2025-03-19T20:20:12.007Z,1742415612.007 [Supervisor](DEBUG): Initializing supervisor.
2025-03-19T20:20:12.011Z,1742415612.011 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-03-19T20:20:12.012Z,1742415612.012 [SyncHandler](INFO): Protected caller Thread ID is 4807
2025-03-19T20:20:12.012Z,1742415612.012 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-03-19T20:20:12.013Z,1742415612.013 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-03-19T20:20:12.013Z,1742415612.013 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4808
2025-03-19T20:20:12.018Z,1742415612.018 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-03-19T20:20:12.036Z,1742415612.036 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-03-19T20:20:12.038Z,1742415612.038 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-03-19T20:20:12.038Z,1742415612.038 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 4809
2025-03-19T20:20:12.042Z,1742415612.042 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-03-19T20:20:12.043Z,1742415612.043 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-03-19T20:20:12.044Z,1742415612.044 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4810
2025-03-19T20:20:12.046Z,1742415612.046 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-03-19T20:20:12.047Z,1742415612.047 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-03-19T20:20:12.047Z,1742415612.047 [logger ThreadHandler](INFO): Protected caller Thread ID is 4811
2025-03-19T20:20:12.051Z,1742415612.051 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-03-19T20:20:12.051Z,1742415612.051 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-03-19T20:20:12.053Z,1742415612.053 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-03-19T20:20:12.390Z,1742415612.390 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-03-19T20:20:12.391Z,1742415612.391 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-03-19T20:20:12.480Z,1742415612.480 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-03-19T20:20:12.595Z,1742415612.595 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-03-19T20:20:12.595Z,1742415612.595 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-03-19T20:20:12.732Z,1742415612.732 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-03-19T20:20:12.733Z,1742415612.733 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-03-19T20:20:13.073Z,1742415613.073 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-03-19T20:20:13.074Z,1742415613.074 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-03-19T20:20:13.179Z,1742415613.179 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-03-19T20:20:13.180Z,1742415613.180 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-03-19T20:20:13.657Z,1742415613.657 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-03-19T20:20:13.658Z,1742415613.658 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-03-19T20:20:13.883Z,1742415613.883 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-03-19T20:20:13.883Z,1742415613.883 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-03-19T20:20:13.972Z,1742415613.972 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-03-19T20:20:14.212Z,1742415614.212 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-03-19T20:20:14.212Z,1742415614.212 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-03-19T20:20:14.433Z,1742415614.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-03-19T20:20:14.434Z,1742415614.434 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-03-19T20:20:14.946Z,1742415614.946 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-03-19T20:20:14.947Z,1742415614.947 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-03-19T20:20:15.137Z,1742415615.137 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-03-19T20:20:15.137Z,1742415615.137 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-03-19T20:20:15.420Z,1742415615.420 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-03-19T20:20:15.421Z,1742415615.421 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-03-19T20:20:16.233Z,1742415616.233 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-03-19T20:20:16.234Z,1742415616.234 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-03-19T20:20:16.790Z,1742415616.790 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-03-19T20:20:16.792Z,1742415616.792 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-ahi/
2025-03-19T20:20:16.793Z,1742415616.793 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Control.cfg
2025-03-19T20:20:16.909Z,1742415616.909 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Science.cfg
2025-03-19T20:20:17.047Z,1742415617.047 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/secure.cfg
2025-03-19T20:20:17.141Z,1742415617.141 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Servo.cfg
2025-03-19T20:20:17.258Z,1742415617.258 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/BIT.cfg
2025-03-19T20:20:17.355Z,1742415617.355 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Battery.cfg
2025-03-19T20:20:17.627Z,1742415617.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-03-19T20:20:17.627Z,1742415617.627 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/vehicle.cfg
2025-03-19T20:20:17.746Z,1742415617.746 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/logger.cfg
2025-03-19T20:20:17.853Z,1742415617.853 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Sensor.cfg
2025-03-19T20:20:17.000Z,1742415618.000 [Supervisor](INFO): Opening Config file at: Config/lrauv-ahi/Simulator.cfg
2025-03-19T20:20:18.095Z,1742415618.095 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-ahi/root/
2025-03-19T20:20:18.096Z,1742415618.096 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2025-03-19T20:20:18.097Z,1742415618.097 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-03-19T20:20:18.231Z,1742415618.231 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-03-19T20:20:18.231Z,1742415618.231 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-03-19T20:20:18.287Z,1742415618.287 [VerticalControl](DEBUG): Construct VerticalControl.
2025-03-19T20:20:18.349Z,1742415618.349 [VerticalControl] Loaded
2025-03-19T20:20:18.349Z,1742415618.349 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-03-19T20:20:18.352Z,1742415618.352 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-03-19T20:20:18.399Z,1742415618.399 [HorizontalControl] Loaded
2025-03-19T20:20:18.399Z,1742415618.399 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-03-19T20:20:18.402Z,1742415618.402 [SpeedControl](DEBUG): Construct SpeedControl.
2025-03-19T20:20:18.405Z,1742415618.405 [SpeedControl] Loaded
2025-03-19T20:20:18.405Z,1742415618.405 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-03-19T20:20:18.408Z,1742415618.408 [LoopControl](DEBUG): Construct LoopControl.
2025-03-19T20:20:18.408Z,1742415618.408 [LoopControl] Loaded
2025-03-19T20:20:18.409Z,1742415618.409 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-03-19T20:20:18.409Z,1742415618.409 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-03-19T20:20:18.410Z,1742415618.410 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-03-19T20:20:18.468Z,1742415618.468 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-03-19T20:20:18.469Z,1742415618.469 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-03-19T20:20:18.948Z,1742415618.948 [AHRS_M2] Loaded
2025-03-19T20:20:18.948Z,1742415618.948 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-03-19T20:20:18.986Z,1742415618.986 [BackseatComponent](INFO): Found secondary power supply at: /dev/loadC4
2025-03-19T20:20:18.987Z,1742415618.987 [BackseatComponent] Loaded
2025-03-19T20:20:18.987Z,1742415618.987 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-03-19T20:20:18.988Z,1742415618.988 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408BA4E0
2025-03-19T20:20:18.989Z,1742415618.989 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 4891
2025-03-19T20:20:18.991Z,1742415618.991 [LcmUniversalReporter] Loaded
2025-03-19T20:20:18.992Z,1742415618.992 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-03-19T20:20:19.818Z,1742415619.818 [BPC1] Loaded
2025-03-19T20:20:19.819Z,1742415619.819 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-03-19T20:20:19.917Z,1742415619.917 [DAT] Loaded
2025-03-19T20:20:19.917Z,1742415619.917 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-03-19T20:20:19.918Z,1742415619.918 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408EA4E0
2025-03-19T20:20:19.918Z,1742415619.918 [DAT ThreadHandler](INFO): Protected caller Thread ID is 4892
2025-03-19T20:20:19.989Z,1742415619.989 [DataOverHttps] Loaded
2025-03-19T20:20:19.990Z,1742415619.990 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-03-19T20:20:19.991Z,1742415619.991 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4091A4E0
2025-03-19T20:20:19.991Z,1742415619.991 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4893
2025-03-19T20:20:20.014Z,1742415620.014 [Depth_Keller] Loaded
2025-03-19T20:20:20.014Z,1742415620.014 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-03-19T20:20:20.019Z,1742415620.019 [DropWeight] Loaded
2025-03-19T20:20:20.020Z,1742415620.020 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-03-19T20:20:20.085Z,1742415620.085 [NAL9602] Loaded
2025-03-19T20:20:20.085Z,1742415620.085 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-03-19T20:20:20.115Z,1742415620.115 [Onboard] Loaded
2025-03-19T20:20:20.116Z,1742415620.116 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-03-19T20:20:20.117Z,1742415620.117 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4094A4E0
2025-03-19T20:20:20.117Z,1742415620.117 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 4894
2025-03-19T20:20:20.131Z,1742415620.131 [Power24vConverter] Loaded
2025-03-19T20:20:20.131Z,1742415620.131 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-03-19T20:20:20.147Z,1742415620.147 [Radio_Surface] Loaded
2025-03-19T20:20:20.148Z,1742415620.148 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-03-19T20:20:20.149Z,1742415620.149 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4097A4E0
2025-03-19T20:20:20.149Z,1742415620.149 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4895
2025-03-19T20:20:20.164Z,1742415620.164 [Sonardyne_Nano] Loaded
2025-03-19T20:20:20.165Z,1742415620.165 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-03-19T20:20:20.189Z,1742415620.189 [Waterlinked] Loaded
2025-03-19T20:20:20.189Z,1742415620.189 [ComponentRegistry](DEBUG): SyncComponent "Waterlinked" handled in the control thread.
2025-03-19T20:20:20.190Z,1742415620.190 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-03-19T20:20:20.190Z,1742415620.190 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-03-19T20:20:20.201Z,1742415620.201 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-03-19T20:20:20.202Z,1742415620.202 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-03-19T20:20:20.232Z,1742415620.232 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-03-19T20:20:20.233Z,1742415620.233 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-03-19T20:20:20.393Z,1742415620.393 [SBIT](DEBUG): Construct Startup Built In Test.
2025-03-19T20:20:20.402Z,1742415620.402 [SBIT] Loaded
2025-03-19T20:20:20.402Z,1742415620.402 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-03-19T20:20:20.405Z,1742415620.405 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-03-19T20:20:20.418Z,1742415620.418 [IBIT] Loaded
2025-03-19T20:20:20.418Z,1742415620.418 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-03-19T20:20:20.423Z,1742415620.423 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-03-19T20:20:20.504Z,1742415620.504 [CBIT] Loaded
2025-03-19T20:20:20.504Z,1742415620.504 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-03-19T20:20:20.537Z,1742415620.537 [GFScanner] Loaded
2025-03-19T20:20:20.537Z,1742415620.537 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-03-19T20:20:20.538Z,1742415620.538 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-03-19T20:20:20.538Z,1742415620.538 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-03-19T20:20:20.888Z,1742415620.888 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-03-19T20:20:20.888Z,1742415620.888 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-03-19T20:20:20.941Z,1742415620.941 [DepthRateCalculator] Loaded
2025-03-19T20:20:20.942Z,1742415620.942 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-03-19T20:20:20.947Z,1742415620.947 [PitchRateCalculator] Loaded
2025-03-19T20:20:20.947Z,1742415620.947 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-03-19T20:20:20.957Z,1742415620.957 [SpeedCalculator] Loaded
2025-03-19T20:20:20.958Z,1742415620.958 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-03-19T20:20:20.962Z,1742415620.962 [YawRateCalculator] Loaded
2025-03-19T20:20:20.962Z,1742415620.962 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-03-19T20:20:20.982Z,1742415620.982 [ElevatorOffsetCalculator] Loaded
2025-03-19T20:20:20.982Z,1742415620.982 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-03-19T20:20:20.982Z,1742415620.982 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-03-19T20:20:20.983Z,1742415620.983 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-03-19T20:20:21.162Z,1742415621.162 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-03-19T20:20:21.162Z,1742415621.162 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-03-19T20:20:21.277Z,1742415621.277 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-03-19T20:20:21.277Z,1742415621.277 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-03-19T20:20:21.291Z,1742415621.291 [NavChart] Loaded
2025-03-19T20:20:21.291Z,1742415621.291 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-03-19T20:20:21.297Z,1742415621.297 [UniversalFixResidualReporter] Loaded
2025-03-19T20:20:21.297Z,1742415621.297 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-03-19T20:20:21.298Z,1742415621.298 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-03-19T20:20:21.298Z,1742415621.298 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-03-19T20:20:21.437Z,1742415621.437 [BuoyancyServo] Loaded
2025-03-19T20:20:21.437Z,1742415621.437 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-03-19T20:20:21.460Z,1742415621.460 [ElevatorServo] Loaded
2025-03-19T20:20:21.460Z,1742415621.460 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-03-19T20:20:21.482Z,1742415621.482 [MassServo] Loaded
2025-03-19T20:20:21.483Z,1742415621.483 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-03-19T20:20:21.504Z,1742415621.504 [RudderServo] Loaded
2025-03-19T20:20:21.504Z,1742415621.504 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-03-19T20:20:21.521Z,1742415621.521 [ThrusterHE] Loaded
2025-03-19T20:20:21.521Z,1742415621.521 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-03-19T20:20:21.522Z,1742415621.522 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-03-19T20:20:21.522Z,1742415621.522 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-03-19T20:20:21.694Z,1742415621.694 [CTD_Seabird] Loaded
2025-03-19T20:20:21.694Z,1742415621.694 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-03-19T20:20:21.696Z,1742415621.696 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C054E0
2025-03-19T20:20:21.696Z,1742415621.696 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 4896
2025-03-19T20:20:21.733Z,1742415621.733 [ESPComponent] Loaded
2025-03-19T20:20:21.733Z,1742415621.733 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-03-19T20:20:21.756Z,1742415621.756 [PAR_Licor] Loaded
2025-03-19T20:20:21.756Z,1742415621.756 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-03-19T20:20:21.802Z,1742415621.802 [WetLabsBB2FL] Loaded
2025-03-19T20:20:21.802Z,1742415621.802 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-03-19T20:20:21.803Z,1742415621.803 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C354E0
2025-03-19T20:20:21.804Z,1742415621.804 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 4897
2025-03-19T20:20:21.805Z,1742415621.805 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-03-19T20:20:21.822Z,1742415621.822 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-03-19T20:20:21.825Z,1742415621.825 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-03-19T20:20:21.839Z,1742415621.839 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-03-19T20:20:21.840Z,1742415621.840 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-03-19T20:20:21.840Z,1742415621.840 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4898
2025-03-19T20:20:21.845Z,1742415621.845 [Supervisor](INFO): Main Thread ID is 4806
2025-03-19T20:20:21.845Z,1742415621.845 [Supervisor](DEBUG): Running supervisor.
2025-03-19T20:20:21.846Z,1742415621.846 [CommandExec ThreadHandler](INFO): Handler Thread ID is 4899
2025-03-19T20:20:21.846Z,1742415621.846 [CommandExec](INFO): Initializing the command executive.
2025-03-19T20:20:21.848Z,1742415621.848 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4900
2025-03-19T20:20:21.850Z,1742415621.850 [controlThread ThreadHandler](INFO): Handler Thread ID is 4901
2025-03-19T20:20:21.850Z,1742415621.850 [controlThread](DEBUG): Initializing ControlThread
2025-03-19T20:20:21.851Z,1742415621.851 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-03-19T20:20:21.853Z,1742415621.853 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-03-19T20:20:21.853Z,1742415621.853 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-03-19T20:20:21.854Z,1742415621.854 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-03-19T20:20:21.860Z,1742415621.860 [SBIT](INFO): Initialize SBIT Component.
2025-03-19T20:20:21.860Z,1742415621.860 [SBIT](IMPORTANT): git: 2025-03-12_C-5-gee26cea10
2025-03-19T20:20:21.861Z,1742415621.861 [SBIT](INFO): git hash: ee26cea10450eb5895aa6bdf488dda10f0d7ce74
2025-03-19T20:20:21.861Z,1742415621.861 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-03-19T20:20:21.863Z,1742415621.863 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
Kernel Reported: #1 PREEMPT Tue Nov 28 15:04:22 PST 2023
2025-03-19T20:20:21.864Z,1742415621.864 [SBIT](INFO): Beginning SBIT in 71.000000 seconds.
2025-03-19T20:20:21.864Z,1742415621.864 [IBIT](INFO): Initialize IBIT Component.
2025-03-19T20:20:21.865Z,1742415621.865 [CBIT](DEBUG): Initialize CBIT Component.
2025-03-19T20:20:21.866Z,1742415621.866 [logger ThreadHandler](INFO): Handler Thread ID is 4902
2025-03-19T20:20:21.877Z,1742415621.877 [CBIT](DEBUG): Initialized mux pins.
2025-03-19T20:20:21.878Z,1742415621.878 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2025-03-19T20:20:21.878Z,1742415621.878 [CBIT](DEBUG): Initializing the watchdog timer.
2025-03-19T20:20:21.886Z,1742415621.886 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 4903
2025-03-19T20:20:21.898Z,1742415621.898 [DAT ThreadHandler](INFO): Handler Thread ID is 4904
2025-03-19T20:20:21.899Z,1742415621.899 [DAT](INFO): Powering up
2025-03-19T20:20:21.899Z,1742415621.899 [DAT](DEBUG): Initializing DAT.
2025-03-19T20:20:21.901Z,1742415621.901 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2025-03-19T20:20:21.902Z,1742415621.902 [CBIT] Hardware Fault, FailCount= 1
2025-03-19T20:20:21.902Z,1742415621.902 [CBIT](ERROR): Hardware Fault
2025-03-19T20:20:21.903Z,1742415621.903 [CBIT](FAULT): Found backtrace file:
1742415223.494319 [CommandExec]: SIGABRT: execution aborted (failed assertion, corrupted heap, or other problem?)
1742415223.494319 [CommandExec]: Backtrace:
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x1b3f94]


2025-03-19T20:20:21.907Z,1742415621.907 [CBIT](FAULT): Renaming backtrace file to Data/backtrace15
2025-03-19T20:20:21.907Z,1742415621.907 [CBIT](DEBUG): Initializing heartbeat.
2025-03-19T20:20:21.909Z,1742415621.909 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4906
2025-03-19T20:20:21.911Z,1742415621.911 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-03-19T20:20:21.934Z,1742415621.934 [Onboard ThreadHandler](INFO): Handler Thread ID is 4907
2025-03-19T20:20:21.952Z,1742415621.952 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4908
2025-03-19T20:20:21.970Z,1742415621.970 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 4909
2025-03-19T20:20:21.970Z,1742415621.970 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-03-19T20:20:21.975Z,1742415621.975 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 4911
2025-03-19T20:20:21.978Z,1742415621.978 [CBIT](DEBUG): Deactivating emergency mode.
2025-03-19T20:20:21.978Z,1742415621.978 [WetLabsBB2FL](INFO): Powering up
2025-03-19T20:20:21.979Z,1742415621.979 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4913
2025-03-19T20:20:21.982Z,1742415621.982 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-03-19T20:20:21.982Z,1742415621.982 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-03-19T20:20:21.982Z,1742415621.982 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-03-19T20:20:21.982Z,1742415621.982 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-03-19T20:20:21.983Z,1742415621.983 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-03-19T20:20:21.983Z,1742415621.983 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-03-19T20:20:21.983Z,1742415621.983 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-03-19T20:20:21.983Z,1742415621.983 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-03-19T20:20:22.017Z,1742415622.017 [CBIT](DEBUG): Backplane powered.
2025-03-19T20:20:22.018Z,1742415622.018 [GFScanner](DEBUG): Initializing GFScanner
2025-03-19T20:20:22.018Z,1742415622.018 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-03-19T20:20:22.019Z,1742415622.019 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-03-19T20:20:22.019Z,1742415622.019 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-03-19T20:20:22.019Z,1742415622.019 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-03-19T20:20:22.020Z,1742415622.020 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-03-19T20:20:22.021Z,1742415622.021 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-03-19T20:20:22.021Z,1742415622.021 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-03-19T20:20:22.026Z,1742415622.026 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-03-19T20:20:22.027Z,1742415622.027 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-03-19T20:20:22.027Z,1742415622.027 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-03-19T20:20:22.028Z,1742415622.028 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-03-19T20:20:22.112Z,1742415622.112 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission 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>

2025-03-19T20:20:22.128Z,1742415622.128 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-19T20:20:22.169Z,1742415622.169 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Startup {
  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-03-19T20:20:22.170Z,1742415622.170 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-03-19T20:20:22.170Z,1742415622.170 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-03-19T20:20:22.171Z,1742415622.171 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-03-19T20:20:22.358Z,1742415622.358 [Radio_Surface](INFO): Powering up
2025-03-19T20:20:22.461Z,1742415622.461 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <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>

2025-03-19T20:20:22.492Z,1742415622.492 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-03-19T20:20:22.493Z,1742415622.493 [Default:A.Wait](DEBUG): Construct Wait.
2025-03-19T20:20:22.499Z,1742415622.499 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-19T20:20:22.547Z,1742415622.547 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-03-19T20:20:22.558Z,1742415622.558 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-03-19T20:20:22.564Z,1742415622.564 [Default:E.Execute](DEBUG): Construct Execute.
2025-03-19T20:20:22.583Z,1742415622.583 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P4H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

    syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-03-19T20:20:22.588Z,1742415622.588 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,Waterlinked,ESPComponent,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,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-03-19T20:20:22.611Z,1742415622.611 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-03-19T20:20:22.675Z,1742415622.675 [Depth_Keller](ERROR): Pressure or depth reading out of range: -1.140412 decibar, -1.132002 m
2025-03-19T20:20:22.676Z,1742415622.676 [Power24vConverter](INFO): Powering up.
2025-03-19T20:20:22.677Z,1742415622.677 [Sonardyne_Nano](INFO): Initializing.
2025-03-19T20:20:22.708Z,1742415622.708 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-03-19T20:20:22.747Z,1742415622.747 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-03-19T20:20:22.758Z,1742415622.758 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-03-19T20:20:22.759Z,1742415622.759 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-19T20:20:22.766Z,1742415622.766 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-19T20:20:22.767Z,1742415622.767 [MassServo](DEBUG): Initializing EZServoServo.
2025-03-19T20:20:22.774Z,1742415622.774 [MassServo](DEBUG): Initializing MassServo.
2025-03-19T20:20:22.775Z,1742415622.775 [RudderServo](DEBUG): Initializing EZServoServo.
2025-03-19T20:20:22.782Z,1742415622.782 [RudderServo](DEBUG): Initializing RudderServo.
2025-03-19T20:20:22.783Z,1742415622.783 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-19T20:20:22.790Z,1742415622.790 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-19T20:20:22.791Z,1742415622.791 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-03-19T20:20:22.791Z,1742415622.791 [CBIT](DEBUG): Powering off loads.
2025-03-19T20:20:22.805Z,1742415622.805 [CBIT](DEBUG): Disabling WDT.
2025-03-19T20:20:23.027Z,1742415623.027 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2025-03-19T20:20:23.027Z,1742415623.027 [DropWeight] Hardware Fault, FailCount= 1
2025-03-19T20:20:23.027Z,1742415623.027 [DropWeight](ERROR): Hardware Fault
2025-03-19T20:20:24.150Z,1742415624.150 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2025-03-19T20:20:24.150Z,1742415624.150 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2025-03-19T20:20:24.150Z,1742415624.150 [BuoyancyServo] Communications Fault, FailCount= 1
2025-03-19T20:20:24.150Z,1742415624.150 [BuoyancyServo](ERROR): Communications Fault
2025-03-19T20:20:24.462Z,1742415624.462 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2025-03-19T20:20:24.462Z,1742415624.462 [ElevatorServo](FAULT): Elevator failed to initialize
2025-03-19T20:20:24.462Z,1742415624.462 [ElevatorServo] Communications Fault, FailCount= 1
2025-03-19T20:20:24.462Z,1742415624.462 [ElevatorServo](ERROR): Communications Fault
2025-03-19T20:20:24.769Z,1742415624.769 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2025-03-19T20:20:24.770Z,1742415624.770 [RudderServo](FAULT): Rudder failed to initialize
2025-03-19T20:20:24.770Z,1742415624.770 [RudderServo] Communications Fault, FailCount= 1
2025-03-19T20:20:24.770Z,1742415624.770 [RudderServo](ERROR): Communications Fault
2025-03-19T20:20:24.824Z,1742415624.824 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-03-19T20:20:24.825Z,1742415624.825 [ElevatorServo](INFO): Powering down
2025-03-19T20:20:24.835Z,1742415624.835 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-03-19T20:20:24.835Z,1742415624.835 [RudderServo](INFO): Powering down
2025-03-19T20:20:24.836Z,1742415624.836 [ThrusterHE](FAULT): Thruster failed to initialize
2025-03-19T20:20:24.836Z,1742415624.836 [ThrusterHE] Communications Fault, FailCount= 1
2025-03-19T20:20:24.836Z,1742415624.836 [ThrusterHE](ERROR): Communications Fault
2025-03-19T20:20:25.184Z,1742415625.184 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-03-19T20:20:25.234Z,1742415625.234 [ElevatorServo](FAULT): LCB fault:  Current Limiter Activated.
2025-03-19T20:20:25.234Z,1742415625.234 [ElevatorServo] Hardware Fault, FailCount= 1
2025-03-19T20:20:25.234Z,1742415625.234 [ElevatorServo](ERROR): Hardware Fault
2025-03-19T20:20:25.235Z,1742415625.235 [RudderServo](FAULT): LCB fault:  Current Limiter Activated.
2025-03-19T20:20:25.235Z,1742415625.235 [RudderServo] Hardware Fault, FailCount= 1
2025-03-19T20:20:25.235Z,1742415625.235 [RudderServo](ERROR): Hardware Fault
2025-03-19T20:20:25.236Z,1742415625.236 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-03-19T20:20:25.236Z,1742415625.236 [ThrusterHE](INFO): Powering down
2025-03-19T20:20:25.611Z,1742415625.611 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-19T20:20:25.730Z,1742415625.730 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-19T20:20:26.033Z,1742415626.033 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2025-03-19T20:20:26.034Z,1742415626.034 [MassServo] Communications Fault, FailCount= 1
2025-03-19T20:20:26.034Z,1742415626.034 [MassServo](ERROR): Communications Fault
2025-03-19T20:20:26.035Z,1742415626.035 [RudderServo](DEBUG): Initializing EZServoServo.
2025-03-19T20:20:26.154Z,1742415626.154 [RudderServo](DEBUG): Initializing RudderServo.
2025-03-19T20:20:26.304Z,1742415626.304 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-03-19T20:20:26.304Z,1742415626.304 [MassServo](INFO): Powering down
2025-03-19T20:20:26.682Z,1742415626.682 [MassServo](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2025-03-19T20:20:26.682Z,1742415626.682 [MassServo] Hardware Fault, FailCount= 1
2025-03-19T20:20:26.682Z,1742415626.682 [MassServo](ERROR): Hardware Fault
2025-03-19T20:20:26.998Z,1742415626.998 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2311
2025-03-19T20:20:27.016Z,1742415627.016 [MassServo](DEBUG): Initializing EZServoServo.
2025-03-19T20:20:27.135Z,1742415627.135 [MassServo](DEBUG): Initializing MassServo.
2025-03-19T20:20:27.265Z,1742415627.265 [WetLabsBB2FL] Communications Fault, FailCount= 1
2025-03-19T20:20:27.265Z,1742415627.265 [WetLabsBB2FL](ERROR): Communications Fault
2025-03-19T20:20:27.445Z,1742415627.445 [Sonardyne_Nano](ERROR): External power not detected
2025-03-19T20:20:27.766Z,1742415627.766 [WetLabsBB2FL](INFO): Powering down
2025-03-19T20:20:35.022Z,1742415635.022 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2025-03-19T20:20:35.022Z,1742415635.022 [CTD_Seabird] Communications Fault, FailCount= 1
2025-03-19T20:20:35.022Z,1742415635.022 [CTD_Seabird](ERROR): Communications Fault
2025-03-19T20:20:35.426Z,1742415635.426 [CTD_Seabird](INFO): Powering down
2025-03-19T20:20:41.117Z,1742415641.117 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2025-03-19T20:20:41.117Z,1742415641.117 [AHRS_M2] Data Fault, FailCount= 1
2025-03-19T20:20:41.118Z,1742415641.118 [AHRS_M2](ERROR): Data Fault
2025-03-19T20:20:41.511Z,1742415641.511 [AHRS_M2](INFO): Powering down
2025-03-19T20:20:50.403Z,1742415650.403 [NAL9602](INFO): Powering up NAL9602
2025-03-19T20:20:50.807Z,1742415650.807 [Waterlinked](FAULT): Could not initialize.
2025-03-19T20:20:50.807Z,1742415650.807 [Waterlinked] Communications Fault, FailCount= 1
2025-03-19T20:20:50.807Z,1742415650.807 [Waterlinked](ERROR): Communications Fault
2025-03-19T20:20:51.298Z,1742415651.298 [Waterlinked](INFO): Powering down
2025-03-19T20:21:11.012Z,1742415671.012 [NAL9602](ERROR): NAL9602 initialization error.
2025-03-19T20:21:11.012Z,1742415671.012 [NAL9602] Communications Fault, FailCount= 1
2025-03-19T20:21:11.012Z,1742415671.012 [NAL9602](ERROR): Communications Fault
2025-03-19T20:21:11.415Z,1742415671.415 [NAL9602](INFO): Powering down
2025-03-19T20:21:21.930Z,1742415681.930 [DAT](FAULT): failed to initialize, no bytes available on serial interface
2025-03-19T20:21:21.930Z,1742415681.930 [DAT] Communications Fault, FailCount= 1
2025-03-19T20:21:21.930Z,1742415681.930 [DAT](ERROR): Communications Fault
2025-03-19T20:21:22.334Z,1742415682.334 [DAT](INFO): Powering down
2025-03-19T20:21:22.814Z,1742415682.814 [DAT](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2025-03-19T20:21:22.814Z,1742415682.814 [DAT] Hardware Fault, FailCount= 1
2025-03-19T20:21:22.814Z,1742415682.814 [DAT](ERROR): Hardware Fault
2025-03-19T20:21:33.645Z,1742415693.645 [SBIT](IMPORTANT): Beginning Startup BIT
2025-03-19T20:21:46.977Z,1742415706.977 [SBIT](ERROR): Could not read elevatorAngleReader_.
2025-03-19T20:21:46.977Z,1742415706.977 [SBIT](ERROR): Could not read rudderAngleReader_.
2025-03-19T20:21:46.977Z,1742415706.977 [SBIT](ERROR): Could not read massPosReader_.
2025-03-19T20:22:13.645Z,1742415733.645 [SBIT](ERROR): Could not read elevatorAngleReader_.
2025-03-19T20:22:13.645Z,1742415733.645 [SBIT](ERROR): Could not read rudderAngleReader_.
2025-03-19T20:22:13.645Z,1742415733.645 [SBIT](ERROR): Could not read massPosReader_.
2025-03-19T20:22:13.645Z,1742415733.645 [SBIT](FAULT): Control surface position failure.
2025-03-19T20:22:22.120Z,1742415742.120 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-03-19T20:22:22.120Z,1742415742.120 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-03-19T20:22:22.120Z,1742415742.120 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-19T20:22:27.370Z,1742415747.371 [SBIT](ERROR): Could not read elevatorAngleReader_.
2025-03-19T20:22:27.371Z,1742415747.371 [SBIT](ERROR): Could not read rudderAngleReader_.
2025-03-19T20:22:27.371Z,1742415747.371 [SBIT](ERROR): Could not read massPosReader_.
2025-03-19T20:22:27.371Z,1742415747.371 [SBIT](FAULT): Control surface position failure.
2025-03-19T20:22:27.781Z,1742415747.781 [SBIT](CRITICAL): SBIT FAILED
2025-03-19T20:22:27.781Z,1742415747.781 [SBIT](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2025-03-19T20:22:28.177Z,1742415748.177 [MissionManager](IMPORTANT): Started mission Startup
2025-03-19T20:22:28.178Z,1742415748.178 [Startup] Running Loop=1
2025-03-19T20:22:28.178Z,1742415748.178 [Startup](DEBUG): Aggregate::initialize Startup
2025-03-19T20:22:28.178Z,1742415748.178 [Startup:A.GoToSurface] Running Loop=1
2025-03-19T20:22:28.178Z,1742415748.178 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-19T20:22:28.179Z,1742415748.179 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-19T20:22:28.179Z,1742415748.179 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-19T20:22:28.179Z,1742415748.179 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-19T20:22:28.180Z,1742415748.180 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-19T20:22:28.180Z,1742415748.180 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-19T20:22:28.180Z,1742415748.180 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-19T20:22:28.195Z,1742415748.195 [Startup:StartupSatComms] Running Loop=1
2025-03-19T20