2025-10-20T15:50:00.078Z,1760975400.078 [Supervisor](DEBUG): Initializing supervisor.
2025-10-20T15:50:00.083Z,1760975400.083 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-10-20T15:50:00.083Z,1760975400.083 [SyncHandler](INFO): Protected caller Thread ID is 1153
2025-10-20T15:50:00.084Z,1760975400.084 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-10-20T15:50:00.085Z,1760975400.085 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-10-20T15:50:00.086Z,1760975400.086 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1154
2025-10-20T15:50:00.090Z,1760975400.090 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-10-20T15:50:00.111Z,1760975400.111 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-10-20T15:50:00.112Z,1760975400.112 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-10-20T15:50:00.112Z,1760975400.112 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1155
2025-10-20T15:50:00.117Z,1760975400.117 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-10-20T15:50:00.118Z,1760975400.118 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-10-20T15:50:00.118Z,1760975400.118 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1156
2025-10-20T15:50:00.121Z,1760975400.121 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-10-20T15:50:00.122Z,1760975400.122 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-10-20T15:50:00.122Z,1760975400.122 [logger ThreadHandler](INFO): Protected caller Thread ID is 1157
2025-10-20T15:50:00.126Z,1760975400.126 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-10-20T15:50:00.126Z,1760975400.126 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-10-20T15:50:00.128Z,1760975400.128 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-10-20T15:50:00.488Z,1760975400.488 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-10-20T15:50:00.488Z,1760975400.488 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-10-20T15:50:01.292Z,1760975401.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-10-20T15:50:01.292Z,1760975401.292 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-10-20T15:50:01.413Z,1760975401.413 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-10-20T15:50:01.414Z,1760975401.414 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-10-20T15:50:02.011Z,1760975402.011 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-10-20T15:50:02.012Z,1760975402.012 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-10-20T15:50:02.271Z,1760975402.271 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-10-20T15:50:02.272Z,1760975402.272 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-10-20T15:50:02.376Z,1760975402.376 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-10-20T15:50:02.376Z,1760975402.376 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-10-20T15:50:02.820Z,1760975402.820 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-10-20T15:50:02.820Z,1760975402.820 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-10-20T15:50:03.059Z,1760975403.059 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-10-20T15:50:03.059Z,1760975403.059 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-10-20T15:50:03.211Z,1760975403.211 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-10-20T15:50:03.211Z,1760975403.211 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-10-20T15:50:03.481Z,1760975403.481 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-10-20T15:50:03.482Z,1760975403.482 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-10-20T15:50:04.074Z,1760975404.074 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-10-20T15:50:04.075Z,1760975404.075 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-10-20T15:50:04.490Z,1760975404.490 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-10-20T15:50:04.490Z,1760975404.490 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-10-20T15:50:04.580Z,1760975404.580 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-10-20T15:50:04.782Z,1760975404.782 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-10-20T15:50:04.782Z,1760975404.782 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-10-20T15:50:05.054Z,1760975405.054 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-10-20T15:50:05.054Z,1760975405.054 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-10-20T15:50:05.386Z,1760975405.386 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-10-20T15:50:05.388Z,1760975405.388 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2025-10-20T15:50:05.389Z,1760975405.389 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2025-10-20T15:50:05.499Z,1760975405.499 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2025-10-20T15:50:05.668Z,1760975405.668 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2025-10-20T15:50:05.766Z,1760975405.766 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2025-10-20T15:50:05.861Z,1760975405.861 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2025-10-20T15:50:05.986Z,1760975405.986 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg
2025-10-20T15:50:06.091Z,1760975406.091 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Dock.cfg
2025-10-20T15:50:06.217Z,1760975406.217 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2025-10-20T15:50:06.334Z,1760975406.334 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2025-10-20T15:50:06.619Z,1760975406.619 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-10-20T15:50:06.619Z,1760975406.619 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2025-10-20T15:50:06.766Z,1760975406.766 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2025-10-20T15:50:06.870Z,1760975406.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2025-10-20T15:50:06.976Z,1760975406.976 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2025-10-20T15:50:07.088Z,1760975407.088 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/root/
2025-10-20T15:50:07.088Z,1760975407.088 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-10-20T15:50:07.096Z,1760975407.096 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-10-20T15:50:07.258Z,1760975407.258 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-10-20T15:50:07.259Z,1760975407.259 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-10-20T15:50:07.269Z,1760975407.269 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-10-20T15:50:07.270Z,1760975407.270 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-10-20T15:50:07.325Z,1760975407.325 [DepthRateCalculator] Loaded
2025-10-20T15:50:07.325Z,1760975407.325 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-10-20T15:50:07.332Z,1760975407.332 [PitchRateCalculator] Loaded
2025-10-20T15:50:07.332Z,1760975407.332 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-10-20T15:50:07.343Z,1760975407.343 [SpeedCalculator] Loaded
2025-10-20T15:50:07.343Z,1760975407.343 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-10-20T15:50:07.348Z,1760975407.348 [YawRateCalculator] Loaded
2025-10-20T15:50:07.349Z,1760975407.349 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-10-20T15:50:07.439Z,1760975407.439 [ElevatorOffsetCalculator] Loaded
2025-10-20T15:50:07.439Z,1760975407.439 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-10-20T15:50:07.440Z,1760975407.440 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-10-20T15:50:07.441Z,1760975407.441 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-10-20T15:50:07.688Z,1760975407.688 [VerticalControl](DEBUG): Construct VerticalControl.
2025-10-20T15:50:07.858Z,1760975407.858 [VerticalControl] Loaded
2025-10-20T15:50:07.859Z,1760975407.859 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-10-20T15:50:07.862Z,1760975407.862 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-10-20T15:50:07.911Z,1760975407.911 [HorizontalControl] Loaded
2025-10-20T15:50:07.911Z,1760975407.911 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-10-20T15:50:07.914Z,1760975407.914 [SpeedControl](DEBUG): Construct SpeedControl.
2025-10-20T15:50:07.917Z,1760975407.917 [SpeedControl] Loaded
2025-10-20T15:50:07.917Z,1760975407.917 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-10-20T15:50:07.920Z,1760975407.920 [LoopControl](DEBUG): Construct LoopControl.
2025-10-20T15:50:07.920Z,1760975407.920 [LoopControl] Loaded
2025-10-20T15:50:07.920Z,1760975407.920 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-10-20T15:50:07.921Z,1760975407.921 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-10-20T15:50:07.921Z,1760975407.921 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-10-20T15:50:08.128Z,1760975408.128 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-10-20T15:50:08.128Z,1760975408.128 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-10-20T15:50:08.143Z,1760975408.143 [NavChart] Loaded
2025-10-20T15:50:08.143Z,1760975408.143 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-10-20T15:50:08.149Z,1760975408.149 [UniversalFixResidualReporter] Loaded
2025-10-20T15:50:08.149Z,1760975408.149 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-10-20T15:50:08.150Z,1760975408.150 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-10-20T15:50:08.150Z,1760975408.150 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-10-20T15:50:08.338Z,1760975408.338 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-10-20T15:50:08.339Z,1760975408.339 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-10-20T15:50:08.856Z,1760975408.856 [AHRS_M2] Loaded
2025-10-20T15:50:08.857Z,1760975408.857 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-10-20T15:50:08.897Z,1760975408.897 [BackseatComponent] Loaded
2025-10-20T15:50:08.897Z,1760975408.897 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-10-20T15:50:08.898Z,1760975408.898 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409404E0
2025-10-20T15:50:08.898Z,1760975408.898 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1245
2025-10-20T15:50:08.901Z,1760975408.901 [LcmUniversalReporter] Loaded
2025-10-20T15:50:08.902Z,1760975408.902 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-10-20T15:50:09.765Z,1760975409.765 [BPC1] Loaded
2025-10-20T15:50:09.766Z,1760975409.766 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-10-20T15:50:09.868Z,1760975409.868 [DAT] Loaded
2025-10-20T15:50:09.869Z,1760975409.869 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-10-20T15:50:09.870Z,1760975409.870 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409704E0
2025-10-20T15:50:09.870Z,1760975409.870 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1246
2025-10-20T15:50:09.947Z,1760975409.947 [DataOverHttps] Loaded
2025-10-20T15:50:09.947Z,1760975409.947 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-10-20T15:50:09.948Z,1760975409.948 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409A04E0
2025-10-20T15:50:09.948Z,1760975409.948 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1247
2025-10-20T15:50:09.972Z,1760975409.972 [Depth_Keller] Loaded
2025-10-20T15:50:09.973Z,1760975409.973 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-10-20T15:50:09.978Z,1760975409.978 [DropWeight] Loaded
2025-10-20T15:50:09.978Z,1760975409.978 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-10-20T15:50:10.045Z,1760975410.045 [NAL9602] Loaded
2025-10-20T15:50:10.045Z,1760975410.045 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-10-20T15:50:10.076Z,1760975410.076 [Onboard] Loaded
2025-10-20T15:50:10.076Z,1760975410.076 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-10-20T15:50:10.077Z,1760975410.077 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409D04E0
2025-10-20T15:50:10.078Z,1760975410.078 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1248
2025-10-20T15:50:10.092Z,1760975410.092 [Power24vConverter] Loaded
2025-10-20T15:50:10.092Z,1760975410.092 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-10-20T15:50:10.109Z,1760975410.109 [Radio_Surface] Loaded
2025-10-20T15:50:10.110Z,1760975410.110 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-10-20T15:50:10.111Z,1760975410.111 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A004E0
2025-10-20T15:50:10.111Z,1760975410.111 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1249
2025-10-20T15:50:10.159Z,1760975410.159 [RDI_Pathfinder] Loaded
2025-10-20T15:50:10.159Z,1760975410.159 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-10-20T15:50:10.175Z,1760975410.175 [Sonardyne_Nano] Loaded
2025-10-20T15:50:10.175Z,1760975410.175 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-10-20T15:50:10.176Z,1760975410.176 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-10-20T15:50:10.177Z,1760975410.177 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-10-20T15:50:10.318Z,1760975410.318 [BuoyancyServo] Loaded
2025-10-20T15:50:10.319Z,1760975410.319 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-10-20T15:50:10.344Z,1760975410.344 [ElevatorServo] Loaded
2025-10-20T15:50:10.344Z,1760975410.344 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-10-20T15:50:10.376Z,1760975410.376 [DockingStepper] Loaded
2025-10-20T15:50:10.376Z,1760975410.376 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-10-20T15:50:10.396Z,1760975410.396 [MassServo] Loaded
2025-10-20T15:50:10.397Z,1760975410.397 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-10-20T15:50:10.418Z,1760975410.418 [RudderServo] Loaded
2025-10-20T15:50:10.418Z,1760975410.418 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-10-20T15:50:10.436Z,1760975410.436 [ThrusterHE] Loaded
2025-10-20T15:50:10.436Z,1760975410.436 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-10-20T15:50:10.436Z,1760975410.436 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-10-20T15:50:10.437Z,1760975410.437 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-10-20T15:50:10.499Z,1760975410.499 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-10-20T15:50:10.500Z,1760975410.500 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-10-20T15:50:10.532Z,1760975410.532 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-10-20T15:50:10.532Z,1760975410.532 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-10-20T15:50:10.893Z,1760975410.893 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-10-20T15:50:10.894Z,1760975410.894 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-10-20T15:50:11.074Z,1760975411.074 [CTD_Seabird] Loaded
2025-10-20T15:50:11.074Z,1760975411.074 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-10-20T15:50:11.075Z,1760975411.075 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BC24E0
2025-10-20T15:50:11.076Z,1760975411.076 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1250
2025-10-20T15:50:11.113Z,1760975411.113 [ESPComponent] Loaded
2025-10-20T15:50:11.114Z,1760975411.114 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-10-20T15:50:11.137Z,1760975411.137 [PAR_Licor] Loaded
2025-10-20T15:50:11.138Z,1760975411.138 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-10-20T15:50:11.185Z,1760975411.185 [WetLabsBB2FL] Loaded
2025-10-20T15:50:11.186Z,1760975411.186 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-10-20T15:50:11.187Z,1760975411.187 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BF24E0
2025-10-20T15:50:11.187Z,1760975411.187 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1251
2025-10-20T15:50:11.188Z,1760975411.188 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-10-20T15:50:11.188Z,1760975411.188 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-10-20T15:50:11.359Z,1760975411.359 [SBIT](DEBUG): Construct Startup Built In Test.
2025-10-20T15:50:11.369Z,1760975411.369 [SBIT] Loaded
2025-10-20T15:50:11.369Z,1760975411.369 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-10-20T15:50:11.372Z,1760975411.372 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-10-20T15:50:11.385Z,1760975411.385 [IBIT] Loaded
2025-10-20T15:50:11.386Z,1760975411.386 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-10-20T15:50:11.391Z,1760975411.391 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-10-20T15:50:11.478Z,1760975411.478 [CBIT] Loaded
2025-10-20T15:50:11.478Z,1760975411.478 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-10-20T15:50:11.512Z,1760975411.512 [GFScanner] Loaded
2025-10-20T15:50:11.513Z,1760975411.513 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-10-20T15:50:11.513Z,1760975411.513 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-10-20T15:50:11.520Z,1760975411.520 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-10-20T15:50:11.523Z,1760975411.523 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-10-20T15:50:11.535Z,1760975411.535 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-10-20T15:50:11.536Z,1760975411.536 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2025-10-20T15:50:11.536Z,1760975411.536 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1252
2025-10-20T15:50:11.541Z,1760975411.541 [Supervisor](INFO): Main Thread ID is 824
2025-10-20T15:50:11.541Z,1760975411.541 [Supervisor](DEBUG): Running supervisor.
2025-10-20T15:50:11.542Z,1760975411.542 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1253
2025-10-20T15:50:11.542Z,1760975411.542 [CommandExec](INFO): Initializing the command executive.
2025-10-20T15:50:11.544Z,1760975411.544 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1254
2025-10-20T15:50:11.546Z,1760975411.546 [controlThread ThreadHandler](INFO): Handler Thread ID is 1255
2025-10-20T15:50:11.547Z,1760975411.547 [controlThread](DEBUG): Initializing ControlThread
2025-10-20T15:50:11.547Z,1760975411.547 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-10-20T15:50:11.548Z,1760975411.548 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-10-20T15:50:11.548Z,1760975411.548 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-10-20T15:50:11.548Z,1760975411.548 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-10-20T15:50:11.549Z,1760975411.549 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-10-20T15:50:11.550Z,1760975411.550 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-10-20T15:50:11.551Z,1760975411.551 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-10-20T15:50:11.552Z,1760975411.552 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-10-20T15:50:11.552Z,1760975411.552 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-10-20T15:50:11.553Z,1760975411.553 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-10-20T15:50:11.554Z,1760975411.554 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-10-20T15:50:11.561Z,1760975411.561 [SBIT](INFO): Initialize SBIT Component.
2025-10-20T15:50:11.562Z,1760975411.562 [SBIT](IMPORTANT): git: 2025-09-19
2025-10-20T15:50:11.562Z,1760975411.562 [SBIT](INFO): git hash: f5f7d10969816d125effdffd07357c8d50a3a0d0
2025-10-20T15:50:11.562Z,1760975411.562 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-10-20T15:50:11.563Z,1760975411.563 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Sep 24 11:12:27 PDT 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-10-20T15:50:11.564Z,1760975411.564 [SBIT](INFO): Beginning SBIT in 115.000000 seconds.
2025-10-20T15:50:11.565Z,1760975411.565 [IBIT](INFO): Initialize IBIT Component.
2025-10-20T15:50:11.566Z,1760975411.566 [CBIT](DEBUG): Initialize CBIT Component.
2025-10-20T15:50:11.567Z,1760975411.567 [logger ThreadHandler](INFO): Handler Thread ID is 1256
2025-10-20T15:50:11.577Z,1760975411.577 [CBIT](DEBUG): Initialized mux pins.
2025-10-20T15:50:11.577Z,1760975411.577 [CBIT](DEBUG): Initializing the watchdog timer.
2025-10-20T15:50:11.585Z,1760975411.585 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1257
2025-10-20T15:50:11.597Z,1760975411.597 [DAT ThreadHandler](INFO): Handler Thread ID is 1258
2025-10-20T15:50:11.598Z,1760975411.598 [DAT](INFO): Powering up
2025-10-20T15:50:11.598Z,1760975411.598 [DAT](DEBUG): Initializing DAT.
2025-10-20T15:50:11.601Z,1760975411.601 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-10-20T15:50:11.601Z,1760975411.601 [CBIT](DEBUG): Initializing heartbeat.
2025-10-20T15:50:11.603Z,1760975411.603 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1260
2025-10-20T15:50:11.605Z,1760975411.605 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-10-20T15:50:11.614Z,1760975411.614 [Onboard ThreadHandler](INFO): Handler Thread ID is 1261
2025-10-20T15:50:11.631Z,1760975411.631 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1262
2025-10-20T15:50:11.650Z,1760975411.650 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1263
2025-10-20T15:50:11.650Z,1760975411.650 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-10-20T15:50:11.654Z,1760975411.654 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1265
2025-10-20T15:50:11.657Z,1760975411.657 [WetLabsBB2FL](INFO): Powering up
2025-10-20T15:50:11.659Z,1760975411.659 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1267
2025-10-20T15:50:11.661Z,1760975411.661 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-10-20T15:50:11.661Z,1760975411.661 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-10-20T15:50:11.662Z,1760975411.662 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-10-20T15:50:11.662Z,1760975411.662 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-10-20T15:50:11.662Z,1760975411.662 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-10-20T15:50:11.662Z,1760975411.662 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-10-20T15:50:11.662Z,1760975411.662 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-10-20T15:50:11.662Z,1760975411.662 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-10-20T15:50:11.673Z,1760975411.673 [CBIT](DEBUG): Deactivating emergency mode.
2025-10-20T15:50:11.713Z,1760975411.713 [CBIT](DEBUG): Backplane powered.
2025-10-20T15:50:11.713Z,1760975411.713 [GFScanner](DEBUG): Initializing GFScanner
2025-10-20T15:50:11.713Z,1760975411.713 [GFScanner](DEBUG): Deactivating GF circuits.
2025-10-20T15:50:11.718Z,1760975411.718 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-10-20T15:50:11.719Z,1760975411.719 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-10-20T15:50:11.719Z,1760975411.719 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-10-20T15:50:11.720Z,1760975411.720 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-10-20T15:50:11.725Z,1760975411.725 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-10-20T15:50:11.726Z,1760975411.726 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-10-20T15:50:11.726Z,1760975411.726 [MissionManager](ERROR): Could not load startup mission.
2025-10-20T15:50:11.726Z,1760975411.726 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-10-20T15:50:11.726Z,1760975411.726 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-10-20T15:50:11.728Z,1760975411.728 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-10-20T15:50:12.037Z,1760975412.037 [Radio_Surface](INFO): Powering up
2025-10-20T15:50:12.354Z,1760975412.354 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="DefaultWithUndock">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:hour />
        <Value>6</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DriftTimeout">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>30</Value>
        </Setting>
    </Guidance:Wait>
    <Aggregate Id="LeaveDock">
        <Sequence />
        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">
                Timed out while trying to detach from dock at current depth of 
                <Universal:depth />
                <Units:meter />
                .
            </Syslog>
        </Timeout>
        <Estimation:TrackAcousticContact>
            <While>
                <Universal:depth />
                <Gt>
                    <Control:VerticalControl.surfaceThreshold />
                </Gt>
            </While>
            <Setting>
                <Estimation:TrackAcousticContact.contactLabelSetting />
                <Arg Name="TransponderCode" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.numberOfSamplesSetting />
                <Arg Name="NumberOfPings" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.updatePeriodSetting />
                <Arg Name="TrackingUpdatePeriod" />
            </Setting>
        </Estimation:TrackAcousticContact>
        <Dock:Undock>
            <Sequence />
            <Setting>
                <Dock:Undock.driftTimeout />
                <Arg Name="DriftTimeout" />
            </Setting>
        </Dock:Undock>
    </Aggregate>
    <Aggregate Id="SurfaceDefault">
        <Sequence />
        <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>
    </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>

2025-10-20T15:50:12.361Z,1760975412.361 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-10-20T15:50:12.389Z,1760975412.389 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-10-20T15:50:12.417Z,1760975412.417 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-10-20T15:50:12.421Z,1760975412.421 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-10-20T15:50:12.441Z,1760975412.441 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-10-20T15:50:12.445Z,1760975412.445 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-10-20T15:50:12.447Z,1760975412.447 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-10-20T15:50:12.631Z,1760975412.631 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-10-20T15:50:12.631Z,1760975412.631 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-20T15:50:12.686Z,1760975412.686 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-20T15:50:12.743Z,1760975412.743 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-10-20T15:50:12.754Z,1760975412.754 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-10-20T15:50:12.764Z,1760975412.764 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-10-20T15:50:12.768Z,1760975412.768 [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 DefaultWithUndock {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute

    DetachTimeout = 6 hour
      """
      Maximum time duration for the vehicle to detach form the dock.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Dock transponder address.
      """

    TrackingUpdatePeriod = 10 second
      """
      Time duration between acoustic range queries while the mission is
      detaching from the dock.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    DriftTimeout = 3 minute
      """
      How long to allow vehicle to drift away from dock before retrying reverse
      """
  }

  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 = 30 second
  }

  aggregate LeaveDock {
    run in sequence

    timeout duration=DetachTimeout {
      syslog important "Timed out while trying to detach from dock at current depth of "
           + Universal:depth~meter + "."
    }

    # Acoustic tracking directives

    behavior Estimation:TrackAcousticContact {
      run while (
        Universal:depth > Control:VerticalControl.surfaceThreshold
      )

      set contactLabelSetting = TransponderCode
      set numberOfSamplesSetting = NumberOfPings
      set updatePeriodSetting = TrackingUpdatePeriod
    }

    # Leave the dock

    behavior Dock:Undock {
      run in sequence

      set driftTimeout = DriftTimeout
    }
  }

  aggregate SurfaceDefault {
    run in sequence

    # This mission assumes open water so from here on it's the same old default that's always used

    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=P2H {
          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"
  }
}


2025-10-20T15:50:12.786Z,1760975412.786 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-10-20T15:50:12.809Z,1760975412.809 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-10-20T15:50:12.873Z,1760975412.873 [Depth_Keller](INFO): Initializing.
2025-10-20T15:50:12.875Z,1760975412.875 [Power24vConverter](INFO): Powering up.
2025-10-20T15:50:12.876Z,1760975412.876 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-20T15:50:12.882Z,1760975412.882 [Sonardyne_Nano](INFO): Initializing.
2025-10-20T15:50:12.913Z,1760975412.913 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-10-20T15:50:12.936Z,1760975412.936 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-10-20T15:50:12.945Z,1760975412.945 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-10-20T15:50:12.946Z,1760975412.946 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-10-20T15:50:12.953Z,1760975412.953 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-10-20T15:50:12.954Z,1760975412.954 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-20T15:50:12.961Z,1760975412.961 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-20T15:50:12.962Z,1760975412.962 [MassServo](DEBUG): Initializing EZServoServo.
2025-10-20T15:50:12.969Z,1760975412.969 [MassServo](DEBUG): Initializing MassServo.
2025-10-20T15:50:12.970Z,1760975412.970 [RudderServo](DEBUG): Initializing EZServoServo.
2025-10-20T15:50:12.977Z,1760975412.977 [RudderServo](DEBUG): Initializing RudderServo.
2025-10-20T15:50:12.978Z,1760975412.978 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-10-20T15:50:12.985Z,1760975412.985 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-10-20T15:50:13.228Z,1760975413.228 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2025-10-20T15:50:13.228Z,1760975413.228 [DropWeight] Hardware Fault, FailCount= 1
2025-10-20T15:50:13.228Z,1760975413.228 [DropWeight](ERROR): Hardware Fault
2025-10-20T15:50:13.265Z,1760975413.265 [CommandExec](FAULT): Scheduling is paused
2025-10-20T15:50:13.266Z,1760975413.266 [CBIT](INFO): Critical error at 20251020T155013
2025-10-20T15:50:13.266Z,1760975413.266 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-10-20T15:50:13.269Z,1760975413.269 [CBIT](ERROR): Hardware Fault in component: DropWeight
2025-10-20T15:50:13.277Z,1760975413.277 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2025-10-20T15:50:13.652Z,1760975413.652 [CBIT](INFO): Critical error at 20251020T155013
2025-10-20T15:50:13.765Z,1760975413.765 [WetLabsBB2FL](INFO): Powering down
2025-10-20T15:50:14.815Z,1760975414.815 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-10-20T15:50:16.473Z,1760975416.473 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207
2025-10-20T15:50:17.290Z,1760975417.290 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-20T15:50:17.290Z,1760975417.290 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-20T15:50:18.566Z,1760975418.566 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-10-20T15:50:18.681Z,1760975418.681 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-10-20T15:50:23.694Z,1760975423.694 [DAT](INFO): DAT read: 

2025-10-20T15:50:23.698Z,1760975423.698 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-20T15:50:25.208Z,1760975425.208 [DAT](INFO): DAT read: MF Frequency Band

2025-10-20T15:50:25.459Z,1760975425.459 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-20T15:50:25.459Z,1760975425.459 [DAT](INFO): DAT read: Oct 20 2025 15:50:19 

2025-10-20T15:50:26.466Z,1760975426.466 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-20T15:50:26.467Z,1760975426.467 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-20T15:50:26.468Z,1760975426.468 [DAT](INFO): commRate: 600
2025-10-20T15:50:28.533Z,1760975428.533 [DAT](INFO): entering command mode
2025-10-20T15:50:28.734Z,1760975428.734 [DAT](INFO): DAT read: 

2025-10-20T15:50:28.734Z,1760975428.734 [DAT](INFO): DAT read: user:1>

2025-10-20T15:50:28.735Z,1760975428.735 [DAT](INFO): setting verbose to 3
2025-10-20T15:50:28.986Z,1760975428.986 [DAT](INFO): DAT read: user:1>

2025-10-20T15:50:28.987Z,1760975428.987 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-20T15:50:28.987Z,1760975428.987 [DAT](INFO): set verbose to 3
2025-10-20T15:50:28.988Z,1760975428.988 [DAT](INFO): setting DatVerbose to 27440
2025-10-20T15:50:29.238Z,1760975429.238 [DAT](INFO): DAT read: user:2>

2025-10-20T15:50:29.239Z,1760975429.239 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-20T15:50:29.239Z,1760975429.239 [DAT](INFO): set DatVerbose to 27440
2025-10-20T15:50:29.240Z,1760975429.240 [DAT](INFO): setting transmit power to 8
2025-10-20T15:50:29.492Z,1760975429.492 [DAT](INFO): DAT read: user:3>

2025-10-20T15:50:29.496Z,1760975429.496 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-20T15:50:29.497Z,1760975429.497 [DAT](INFO): set transmit power to 8
2025-10-20T15:50:29.498Z,1760975429.498 [DAT](INFO): setting local address to 11
2025-10-20T15:50:29.742Z,1760975429.742 [DAT](INFO): DAT read: user:4>

2025-10-20T15:50:29.743Z,1760975429.743 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-20T15:50:29.743Z,1760975429.743 [DAT](INFO): set local address to 11
2025-10-20T15:50:29.744Z,1760975429.744 [DAT](INFO): Setting time to: 15:50:29 And date to:10/20/2025
2025-10-20T15:50:29.998Z,1760975429.998 [DAT](INFO): DAT read: user:5>

2025-10-20T15:50:29.999Z,1760975429.999 [DAT](INFO): DAT read: Mon Oct 20, 2025  15:50:29  

2025-10-20T15:50:29.999Z,1760975429.999 [DAT](INFO): Local DAT time set to Mon Oct 20, 2025  15:50:29  

2025-10-20T15:50:36.830Z,1760975436.830 [CommandExec](IMPORTANT): got command failComponent
2025-10-20T15:50:36.830Z,1760975436.830 [CommandExec](IMPORTANT): Failed components:
2025-10-20T15:50:36.830Z,1760975436.830 [CommandExec](IMPORTANT): DropWeight: Hardware Fault
2025-10-20T15:50:40.274Z,1760975440.274 [NAL9602](INFO): Powering up NAL9602
2025-10-20T15:50:42.729Z,1760975442.729 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-20T15:50:51.187Z,1760975451.187 [NAL9602](INFO): NAL9602 initialized
2025-10-20T15:50:59.980Z,1760975459.980 [CommandExec](IMPORTANT): got command configSet DropWeight.loadAtStartup 0 bool persist
2025-10-20T15:50:59.981Z,1760975459.981 [CommandExec](IMPORTANT): configSet DropWeight.loadAtStartup requires a restart to take effect.
2025-10-20T15:50:59.983Z,1760975459.983 [CommandExec](IMPORTANT): got command restart application
2025-10-20T15:51:00.985Z,1760975460.985 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:00.985Z,1760975460.985 [CommandExec](INFO): Uninitializing the command executive.
2025-10-20T15:51:00.985Z,1760975460.985 [CommandExec](INFO): Uninitializing the command scheduler.
2025-10-20T15:51:00.986Z,1760975460.986 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:01.085Z,1760975461.085 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-10-20T15:51:01.085Z,1760975461.085 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-10-20T15:51:01.085Z,1760975461.085 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:01.086Z,1760975461.086 [NavChartDb](INFO): Join timeout helper Thread ID is 1277
2025-10-20T15:51:01.486Z,1760975461.486 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:01.487Z,1760975461.487 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:01.506Z,1760975461.506 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-10-20T15:51:01.506Z,1760975461.506 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:01.507Z,1760975461.507 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1278
2025-10-20T15:51:01.557Z,1760975461.557 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:01.558Z,1760975461.558 [WetLabsBB2FL](INFO): Powering down
2025-10-20T15:51:01.558Z,1760975461.558 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:01.565Z,1760975461.565 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-10-20T15:51:01.565Z,1760975461.565 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:01.565Z,1760975461.565 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1279
2025-10-20T15:51:01.866Z,1760975461.866 [CTD_Seabird](INFO): Powering down
2025-10-20T15:51:01.877Z,1760975461.877 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:01.877Z,1760975461.877 [CTD_Seabird](INFO): Powering down
2025-10-20T15:51:01.889Z,1760975461.889 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:01.893Z,1760975461.893 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-10-20T15:51:01.893Z,1760975461.893 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:01.894Z,1760975461.894 [Radio_Surface](INFO): Join timeout helper Thread ID is 1280
2025-10-20T15:51:02.133Z,1760975462.133 [Radio_Surface](INFO): Powering down
2025-10-20T15:51:02.135Z,1760975462.135 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:02.135Z,1760975462.135 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:02.142Z,1760975462.142 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-10-20T15:51:02.142Z,1760975462.142 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:02.142Z,1760975462.142 [Onboard](INFO): Join timeout helper Thread ID is 1281
2025-10-20T15:51:06.660Z,1760975466.660 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:06.660Z,1760975466.660 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:06.662Z,1760975466.662 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-10-20T15:51:06.662Z,1760975466.662 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:06.662Z,1760975466.662 [DataOverHttps](INFO): Join timeout helper Thread ID is 1282
2025-10-20T15:51:06.826Z,1760975466.826 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:06.826Z,1760975466.826 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:06.842Z,1760975466.842 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-10-20T15:51:06.842Z,1760975466.842 [DAT ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:06.842Z,1760975466.842 [DAT](INFO): Join timeout helper Thread ID is 1283
2025-10-20T15:51:07.065Z,1760975467.065 [DAT](INFO): Powering down
2025-10-20T15:51:07.138Z,1760975467.138 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:07.138Z,1760975467.138 [DAT](INFO): Powering down
2025-10-20T15:51:07.139Z,1760975467.139 [DAT ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.142Z,1760975467.142 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-10-20T15:51:07.142Z,1760975467.142 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.142Z,1760975467.142 [BackseatComponent](INFO): Join timeout helper Thread ID is 1284
2025-10-20T15:51:07.309Z,1760975467.309 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:07.310Z,1760975467.310 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.322Z,1760975467.322 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-10-20T15:51:07.322Z,1760975467.322 [logger ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.322Z,1760975467.322 [logger](INFO): Join timeout helper Thread ID is 1285
2025-10-20T15:51:07.341Z,1760975467.341 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:07.341Z,1760975467.341 [logger ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.346Z,1760975467.346 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-10-20T15:51:07.346Z,1760975467.346 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.346Z,1760975467.346 [CommandLine](INFO): Join timeout helper Thread ID is 1286
2025-10-20T15:51:07.397Z,1760975467.397 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:07.398Z,1760975467.398 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.414Z,1760975467.414 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-10-20T15:51:07.414Z,1760975467.414 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.414Z,1760975467.414 [CommandExec](INFO): Join timeout helper Thread ID is 1287
2025-10-20T15:51:07.415Z,1760975467.415 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-10-20T15:51:07.416Z,1760975467.416 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:07.416Z,1760975467.416 [controlThread](INFO): Join timeout helper Thread ID is 1288
2025-10-20T15:51:07.733Z,1760975467.733 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-10-20T15:51:07.733Z,1760975467.733 [controlThread](DEBUG): Uninitializing ControlThread
2025-10-20T15:51:07.734Z,1760975467.734 [AHRS_M2](INFO): Powering down
2025-10-20T15:51:07.814Z,1760975467.814 [NAL9602](INFO): Powering down
2025-10-20T15:51:07.885Z,1760975467.885 [RDI_Pathfinder](INFO): Powering down
2025-10-20T15:51:07.886Z,1760975467.886 [Sonardyne_Nano](INFO): Powering down
2025-10-20T15:51:08.093Z,1760975468.093 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-10-20T15:51:08.094Z,1760975468.094 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-10-20T15:51:08.095Z,1760975468.095 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-10-20T15:51:08.095Z,1760975468.095 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2025-10-20T15:51:08.103Z,1760975468.103 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-10-20T15:51:08.104Z,1760975468.104 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-10-20T15:51:08.104Z,1760975468.104 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-10-20T15:51:08.104Z,1760975468.104 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-10-20T15:51:08.105Z,1760975468.105 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-10-20T15:51:08.105Z,1760975468.105 [BuoyancyServo](INFO): Powering down
2025-10-20T15:51:08.117Z,1760975468.117 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-10-20T15:51:08.117Z,1760975468.117 [ElevatorServo](INFO): Powering down
2025-10-20T15:51:08.118Z,1760975468.118 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-10-20T15:51:08.118Z,1760975468.118 [DockingStepper](INFO): Powering down
2025-10-20T15:51:08.119Z,1760975468.119 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-10-20T15:51:08.119Z,1760975468.119 [MassServo](INFO): Powering down
2025-10-20T15:51:08.120Z,1760975468.120 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-10-20T15:51:08.120Z,1760975468.120 [RudderServo](INFO): Powering down
2025-10-20T15:51:08.121Z,1760975468.121 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-10-20T15:51:08.121Z,1760975468.121 [ThrusterHE](INFO): Powering down
2025-10-20T15:51:08.122Z,1760975468.122 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-10-20T15:51:08.122Z,1760975468.122 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-10-20T15:51:08.122Z,1760975468.122 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-10-20T15:51:08.123Z,1760975468.123 [CBIT](DEBUG): Powering off loads.
2025-10-20T15:51:08.137Z,1760975468.137 [CBIT](DEBUG): Disabling WDT.
2025-10-20T15:51:08.149Z,1760975468.149 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-10-20T15:51:08.149Z,1760975468.149 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-10-20T15:51:08.150Z,1760975468.150 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.198Z,1760975468.198 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.201Z,1760975468.201 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.207Z,1760975468.207 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.215Z,1760975468.215 [DAT ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.258Z,1760975468.258 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.553Z,1760975468.553 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.559Z,1760975468.559 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.568Z,1760975468.568 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-10-20T15:51:08.568Z,1760975468.568 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-10-20T15:51:08.583Z,1760975468.583 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-10-20T15:51:08.651Z,1760975468.651 [logger ThreadHandler](INFO): Thread cancelled.