2025-04-09T21:04:57.176Z,1744232697.176 [Supervisor](DEBUG): Initializing supervisor. 2025-04-09T21:04:57.181Z,1744232697.181 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2025-04-09T21:04:57.181Z,1744232697.181 [SyncHandler](INFO): Protected caller Thread ID is 829 2025-04-09T21:04:57.182Z,1744232697.182 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2025-04-09T21:04:57.183Z,1744232697.183 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2025-04-09T21:04:57.183Z,1744232697.183 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 830 2025-04-09T21:04:57.187Z,1744232697.187 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2025-04-09T21:04:57.207Z,1744232697.207 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread. 2025-04-09T21:04:57.208Z,1744232697.208 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2025-04-09T21:04:57.209Z,1744232697.209 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 831 2025-04-09T21:04:57.213Z,1744232697.213 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2025-04-09T21:04:57.214Z,1744232697.214 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2025-04-09T21:04:57.214Z,1744232697.214 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 832 2025-04-09T21:04:57.217Z,1744232697.217 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2025-04-09T21:04:57.218Z,1744232697.218 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0 2025-04-09T21:04:57.218Z,1744232697.218 [logger ThreadHandler](INFO): Protected caller Thread ID is 833 2025-04-09T21:04:57.222Z,1744232697.222 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2025-04-09T21:04:57.222Z,1744232697.222 [Supervisor](INFO): Looking for Config files in directory: Config/ 2025-04-09T21:04:57.228Z,1744232697.228 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2025-04-09T21:04:57.335Z,1744232697.335 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2025-04-09T21:04:57.337Z,1744232697.337 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2025-04-09T21:04:57.575Z,1744232697.575 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2025-04-09T21:04:57.577Z,1744232697.577 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2025-04-09T21:04:57.855Z,1744232697.855 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2025-04-09T21:04:57.857Z,1744232697.857 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2025-04-09T21:04:57.974Z,1744232697.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2025-04-09T21:04:57.976Z,1744232697.976 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2025-04-09T21:04:58.765Z,1744232698.765 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2025-04-09T21:04:58.765Z,1744232698.765 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2025-04-09T21:04:59.292Z,1744232699.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2025-04-09T21:04:59.293Z,1744232699.293 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2025-04-09T21:04:59.870Z,1744232699.870 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2025-04-09T21:04:59.871Z,1744232699.871 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2025-04-09T21:05:00.326Z,1744232700.326 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2025-04-09T21:05:00.708Z,1744232700.708 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2025-04-09T21:05:01.429Z,1744232701.429 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2025-04-09T21:05:01.429Z,1744232701.429 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2025-04-09T21:05:01.822Z,1744232701.822 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2025-04-09T21:05:01.822Z,1744232701.822 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2025-04-09T21:05:02.062Z,1744232702.062 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2025-04-09T21:05:02.064Z,1744232702.064 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2025-04-09T21:05:02.217Z,1744232702.217 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2025-04-09T21:05:02.217Z,1744232702.217 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2025-04-09T21:05:02.311Z,1744232702.311 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2025-04-09T21:05:02.402Z,1744232702.402 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2025-04-09T21:05:02.607Z,1744232702.607 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2025-04-09T21:05:02.609Z,1744232702.609 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2025-04-09T21:05:02.867Z,1744232702.867 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2025-04-09T21:05:02.869Z,1744232702.869 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/ 2025-04-09T21:05:02.871Z,1744232702.871 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg 2025-04-09T21:05:02.966Z,1744232702.966 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg 2025-04-09T21:05:03.245Z,1744232703.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2025-04-09T21:05:03.246Z,1744232703.246 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg 2025-04-09T21:05:03.341Z,1744232703.341 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg 2025-04-09T21:05:03.521Z,1744232703.521 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg 2025-04-09T21:05:03.632Z,1744232703.632 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg 2025-04-09T21:05:03.753Z,1744232703.753 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg 2025-04-09T21:05:03.876Z,1744232703.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg 2025-04-09T21:05:03.981Z,1744232703.981 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg 2025-04-09T21:05:04.153Z,1744232704.153 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg 2025-04-09T21:05:04.260Z,1744232704.260 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/workSite.cfg 2025-04-09T21:05:04.356Z,1744232704.356 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg 2025-04-09T21:05:04.464Z,1744232704.464 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg 2025-04-09T21:05:04.562Z,1744232704.562 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg 2025-04-09T21:05:04.565Z,1744232704.565 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2025-04-09T21:05:04.791Z,1744232704.791 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2025-04-09T21:05:04.792Z,1744232704.792 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2025-04-09T21:05:04.989Z,1744232704.989 [BuoyancyServo] Loaded 2025-04-09T21:05:04.990Z,1744232704.990 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2025-04-09T21:05:05.014Z,1744232705.014 [ElevatorServo] Loaded 2025-04-09T21:05:05.014Z,1744232705.014 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2025-04-09T21:05:05.036Z,1744232705.036 [MassServo] Loaded 2025-04-09T21:05:05.037Z,1744232705.037 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2025-04-09T21:05:05.059Z,1744232705.059 [RudderServo] Loaded 2025-04-09T21:05:05.059Z,1744232705.059 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2025-04-09T21:05:05.078Z,1744232705.078 [ThrusterHE] Loaded 2025-04-09T21:05:05.078Z,1744232705.078 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread. 2025-04-09T21:05:05.078Z,1744232705.078 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2025-04-09T21:05:05.080Z,1744232705.080 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2025-04-09T21:05:05.279Z,1744232705.279 [SBIT](DEBUG): Construct Startup Built In Test. 2025-04-09T21:05:05.295Z,1744232705.295 [SBIT] Loaded 2025-04-09T21:05:05.295Z,1744232705.295 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2025-04-09T21:05:05.298Z,1744232705.298 [IBIT](DEBUG): Construct Initiated Built In Test. 2025-04-09T21:05:05.319Z,1744232705.319 [IBIT] Loaded 2025-04-09T21:05:05.319Z,1744232705.319 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2025-04-09T21:05:05.325Z,1744232705.325 [CBIT](DEBUG): Construct Continuous Built In Test. 2025-04-09T21:05:05.517Z,1744232705.517 [CBIT] Loaded 2025-04-09T21:05:05.518Z,1744232705.518 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2025-04-09T21:05:05.549Z,1744232705.549 [GFScanner] Loaded 2025-04-09T21:05:05.549Z,1744232705.549 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread. 2025-04-09T21:05:05.549Z,1744232705.549 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2025-04-09T21:05:05.550Z,1744232705.550 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2025-04-09T21:05:06.158Z,1744232706.158 [CTD_Seabird] Loaded 2025-04-09T21:05:06.158Z,1744232706.158 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2025-04-09T21:05:06.172Z,1744232706.172 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406834E0 2025-04-09T21:05:06.172Z,1744232706.172 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 922 2025-04-09T21:05:06.225Z,1744232706.225 [ESPComponent] Loaded 2025-04-09T21:05:06.225Z,1744232706.225 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread. 2025-04-09T21:05:06.247Z,1744232706.247 [PAR_Licor] Loaded 2025-04-09T21:05:06.247Z,1744232706.247 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2025-04-09T21:05:06.293Z,1744232706.293 [WetLabsBB2FL] Loaded 2025-04-09T21:05:06.293Z,1744232706.293 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2025-04-09T21:05:06.294Z,1744232706.294 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406B34E0 2025-04-09T21:05:06.294Z,1744232706.294 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 923 2025-04-09T21:05:06.295Z,1744232706.295 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2025-04-09T21:05:06.296Z,1744232706.296 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2025-04-09T21:05:06.368Z,1744232706.368 [DepthRateCalculator] Loaded 2025-04-09T21:05:06.368Z,1744232706.368 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2025-04-09T21:05:06.374Z,1744232706.374 [PitchRateCalculator] Loaded 2025-04-09T21:05:06.374Z,1744232706.374 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2025-04-09T21:05:06.385Z,1744232706.385 [SpeedCalculator] Loaded 2025-04-09T21:05:06.385Z,1744232706.385 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2025-04-09T21:05:06.390Z,1744232706.390 [YawRateCalculator] Loaded 2025-04-09T21:05:06.390Z,1744232706.390 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2025-04-09T21:05:06.409Z,1744232706.409 [ElevatorOffsetCalculator] Loaded 2025-04-09T21:05:06.410Z,1744232706.410 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2025-04-09T21:05:06.410Z,1744232706.410 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2025-04-09T21:05:06.411Z,1744232706.411 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2025-04-09T21:05:06.580Z,1744232706.580 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2025-04-09T21:05:06.581Z,1744232706.581 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2025-04-09T21:05:06.629Z,1744232706.629 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2025-04-09T21:05:06.630Z,1744232706.630 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2025-04-09T21:05:06.832Z,1744232706.832 [DeadReckonUsingMultipleVelocitySources] Loaded 2025-04-09T21:05:06.833Z,1744232706.833 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2025-04-09T21:05:06.897Z,1744232706.897 [NavChart] Loaded 2025-04-09T21:05:06.897Z,1744232706.897 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2025-04-09T21:05:06.903Z,1744232706.903 [UniversalFixResidualReporter] Loaded 2025-04-09T21:05:06.903Z,1744232706.903 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2025-04-09T21:05:06.927Z,1744232706.927 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2025-04-09T21:05:06.928Z,1744232706.928 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2025-04-09T21:05:08.093Z,1744232708.093 [AHRS_M2] Loaded 2025-04-09T21:05:08.094Z,1744232708.094 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2025-04-09T21:05:08.346Z,1744232708.346 [BackseatComponent] Loaded 2025-04-09T21:05:08.347Z,1744232708.347 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread. 2025-04-09T21:05:08.348Z,1744232708.348 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A7F4E0 2025-04-09T21:05:08.348Z,1744232708.348 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 924 2025-04-09T21:05:08.351Z,1744232708.351 [LcmUniversalReporter] Loaded 2025-04-09T21:05:08.351Z,1744232708.351 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread. 2025-04-09T21:05:09.095Z,1744232709.095 [BPC1] Loaded 2025-04-09T21:05:09.095Z,1744232709.095 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2025-04-09T21:05:09.193Z,1744232709.193 [DAT] Loaded 2025-04-09T21:05:09.193Z,1744232709.193 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread. 2025-04-09T21:05:09.194Z,1744232709.194 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40AAF4E0 2025-04-09T21:05:09.195Z,1744232709.195 [DAT ThreadHandler](INFO): Protected caller Thread ID is 925 2025-04-09T21:05:09.337Z,1744232709.337 [DataOverHttps] Loaded 2025-04-09T21:05:09.337Z,1744232709.337 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2025-04-09T21:05:09.338Z,1744232709.338 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40ADF4E0 2025-04-09T21:05:09.339Z,1744232709.339 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 926 2025-04-09T21:05:09.362Z,1744232709.362 [Depth_Keller] Loaded 2025-04-09T21:05:09.363Z,1744232709.363 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2025-04-09T21:05:09.368Z,1744232709.368 [DropWeight] Loaded 2025-04-09T21:05:09.368Z,1744232709.368 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread. 2025-04-09T21:05:09.409Z,1744232709.409 [DVL_micro] Loaded 2025-04-09T21:05:09.409Z,1744232709.409 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread. 2025-04-09T21:05:09.472Z,1744232709.472 [NAL9602] Loaded 2025-04-09T21:05:09.472Z,1744232709.472 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2025-04-09T21:05:09.499Z,1744232709.499 [Onboard] Loaded 2025-04-09T21:05:09.499Z,1744232709.499 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2025-04-09T21:05:09.500Z,1744232709.500 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40B0F4E0 2025-04-09T21:05:09.500Z,1744232709.500 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 927 2025-04-09T21:05:09.506Z,1744232709.506 [PowerOnly](INFO): Adding load control power supply at /dev/loadB1 2025-04-09T21:05:09.520Z,1744232709.520 [PowerOnly] Loaded 2025-04-09T21:05:09.520Z,1744232709.520 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread. 2025-04-09T21:05:09.535Z,1744232709.535 [Power24vConverter] Loaded 2025-04-09T21:05:09.535Z,1744232709.535 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2025-04-09T21:05:09.551Z,1744232709.551 [Radio_Surface] Loaded 2025-04-09T21:05:09.551Z,1744232709.551 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2025-04-09T21:05:09.552Z,1744232709.552 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B3F4E0 2025-04-09T21:05:09.553Z,1744232709.553 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 928 2025-04-09T21:05:09.569Z,1744232709.569 [Sonardyne_Nano] Loaded 2025-04-09T21:05:09.569Z,1744232709.569 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread. 2025-04-09T21:05:09.570Z,1744232709.570 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2025-04-09T21:05:09.570Z,1744232709.570 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2025-04-09T21:05:09.658Z,1744232709.658 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2025-04-09T21:05:09.658Z,1744232709.658 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2025-04-09T21:05:09.732Z,1744232709.732 [VerticalControl](DEBUG): Construct VerticalControl. 2025-04-09T21:05:09.785Z,1744232709.785 [VerticalControl] Loaded 2025-04-09T21:05:09.785Z,1744232709.785 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2025-04-09T21:05:09.788Z,1744232709.788 [HorizontalControl](DEBUG): Construct HorizontalControl. 2025-04-09T21:05:09.833Z,1744232709.833 [HorizontalControl] Loaded 2025-04-09T21:05:09.833Z,1744232709.833 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2025-04-09T21:05:09.835Z,1744232709.835 [SpeedControl](DEBUG): Construct SpeedControl. 2025-04-09T21:05:09.837Z,1744232709.837 [SpeedControl] Loaded 2025-04-09T21:05:09.837Z,1744232709.837 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2025-04-09T21:05:09.840Z,1744232709.840 [LoopControl](DEBUG): Construct LoopControl. 2025-04-09T21:05:09.841Z,1744232709.841 [LoopControl] Loaded 2025-04-09T21:05:09.841Z,1744232709.841 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2025-04-09T21:05:09.841Z,1744232709.841 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2025-04-09T21:05:09.842Z,1744232709.842 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2025-04-09T21:05:09.858Z,1744232709.858 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2025-04-09T21:05:09.859Z,1744232709.859 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2025-04-09T21:05:10.276Z,1744232710.276 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2025-04-09T21:05:10.282Z,1744232710.282 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2025-04-09T21:05:10.285Z,1744232710.285 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2025-04-09T21:05:10.297Z,1744232710.297 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2025-04-09T21:05:10.298Z,1744232710.298 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0 2025-04-09T21:05:10.298Z,1744232710.298 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 929 2025-04-09T21:05:10.302Z,1744232710.302 [Supervisor](INFO): Main Thread ID is 822 2025-04-09T21:05:10.302Z,1744232710.302 [Supervisor](DEBUG): Running supervisor. 2025-04-09T21:05:10.303Z,1744232710.303 [CommandExec ThreadHandler](INFO): Handler Thread ID is 930 2025-04-09T21:05:10.303Z,1744232710.303 [CommandExec](INFO): Initializing the command executive. 2025-04-09T21:05:10.305Z,1744232710.305 [CommandLine ThreadHandler](INFO): Handler Thread ID is 931 2025-04-09T21:05:10.307Z,1744232710.307 [controlThread ThreadHandler](INFO): Handler Thread ID is 932 2025-04-09T21:05:10.308Z,1744232710.308 [controlThread](DEBUG): Initializing ControlThread 2025-04-09T21:05:10.309Z,1744232710.309 [SBIT](INFO): Initialize SBIT Component. 2025-04-09T21:05:10.310Z,1744232710.310 [SBIT](IMPORTANT): git: 2025-03-26-1-g1815535cc 2025-04-09T21:05:10.310Z,1744232710.310 [SBIT](INFO): git hash: 1815535cca105e464bdb7831f6233b5043f0283f 2025-04-09T21:05:10.311Z,1744232710.311 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-04-09T21:05:10.312Z,1744232710.312 [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 2025-04-09T21:05:10.313Z,1744232710.313 [SBIT](INFO): Beginning SBIT in 107.000000 seconds. 2025-04-09T21:05:10.313Z,1744232710.313 [IBIT](INFO): Initialize IBIT Component. 2025-04-09T21:05:10.314Z,1744232710.314 [CBIT](DEBUG): Initialize CBIT Component. 2025-04-09T21:05:10.315Z,1744232710.315 [logger ThreadHandler](INFO): Handler Thread ID is 933 2025-04-09T21:05:10.328Z,1744232710.328 [CBIT](DEBUG): Initialized mux pins. 2025-04-09T21:05:10.328Z,1744232710.328 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL. 2025-04-09T21:05:10.328Z,1744232710.328 [CBIT](DEBUG): Initializing the watchdog timer. 2025-04-09T21:05:10.340Z,1744232710.340 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 934 2025-04-09T21:05:10.341Z,1744232710.341 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2025-04-09T21:05:10.345Z,1744232710.345 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 936 2025-04-09T21:05:10.348Z,1744232710.348 [WetLabsBB2FL](INFO): Powering up 2025-04-09T21:05:10.349Z,1744232710.349 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 938 2025-04-09T21:05:10.352Z,1744232710.352 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET. 2025-04-09T21:05:10.352Z,1744232710.352 [CBIT](DEBUG): Initializing heartbeat. 2025-04-09T21:05:10.367Z,1744232710.367 [DAT ThreadHandler](INFO): Handler Thread ID is 939 2025-04-09T21:05:10.367Z,1744232710.367 [DAT](INFO): Powering up 2025-04-09T21:05:10.367Z,1744232710.367 [DAT](DEBUG): Initializing DAT. 2025-04-09T21:05:10.376Z,1744232710.376 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 941 2025-04-09T21:05:10.378Z,1744232710.378 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2025-04-09T21:05:10.388Z,1744232710.388 [Onboard ThreadHandler](INFO): Handler Thread ID is 942 2025-04-09T21:05:10.406Z,1744232710.406 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 943 2025-04-09T21:05:10.421Z,1744232710.421 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 944 2025-04-09T21:05:10.424Z,1744232710.424 [CBIT](DEBUG): Deactivating emergency mode. 2025-04-09T21:05:10.429Z,1744232710.429 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2025-04-09T21:05:10.429Z,1744232710.429 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2025-04-09T21:05:10.429Z,1744232710.429 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2025-04-09T21:05:10.429Z,1744232710.429 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2025-04-09T21:05:10.429Z,1744232710.429 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2025-04-09T21:05:10.430Z,1744232710.430 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2025-04-09T21:05:10.430Z,1744232710.430 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2025-04-09T21:05:10.430Z,1744232710.430 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2025-04-09T21:05:10.464Z,1744232710.464 [CBIT](DEBUG): Backplane powered. 2025-04-09T21:05:10.464Z,1744232710.464 [GFScanner](DEBUG): Initializing GFScanner 2025-04-09T21:05:10.468Z,1744232710.468 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2025-04-09T21:05:10.469Z,1744232710.469 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2025-04-09T21:05:10.469Z,1744232710.469 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2025-04-09T21:05:10.469Z,1744232710.469 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2025-04-09T21:05:10.470Z,1744232710.470 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2025-04-09T21:05:10.471Z,1744232710.471 [NavChart](DEBUG): Initialize NavChart Navigation. 2025-04-09T21:05:10.471Z,1744232710.471 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2025-04-09T21:05:10.475Z,1744232710.475 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2025-04-09T21:05:10.477Z,1744232710.477 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2025-04-09T21:05:10.477Z,1744232710.477 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2025-04-09T21:05:10.478Z,1744232710.478 [LoopControl](DEBUG): Initialize LoopControlComponent. 2025-04-09T21:05:10.478Z,1744232710.478 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-04-09T21:05:10.479Z,1744232710.479 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl 2025-04-09T21:05:10.479Z,1744232710.479 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl 2025-04-09T21:05:10.487Z,1744232710.487 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl 2025-04-09T21:05:10.574Z,1744232710.574 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into: 2025-04-09T21:05:10.594Z,1744232710.594 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2025-04-09T21:05:10.620Z,1744232710.620 [DAT](INFO): Using elevation to construct direction to contact in vehicle frame. 2025-04-09T21:05:10.632Z,1744232710.632 [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 } } } 2025-04-09T21:05:10.632Z,1744232710.632 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl 2025-04-09T21:05:10.633Z,1744232710.633 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl 2025-04-09T21:05:10.640Z,1744232710.640 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl 2025-04-09T21:05:10.820Z,1744232710.820 [Radio_Surface](INFO): Powering up 2025-04-09T21:05:10.949Z,1744232710.949 [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 2025-04-09T21:05:10.971Z,1744232710.971 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2025-04-09T21:05:10.972Z,1744232710.972 [Default:A.Wait](DEBUG): Construct Wait. 2025-04-09T21:05:10.975Z,1744232710.975 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2025-04-09T21:05:11.027Z,1744232711.027 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2025-04-09T21:05:11.030Z,1744232711.030 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2025-04-09T21:05:11.048Z,1744232711.048 [Default:E.Execute](DEBUG): Construct Execute. 2025-04-09T21:05:11.051Z,1744232711.051 [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" } } 2025-04-09T21:05:11.060Z,1744232711.060 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,PowerOnly,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,GFScanner,LcmUniversalReporter,Reporter,LogSplitter, 2025-04-09T21:05:11.071Z,1744232711.071 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2025-04-09T21:05:11.220Z,1744232711.220 [Depth_Keller](INFO): Initializing. 2025-04-09T21:05:11.230Z,1744232711.230 [Power24vConverter](INFO): Powering up. 2025-04-09T21:05:11.230Z,1744232711.230 [Sonardyne_Nano](INFO): Initializing. 2025-04-09T21:05:11.256Z,1744232711.256 [DepthRateCalculator](ERROR): Depth measurement is not active 2025-04-09T21:05:11.293Z,1744232711.293 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2025-04-09T21:05:11.300Z,1744232711.300 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2025-04-09T21:05:11.301Z,1744232711.301 [ElevatorServo](DEBUG): Initializing EZServoServo. 2025-04-09T21:05:11.309Z,1744232711.309 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2025-04-09T21:05:11.310Z,1744232711.310 [MassServo](DEBUG): Initializing EZServoServo. 2025-04-09T21:05:11.328Z,1744232711.328 [MassServo](DEBUG): Initializing MassServo. 2025-04-09T21:05:11.329Z,1744232711.329 [RudderServo](DEBUG): Initializing EZServoServo. 2025-04-09T21:05:11.336Z,1744232711.336 [RudderServo](DEBUG): Initializing RudderServo. 2025-04-09T21:05:11.337Z,1744232711.337 [ThrusterHE](DEBUG): Initializing EZServoServo. 2025-04-09T21:05:11.345Z,1744232711.345 [ThrusterHE](DEBUG): Initializing ThrusterHE. 2025-04-09T21:05:11.347Z,1744232711.347 [CommandExec](FAULT): Scheduling is paused 2025-04-09T21:05:11.348Z,1744232711.348 [CBIT](INFO): Critical error at 20250409T210510 2025-04-09T21:05:11.348Z,1744232711.348 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2025-04-09T21:05:11.501Z,1744232711.501 [Depth_Keller](ERROR): Pressure or depth reading out of range: 947.322021 decibar, 0.000000 m 2025-04-09T21:05:11.520Z,1744232711.520 [DepthRateCalculator](ERROR): Depth measurement is not active 2025-04-09T21:05:12.960Z,1744232712.960 [WetLabsBB2FL](INFO): Powering down 2025-04-09T21:05:13.499Z,1744232713.499 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2025-04-09T21:05:14.749Z,1744232714.749 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213 2025-04-09T21:05:16.865Z,1744232716.865 [ThrusterHE](ERROR): Zero Speed Commanded. 2025-04-09T21:05:22.469Z,1744232722.469 [DAT](INFO): DAT read: 2025-04-09T21:05:22.470Z,1744232722.470 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-04-09T21:05:24.233Z,1744232724.233 [DAT](INFO): DAT read: MF Frequency Band 2025-04-09T21:05:24.234Z,1744232724.234 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-04-09T21:05:24.235Z,1744232724.235 [DAT](INFO): DAT read: Apr 9 2025 21:05:18 2025-04-09T21:05:25.493Z,1744232725.493 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-04-09T21:05:25.494Z,1744232725.494 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC 2025-04-09T21:05:25.494Z,1744232725.494 [DAT](INFO): commRate: 1200 2025-04-09T21:05:27.560Z,1744232727.560 [DAT](INFO): entering command mode 2025-04-09T21:05:27.761Z,1744232727.761 [DAT](INFO): DAT read: 2025-04-09T21:05:27.761Z,1744232727.761 [DAT](INFO): DAT read: user:1> 2025-04-09T21:05:27.761Z,1744232727.761 [DAT](INFO): setting verbose to 3 2025-04-09T21:05:28.013Z,1744232728.013 [DAT](INFO): DAT read: user:1> 2025-04-09T21:05:28.014Z,1744232728.014 [DAT](INFO): DAT read: Verbose | 3 2025-04-09T21:05:28.014Z,1744232728.014 [DAT](INFO): set verbose to 3 2025-04-09T21:05:28.014Z,1744232728.014 [DAT](INFO): setting DatVerbose to 27440 2025-04-09T21:05:28.265Z,1744232728.265 [DAT](INFO): DAT read: user:2> 2025-04-09T21:05:28.266Z,1744232728.266 [DAT](INFO): DAT read: DatVerbose | 27440 2025-04-09T21:05:28.266Z,1744232728.266 [DAT](INFO): set DatVerbose to 27440 2025-04-09T21:05:28.266Z,1744232728.266 [DAT](INFO): setting transmit power to 8 2025-04-09T21:05:28.517Z,1744232728.517 [DAT](INFO): DAT read: user:3> 2025-04-09T21:05:28.518Z,1744232728.518 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-04-09T21:05:28.518Z,1744232728.518 [DAT](INFO): set transmit power to 8 2025-04-09T21:05:28.518Z,1744232728.518 [DAT](INFO): setting local address to 5 2025-04-09T21:05:28.769Z,1744232728.769 [DAT](INFO): DAT read: user:4> 2025-04-09T21:05:28.770Z,1744232728.770 [DAT](INFO): DAT read: LocalAddr | 5 2025-04-09T21:05:28.770Z,1744232728.770 [DAT](INFO): set local address to 5 2025-04-09T21:05:28.771Z,1744232728.771 [DAT](INFO): Setting time to: 21:5:28 And date to:4/9/2025 2025-04-09T21:05:29.021Z,1744232729.021 [DAT](INFO): DAT read: user:5> 2025-04-09T21:05:29.021Z,1744232729.021 [DAT](INFO): DAT read: Wed Apr 9, 2025 21:05:28 2025-04-09T21:05:29.022Z,1744232729.022 [DAT](INFO): Local DAT time set to Wed Apr 9, 2025 21:05:28 2025-04-09T21:05:39.776Z,1744232739.776 [NAL9602](INFO): Powering up NAL9602 2025-04-09T21:05:50.684Z,1744232750.684 [NAL9602](INFO): NAL9602 initialized 2025-04-09T21:06:14.509Z,1744232774.509 [NAL9602](INFO): SBD MO Status=0, MOMSN=19240, MT Status=0, MTMSN=0 2025-04-09T21:06:14.509Z,1744232774.509 [NAL9602](INFO): No messages in MT queue 2025-04-09T21:06:57.771Z,1744232817.771 [SBIT](IMPORTANT): Beginning Startup BIT 2025-04-09T21:07:20.786Z,1744232840.786 [DataOverHttps](IMPORTANT): SBD MTMSN=20250409T210720 2025-04-09T21:07:20.790Z,1744232840.790 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004822