2023-07-31T22:27:07.796Z,1690842427.796 [Supervisor](DEBUG): Initializing supervisor.
2023-07-31T22:27:07.800Z,1690842427.800 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-07-31T22:27:07.801Z,1690842427.801 [SyncHandler](INFO): Protected caller Thread ID is 836
2023-07-31T22:27:07.801Z,1690842427.801 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-07-31T22:27:07.802Z,1690842427.802 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-07-31T22:27:07.803Z,1690842427.803 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 837
2023-07-31T22:27:07.807Z,1690842427.807 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-07-31T22:27:07.824Z,1690842427.824 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-07-31T22:27:07.825Z,1690842427.825 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-07-31T22:27:07.825Z,1690842427.825 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 838
2023-07-31T22:27:07.830Z,1690842427.830 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-07-31T22:27:07.831Z,1690842427.831 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-07-31T22:27:07.831Z,1690842427.831 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 839
2023-07-31T22:27:07.833Z,1690842427.833 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-07-31T22:27:07.834Z,1690842427.834 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-07-31T22:27:07.834Z,1690842427.834 [logger ThreadHandler](INFO): Protected caller Thread ID is 840
2023-07-31T22:27:07.838Z,1690842427.838 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-07-31T22:27:07.838Z,1690842427.838 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-07-31T22:27:07.843Z,1690842427.843 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-07-31T22:27:08.317Z,1690842428.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-07-31T22:27:08.319Z,1690842428.319 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-07-31T22:27:08.527Z,1690842428.527 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-07-31T22:27:08.529Z,1690842428.529 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-07-31T22:27:08.611Z,1690842428.611 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-07-31T22:27:08.830Z,1690842428.830 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-07-31T22:27:08.832Z,1690842428.832 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-07-31T22:27:08.914Z,1690842428.914 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-07-31T22:27:09.024Z,1690842429.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-07-31T22:27:09.024Z,1690842429.024 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-07-31T22:27:09.379Z,1690842429.379 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-07-31T22:27:09.380Z,1690842429.380 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-07-31T22:27:09.512Z,1690842429.512 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-07-31T22:27:09.513Z,1690842429.513 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-07-31T22:27:10.000Z,1690842430.000 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-07-31T22:27:10.001Z,1690842430.001 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-07-31T22:27:10.196Z,1690842430.196 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-07-31T22:27:10.196Z,1690842430.196 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-07-31T22:27:10.611Z,1690842430.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-07-31T22:27:10.613Z,1690842430.613 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-07-31T22:27:10.905Z,1690842430.905 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-07-31T22:27:10.907Z,1690842430.907 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-07-31T22:27:11.017Z,1690842431.017 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-07-31T22:27:11.018Z,1690842431.018 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-07-31T22:27:12.404Z,1690842432.404 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-07-31T22:27:12.467Z,1690842432.467 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-07-31T22:27:12.839Z,1690842432.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-07-31T22:27:12.839Z,1690842432.839 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-07-31T22:27:13.067Z,1690842433.067 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-07-31T22:27:13.069Z,1690842433.069 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/
2023-07-31T22:27:13.073Z,1690842433.073 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/vehicle.cfg
2023-07-31T22:27:13.202Z,1690842433.202 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/secure.cfg
2023-07-31T22:27:13.286Z,1690842433.286 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Science.cfg
2023-07-31T22:27:13.427Z,1690842433.427 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Simulator.cfg
2023-07-31T22:27:13.514Z,1690842433.514 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Battery.cfg
2023-07-31T22:27:13.781Z,1690842433.781 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-07-31T22:27:13.783Z,1690842433.783 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/logger.cfg
2023-07-31T22:27:13.888Z,1690842433.888 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Servo.cfg
2023-07-31T22:27:13.995Z,1690842433.995 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Navigation.cfg
2023-07-31T22:27:14.114Z,1690842434.114 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Sensor.cfg
2023-07-31T22:27:14.263Z,1690842434.263 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Control.cfg
2023-07-31T22:27:14.362Z,1690842434.362 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/BIT.cfg
2023-07-31T22:27:14.461Z,1690842434.461 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2023-07-31T22:27:14.477Z,1690842434.477 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-07-31T22:27:14.494Z,1690842434.494 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-07-31T22:27:14.496Z,1690842434.496 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-07-31T22:27:14.618Z,1690842434.618 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-07-31T22:27:14.619Z,1690842434.619 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-07-31T22:27:14.687Z,1690842434.687 [VerticalControl](DEBUG): Construct VerticalControl.
2023-07-31T22:27:14.749Z,1690842434.749 [VerticalControl] Loaded
2023-07-31T22:27:14.749Z,1690842434.749 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-07-31T22:27:14.752Z,1690842434.752 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-07-31T22:27:14.795Z,1690842434.795 [HorizontalControl] Loaded
2023-07-31T22:27:14.795Z,1690842434.795 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-07-31T22:27:14.798Z,1690842434.798 [SpeedControl](DEBUG): Construct SpeedControl.
2023-07-31T22:27:14.801Z,1690842434.801 [SpeedControl] Loaded
2023-07-31T22:27:14.801Z,1690842434.801 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-07-31T22:27:14.803Z,1690842434.803 [LoopControl](DEBUG): Construct LoopControl.
2023-07-31T22:27:14.804Z,1690842434.804 [LoopControl] Loaded
2023-07-31T22:27:14.804Z,1690842434.804 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-07-31T22:27:14.805Z,1690842434.805 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-07-31T22:27:14.805Z,1690842434.805 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-07-31T22:27:14.989Z,1690842434.989 [BuoyancyServo] Loaded
2023-07-31T22:27:14.989Z,1690842434.989 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-07-31T22:27:15.023Z,1690842435.023 [ElevatorServo] Loaded
2023-07-31T22:27:15.023Z,1690842435.023 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-07-31T22:27:15.043Z,1690842435.043 [MassServo] Loaded
2023-07-31T22:27:15.043Z,1690842435.043 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-07-31T22:27:15.061Z,1690842435.061 [RudderServo] Loaded
2023-07-31T22:27:15.062Z,1690842435.062 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-07-31T22:27:15.076Z,1690842435.076 [ThrusterHE] Loaded
2023-07-31T22:27:15.076Z,1690842435.076 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-07-31T22:27:15.077Z,1690842435.077 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-07-31T22:27:15.077Z,1690842435.077 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-07-31T22:27:15.146Z,1690842435.146 [DepthRateCalculator] Loaded
2023-07-31T22:27:15.146Z,1690842435.146 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-07-31T22:27:15.151Z,1690842435.151 [PitchRateCalculator] Loaded
2023-07-31T22:27:15.152Z,1690842435.152 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-07-31T22:27:15.161Z,1690842435.161 [SpeedCalculator] Loaded
2023-07-31T22:27:15.162Z,1690842435.162 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-07-31T22:27:15.166Z,1690842435.166 [YawRateCalculator] Loaded
2023-07-31T22:27:15.166Z,1690842435.166 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-07-31T22:27:15.185Z,1690842435.185 [ElevatorOffsetCalculator] Loaded
2023-07-31T22:27:15.185Z,1690842435.185 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-07-31T22:27:15.186Z,1690842435.186 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-07-31T22:27:15.186Z,1690842435.186 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-07-31T22:27:15.324Z,1690842435.324 [DeadReckonUsingMultipleVelocitySources] Loaded
2023-07-31T22:27:15.324Z,1690842435.324 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2023-07-31T22:27:15.338Z,1690842435.338 [NavChart] Loaded
2023-07-31T22:27:15.339Z,1690842435.339 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-07-31T22:27:15.344Z,1690842435.344 [UniversalFixResidualReporter] Loaded
2023-07-31T22:27:15.344Z,1690842435.344 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-07-31T22:27:15.345Z,1690842435.345 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-07-31T22:27:15.345Z,1690842435.345 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-07-31T22:27:16.084Z,1690842436.084 [AHRS_M2] Loaded
2023-07-31T22:27:16.085Z,1690842436.085 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2023-07-31T22:27:16.334Z,1690842436.334 [BackseatComponent] Loaded
2023-07-31T22:27:16.334Z,1690842436.334 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2023-07-31T22:27:16.335Z,1690842436.335 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408E54E0
2023-07-31T22:27:16.336Z,1690842436.336 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 922
2023-07-31T22:27:16.338Z,1690842436.338 [LcmUniversalReporter] Loaded
2023-07-31T22:27:16.339Z,1690842436.339 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2023-07-31T22:27:16.345Z,1690842436.345 [BioacousticsDataBridge] Loaded
2023-07-31T22:27:16.345Z,1690842436.345 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread.
2023-07-31T22:27:17.221Z,1690842437.221 [BPC1] Loaded
2023-07-31T22:27:17.221Z,1690842437.221 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-07-31T22:27:17.363Z,1690842437.363 [DataOverHttps] Loaded
2023-07-31T22:27:17.364Z,1690842437.364 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-07-31T22:27:17.365Z,1690842437.365 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409154E0
2023-07-31T22:27:17.365Z,1690842437.365 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 924
2023-07-31T22:27:17.431Z,1690842437.431 [Depth_Keller] Loaded
2023-07-31T22:27:17.431Z,1690842437.431 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-07-31T22:27:17.436Z,1690842437.436 [DropWeight] Loaded
2023-07-31T22:27:17.437Z,1690842437.437 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2023-07-31T22:27:17.499Z,1690842437.499 [NAL9602] Loaded
2023-07-31T22:27:17.500Z,1690842437.500 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-07-31T22:27:17.530Z,1690842437.530 [Onboard] Loaded
2023-07-31T22:27:17.530Z,1690842437.530 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-07-31T22:27:17.531Z,1690842437.531 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409454E0
2023-07-31T22:27:17.532Z,1690842437.532 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 925
2023-07-31T22:27:17.600Z,1690842437.600 [Power24vConverter] Loaded
2023-07-31T22:27:17.600Z,1690842437.600 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-07-31T22:27:17.684Z,1690842437.684 [Radio_Surface] Loaded
2023-07-31T22:27:17.684Z,1690842437.684 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-07-31T22:27:17.696Z,1690842437.696 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409754E0
2023-07-31T22:27:17.696Z,1690842437.696 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 926
2023-07-31T22:27:17.722Z,1690842437.722 [Sonardyne_Nano] Loaded
2023-07-31T22:27:17.722Z,1690842437.722 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2023-07-31T22:27:17.722Z,1690842437.722 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-07-31T22:27:17.723Z,1690842437.723 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-07-31T22:27:18.455Z,1690842438.455 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-07-31T22:27:18.457Z,1690842438.457 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-07-31T22:27:18.639Z,1690842438.639 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-07-31T22:27:18.639Z,1690842438.639 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-07-31T22:27:18.682Z,1690842438.682 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-07-31T22:27:18.683Z,1690842438.683 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-07-31T22:27:18.904Z,1690842438.904 [CTD_Seabird] Loaded
2023-07-31T22:27:18.904Z,1690842438.904 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2023-07-31T22:27:18.905Z,1690842438.905 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40AAC4E0
2023-07-31T22:27:18.906Z,1690842438.906 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 927
2023-07-31T22:27:18.926Z,1690842438.926 [PAR_Licor] Loaded
2023-07-31T22:27:18.926Z,1690842438.926 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-07-31T22:27:18.967Z,1690842438.967 [WetLabsBB2FL] Loaded
2023-07-31T22:27:18.967Z,1690842438.967 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2023-07-31T22:27:18.968Z,1690842438.968 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40ADC4E0
2023-07-31T22:27:18.969Z,1690842438.969 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 928
2023-07-31T22:27:18.969Z,1690842438.969 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-07-31T22:27:18.970Z,1690842438.970 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-07-31T22:27:19.324Z,1690842439.324 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-07-31T22:27:19.326Z,1690842439.326 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-07-31T22:27:19.494Z,1690842439.494 [SBIT](DEBUG): Construct Startup Built In Test.
2023-07-31T22:27:19.503Z,1690842439.503 [SBIT] Loaded
2023-07-31T22:27:19.503Z,1690842439.503 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-07-31T22:27:19.506Z,1690842439.506 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-07-31T22:27:19.520Z,1690842439.520 [IBIT] Loaded
2023-07-31T22:27:19.520Z,1690842439.520 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-07-31T22:27:19.526Z,1690842439.526 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-07-31T22:27:19.632Z,1690842439.632 [CBIT] Loaded
2023-07-31T22:27:19.633Z,1690842439.633 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-07-31T22:27:19.633Z,1690842439.633 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-07-31T22:27:19.639Z,1690842439.639 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-07-31T22:27:19.642Z,1690842439.642 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-07-31T22:27:19.653Z,1690842439.653 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-07-31T22:27:19.654Z,1690842439.654 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BC84E0
2023-07-31T22:27:19.655Z,1690842439.655 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 929
2023-07-31T22:27:19.659Z,1690842439.659 [Supervisor](INFO): Main Thread ID is 829
2023-07-31T22:27:19.659Z,1690842439.659 [Supervisor](DEBUG): Running supervisor.
2023-07-31T22:27:19.660Z,1690842439.660 [CommandExec ThreadHandler](INFO): Handler Thread ID is 930
2023-07-31T22:27:19.661Z,1690842439.661 [CommandExec](INFO): Initializing the command executive.
2023-07-31T22:27:19.662Z,1690842439.662 [CommandLine ThreadHandler](INFO): Handler Thread ID is 931
2023-07-31T22:27:19.664Z,1690842439.664 [controlThread ThreadHandler](INFO): Handler Thread ID is 932
2023-07-31T22:27:19.665Z,1690842439.665 [controlThread](DEBUG): Initializing ControlThread
2023-07-31T22:27:19.665Z,1690842439.665 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-07-31T22:27:19.667Z,1690842439.667 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-07-31T22:27:19.668Z,1690842439.668 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-07-31T22:27:19.668Z,1690842439.668 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-07-31T22:27:19.670Z,1690842439.670 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-07-31T22:27:19.670Z,1690842439.670 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-07-31T22:27:19.670Z,1690842439.670 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-07-31T22:27:19.671Z,1690842439.671 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-07-31T22:27:19.671Z,1690842439.671 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-07-31T22:27:19.672Z,1690842439.672 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-07-31T22:27:19.673Z,1690842439.673 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-07-31T22:27:19.681Z,1690842439.681 [SBIT](INFO): Initialize SBIT Component.
2023-07-31T22:27:19.681Z,1690842439.681 [SBIT](IMPORTANT): git: 2023-07-31-1-gc2e44910c
2023-07-31T22:27:19.681Z,1690842439.681 [SBIT](INFO): git hash: c2e44910c6e56a8023a8b1a81178d1dbbd33b4c5
2023-07-31T22:27:19.682Z,1690842439.682 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-07-31T22:27:19.683Z,1690842439.683 [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
2023-07-31T22:27:19.684Z,1690842439.684 [SBIT](INFO): Beginning SBIT in 131.000000 seconds.
2023-07-31T22:27:19.685Z,1690842439.685 [IBIT](INFO): Initialize IBIT Component.
2023-07-31T22:27:19.686Z,1690842439.686 [CBIT](DEBUG): Initialize CBIT Component.
2023-07-31T22:27:19.687Z,1690842439.687 [logger ThreadHandler](INFO): Handler Thread ID is 933
2023-07-31T22:27:19.696Z,1690842439.696 [CBIT](DEBUG): Initialized mux pins.
2023-07-31T22:27:19.697Z,1690842439.697 [CBIT](DEBUG): Initializing the watchdog timer.
2023-07-31T22:27:19.705Z,1690842439.705 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 934
2023-07-31T22:27:19.717Z,1690842439.717 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 935
2023-07-31T22:27:19.718Z,1690842439.718 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-07-31T22:27:19.721Z,1690842439.721 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2023-07-31T22:27:19.721Z,1690842439.721 [CBIT](DEBUG): Initializing heartbeat.
2023-07-31T22:27:19.729Z,1690842439.729 [Onboard ThreadHandler](INFO): Handler Thread ID is 936
2023-07-31T22:27:19.747Z,1690842439.747 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 937
2023-07-31T22:27:19.765Z,1690842439.765 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 938
2023-07-31T22:27:19.766Z,1690842439.766 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2023-07-31T22:27:19.770Z,1690842439.770 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 940
2023-07-31T22:27:19.773Z,1690842439.773 [WetLabsBB2FL](INFO): Powering up
2023-07-31T22:27:19.774Z,1690842439.774 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 942
2023-07-31T22:27:19.783Z,1690842439.783 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2023-07-31T22:27:19.783Z,1690842439.783 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2023-07-31T22:27:19.783Z,1690842439.783 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI80M.000
2023-07-31T22:27:19.783Z,1690842439.783 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI80M.000
2023-07-31T22:27:19.783Z,1690842439.783 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI57M.000
2023-07-31T22:27:19.783Z,1690842439.783 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI57M.000
2023-07-31T22:27:19.784Z,1690842439.784 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI56M.000
2023-07-31T22:27:19.784Z,1690842439.784 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI56M.000
2023-07-31T22:27:19.784Z,1690842439.784 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI90M.000
2023-07-31T22:27:19.784Z,1690842439.784 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI90M.000
2023-07-31T22:27:19.785Z,1690842439.785 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2023-07-31T22:27:19.785Z,1690842439.785 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2023-07-31T22:27:19.785Z,1690842439.785 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH01M.000
2023-07-31T22:27:19.786Z,1690842439.786 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH01M.000
2023-07-31T22:27:19.786Z,1690842439.786 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH04M.000
2023-07-31T22:27:19.786Z,1690842439.786 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH04M.000
2023-07-31T22:27:19.786Z,1690842439.786 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH02M.000
2023-07-31T22:27:19.786Z,1690842439.786 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH02M.000
2023-07-31T22:27:19.786Z,1690842439.786 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4PA20M.000
2023-07-31T22:27:19.786Z,1690842439.786 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4PA20M.000
2023-07-31T22:27:19.787Z,1690842439.787 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4PA21M.000
2023-07-31T22:27:19.787Z,1690842439.787 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4PA21M.000
2023-07-31T22:27:19.793Z,1690842439.793 [CBIT](DEBUG): Deactivating GF circuits.
2023-07-31T22:27:19.793Z,1690842439.793 [CBIT](DEBUG): Deactivating emergency mode.
2023-07-31T22:27:19.832Z,1690842439.832 [CBIT](DEBUG): Backplane powered.
2023-07-31T22:27:19.833Z,1690842439.833 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-07-31T22:27:19.862Z,1690842439.862 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-07-31T22:27:19.873Z,1690842439.873 [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>


2023-07-31T22:27:19.874Z,1690842439.874 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-07-31T22:27:19.950Z,1690842439.950 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-07-31T22:27:19.951Z,1690842439.951 [Default:A.Wait](DEBUG): Construct Wait.
2023-07-31T22:27:19.953Z,1690842439.953 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-07-31T22:27:19.985Z,1690842439.985 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-07-31T22:27:19.988Z,1690842439.988 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-07-31T22:27:20.009Z,1690842440.009 [Default:E.Execute](DEBUG): Construct Execute.
2023-07-31T22:27:20.029Z,1690842440.029 [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="P4H">
                <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>


2023-07-31T22:27:20.034Z,1690842440.034 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BioacousticsDataBridge,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2023-07-31T22:27:20.045Z,1690842440.045 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-07-31T22:27:20.153Z,1690842440.153 [Radio_Surface](INFO): Powering up
2023-07-31T22:27:20.200Z,1690842440.200 [Power24vConverter](INFO): Powering up.
2023-07-31T22:27:20.205Z,1690842440.205 [Sonardyne_Nano](INFO): Initializing.
2023-07-31T22:27:20.254Z,1690842440.254 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-07-31T22:27:20.261Z,1690842440.261 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-07-31T22:27:20.262Z,1690842440.262 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-07-31T22:27:20.269Z,1690842440.269 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-07-31T22:27:20.270Z,1690842440.270 [MassServo](DEBUG): Initializing EZServoServo.
2023-07-31T22:27:20.277Z,1690842440.277 [MassServo](DEBUG): Initializing MassServo.
2023-07-31T22:27:20.278Z,1690842440.278 [RudderServo](DEBUG): Initializing EZServoServo.
2023-07-31T22:27:20.289Z,1690842440.289 [RudderServo](DEBUG): Initializing RudderServo.
2023-07-31T22:27:20.290Z,1690842440.290 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-07-31T22:27:20.297Z,1690842440.297 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-07-31T22:27:20.483Z,1690842440.483 [Sonardyne_Nano](INFO): Starting
2023-07-31T22:27:20.850Z,1690842440.850 [Sonardyne_Nano](INFO): Starting
2023-07-31T22:27:21.254Z,1690842441.254 [Sonardyne_Nano](INFO): Starting
2023-07-31T22:27:21.658Z,1690842441.658 [Sonardyne_Nano](INFO): Starting
2023-07-31T22:27:21.881Z,1690842441.881 [WetLabsBB2FL](INFO): Powering down
2023-07-31T22:27:22.062Z,1690842442.062 [Sonardyne_Nano](INFO): Starting
2023-07-31T22:27:22.467Z,1690842442.467 [Sonardyne_Nano](INFO): Received response:>+++?

2023-07-31T22:27:22.467Z,1690842442.467 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2023-07-31T22:27:22.481Z,1690842442.481 [Sonardyne_Nano](INFO): Command indicated, sending CKHW
2023-07-31T22:27:22.870Z,1690842442.870 [Sonardyne_Nano](INFO): Command indicated, sending CKHW
2023-07-31T22:27:23.347Z,1690842443.347 [Sonardyne_Nano](INFO): Received response:>CKHW:PASS

2023-07-31T22:27:23.347Z,1690842443.347 [Sonardyne_Nano](INFO): Received self-test result
2023-07-31T22:27:23.347Z,1690842443.347 [Sonardyne_Nano](INFO): Command indicated, sending FS
2023-07-31T22:27:23.705Z,1690842443.705 [Sonardyne_Nano](INFO): Received response:>FS:2201,U006F43,FL0010,FV5.11.00.07,PV2.03,TDR;MF;OMNI;184;175;169,PR5000;SG;AC0.700,T-40;110;AC2.00,INC-90.00;+90.00;AC1.00

2023-07-31T22:27:23.705Z,1690842443.705 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2201
2023-07-31T22:27:23.706Z,1690842443.706 [Sonardyne_Nano](INFO): Read UUID: %x28483
2023-07-31T22:27:23.706Z,1690842443.706 [Sonardyne_Nano](INFO): Command indicated, sending VS
2023-07-31T22:27:24.117Z,1690842444.117 [Sonardyne_Nano](INFO): Received response:>VS:2201,HPR45,EXT,TILT,BT1;LI_ION;VLT4.1;IDC-17.5;CAP3.4/89;T26.6

2023-07-31T22:27:24.117Z,1690842444.117 [Sonardyne_Nano](INFO): se:
2023-07-31T22:27:25.942Z,1690842445.942 [ThrusterHE](ERROR): Zero Speed Commanded.
2023-07-31T22:27:47.518Z,1690842467.518 [NAL9602](INFO): Powering up NAL9602
2023-07-31T22:27:58.440Z,1690842478.440 [NAL9602](INFO): NAL9602 initialized
2023-07-31T22:29:01.858Z,1690842541.858 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2023-07-31T22:29:31.363Z,1690842571.363 [SBIT](IMPORTANT): Beginning Startup BIT
2023-07-31T22:29:31.368Z,1690842571.368 [CBIT](IMPORTANT): Beginning ground fault scan
2023-07-31T22:29:42.683Z,1690842582.683 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.016212
CHAN A1 (24V): -0.006354
CHAN A2 (12V): -0.004096
CHAN A3 (5V): -0.002493
CHAN B0 (3.3V): -0.001328
CHAN B1 (3.15aV): -0.001150
CHAN B2 (3.15bV): -0.001031
CHAN B3 (GND): -0.000183
OPEN: -0.002870
Full Scale: +/- 1 mA
2023-07-31T22:30:07.712Z,1690842607.712 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000854.00,A,4313.63609,N,08620.36300,W,1.089,0.00,010823,,,A*78
2023-07-31T22:30:07.715Z,1690842607.715 [NAL9602](INFO): GPS fix at 20230801T000854: (43.227268, -86.339383)
2023-07-31T22:30:25.503Z,1690842625.503 [SBIT](IMPORTANT): SBIT PASSED
2023-07-31T22:30:25.503Z,1690842625.503 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2023-07-31T22:30:25.505Z,1690842625.505 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count;

2023-07-31T22:30:25.505Z,1690842625.505 [SBIT](IMPORTANT): CBIT.gfScanTimeout=90 minute;

2023-07-31T22:30:25.505Z,1690842625.505 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=10 minute;

2023-07-31T22:30:25.507Z,1690842625.507 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 50.000000 meter;

2023-07-31T22:30:25.508Z,1690842625.508 [SBIT](IMPORTANT): Express none platform_roll_angle;

2023-07-31T22:30:25.508Z,1690842625.508 [SBIT](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2023-07-31T22:30:25.508Z,1690842625.508 [SBIT](IMPORTANT