2021-07-27T15:18:15.271Z,1627399095.271 [Supervisor](DEBUG): Initializing supervisor.
2021-07-27T15:18:15.276Z,1627399095.276 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-07-27T15:18:15.276Z,1627399095.276 [SyncHandler](INFO): Protected caller Thread ID is 840
2021-07-27T15:18:15.277Z,1627399095.277 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-07-27T15:18:15.278Z,1627399095.278 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-07-27T15:18:15.278Z,1627399095.278 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 841
2021-07-27T15:18:15.282Z,1627399095.282 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-07-27T15:18:15.302Z,1627399095.302 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-07-27T15:18:15.303Z,1627399095.303 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-07-27T15:18:15.304Z,1627399095.304 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 842
2021-07-27T15:18:15.306Z,1627399095.306 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-07-27T15:18:15.307Z,1627399095.307 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-07-27T15:18:15.307Z,1627399095.307 [logger ThreadHandler](INFO): Protected caller Thread ID is 843
2021-07-27T15:18:15.312Z,1627399095.312 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-07-27T15:18:15.312Z,1627399095.312 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-07-27T15:18:15.316Z,1627399095.316 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-07-27T15:18:15.827Z,1627399095.827 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-07-27T15:18:15.829Z,1627399095.829 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-07-27T15:18:15.986Z,1627399095.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-07-27T15:18:15.988Z,1627399095.988 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-07-27T15:18:16.071Z,1627399096.071 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-07-27T15:18:16.313Z,1627399096.313 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-07-27T15:18:16.315Z,1627399096.315 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-07-27T15:18:16.395Z,1627399096.395 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-07-27T15:18:16.495Z,1627399096.495 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-07-27T15:18:16.496Z,1627399096.496 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-07-27T15:18:16.872Z,1627399096.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-07-27T15:18:16.872Z,1627399096.872 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-07-27T15:18:17.004Z,1627399097.004 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-07-27T15:18:17.005Z,1627399097.005 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-07-27T15:18:17.594Z,1627399097.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-07-27T15:18:17.594Z,1627399097.594 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-07-27T15:18:18.449Z,1627399098.449 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-07-27T15:18:18.451Z,1627399098.451 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-07-27T15:18:18.871Z,1627399098.871 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-07-27T15:18:18.872Z,1627399098.872 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-07-27T15:18:19.137Z,1627399099.137 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-07-27T15:18:19.137Z,1627399099.137 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-07-27T15:18:19.253Z,1627399099.253 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-07-27T15:18:19.254Z,1627399099.254 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-07-27T15:18:19.981Z,1627399099.981 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-07-27T15:18:19.982Z,1627399099.982 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-07-27T15:18:20.362Z,1627399100.362 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-07-27T15:18:20.364Z,1627399100.364 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-07-27T15:18:20.597Z,1627399100.597 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-07-27T15:18:20.598Z,1627399100.598 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/
2021-07-27T15:18:20.602Z,1627399100.602 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/vehicle.cfg
2021-07-27T15:18:20.816Z,1627399100.816 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/secure.cfg
2021-07-27T15:18:20.902Z,1627399100.902 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Science.cfg
2021-07-27T15:18:21.050Z,1627399101.050 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Simulator.cfg
2021-07-27T15:18:21.140Z,1627399101.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Battery.cfg
2021-07-27T15:18:21.418Z,1627399101.418 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-07-27T15:18:21.419Z,1627399101.419 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/logger.cfg
2021-07-27T15:18:21.530Z,1627399101.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Servo.cfg
2021-07-27T15:18:21.649Z,1627399101.649 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Navigation.cfg
2021-07-27T15:18:21.748Z,1627399101.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Sensor.cfg
2021-07-27T15:18:21.906Z,1627399101.906 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Control.cfg
2021-07-27T15:18:22.010Z,1627399102.010 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/BIT.cfg
2021-07-27T15:18:22.107Z,1627399102.107 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-07-27T15:18:22.123Z,1627399102.123 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-07-27T15:18:22.141Z,1627399102.141 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-07-27T15:18:22.142Z,1627399102.142 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-07-27T15:18:22.274Z,1627399102.274 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-07-27T15:18:22.275Z,1627399102.275 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-07-27T15:18:22.353Z,1627399102.353 [VerticalControl](DEBUG): Construct VerticalControl.
2021-07-27T15:18:22.417Z,1627399102.417 [VerticalControl] Loaded
2021-07-27T15:18:22.418Z,1627399102.418 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-07-27T15:18:22.420Z,1627399102.420 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-07-27T15:18:22.461Z,1627399102.461 [HorizontalControl] Loaded
2021-07-27T15:18:22.461Z,1627399102.461 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-07-27T15:18:22.464Z,1627399102.464 [SpeedControl](DEBUG): Construct SpeedControl.
2021-07-27T15:18:22.467Z,1627399102.467 [SpeedControl] Loaded
2021-07-27T15:18:22.467Z,1627399102.467 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-07-27T15:18:22.470Z,1627399102.470 [LoopControl](DEBUG): Construct LoopControl.
2021-07-27T15:18:22.470Z,1627399102.470 [LoopControl] Loaded
2021-07-27T15:18:22.470Z,1627399102.470 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-07-27T15:18:22.471Z,1627399102.471 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-07-27T15:18:22.472Z,1627399102.472 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-07-27T15:18:22.656Z,1627399102.656 [BuoyancyServo] Loaded
2021-07-27T15:18:22.656Z,1627399102.656 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-07-27T15:18:22.676Z,1627399102.676 [ElevatorServo] Loaded
2021-07-27T15:18:22.676Z,1627399102.676 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-07-27T15:18:22.696Z,1627399102.696 [MassServo] Loaded
2021-07-27T15:18:22.696Z,1627399102.696 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-07-27T15:18:22.715Z,1627399102.715 [RudderServo] Loaded
2021-07-27T15:18:22.715Z,1627399102.715 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-07-27T15:18:22.716Z,1627399102.716 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-07-27T15:18:22.717Z,1627399102.717 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-07-27T15:18:23.729Z,1627399103.729 [DepthRateCalculator] Loaded
2021-07-27T15:18:23.729Z,1627399103.729 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-07-27T15:18:23.734Z,1627399103.734 [PitchRateCalculator] Loaded
2021-07-27T15:18:23.734Z,1627399103.734 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-07-27T15:18:23.745Z,1627399103.745 [SpeedCalculator] Loaded
2021-07-27T15:18:23.745Z,1627399103.745 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-07-27T15:18:23.759Z,1627399103.759 [TempGradientCalculator] Loaded
2021-07-27T15:18:23.760Z,1627399103.760 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-07-27T15:18:23.764Z,1627399103.764 [YawRateCalculator] Loaded
2021-07-27T15:18:23.764Z,1627399103.764 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-07-27T15:18:23.837Z,1627399103.837 [ElevatorOffsetCalculator] Loaded
2021-07-27T15:18:23.838Z,1627399103.838 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-07-27T15:18:23.838Z,1627399103.838 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-07-27T15:18:23.839Z,1627399103.839 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-07-27T15:18:24.167Z,1627399104.167 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-07-27T15:18:24.167Z,1627399104.167 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-07-27T15:18:24.196Z,1627399104.196 [NavChart] Loaded
2021-07-27T15:18:24.196Z,1627399104.196 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-07-27T15:18:24.202Z,1627399104.202 [UniversalFixResidualReporter] Loaded
2021-07-27T15:18:24.203Z,1627399104.203 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-07-27T15:18:24.203Z,1627399104.203 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-07-27T15:18:24.204Z,1627399104.204 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-07-27T15:18:25.218Z,1627399105.218 [AHRS_M2] Loaded
2021-07-27T15:18:25.218Z,1627399105.218 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-07-27T15:18:25.464Z,1627399105.464 [BackseatComponent] Loaded
2021-07-27T15:18:25.464Z,1627399105.464 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-07-27T15:18:25.465Z,1627399105.465 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408684E0
2021-07-27T15:18:25.466Z,1627399105.466 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 925
2021-07-27T15:18:25.468Z,1627399105.468 [LcmUniversalReporter] Loaded
2021-07-27T15:18:25.469Z,1627399105.469 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-07-27T15:18:26.314Z,1627399106.314 [BPC1] Loaded
2021-07-27T15:18:26.314Z,1627399106.314 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-07-27T15:18:26.642Z,1627399106.642 [DataOverHttps] Loaded
2021-07-27T15:18:26.642Z,1627399106.642 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-07-27T15:18:26.643Z,1627399106.643 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408984E0
2021-07-27T15:18:26.643Z,1627399106.643 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 926
2021-07-27T15:18:26.680Z,1627399106.680 [Depth_Keller] Loaded
2021-07-27T15:18:26.680Z,1627399106.680 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-07-27T15:18:26.685Z,1627399106.685 [DropWeight] Loaded
2021-07-27T15:18:26.685Z,1627399106.685 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-07-27T15:18:26.747Z,1627399106.747 [NAL9602] Loaded
2021-07-27T15:18:26.747Z,1627399106.747 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-07-27T15:18:26.778Z,1627399106.778 [Onboard] Loaded
2021-07-27T15:18:26.779Z,1627399106.779 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-07-27T15:18:26.780Z,1627399106.780 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408C84E0
2021-07-27T15:18:26.780Z,1627399106.780 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 927
2021-07-27T15:18:26.793Z,1627399106.793 [Power24vConverter] Loaded
2021-07-27T15:18:26.794Z,1627399106.794 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-07-27T15:18:26.807Z,1627399106.807 [Radio_Surface] Loaded
2021-07-27T15:18:26.808Z,1627399106.808 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-07-27T15:18:26.809Z,1627399106.809 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408F84E0
2021-07-27T15:18:26.809Z,1627399106.809 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 928
2021-07-27T15:18:26.810Z,1627399106.810 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-07-27T15:18:26.811Z,1627399106.811 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-07-27T15:18:26.898Z,1627399106.898 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-07-27T15:18:26.900Z,1627399106.900 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-07-27T15:18:27.051Z,1627399107.051 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-07-27T15:18:27.052Z,1627399107.052 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-07-27T15:18:27.097Z,1627399107.097 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-07-27T15:18:27.098Z,1627399107.098 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-07-27T15:18:27.339Z,1627399107.339 [CTD_Seabird] Loaded
2021-07-27T15:18:27.339Z,1627399107.339 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-07-27T15:18:27.340Z,1627399107.340 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A174E0
2021-07-27T15:18:27.341Z,1627399107.341 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 929
2021-07-27T15:18:27.362Z,1627399107.362 [PAR_Licor] Loaded
2021-07-27T15:18:27.362Z,1627399107.362 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-07-27T15:18:27.396Z,1627399107.396 [WetLabsBB2FL] Loaded
2021-07-27T15:18:27.396Z,1627399107.396 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-07-27T15:18:27.397Z,1627399107.397 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A474E0
2021-07-27T15:18:27.398Z,1627399107.398 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 930
2021-07-27T15:18:27.398Z,1627399107.398 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-07-27T15:18:27.399Z,1627399107.399 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-07-27T15:18:27.826Z,1627399107.826 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-07-27T15:18:27.827Z,1627399107.827 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-07-27T15:18:28.025Z,1627399108.025 [SBIT](DEBUG): Construct Startup Built In Test.
2021-07-27T15:18:28.034Z,1627399108.034 [SBIT] Loaded
2021-07-27T15:18:28.035Z,1627399108.035 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-07-27T15:18:28.038Z,1627399108.038 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-07-27T15:18:28.051Z,1627399108.051 [IBIT] Loaded
2021-07-27T15:18:28.051Z,1627399108.051 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-07-27T15:18:28.057Z,1627399108.057 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-07-27T15:18:28.164Z,1627399108.164 [CBIT] Loaded
2021-07-27T15:18:28.164Z,1627399108.164 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-07-27T15:18:28.165Z,1627399108.165 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-07-27T15:18:28.171Z,1627399108.171 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-07-27T15:18:28.174Z,1627399108.174 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-07-27T15:18:28.185Z,1627399108.185 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-07-27T15:18:28.186Z,1627399108.186 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B2E4E0
2021-07-27T15:18:28.186Z,1627399108.186 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 931
2021-07-27T15:18:28.192Z,1627399108.192 [Supervisor](INFO): Main Thread ID is 836
2021-07-27T15:18:28.192Z,1627399108.192 [Supervisor](DEBUG): Running supervisor.
2021-07-27T15:18:28.193Z,1627399108.193 [CommandLine ThreadHandler](INFO): Handler Thread ID is 932
2021-07-27T15:18:28.195Z,1627399108.195 [controlThread ThreadHandler](INFO): Handler Thread ID is 933
2021-07-27T15:18:28.195Z,1627399108.195 [controlThread](DEBUG): Initializing ControlThread
2021-07-27T15:18:28.196Z,1627399108.196 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-07-27T15:18:28.198Z,1627399108.198 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-07-27T15:18:28.199Z,1627399108.199 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-07-27T15:18:28.199Z,1627399108.199 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-07-27T15:18:28.201Z,1627399108.201 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-07-27T15:18:28.201Z,1627399108.201 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-07-27T15:18:28.201Z,1627399108.201 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-07-27T15:18:28.202Z,1627399108.202 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-07-27T15:18:28.203Z,1627399108.203 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-07-27T15:18:28.203Z,1627399108.203 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-07-27T15:18:28.204Z,1627399108.204 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-07-27T15:18:28.205Z,1627399108.205 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-07-27T15:18:28.212Z,1627399108.212 [SBIT](INFO): Initialize SBIT Component.
2021-07-27T15:18:28.213Z,1627399108.213 [SBIT](IMPORTANT): git: 2021-07-26
2021-07-27T15:18:28.213Z,1627399108.213 [SBIT](INFO): git hash: e1699adbba9a0eeb281263d8d021144ad3ff2cd7
2021-07-27T15:18:28.213Z,1627399108.213 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-07-27T15:18:28.214Z,1627399108.214 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2021-07-27T15:18:28.216Z,1627399108.216 [SBIT](INFO): Beginning SBIT in 67.000000 seconds.
2021-07-27T15:18:28.216Z,1627399108.216 [IBIT](INFO): Initialize IBIT Component.
2021-07-27T15:18:28.217Z,1627399108.217 [CBIT](DEBUG): Initialize CBIT Component.
2021-07-27T15:18:28.218Z,1627399108.218 [logger ThreadHandler](INFO): Handler Thread ID is 934
2021-07-27T15:18:28.232Z,1627399108.232 [CBIT](DEBUG): Initialized mux pins.
2021-07-27T15:18:28.232Z,1627399108.232 [CBIT](DEBUG): Initializing the watchdog timer.
2021-07-27T15:18:28.236Z,1627399108.236 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 935
2021-07-27T15:18:28.244Z,1627399108.244 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 936
2021-07-27T15:18:28.245Z,1627399108.245 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-07-27T15:18:28.252Z,1627399108.252 [Onboard ThreadHandler](INFO): Handler Thread ID is 937
2021-07-27T15:18:28.256Z,1627399108.256 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-07-27T15:18:28.257Z,1627399108.257 [CBIT](DEBUG): Initializing heartbeat.
2021-07-27T15:18:28.274Z,1627399108.274 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 938
2021-07-27T15:18:28.284Z,1627399108.284 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 939
2021-07-27T15:18:28.285Z,1627399108.285 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-07-27T15:18:28.288Z,1627399108.288 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 941
2021-07-27T15:18:28.293Z,1627399108.293 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 943
2021-07-27T15:18:28.293Z,1627399108.293 [WetLabsBB2FL](INFO): Powering up
2021-07-27T15:18:28.300Z,1627399108.300 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-07-27T15:18:28.300Z,1627399108.300 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-07-27T15:18:28.300Z,1627399108.300 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-07-27T15:18:28.301Z,1627399108.301 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-07-27T15:18:28.301Z,1627399108.301 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-07-27T15:18:28.301Z,1627399108.301 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-07-27T15:18:28.301Z,1627399108.301 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-07-27T15:18:28.301Z,1627399108.301 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-07-27T15:18:28.302Z,1627399108.302 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-07-27T15:18:28.302Z,1627399108.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-07-27T15:18:28.302Z,1627399108.302 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-07-27T15:18:28.302Z,1627399108.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-07-27T15:18:28.302Z,1627399108.302 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-07-27T15:18:28.302Z,1627399108.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-07-27T15:18:28.303Z,1627399108.303 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-07-27T15:18:28.303Z,1627399108.303 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-07-27T15:18:28.328Z,1627399108.328 [CBIT](DEBUG): Deactivating GF circuits.
2021-07-27T15:18:28.328Z,1627399108.328 [CBIT](DEBUG): Deactivating emergency mode.
2021-07-27T15:18:28.364Z,1627399108.364 [CBIT](DEBUG): Backplane powered.
2021-07-27T15:18:28.365Z,1627399108.365 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-07-27T15:18:28.395Z,1627399108.395 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-07-27T15:18:28.452Z,1627399108.452 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2021-07-27T15:18:28.453Z,1627399108.453 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-07-27T15:18:28.533Z,1627399108.533 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-07-27T15:18:28.534Z,1627399108.534 [Default:A.Wait](DEBUG): Construct Wait.
2021-07-27T15:18:28.536Z,1627399108.536 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-07-27T15:18:28.580Z,1627399108.580 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-07-27T15:18:28.583Z,1627399108.583 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-07-27T15:18:28.609Z,1627399108.609 [Default:E.Execute](DEBUG): Construct Execute.
2021-07-27T15:18:28.613Z,1627399108.613 [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>


2021-07-27T15:18:28.624Z,1627399108.624 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2021-07-27T15:18:28.636Z,1627399108.636 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-07-27T15:18:28.688Z,1627399108.688 [Radio_Surface](INFO): Powering up
2021-07-27T15:18:28.749Z,1627399108.749 [Power24vConverter](INFO): Powering up.
2021-07-27T15:18:28.815Z,1627399108.815 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-07-27T15:18:28.820Z,1627399108.820 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-07-27T15:18:28.821Z,1627399108.821 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-07-27T15:18:28.832Z,1627399108.832 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-07-27T15:18:28.833Z,1627399108.833 [MassServo](DEBUG): Initializing EZServoServo.
2021-07-27T15:18:28.844Z,1627399108.844 [MassServo](DEBUG): Initializing MassServo.
2021-07-27T15:18:28.845Z,1627399108.845 [RudderServo](DEBUG): Initializing EZServoServo.
2021-07-27T15:18:28.852Z,1627399108.852 [RudderServo](DEBUG): Initializing RudderServo.
2021-07-27T15:18:29.784Z,1627399109.784 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-07-27T15:18:29.784Z,1627399109.784 [RudderServo](FAULT): Rudder failed to initialize
2021-07-27T15:18:29.784Z,1627399109.784 [RudderServo] Communications Fault, FailCount= 1
2021-07-27T15:18:29.784Z,1627399109.784 [RudderServo](ERROR): Communications Fault
2021-07-27T15:18:29.788Z,1627399109.788 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-07-27T15:18:29.993Z,1627399109.993 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-07-27T15:18:29.993Z,1627399109.993 [RudderServo](INFO): Powering down
2021-07-27T15:18:30.400Z,1627399110.400 [WetLabsBB2FL](INFO): Powering down
2021-07-27T15:18:30.673Z,1627399110.673 [RudderServo](DEBUG): Initializing EZServoServo.
2021-07-27T15:18:30.793Z,1627399110.793 [RudderServo](DEBUG): Initializing RudderServo.
2021-07-27T15:18:30.797Z,1627399110.797 [CBIT](INFO): Clearing failed state for component RudderServo
2021-07-27T15:18:30.797Z,1627399110.797 [RudderServo] No Fault, FailCount= 1
2021-07-27T15:18:56.922Z,1627399136.922 [NAL9602](INFO): Powering up NAL9602
2021-07-27T15:19:07.826Z,1627399147.826 [NAL9602](INFO): NAL9602 initialized
2021-07-27T15:19:35.764Z,1627399175.764 [SBIT](IMPORTANT): Beginning Startup BIT
2021-07-27T15:19:35.769Z,1627399175.769 [CBIT](IMPORTANT): Beginning ground fault scan
2021-07-27T15:19:46.634Z,1627399186.634 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.293259
CHAN A1 (24V): 0.039984
CHAN A2 (12V): 0.157309
CHAN A3 (5V): 0.035528
CHAN B0 (3.3V): 0.021002
CHAN B1 (3.15aV): 0.021346
CHAN B2 (3.15bV): 0.020666
CHAN B3 (G