2023-08-02T20:36:30.384Z,1691008590.384 [Supervisor](DEBUG): Initializing supervisor.
2023-08-02T20:36:30.388Z,1691008590.388 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-08-02T20:36:30.389Z,1691008590.389 [SyncHandler](INFO): Protected caller Thread ID is 9984
2023-08-02T20:36:30.389Z,1691008590.389 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-08-02T20:36:30.390Z,1691008590.390 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-08-02T20:36:30.390Z,1691008590.390 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 9985
2023-08-02T20:36:30.394Z,1691008590.394 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-08-02T20:36:30.411Z,1691008590.411 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-08-02T20:36:30.412Z,1691008590.412 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-08-02T20:36:30.412Z,1691008590.412 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 9986
2023-08-02T20:36:30.417Z,1691008590.417 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-08-02T20:36:30.418Z,1691008590.418 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-08-02T20:36:30.418Z,1691008590.418 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 9987
2023-08-02T20:36:30.420Z,1691008590.420 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-08-02T20:36:30.421Z,1691008590.421 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-08-02T20:36:30.421Z,1691008590.421 [logger ThreadHandler](INFO): Protected caller Thread ID is 9988
2023-08-02T20:36:30.425Z,1691008590.425 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-08-02T20:36:30.425Z,1691008590.425 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-08-02T20:36:30.427Z,1691008590.427 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-08-02T20:36:30.957Z,1691008590.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-08-02T20:36:30.957Z,1691008590.957 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-08-02T20:36:31.163Z,1691008591.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-08-02T20:36:31.163Z,1691008591.163 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-08-02T20:36:31.249Z,1691008591.249 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-08-02T20:36:31.465Z,1691008591.465 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-08-02T20:36:31.465Z,1691008591.465 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-08-02T20:36:31.547Z,1691008591.547 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-08-02T20:36:31.646Z,1691008591.646 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-08-02T20:36:31.647Z,1691008591.647 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-08-02T20:36:31.995Z,1691008591.995 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-08-02T20:36:31.995Z,1691008591.995 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-08-02T20:36:32.127Z,1691008592.127 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-08-02T20:36:32.127Z,1691008592.127 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-08-02T20:36:32.616Z,1691008592.616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-08-02T20:36:32.617Z,1691008592.617 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-08-02T20:36:32.808Z,1691008592.808 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-08-02T20:36:32.809Z,1691008592.809 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-08-02T20:36:33.216Z,1691008593.216 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-08-02T20:36:33.217Z,1691008593.217 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-08-02T20:36:33.504Z,1691008593.504 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-08-02T20:36:33.505Z,1691008593.505 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-08-02T20:36:33.616Z,1691008593.616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-08-02T20:36:33.616Z,1691008593.616 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-08-02T20:36:34.383Z,1691008594.383 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-08-02T20:36:34.384Z,1691008594.384 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-08-02T20:36:34.708Z,1691008594.708 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-08-02T20:36:34.708Z,1691008594.708 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-08-02T20:36:34.935Z,1691008594.935 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-08-02T20:36:34.937Z,1691008594.937 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/
2023-08-02T20:36:34.938Z,1691008594.938 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/vehicle.cfg
2023-08-02T20:36:35.063Z,1691008595.063 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/secure.cfg
2023-08-02T20:36:35.150Z,1691008595.150 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Science.cfg
2023-08-02T20:36:35.290Z,1691008595.290 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Simulator.cfg
2023-08-02T20:36:35.431Z,1691008595.431 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Battery.cfg
2023-08-02T20:36:36.163Z,1691008596.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-08-02T20:36:36.163Z,1691008596.163 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/logger.cfg
2023-08-02T20:36:36.268Z,1691008596.268 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Servo.cfg
2023-08-02T20:36:36.377Z,1691008596.377 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Navigation.cfg
2023-08-02T20:36:36.495Z,1691008596.495 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Sensor.cfg
2023-08-02T20:36:36.644Z,1691008596.644 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Control.cfg
2023-08-02T20:36:36.744Z,1691008596.744 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/BIT.cfg
2023-08-02T20:36:36.849Z,1691008596.849 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2023-08-02T20:36:36.850Z,1691008596.850 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-08-02T20:36:36.867Z,1691008596.867 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-08-02T20:36:36.867Z,1691008596.867 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-08-02T20:36:36.988Z,1691008596.988 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-08-02T20:36:36.989Z,1691008596.989 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-08-02T20:36:37.061Z,1691008597.061 [VerticalControl](DEBUG): Construct VerticalControl.
2023-08-02T20:36:37.119Z,1691008597.119 [VerticalControl] Loaded
2023-08-02T20:36:37.119Z,1691008597.119 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-08-02T20:36:37.122Z,1691008597.122 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-08-02T20:36:37.162Z,1691008597.162 [HorizontalControl] Loaded
2023-08-02T20:36:37.163Z,1691008597.163 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-08-02T20:36:37.165Z,1691008597.165 [SpeedControl](DEBUG): Construct SpeedControl.
2023-08-02T20:36:37.168Z,1691008597.168 [SpeedControl] Loaded
2023-08-02T20:36:37.168Z,1691008597.168 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-08-02T20:36:37.171Z,1691008597.171 [LoopControl](DEBUG): Construct LoopControl.
2023-08-02T20:36:37.171Z,1691008597.171 [LoopControl] Loaded
2023-08-02T20:36:37.172Z,1691008597.172 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-08-02T20:36:37.172Z,1691008597.172 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-08-02T20:36:37.172Z,1691008597.172 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-08-02T20:36:37.328Z,1691008597.328 [BuoyancyServo] Loaded
2023-08-02T20:36:37.328Z,1691008597.328 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-08-02T20:36:37.348Z,1691008597.348 [ElevatorServo] Loaded
2023-08-02T20:36:37.348Z,1691008597.348 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-08-02T20:36:37.367Z,1691008597.367 [MassServo] Loaded
2023-08-02T20:36:37.367Z,1691008597.367 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-08-02T20:36:37.385Z,1691008597.385 [RudderServo] Loaded
2023-08-02T20:36:37.385Z,1691008597.385 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-08-02T20:36:37.400Z,1691008597.400 [ThrusterHE] Loaded
2023-08-02T20:36:37.400Z,1691008597.400 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-08-02T20:36:37.401Z,1691008597.401 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-08-02T20:36:37.401Z,1691008597.401 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-08-02T20:36:37.474Z,1691008597.474 [DepthRateCalculator] Loaded
2023-08-02T20:36:37.474Z,1691008597.474 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-08-02T20:36:37.519Z,1691008597.519 [PitchRateCalculator] Loaded
2023-08-02T20:36:37.519Z,1691008597.519 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-08-02T20:36:37.529Z,1691008597.529 [SpeedCalculator] Loaded
2023-08-02T20:36:37.529Z,1691008597.529 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-08-02T20:36:37.533Z,1691008597.533 [YawRateCalculator] Loaded
2023-08-02T20:36:37.534Z,1691008597.534 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-08-02T20:36:37.551Z,1691008597.551 [ElevatorOffsetCalculator] Loaded
2023-08-02T20:36:37.552Z,1691008597.552 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-08-02T20:36:37.552Z,1691008597.552 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-08-02T20:36:37.553Z,1691008597.553 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-08-02T20:36:38.241Z,1691008598.241 [DeadReckonUsingMultipleVelocitySources] Loaded
2023-08-02T20:36:38.241Z,1691008598.241 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2023-08-02T20:36:38.254Z,1691008598.254 [NavChart] Loaded
2023-08-02T20:36:38.255Z,1691008598.255 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-08-02T20:36:38.260Z,1691008598.260 [UniversalFixResidualReporter] Loaded
2023-08-02T20:36:38.260Z,1691008598.260 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-08-02T20:36:38.261Z,1691008598.261 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-08-02T20:36:38.261Z,1691008598.261 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-08-02T20:36:39.049Z,1691008599.049 [AHRS_M2] Loaded
2023-08-02T20:36:39.049Z,1691008599.049 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2023-08-02T20:36:39.304Z,1691008599.304 [BackseatComponent] Loaded
2023-08-02T20:36:39.305Z,1691008599.305 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2023-08-02T20:36:39.312Z,1691008599.312 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408E64E0
2023-08-02T20:36:39.312Z,1691008599.312 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 370
2023-08-02T20:36:39.315Z,1691008599.315 [LcmUniversalReporter] Loaded
2023-08-02T20:36:39.315Z,1691008599.315 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2023-08-02T20:36:39.321Z,1691008599.321 [BioacousticsDataBridge] Loaded
2023-08-02T20:36:39.322Z,1691008599.322 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread.
2023-08-02T20:36:40.148Z,1691008600.148 [BPC1] Loaded
2023-08-02T20:36:40.149Z,1691008600.149 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-08-02T20:36:40.458Z,1691008600.458 [DataOverHttps] Loaded
2023-08-02T20:36:40.458Z,1691008600.458 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-08-02T20:36:40.463Z,1691008600.463 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409164E0
2023-08-02T20:36:40.463Z,1691008600.463 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 371
2023-08-02T20:36:40.484Z,1691008600.484 [Depth_Keller] Loaded
2023-08-02T20:36:40.485Z,1691008600.485 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-08-02T20:36:40.490Z,1691008600.490 [DropWeight] Loaded
2023-08-02T20:36:40.490Z,1691008600.490 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2023-08-02T20:36:40.552Z,1691008600.552 [NAL9602] Loaded
2023-08-02T20:36:40.553Z,1691008600.553 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-08-02T20:36:40.582Z,1691008600.582 [Onboard] Loaded
2023-08-02T20:36:40.583Z,1691008600.583 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-08-02T20:36:40.584Z,1691008600.584 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409464E0
2023-08-02T20:36:40.584Z,1691008600.584 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 372
2023-08-02T20:36:40.596Z,1691008600.596 [Power24vConverter] Loaded
2023-08-02T20:36:40.596Z,1691008600.596 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-08-02T20:36:40.609Z,1691008600.609 [Radio_Surface] Loaded
2023-08-02T20:36:40.610Z,1691008600.610 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-08-02T20:36:40.611Z,1691008600.611 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409764E0
2023-08-02T20:36:40.611Z,1691008600.611 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 373
2023-08-02T20:36:40.625Z,1691008600.625 [Sonardyne_Nano] Loaded
2023-08-02T20:36:40.625Z,1691008600.625 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2023-08-02T20:36:40.626Z,1691008600.626 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-08-02T20:36:40.626Z,1691008600.626 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-08-02T20:36:40.991Z,1691008600.991 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-08-02T20:36:40.992Z,1691008600.992 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-08-02T20:36:41.194Z,1691008601.194 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-08-02T20:36:41.195Z,1691008601.195 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-08-02T20:36:41.241Z,1691008601.241 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-08-02T20:36:41.241Z,1691008601.241 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-08-02T20:36:41.461Z,1691008601.461 [CTD_Seabird] Loaded
2023-08-02T20:36:41.461Z,1691008601.461 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2023-08-02T20:36:41.468Z,1691008601.468 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40AAD4E0
2023-08-02T20:36:41.468Z,1691008601.468 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 374
2023-08-02T20:36:41.489Z,1691008601.489 [PAR_Licor] Loaded
2023-08-02T20:36:41.489Z,1691008601.489 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-08-02T20:36:41.529Z,1691008601.529 [WetLabsBB2FL] Loaded
2023-08-02T20:36:41.529Z,1691008601.529 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2023-08-02T20:36:41.530Z,1691008601.530 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40ADD4E0
2023-08-02T20:36:41.530Z,1691008601.530 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 375
2023-08-02T20:36:41.531Z,1691008601.531 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-08-02T20:36:41.532Z,1691008601.532 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-08-02T20:36:41.877Z,1691008601.877 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-08-02T20:36:41.878Z,1691008601.878 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-08-02T20:36:42.043Z,1691008602.043 [SBIT](DEBUG): Construct Startup Built In Test.
2023-08-02T20:36:42.052Z,1691008602.052 [SBIT] Loaded
2023-08-02T20:36:42.052Z,1691008602.052 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-08-02T20:36:42.055Z,1691008602.055 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-08-02T20:36:42.069Z,1691008602.069 [IBIT] Loaded
2023-08-02T20:36:42.069Z,1691008602.069 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-08-02T20:36:42.075Z,1691008602.075 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-08-02T20:36:42.178Z,1691008602.178 [CBIT] Loaded
2023-08-02T20:36:42.178Z,1691008602.178 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-08-02T20:36:42.179Z,1691008602.179 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-08-02T20:36:42.185Z,1691008602.185 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-08-02T20:36:42.188Z,1691008602.188 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-08-02T20:36:42.199Z,1691008602.199 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-08-02T20:36:42.206Z,1691008602.206 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BC94E0
2023-08-02T20:36:42.206Z,1691008602.206 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 376
2023-08-02T20:36:42.211Z,1691008602.211 [Supervisor](INFO): Main Thread ID is 9983
2023-08-02T20:36:42.211Z,1691008602.211 [Supervisor](DEBUG): Running supervisor.
2023-08-02T20:36:42.211Z,1691008602.211 [CommandExec ThreadHandler](INFO): Handler Thread ID is 377
2023-08-02T20:36:42.212Z,1691008602.212 [CommandExec](INFO): Initializing the command executive.
2023-08-02T20:36:42.214Z,1691008602.214 [CommandLine ThreadHandler](INFO): Handler Thread ID is 378
2023-08-02T20:36:42.216Z,1691008602.216 [controlThread ThreadHandler](INFO): Handler Thread ID is 379
2023-08-02T20:36:42.217Z,1691008602.217 [controlThread](DEBUG): Initializing ControlThread
2023-08-02T20:36:42.217Z,1691008602.217 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-08-02T20:36:42.219Z,1691008602.219 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-08-02T20:36:42.220Z,1691008602.220 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-08-02T20:36:42.220Z,1691008602.220 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-08-02T20:36:42.222Z,1691008602.222 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-08-02T20:36:42.222Z,1691008602.222 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-08-02T20:36:42.222Z,1691008602.222 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-08-02T20:36:42.223Z,1691008602.223 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-08-02T20:36:42.223Z,1691008602.223 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-08-02T20:36:42.224Z,1691008602.224 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-08-02T20:36:42.225Z,1691008602.225 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-08-02T20:36:42.232Z,1691008602.232 [SBIT](INFO): Initialize SBIT Component.
2023-08-02T20:36:42.233Z,1691008602.233 [SBIT](IMPORTANT): git: 2023-08-02
2023-08-02T20:36:42.233Z,1691008602.233 [SBIT](INFO): git hash: 04bff54855c04b79675eb3036915d66bd94ee3d9
2023-08-02T20:36:42.233Z,1691008602.233 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-08-02T20:36:42.234Z,1691008602.234 [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
2023-08-02T20:36:42.249Z,1691008602.249 [logger ThreadHandler](INFO): Handler Thread ID is 380
2023-08-02T20:36:42.264Z,1691008602.264 [SBIT](INFO): Beginning SBIT in 20.000000 seconds.
2023-08-02T20:36:42.265Z,1691008602.265 [IBIT](INFO): Initialize IBIT Component.
2023-08-02T20:36:42.265Z,1691008602.265 [CBIT](DEBUG): Initialize CBIT Component.
2023-08-02T20:36:42.272Z,1691008602.272 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 381
2023-08-02T20:36:42.280Z,1691008602.280 [CBIT](DEBUG): Initialized mux pins.
2023-08-02T20:36:42.280Z,1691008602.280 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2023-08-02T20:36:42.280Z,1691008602.280 [CBIT](DEBUG): Initializing the watchdog timer.
2023-08-02T20:36:42.281Z,1691008602.281 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 382
2023-08-02T20:36:42.282Z,1691008602.282 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-08-02T20:36:42.288Z,1691008602.288 [Onboard ThreadHandler](INFO): Handler Thread ID is 383
2023-08-02T20:36:42.304Z,1691008602.304 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2023-08-02T20:36:42.304Z,1691008602.304 [CBIT](DEBUG): Initializing heartbeat.
2023-08-02T20:36:42.307Z,1691008602.307 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 384
2023-08-02T20:36:42.324Z,1691008602.324 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 385
2023-08-02T20:36:42.325Z,1691008602.325 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2023-08-02T20:36:42.329Z,1691008602.329 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 387
2023-08-02T20:36:42.332Z,1691008602.332 [WetLabsBB2FL](INFO): Powering up
2023-08-02T20:36:42.333Z,1691008602.333 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 389
2023-08-02T20:36:42.341Z,1691008602.341 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2023-08-02T20:36:42.341Z,1691008602.341 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2023-08-02T20:36:42.341Z,1691008602.341 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI80M.000
2023-08-02T20:36:42.342Z,1691008602.342 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI80M.000
2023-08-02T20:36:42.342Z,1691008602.342 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI57M.000
2023-08-02T20:36:42.342Z,1691008602.342 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI57M.000
2023-08-02T20:36:42.342Z,1691008602.342 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI56M.000
2023-08-02T20:36:42.342Z,1691008602.342 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI56M.000
2023-08-02T20:36:42.342Z,1691008602.342 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI90M.000
2023-08-02T20:36:42.343Z,1691008602.343 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI90M.000
2023-08-02T20:36:42.343Z,1691008602.343 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2023-08-02T20:36:42.343Z,1691008602.343 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2023-08-02T20:36:42.343Z,1691008602.343 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4WI03M.000
2023-08-02T20:36:42.343Z,1691008602.343 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4WI03M.000
2023-08-02T20:36:42.344Z,1691008602.344 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4WI06M.000
2023-08-02T20:36:42.344Z,1691008602.344 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4WI06M.000
2023-08-02T20:36:42.344Z,1691008602.344 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH01M.000
2023-08-02T20:36:42.344Z,1691008602.344 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH01M.000
2023-08-02T20:36:42.345Z,1691008602.345 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH04M.000
2023-08-02T20:36:42.345Z,1691008602.345 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH04M.000
2023-08-02T20:36:42.345Z,1691008602.345 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4OH02M.000
2023-08-02T20:36:42.345Z,1691008602.345 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4OH02M.000
2023-08-02T20:36:42.345Z,1691008602.345 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4PA20M.000
2023-08-02T20:36:42.345Z,1691008602.345 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4PA20M.000
2023-08-02T20:36:42.346Z,1691008602.346 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4PA21M.000
2023-08-02T20:36:42.346Z,1691008602.346 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4PA21M.000
2023-08-02T20:36:42.376Z,1691008602.376 [CBIT](DEBUG): Deactivating GF circuits.
2023-08-02T20:36:42.376Z,1691008602.376 [CBIT](DEBUG): Deactivating emergency mode.
2023-08-02T20:36:42.416Z,1691008602.416 [CBIT](DEBUG): Backplane powered.
2023-08-02T20:36:42.417Z,1691008602.417 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-08-02T20:36:42.449Z,1691008602.449 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-02T20:36:42.484Z,1691008602.484 [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>


2023-08-02T20:36:42.485Z,1691008602.485 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-08-02T20:36:42.572Z,1691008602.572 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-08-02T20:36:42.573Z,1691008602.573 [Default:A.Wait](DEBUG): Construct Wait.
2023-08-02T20:36:42.575Z,1691008602.575 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-08-02T20:36:42.614Z,1691008602.614 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-08-02T20:36:42.617Z,1691008602.617 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-08-02T20:36:42.638Z,1691008602.638 [Default:E.Execute](DEBUG): Construct Execute.
2023-08-02T20:36:42.642Z,1691008602.642 [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>


2023-08-02T20:36:42.660Z,1691008602.660 [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,
2023-08-02T20:36:42.676Z,1691008602.676 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-08-02T20:36:42.712Z,1691008602.712 [Radio_Surface](INFO): Powering up
2023-08-02T20:36:42.790Z,1691008602.790 [Power24vConverter](INFO): Powering up.
2023-08-02T20:36:42.791Z,1691008602.791 [Sonardyne_Nano](INFO): Initializing.
2023-08-02T20:36:42.846Z,1691008602.846 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-08-02T20:36:42.852Z,1691008602.852 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-08-02T20:36:42.853Z,1691008602.853 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-08-02T20:36:42.860Z,1691008602.860 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-08-02T20:36:42.861Z,1691008602.861 [MassServo](DEBUG): Initializing EZServoServo.
2023-08-02T20:36:42.868Z,1691008602.868 [MassServo](DEBUG): Initializing MassServo.
2023-08-02T20:36:42.869Z,1691008602.869 [RudderServo](DEBUG): Initializing EZServoServo.
2023-08-02T20:36:42.876Z,1691008602.876 [RudderServo](DEBUG): Initializing RudderServo.
2023-08-02T20:36:42.877Z,1691008602.877 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-08-02T20:36:42.884Z,1691008602.884 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-08-02T20:36:44.440Z,1691008604.440 [WetLabsBB2FL](INFO): Powering down
2023-08-02T20:36:45.094Z,1691008605.094 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2023-08-02T20:36:46.337Z,1691008606.337 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2201
2023-08-02T20:36:48.549Z,1691008608.549 [ThrusterHE](ERROR): Zero Speed Commanded.
2023-08-02T20:36:57.167Z,1691008617.167 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004663
2023-08-02T20:37:02.942Z,1691008622.942 [SBIT](IMPORTANT): Beginning Startup BIT
2023-08-02T20:37:02.946Z,1691008622.946 [CBIT](IMPORTANT): Beginning ground fault scan
2023-08-02T20:37:10.953Z,1691008630.953 [NAL9602](INFO): Powering up NAL9602
2023-08-02T20:37:13.895Z,1691008633.895 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.010357
CHAN A1 (24V): -0.005917
CHAN A2 (12V): -0.003681
CHAN A3 (5V): -0.002530
CHAN B0 (3.3V): -0.001257
CHAN B1 (3.15aV): -0.001252
CHAN B2 (3.15bV): -0.000905
CHAN B3 (GND): -0.000156
OPEN: 0.003444
Full Scale: +/- 1 mA
2023-08-02T20:37:14.061Z,1691008634.061 [CommandExec](IMPORTANT): got command restart system
2023-08-02T20:37:16.152Z,1691008636.152 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2023-08-02T20:37:16.152Z,1691008636.152 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2023-08-02T20:37:16.152Z,1691008636.152 [CommandExec](INFO): Uninitializing the command executive.
2023-08-02T20:37:16.152Z,1691008636.152 [CommandExec](INFO): Uninitializing the command scheduler.
2023-08-02T20:37:16.153Z,1691008636.153 [CommandExec ThreadHandler](INFO): Thread cancelled.
2023-08-02T20:37:16.228Z,1691008636.228 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2023-08-02T20:37:16.228Z,1691008636.228 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2023-08-02T20:37:16.228Z,1691008636.228 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-08-02T20:37:16.229Z,1691008636.229 [NavChartDb](INFO): Join timeout helper Thread ID is 406
2023-08-02T20:37:16.326Z,1691008636.326 [SBIT](ERROR): Could not read massPosReader_.
2023-08-02T20:37:19.907Z,1691008639.907 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2023-08-02T20:37:19.908Z,1691008639.908 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-08-02T20:37:19.920Z,1691008639.920 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2023-08-02T20:37:19.920Z,1691008639.920 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2023-08-02T20:37:19.920Z,1691008639.920 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 409
2023-08-02T20:37:20.132Z,1691008640.132 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2023-08-02T20:37:20.133Z,1691008640.133 [WetLabsBB2FL](INFO): Powering down
2023-08-02T20:37:20.133Z,1691008640.133 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2023-08-02T20:37:20.140Z,1691008640.140 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2023-08-02T20:37:20.140Z,1691008640.140 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2023-08-02T20:37:20.140Z,169100