2019-11-04T17:10:16.900Z,1572887416.900 [Supervisor](DEBUG): Initializing supervisor.
2019-11-04T17:10:16.903Z,1572887416.903 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-11-04T17:10:16.903Z,1572887416.903 [SyncHandler](INFO): Protected caller Thread ID is 3968
2019-11-04T17:10:16.904Z,1572887416.904 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-11-04T17:10:16.905Z,1572887416.905 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-11-04T17:10:16.905Z,1572887416.905 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3969
2019-11-04T17:10:16.908Z,1572887416.908 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-11-04T17:10:16.920Z,1572887416.920 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-11-04T17:10:16.921Z,1572887416.921 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-11-04T17:10:16.921Z,1572887416.921 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3970
2019-11-04T17:10:16.922Z,1572887416.922 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-11-04T17:10:16.923Z,1572887416.923 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-11-04T17:10:16.923Z,1572887416.923 [logger ThreadHandler](INFO): Protected caller Thread ID is 3971
2019-11-04T17:10:16.925Z,1572887416.925 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-11-04T17:10:16.925Z,1572887416.925 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-11-04T17:10:16.927Z,1572887416.927 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-11-04T17:10:17.389Z,1572887417.389 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-11-04T17:10:17.390Z,1572887417.390 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-11-04T17:10:17.488Z,1572887417.488 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-11-04T17:10:17.489Z,1572887417.489 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-11-04T17:10:17.786Z,1572887417.786 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-11-04T17:10:17.787Z,1572887417.787 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-11-04T17:10:17.925Z,1572887417.925 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-11-04T17:10:17.925Z,1572887417.925 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-11-04T17:10:18.111Z,1572887418.111 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-11-04T17:10:18.112Z,1572887418.112 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-11-04T17:10:18.536Z,1572887418.536 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-11-04T17:10:18.537Z,1572887418.537 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-11-04T17:10:18.735Z,1572887418.735 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-11-04T17:10:18.736Z,1572887418.736 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-11-04T17:10:18.876Z,1572887418.876 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-11-04T17:10:18.877Z,1572887418.877 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-11-04T17:10:19.060Z,1572887419.060 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-11-04T17:10:19.061Z,1572887419.061 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-11-04T17:10:19.158Z,1572887419.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-11-04T17:10:19.158Z,1572887419.158 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-11-04T17:10:19.458Z,1572887419.458 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-11-04T17:10:19.458Z,1572887419.458 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-11-04T17:10:19.541Z,1572887419.541 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-11-04T17:10:19.642Z,1572887419.642 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-11-04T17:10:19.643Z,1572887419.643 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-11-04T17:10:20.228Z,1572887420.228 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-11-04T17:10:20.229Z,1572887420.229 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-11-04T17:10:20.668Z,1572887420.668 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-11-04T17:10:20.670Z,1572887420.670 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-11-04T17:10:20.945Z,1572887420.945 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-11-04T17:10:21.327Z,1572887421.327 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-11-04T17:10:21.577Z,1572887421.577 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-11-04T17:10:21.997Z,1572887421.997 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-11-04T17:10:22.836Z,1572887422.836 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-11-04T17:10:22.836Z,1572887422.836 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-11-04T17:10:23.158Z,1572887423.158 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-11-04T17:10:23.937Z,1572887423.937 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-11-04T17:10:24.762Z,1572887424.762 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-11-04T17:10:25.089Z,1572887425.089 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-11-04T17:10:25.198Z,1572887425.198 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-11-04T17:10:25.378Z,1572887425.378 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-11-04T17:10:25.508Z,1572887425.508 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-11-04T17:10:25.519Z,1572887425.519 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-11-04T17:10:25.919Z,1572887425.919 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2019-11-04T17:10:25.925Z,1572887425.925 [AHRS_M2](INFO): created writer for : platform_orientation
2019-11-04T17:10:25.927Z,1572887425.927 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2019-11-04T17:10:25.932Z,1572887425.932 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2019-11-04T17:10:25.933Z,1572887425.933 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2019-11-04T17:10:25.937Z,1572887425.937 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2019-11-04T17:10:25.938Z,1572887425.938 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2019-11-04T17:10:25.943Z,1572887425.943 [AHRS_M2](INFO): created writer for : platform_roll_angle
2019-11-04T17:10:26.233Z,1572887426.233 [AHRS_M2] Loaded
2019-11-04T17:10:26.233Z,1572887426.233 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-11-04T17:10:26.579Z,1572887426.579 [DataOverHttps] Loaded
2019-11-04T17:10:26.580Z,1572887426.580 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-11-04T17:10:26.582Z,1572887426.582 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4075C4E0
2019-11-04T17:10:26.582Z,1572887426.582 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4051
2019-11-04T17:10:26.595Z,1572887426.595 [Depth_Keller] Loaded
2019-11-04T17:10:26.595Z,1572887426.595 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-11-04T17:10:26.599Z,1572887426.599 [DropWeight] Loaded
2019-11-04T17:10:26.600Z,1572887426.600 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-11-04T17:10:26.655Z,1572887426.655 [DUSBL_Hydroid] Loaded
2019-11-04T17:10:26.656Z,1572887426.656 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-11-04T17:10:26.701Z,1572887426.701 [Micromodem] Loaded
2019-11-04T17:10:26.701Z,1572887426.701 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-11-04T17:10:26.794Z,1572887426.794 [NAL9602] Loaded
2019-11-04T17:10:26.794Z,1572887426.794 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-11-04T17:10:26.809Z,1572887426.809 [Onboard] Loaded
2019-11-04T17:10:26.809Z,1572887426.809 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-11-04T17:10:26.815Z,1572887426.815 [PowerOnly] Loaded
2019-11-04T17:10:26.815Z,1572887426.815 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-11-04T17:10:26.821Z,1572887426.821 [Radio_Surface] Loaded
2019-11-04T17:10:26.822Z,1572887426.822 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-11-04T17:10:26.823Z,1572887426.823 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078C4E0
2019-11-04T17:10:26.823Z,1572887426.823 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4052
2019-11-04T17:10:26.864Z,1572887426.864 [RDI_Pathfinder] Loaded
2019-11-04T17:10:26.865Z,1572887426.865 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-11-04T17:10:28.275Z,1572887428.275 [BPC1] Loaded
2019-11-04T17:10:28.275Z,1572887428.275 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-11-04T17:10:28.276Z,1572887428.276 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-11-04T17:10:28.276Z,1572887428.276 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-11-04T17:10:28.290Z,1572887428.290 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-11-04T17:10:28.291Z,1572887428.291 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-11-04T17:10:28.421Z,1572887428.421 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-11-04T17:10:28.421Z,1572887428.421 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-11-04T17:10:28.441Z,1572887428.441 [NavChart] Loaded
2019-11-04T17:10:28.441Z,1572887428.441 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-11-04T17:10:28.445Z,1572887428.445 [UniversalFixResidualReporter] Loaded
2019-11-04T17:10:28.445Z,1572887428.445 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-11-04T17:10:28.445Z,1572887428.445 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-11-04T17:10:28.446Z,1572887428.446 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-11-04T17:10:28.548Z,1572887428.548 [BuoyancyServo] Loaded
2019-11-04T17:10:28.548Z,1572887428.548 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-11-04T17:10:28.563Z,1572887428.563 [ElevatorServo] Loaded
2019-11-04T17:10:28.564Z,1572887428.564 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-11-04T17:10:28.578Z,1572887428.578 [MassServo] Loaded
2019-11-04T17:10:28.579Z,1572887428.579 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-11-04T17:10:28.593Z,1572887428.593 [RudderServo] Loaded
2019-11-04T17:10:28.593Z,1572887428.593 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-11-04T17:10:28.607Z,1572887428.607 [ThrusterServo] Loaded
2019-11-04T17:10:28.607Z,1572887428.607 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-11-04T17:10:28.608Z,1572887428.608 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-11-04T17:10:28.608Z,1572887428.608 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-11-04T17:10:28.853Z,1572887428.853 [CTD_NeilBrown] Loaded
2019-11-04T17:10:28.853Z,1572887428.853 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-11-04T17:10:28.854Z,1572887428.854 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408D74E0
2019-11-04T17:10:28.854Z,1572887428.854 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 4053
2019-11-04T17:10:28.869Z,1572887428.869 [PAR_Licor] Loaded
2019-11-04T17:10:28.869Z,1572887428.869 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-11-04T17:10:28.911Z,1572887428.911 [WetLabsSeaOWL_UV_A] Loaded
2019-11-04T17:10:28.911Z,1572887428.911 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-11-04T17:10:28.912Z,1572887428.912 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409074E0
2019-11-04T17:10:28.912Z,1572887428.912 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 4054
2019-11-04T17:10:28.913Z,1572887428.913 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-11-04T17:10:28.914Z,1572887428.914 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-11-04T17:10:29.199Z,1572887429.199 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-11-04T17:10:29.200Z,1572887429.200 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-11-04T17:10:29.243Z,1572887429.243 [DepthRateCalculator] Loaded
2019-11-04T17:10:29.243Z,1572887429.243 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-11-04T17:10:29.249Z,1572887429.249 [PitchRateCalculator] Loaded
2019-11-04T17:10:29.249Z,1572887429.249 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-11-04T17:10:29.261Z,1572887429.261 [SpeedCalculator] Loaded
2019-11-04T17:10:29.261Z,1572887429.261 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-11-04T17:10:29.281Z,1572887429.281 [TempGradientCalculator] Loaded
2019-11-04T17:10:29.281Z,1572887429.281 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-11-04T17:10:29.287Z,1572887429.287 [YawRateCalculator] Loaded
2019-11-04T17:10:29.287Z,1572887429.287 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-11-04T17:10:29.325Z,1572887429.325 [ElevatorOffsetCalculator] Loaded
2019-11-04T17:10:29.325Z,1572887429.325 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-11-04T17:10:29.325Z,1572887429.325 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-11-04T17:10:29.326Z,1572887429.326 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-11-04T17:10:29.454Z,1572887429.454 [SBIT](DEBUG): Construct Startup Built In Test.
2019-11-04T17:10:29.475Z,1572887429.475 [SBIT] Loaded
2019-11-04T17:10:29.476Z,1572887429.476 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-11-04T17:10:29.476Z,1572887429.476 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-11-04T17:10:29.488Z,1572887429.488 [IBIT] Loaded
2019-11-04T17:10:29.488Z,1572887429.488 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-11-04T17:10:29.491Z,1572887429.491 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-11-04T17:10:29.623Z,1572887429.623 [CBIT] Loaded
2019-11-04T17:10:29.624Z,1572887429.624 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-11-04T17:10:29.624Z,1572887429.624 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-11-04T17:10:29.625Z,1572887429.625 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-11-04T17:10:29.706Z,1572887429.706 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-11-04T17:10:29.707Z,1572887429.707 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-11-04T17:10:29.802Z,1572887429.802 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-11-04T17:10:29.802Z,1572887429.802 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-11-04T17:10:29.866Z,1572887429.866 [VerticalControl](DEBUG): Construct VerticalControl.
2019-11-04T17:10:29.947Z,1572887429.947 [VerticalControl] Loaded
2019-11-04T17:10:29.947Z,1572887429.947 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-11-04T17:10:29.948Z,1572887429.948 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-11-04T17:10:30.002Z,1572887430.002 [HorizontalControl] Loaded
2019-11-04T17:10:30.002Z,1572887430.002 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-11-04T17:10:30.003Z,1572887430.003 [SpeedControl](DEBUG): Construct SpeedControl.
2019-11-04T17:10:30.005Z,1572887430.005 [SpeedControl] Loaded
2019-11-04T17:10:30.005Z,1572887430.005 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-11-04T17:10:30.006Z,1572887430.006 [LoopControl](DEBUG): Construct LoopControl.
2019-11-04T17:10:30.006Z,1572887430.006 [LoopControl] Loaded
2019-11-04T17:10:30.006Z,1572887430.006 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-11-04T17:10:30.007Z,1572887430.007 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-11-04T17:10:30.007Z,1572887430.007 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-11-04T17:10:30.040Z,1572887430.040 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-11-04T17:10:30.044Z,1572887430.044 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-11-04T17:10:30.045Z,1572887430.045 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-11-04T17:10:30.052Z,1572887430.052 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-11-04T17:10:30.053Z,1572887430.053 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AEA4E0
2019-11-04T17:10:30.053Z,1572887430.053 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4055
2019-11-04T17:10:30.058Z,1572887430.058 [Supervisor](INFO): Main Thread ID is 3967
2019-11-04T17:10:30.058Z,1572887430.058 [Supervisor](DEBUG): Running supervisor.
2019-11-04T17:10:30.058Z,1572887430.058 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4056
2019-11-04T17:10:30.061Z,1572887430.061 [controlThread ThreadHandler](INFO): Handler Thread ID is 4057
2019-11-04T17:10:30.061Z,1572887430.061 [controlThread](DEBUG): Initializing ControlThread
2019-11-04T17:10:30.066Z,1572887430.066 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-11-04T17:10:30.067Z,1572887430.067 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-11-04T17:10:30.072Z,1572887430.072 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-11-04T17:10:30.072Z,1572887430.072 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-11-04T17:10:30.072Z,1572887430.072 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-11-04T17:10:30.073Z,1572887430.073 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-11-04T17:10:30.073Z,1572887430.073 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-11-04T17:10:30.074Z,1572887430.074 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-11-04T17:10:30.074Z,1572887430.074 [SBIT](INFO): Initialize SBIT Component.
2019-11-04T17:10:30.075Z,1572887430.075 [SBIT](IMPORTANT): git: 2019-11-04
2019-11-04T17:10:30.075Z,1572887430.075 [SBIT](INFO): git hash: a618ad1cfdb8ca83c76a6a9f6d855fd70388bc0b
2019-11-04T17:10:30.076Z,1572887430.076 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-11-04T17:10:30.077Z,1572887430.077 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #2 PREEMPT Wed May 15 08:34:03 PDT 2019
2019-11-04T17:10:30.078Z,1572887430.078 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-11-04T17:10:30.078Z,1572887430.078 [IBIT](INFO): Initialize IBIT Component.
2019-11-04T17:10:30.079Z,1572887430.079 [CBIT](DEBUG): Initialize CBIT Component.
2019-11-04T17:10:30.080Z,1572887430.080 [logger ThreadHandler](INFO): Handler Thread ID is 4058
2019-11-04T17:10:30.091Z,1572887430.091 [CBIT](DEBUG): Initialized mux pins.
2019-11-04T17:10:30.091Z,1572887430.091 [CBIT](DEBUG): Initializing the watchdog timer.
2019-11-04T17:10:30.099Z,1572887430.099 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4059
2019-11-04T17:10:30.101Z,1572887430.101 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-11-04T17:10:30.111Z,1572887430.111 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4060
2019-11-04T17:10:30.115Z,1572887430.115 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-11-04T17:10:30.115Z,1572887430.115 [CBIT](DEBUG): Initializing heartbeat.
2019-11-04T17:10:30.123Z,1572887430.123 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 4061
2019-11-04T17:10:30.124Z,1572887430.124 [CTD_NeilBrown](INFO): Powering down
2019-11-04T17:10:30.144Z,1572887430.144 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 4062
2019-11-04T17:10:30.144Z,1572887430.144 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-11-04T17:10:30.176Z,1572887430.176 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4063
2019-11-04T17:10:30.184Z,1572887430.184 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-11-04T17:10:30.184Z,1572887430.184 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-11-04T17:10:30.185Z,1572887430.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-11-04T17:10:30.185Z,1572887430.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-11-04T17:10:30.185Z,1572887430.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-11-04T17:10:30.185Z,1572887430.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-11-04T17:10:30.185Z,1572887430.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-11-04T17:10:30.185Z,1572887430.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-11-04T17:10:30.186Z,1572887430.186 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-11-04T17:10:30.186Z,1572887430.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-11-04T17:10:30.186Z,1572887430.186 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-11-04T17:10:30.186Z,1572887430.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-11-04T17:10:30.186Z,1572887430.186 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-11-04T17:10:30.187Z,1572887430.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-11-04T17:10:30.187Z,1572887430.187 [CBIT](DEBUG): Deactivating GF circuits.
2019-11-04T17:10:30.187Z,1572887430.187 [CBIT](DEBUG): Deactivating emergency mode.
2019-11-04T17:10:30.188Z,1572887430.188 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-11-04T17:10:30.188Z,1572887430.188 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-11-04T17:10:30.223Z,1572887430.223 [CBIT](DEBUG): Backplane powered.
2019-11-04T17:10:30.223Z,1572887430.223 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-11-04T17:10:30.225Z,1572887430.225 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-11-04T17:10:30.226Z,1572887430.226 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-11-04T17:10:30.226Z,1572887430.226 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-11-04T17:10:30.227Z,1572887430.227 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-11-04T17:10:30.267Z,1572887430.267 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-04T17:10:30.294Z,1572887430.294 [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>


2019-11-04T17:10:30.295Z,1572887430.295 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-11-04T17:10:30.375Z,1572887430.375 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-11-04T17:10:30.376Z,1572887430.376 [Default:A.Wait](DEBUG): Construct Wait.
2019-11-04T17:10:30.378Z,1572887430.378 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-04T17:10:30.407Z,1572887430.407 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-11-04T17:10:30.410Z,1572887430.410 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-11-04T17:10:30.432Z,1572887430.432 [Default:E.Execute](DEBUG): Construct Execute.
2019-11-04T17:10:30.435Z,1572887430.435 [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>


2019-11-04T17:10:30.455Z,1572887430.455 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-11-04T17:10:30.468Z,1572887430.468 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-11-04T17:10:30.515Z,1572887430.515 [Radio_Surface](INFO): Powering up
2019-11-04T17:10:30.702Z,1572887430.702 [DUSBL_Hydroid](INFO): Powering up
2019-11-04T17:10:30.702Z,1572887430.702 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-11-04T17:10:30.897Z,1572887430.897 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-11-04T17:10:30.903Z,1572887430.903 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-11-04T17:10:30.904Z,1572887430.904 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-11-04T17:10:30.911Z,1572887430.911 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-11-04T17:10:30.912Z,1572887430.912 [MassServo](DEBUG): Initializing EZServoServo.
2019-11-04T17:10:30.920Z,1572887430.920 [MassServo](DEBUG): Initializing MassServo.
2019-11-04T17:10:30.920Z,1572887430.920 [RudderServo](DEBUG): Initializing EZServoServo.
2019-11-04T17:10:30.927Z,1572887430.927 [RudderServo](DEBUG): Initializing RudderServo.
2019-11-04T17:10:30.928Z,1572887430.928 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-11-04T17:10:30.935Z,1572887430.935 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-11-04T17:10:30.998Z,1572887430.998 [Micromodem](INFO): Powering up
2019-11-04T17:10:30.999Z,1572887430.999 [Micromodem](DEBUG): Initializing Micromodem.
2019-11-04T17:10:36.083Z,1572887436.083 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-11-04T17:10:36.486Z,1572887436.486 [Micromodem](INFO): Nmea in: $CATMG,2019-11-04T17:10:36.222322Z,RTC,RTC*5D

2019-11-04T17:10:36.486Z,1572887436.486 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-11-04T17:10:36.222322Z,RTC,RTC*5D

2019-11-04T17:10:36.889Z,1572887436.889 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-11-04T17:10:36.889Z,1572887436.889 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-11-04T17:10:37.293Z,1572887437.293 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2019-11-04T17:10:37.293Z,1572887437.293 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-11-04T17:10:37.697Z,1572887437.697 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2019-11-04T17:10:37.698Z,1572887437.698 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2019-11-04T17:10:38.098Z,1572887438.098 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2019-11-04T17:10:38.098Z,1572887438.098 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2019-11-04T17:10:38.505Z,1572887438.505 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2019-11-04T17:10:38.505Z,1572887438.505 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2019-11-04T17:10:38.909Z,1572887438.909 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2019-11-04T17:10:38.909Z,1572887438.909 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2019-11-04T17:10:39.841Z,1572887439.841 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2019-11-04T17:10:39.841Z,1572887439.841 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2019-11-04T17:10:40.053Z,1572887440.053 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2019-11-04T17:10:40.054Z,1572887440.054 [Micromodem](INFO): Nmea out: $CCCLK,2019,11,04,17,10,41*48

2019-11-04T17:10:40.350Z,1572887440.350 [Micromodem](INFO): Nmea in: $CACLK,2019,11,4,17,10,41*7A

2019-11-04T17:10:40.766Z,1572887440.766 [Micromodem](INFO): Nmea in: $CATMS,0,2019-11-04T17:10:42Z*79

2019-11-04T17:10:40.779Z,1572887440.779 [Micromodem](INFO): Nmea in: $CATMG,2019-11-04T17:10:42.028458Z,USER_CMD,RTC*1D

2019-11-04T17:10:44.014Z,1572887444.014 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-04T17:10:45.554Z,1572887445.554 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005578
2019-11-04T17:10:48.837Z,1572887448.837 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-11-04T17:10:56.918Z,1572887456.918 [NAL9602](INFO): Powering up NAL9602
2019-11-04T17:10:58.585Z,1572887458.585 [SBIT](IMPORTANT): Beginning Startup BIT
2019-11-04T17:10:58.593Z,1572887458.593 [CBIT](IMPORTANT): Beginning ground fault scan
2019-11-04T17:11:07.941Z,1572887467.941 [NAL9602](INFO): NAL9602 initialized
2019-11-04T17:11:09.712Z,1572887469.712 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.011843
CHAN A1 (24V): -0.028841
CHAN A2 (12V): -0.008674
CHAN A3 (5V): -0.002255
CHAN B0 (3.3V): 0.000188
CHAN B1 (3.15aV): 0.000019
CHAN B2 (3.15bV): 0.000295
CHAN B3 (GND): 0.002203
OPEN: 0.005229
Full Scale Calc: 4.765 mA, -1.589 mA
2019-11-04T17:11:52.346Z,1572887512.346 [SBIT](IMPORTANT): SBIT PASSED
2019-11-04T17:11:52.382Z,1572887512.382 [CommandLine](IMPORTANT): got command configSet list
2019-11-04T17:11:52.382Z,1572887512.382 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-11-04T17:11:52.384Z,1572887512.384 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2019-11-04T17:11:52.384Z,1572887512.384 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2019-11-04T17:11:52.384Z,1572887512.384 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2019-11-04T17:11:52.384Z,1572887512.384 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2019-11-04T17:11:52.385Z,1572887512.385 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 1.000000 degree;

2019-11-04T17:11:52.385Z,1572887512.385 [CommandLine](IMPORTANT): Express linearApproximation acoustic_contact_range 2.000000 meter;

2019-11-04T17:11:52.385Z,1572887512.385 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2019-11-04T17:11:52.385Z,1572887512.385 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2019-11-04T17:11:52.385Z,1572887512.385 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=348 cubic_centimeter;

2019-11-04T17:11:52.681Z,1572887512.681 [MissionManager](IMPORTANT): Started mission Startup
2019-11-04T17:11:52.681Z,1572887512.681 [Startup] Running Loop=1
2019-11-04T17:11:52.681Z,1572887512.681 [Startup](DEBUG): Aggregate::initialize Startup
2019-11-04T17:11:52.682Z,1572887512.682 [Startup:A.GoToSurface] Running Loop=1
2019-11-04T17:11:52.682Z,1572887512.682 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-04T17:11:52.682Z,1572887512.682 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value