T16:27:39.761Z,1715358459.761 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2024-05-10T16:27:39.762Z,1715358459.762 [ElevatorServo](DEBUG): Initializing EZServoServo.
2024-05-10T16:27:39.769Z,1715358459.769 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2024-05-10T16:27:39.770Z,1715358459.770 [MassServo](DEBUG): Initializing EZServoServo.
2024-05-10T16:27:39.777Z,1715358459.777 [MassServo](DEBUG): Initializing MassServo.
2024-05-10T16:27:39.778Z,1715358459.778 [RudderServo](DEBUG): Initializing EZServoServo.
2024-05-10T16:27:39.785Z,1715358459.785 [RudderServo](DEBUG): Initializing RudderServo.
2024-05-10T16:27:39.786Z,1715358459.786 [ThrusterHE](DEBUG): Initializing EZServoServo.
2024-05-10T16:27:39.793Z,1715358459.793 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2024-05-10T16:27:40.921Z,1715358460.921 [WetLabsBB2FL](INFO): Powering down
2024-05-10T16:27:41.947Z,1715358461.947 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2024-05-10T16:27:43.198Z,1715358463.198 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2407
2024-05-10T16:27:45.402Z,1715358465.402 [ThrusterHE](ERROR): Zero Speed Commanded.
2024-05-10T16:27:45.837Z,1715358465.837 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2024-05-10T16:27:50.981Z,1715358470.981 [DAT](INFO): DAT read:
2024-05-10T16:27:50.983Z,1715358470.983 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series
2024-05-10T16:27:52.495Z,1715358472.495 [DAT](INFO): DAT read: MF Frequency Band
2024-05-10T16:27:52.497Z,1715358472.497 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0
2024-05-10T16:27:52.498Z,1715358472.498 [DAT](INFO): DAT read: May 10 2024 16:27:47
2024-05-10T16:27:53.754Z,1715358473.754 [DAT](INFO): DAT read: Features enabled [Bearing]
2024-05-10T16:27:53.755Z,1715358473.755 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC
2024-05-10T16:27:53.755Z,1715358473.755 [DAT](INFO): commRate: 1200
2024-05-10T16:27:55.820Z,1715358475.820 [DAT](INFO): entering command mode
2024-05-10T16:27:56.021Z,1715358476.021 [DAT](INFO): DAT read:
2024-05-10T16:27:56.021Z,1715358476.021 [DAT](INFO): DAT read: user:1>
2024-05-10T16:27:56.022Z,1715358476.022 [DAT](INFO): setting verbose to 3
2024-05-10T16:27:56.273Z,1715358476.273 [DAT](INFO): DAT read: user:1>
2024-05-10T16:27:56.274Z,1715358476.274 [DAT](INFO): DAT read: Verbose | 3
2024-05-10T16:27:56.275Z,1715358476.275 [DAT](INFO): set verbose to 3
2024-05-10T16:27:56.275Z,1715358476.275 [DAT](INFO): setting DatVerbose to 27440
2024-05-10T16:27:56.526Z,1715358476.526 [DAT](INFO): DAT read: user:2>
2024-05-10T16:27:56.527Z,1715358476.527 [DAT](INFO): DAT read: DatVerbose | 27440
2024-05-10T16:27:56.527Z,1715358476.527 [DAT](INFO): set DatVerbose to 27440
2024-05-10T16:27:56.528Z,1715358476.528 [DAT](INFO): setting transmit power to 8
2024-05-10T16:27:56.777Z,1715358476.777 [DAT](INFO): DAT read: user:3>
2024-05-10T16:27:56.778Z,1715358476.778 [DAT](INFO): DAT read: TxPower | 8 (Max)
2024-05-10T16:27:56.778Z,1715358476.778 [DAT](INFO): set transmit power to 8
2024-05-10T16:27:56.779Z,1715358476.779 [DAT](INFO): setting local address to 5
2024-05-10T16:27:57.029Z,1715358477.029 [DAT](INFO): DAT read: user:4>
2024-05-10T16:27:57.030Z,1715358477.030 [DAT](INFO): DAT read: LocalAddr | 5
2024-05-10T16:27:57.030Z,1715358477.030 [DAT](INFO): set local address to 5
2024-05-10T16:27:57.031Z,1715358477.031 [DAT](INFO): Setting time to: 16:27:57 And date to:5/10/2024
2024-05-10T16:27:57.282Z,1715358477.282 [DAT](INFO): DAT read: user:5>
2024-05-10T16:27:57.283Z,1715358477.283 [DAT](INFO): DAT read: Fri May 10, 2024 16:27:57
2024-05-10T16:27:57.284Z,1715358477.284 [DAT](INFO): Local DAT time set to Fri May 10, 2024 16:27:57
2024-05-10T16:27:57.513Z,1715358477.513 [MassServo](ERROR): getPosition uart error serial timeout
2024-05-10T16:27:57.513Z,1715358477.513 [MassServo](FAULT): Invalid EZ Servo response:"\r"
2024-05-10T16:27:57.513Z,1715358477.513 [MassServo] Communications Fault, FailCount= 1
2024-05-10T16:27:57.513Z,1715358477.513 [MassServo](ERROR): Communications Fault
2024-05-10T16:27:57.522Z,1715358477.522 [CBIT](ERROR): Communications Fault in component: MassServo
2024-05-10T16:27:57.751Z,1715358477.751 [MassServo](DEBUG): Uninitialize Mass Servo.
2024-05-10T16:27:57.751Z,1715358477.751 [MassServo](INFO): Powering down
2024-05-10T16:27:58.523Z,1715358478.523 [MassServo](DEBUG): Initializing EZServoServo.
2024-05-10T16:27:58.638Z,1715358478.638 [MassServo](DEBUG): Initializing MassServo.
2024-05-10T16:27:58.642Z,1715358478.642 [CBIT](INFO): Clearing failed state for component MassServo
2024-05-10T16:27:58.642Z,1715358478.642 [MassServo] No Fault, FailCount= 1
2024-05-10T16:28:08.221Z,1715358488.221 [NAL9602](INFO): Powering up NAL9602
2024-05-10T16:28:19.119Z,1715358499.119 [NAL9602](INFO): NAL9602 initialized
2024-05-10T16:28:38.523Z,1715358518.523 [SBIT](IMPORTANT): Beginning Startup BIT
2024-05-10T16:28:38.528Z,1715358518.528 [CBIT](IMPORTANT): Beginning ground fault scan
2024-05-10T16:28:49.487Z,1715358529.487 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005313
CHAN A1 (24V): 0.002847
CHAN A2 (12V): -0.004337
CHAN A3 (5V): -0.002315
CHAN B0 (3.3V): -0.001048
CHAN B1 (3.15aV): -0.001132
CHAN B2 (3.15bV): -0.000916
CHAN B3 (GND): -0.000636
OPEN: 0.006704
Full Scale: +/- 1 mA
2024-05-10T16:29:28.895Z,1715358568.895 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005044
2024-05-10T16:29:32.668Z,1715358572.668 [SBIT](IMPORTANT): SBIT PASSED
2024-05-10T16:29:32.669Z,1715358572.669 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=3 minute;
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): ElevatorServo.offsetAngle=0.7 degree;
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_mean_sea_water_temperature 5.000000 celsius;
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): Express none WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water;
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): Express none WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water;
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 1.000000 kilogram_per_cubic_meter;
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 0.500000 meter;
2024-05-10T16:29:32.670Z,1715358572.670 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=100 cubic_centimeter;
2024-05-10T16:29:32.671Z,1715358572.671 [SBIT](IMPORTANT): VerticalControl.massDefault=-1 centimeter;
2024-05-10T16:29:33.077Z,1715358573.077 [MissionManager](IMPORTANT): Started mission Startup
2024-05-10T16:29:33.077Z,1715358573.077 [Startup] Running Loop=1
2024-05-10T16:29:33.077Z,1715358573.077 [Startup](DEBUG): Aggregate::initialize Startup
2024-05-10T16:29:33.077Z,1715358573.077 [Startup:A.GoToSurface] Running Loop=1
2024-05-10T16:29:33.077Z,1715358573.077 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-05-10T16:29:33.078Z,17153