2025-11-07T00:56:47.998Z,1762477007.998 [Supervisor](DEBUG): Initializing supervisor.
2025-11-07T00:56:48.003Z,1762477008.003 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-11-07T00:56:48.003Z,1762477008.003 [SyncHandler](INFO): Protected caller Thread ID is 3940
2025-11-07T00:56:48.004Z,1762477008.004 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-11-07T00:56:48.005Z,1762477008.005 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-11-07T00:56:48.005Z,1762477008.005 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3941
2025-11-07T00:56:48.009Z,1762477008.009 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-11-07T00:56:48.028Z,1762477008.028 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-11-07T00:56:48.029Z,1762477008.029 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-11-07T00:56:48.029Z,1762477008.029 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 3942
2025-11-07T00:56:48.033Z,1762477008.033 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-11-07T00:56:48.034Z,1762477008.034 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-11-07T00:56:48.034Z,1762477008.034 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3943
2025-11-07T00:56:48.037Z,1762477008.037 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-11-07T00:56:48.037Z,1762477008.037 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-11-07T00:56:48.038Z,1762477008.038 [logger ThreadHandler](INFO): Protected caller Thread ID is 3944
2025-11-07T00:56:48.041Z,1762477008.041 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-11-07T00:56:48.042Z,1762477008.042 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-11-07T00:56:48.043Z,1762477008.043 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-11-07T00:56:48.370Z,1762477008.370 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-11-07T00:56:48.370Z,1762477008.370 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-11-07T00:56:49.102Z,1762477009.102 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-11-07T00:56:49.103Z,1762477009.103 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-11-07T00:56:49.221Z,1762477009.221 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-11-07T00:56:49.221Z,1762477009.221 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-11-07T00:56:49.741Z,1762477009.741 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-11-07T00:56:49.741Z,1762477009.741 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-11-07T00:56:49.846Z,1762477009.846 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-11-07T00:56:49.846Z,1762477009.846 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-11-07T00:56:49.946Z,1762477009.946 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-11-07T00:56:49.946Z,1762477009.946 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-11-07T00:56:50.352Z,1762477010.352 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-11-07T00:56:50.352Z,1762477010.352 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-11-07T00:56:50.575Z,1762477010.575 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-11-07T00:56:50.576Z,1762477010.576 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-11-07T00:56:50.721Z,1762477010.721 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-11-07T00:56:50.721Z,1762477010.721 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-11-07T00:56:50.970Z,1762477010.970 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-11-07T00:56:50.971Z,1762477010.971 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-11-07T00:56:51.517Z,1762477011.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-11-07T00:56:51.517Z,1762477011.517 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-11-07T00:56:51.908Z,1762477011.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-11-07T00:56:51.909Z,1762477011.909 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-11-07T00:56:52.072Z,1762477012.072 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-11-07T00:56:52.336Z,1762477012.336 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-11-07T00:56:52.336Z,1762477012.336 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-11-07T00:56:52.713Z,1762477012.713 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-11-07T00:56:52.713Z,1762477012.713 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-11-07T00:56:53.010Z,1762477013.010 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-11-07T00:56:53.012Z,1762477013.012 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2025-11-07T00:56:53.013Z,1762477013.013 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2025-11-07T00:56:53.119Z,1762477013.119 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2025-11-07T00:56:53.276Z,1762477013.276 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2025-11-07T00:56:53.371Z,1762477013.371 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2025-11-07T00:56:53.464Z,1762477013.464 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2025-11-07T00:56:53.583Z,1762477013.583 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg
2025-11-07T00:56:53.686Z,1762477013.686 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Dock.cfg
2025-11-07T00:56:53.805Z,1762477013.805 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2025-11-07T00:56:53.918Z,1762477013.918 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2025-11-07T00:56:54.188Z,1762477014.188 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-11-07T00:56:54.188Z,1762477014.188 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2025-11-07T00:56:54.328Z,1762477014.328 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2025-11-07T00:56:54.430Z,1762477014.430 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2025-11-07T00:56:54.534Z,1762477014.534 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2025-11-07T00:56:54.629Z,1762477014.629 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/root/
2025-11-07T00:56:54.629Z,1762477014.629 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-11-07T00:56:54.638Z,1762477014.638 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-11-07T00:56:54.770Z,1762477014.770 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-11-07T00:56:54.771Z,1762477014.771 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-11-07T00:56:54.781Z,1762477014.781 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-11-07T00:56:54.782Z,1762477014.782 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-11-07T00:56:54.832Z,1762477014.832 [DepthRateCalculator] Loaded
2025-11-07T00:56:54.833Z,1762477014.833 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-11-07T00:56:54.838Z,1762477014.838 [PitchRateCalculator] Loaded
2025-11-07T00:56:54.838Z,1762477014.838 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-11-07T00:56:54.849Z,1762477014.849 [SpeedCalculator] Loaded
2025-11-07T00:56:54.849Z,1762477014.849 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-11-07T00:56:54.854Z,1762477014.854 [YawRateCalculator] Loaded
2025-11-07T00:56:54.854Z,1762477014.854 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-11-07T00:56:54.875Z,1762477014.875 [ElevatorOffsetCalculator] Loaded
2025-11-07T00:56:54.875Z,1762477014.875 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-11-07T00:56:54.875Z,1762477014.875 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-11-07T00:56:54.876Z,1762477014.876 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-11-07T00:56:54.928Z,1762477014.928 [VerticalControl](DEBUG): Construct VerticalControl.
2025-11-07T00:56:54.983Z,1762477014.983 [VerticalControl] Loaded
2025-11-07T00:56:54.984Z,1762477014.984 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-11-07T00:56:54.986Z,1762477014.986 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-11-07T00:56:55.032Z,1762477015.032 [HorizontalControl] Loaded
2025-11-07T00:56:55.032Z,1762477015.032 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-11-07T00:56:55.034Z,1762477015.034 [SpeedControl](DEBUG): Construct SpeedControl.
2025-11-07T00:56:55.037Z,1762477015.037 [SpeedControl] Loaded
2025-11-07T00:56:55.037Z,1762477015.037 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-11-07T00:56:55.040Z,1762477015.040 [LoopControl](DEBUG): Construct LoopControl.
2025-11-07T00:56:55.041Z,1762477015.041 [LoopControl] Loaded
2025-11-07T00:56:55.041Z,1762477015.041 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-11-07T00:56:55.041Z,1762477015.041 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-11-07T00:56:55.042Z,1762477015.042 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-11-07T00:56:55.152Z,1762477015.152 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-11-07T00:56:55.152Z,1762477015.152 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-11-07T00:56:55.165Z,1762477015.165 [NavChart] Loaded
2025-11-07T00:56:55.166Z,1762477015.166 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-11-07T00:56:55.171Z,1762477015.171 [UniversalFixResidualReporter] Loaded
2025-11-07T00:56:55.171Z,1762477015.171 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-11-07T00:56:55.172Z,1762477015.172 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-11-07T00:56:55.172Z,1762477015.172 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-11-07T00:56:55.346Z,1762477015.346 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-11-07T00:56:55.347Z,1762477015.347 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-11-07T00:56:55.834Z,1762477015.834 [AHRS_M2] Loaded
2025-11-07T00:56:55.834Z,1762477015.834 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-11-07T00:56:55.873Z,1762477015.873 [BackseatComponent] Loaded
2025-11-07T00:56:55.874Z,1762477015.874 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-11-07T00:56:55.875Z,1762477015.875 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409404E0
2025-11-07T00:56:55.875Z,1762477015.875 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 4032
2025-11-07T00:56:55.878Z,1762477015.878 [LcmPublisher](INFO): Full slate access is ENABLED. All requested slate values (including non-universals) will be published on LCM.
2025-11-07T00:56:55.879Z,1762477015.879 [LcmPublisher] Loaded
2025-11-07T00:56:55.879Z,1762477015.879 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2025-11-07T00:56:56.699Z,1762477016.699 [BPC1] Loaded
2025-11-07T00:56:56.699Z,1762477016.699 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-11-07T00:56:56.799Z,1762477016.799 [DAT] Loaded
2025-11-07T00:56:56.799Z,1762477016.799 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-11-07T00:56:56.800Z,1762477016.800 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409704E0
2025-11-07T00:56:56.800Z,1762477016.800 [DAT ThreadHandler](INFO): Protected caller Thread ID is 4033
2025-11-07T00:56:56.873Z,1762477016.873 [DataOverHttps] Loaded
2025-11-07T00:56:56.873Z,1762477016.873 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-11-07T00:56:56.874Z,1762477016.874 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409A04E0
2025-11-07T00:56:56.875Z,1762477016.875 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4034
2025-11-07T00:56:56.898Z,1762477016.898 [Depth_Keller] Loaded
2025-11-07T00:56:56.899Z,1762477016.899 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-11-07T00:56:56.904Z,1762477016.904 [DropWeight] Loaded
2025-11-07T00:56:56.904Z,1762477016.904 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-11-07T00:56:56.967Z,1762477016.967 [NAL9602] Loaded
2025-11-07T00:56:56.968Z,1762477016.968 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-11-07T00:56:56.997Z,1762477016.997 [Onboard] Loaded
2025-11-07T00:56:56.997Z,1762477016.997 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-11-07T00:56:56.998Z,1762477016.998 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409D04E0
2025-11-07T00:56:56.999Z,1762477016.999 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 4035
2025-11-07T00:56:57.013Z,1762477017.013 [Power24vConverter] Loaded
2025-11-07T00:56:57.013Z,1762477017.013 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-11-07T00:56:57.029Z,1762477017.029 [Radio_Surface] Loaded
2025-11-07T00:56:57.029Z,1762477017.029 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-11-07T00:56:57.030Z,1762477017.030 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A004E0
2025-11-07T00:56:57.030Z,1762477017.030 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4036
2025-11-07T00:56:57.077Z,1762477017.077 [RDI_Pathfinder] Loaded
2025-11-07T00:56:57.077Z,1762477017.077 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-11-07T00:56:57.092Z,1762477017.092 [Sonardyne_Nano] Loaded
2025-11-07T00:56:57.092Z,1762477017.092 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-11-07T00:56:57.093Z,1762477017.093 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-11-07T00:56:57.093Z,1762477017.093 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-11-07T00:56:57.555Z,1762477017.555 [BuoyancyServo] Loaded
2025-11-07T00:56:57.555Z,1762477017.555 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-11-07T00:56:57.578Z,1762477017.578 [ElevatorServo] Loaded
2025-11-07T00:56:57.578Z,1762477017.578 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-11-07T00:56:57.708Z,1762477017.708 [DockingStepper] Loaded
2025-11-07T00:56:57.709Z,1762477017.709 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-11-07T00:56:57.782Z,1762477017.782 [MassServo] Loaded
2025-11-07T00:56:57.782Z,1762477017.782 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-11-07T00:56:57.806Z,1762477017.806 [RudderServo] Loaded
2025-11-07T00:56:57.806Z,1762477017.806 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-11-07T00:56:57.822Z,1762477017.822 [ThrusterHE] Loaded
2025-11-07T00:56:57.823Z,1762477017.823 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-11-07T00:56:57.823Z,1762477017.823 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-11-07T00:56:57.824Z,1762477017.824 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-11-07T00:56:57.884Z,1762477017.884 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-11-07T00:56:57.885Z,1762477017.885 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-11-07T00:56:57.914Z,1762477017.914 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-11-07T00:56:57.914Z,1762477017.914 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-11-07T00:56:58.301Z,1762477018.301 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-11-07T00:56:58.302Z,1762477018.302 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-11-07T00:56:58.472Z,1762477018.472 [CTD_Seabird] Loaded
2025-11-07T00:56:58.472Z,1762477018.472 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-11-07T00:56:58.474Z,1762477018.474 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BC24E0
2025-11-07T00:56:58.474Z,1762477018.474 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 4038
2025-11-07T00:56:58.509Z,1762477018.509 [ESPComponent] Loaded
2025-11-07T00:56:58.510Z,1762477018.510 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-11-07T00:56:58.532Z,1762477018.532 [PAR_Licor] Loaded
2025-11-07T00:56:58.532Z,1762477018.532 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-11-07T00:56:58.577Z,1762477018.577 [WetLabsBB2FL] Loaded
2025-11-07T00:56:58.577Z,1762477018.577 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-11-07T00:56:58.578Z,1762477018.578 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BF24E0
2025-11-07T00:56:58.578Z,1762477018.578 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 4039
2025-11-07T00:56:58.579Z,1762477018.579 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-11-07T00:56:58.580Z,1762477018.580 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-11-07T00:56:58.737Z,1762477018.737 [SBIT](DEBUG): Construct Startup Built In Test.
2025-11-07T00:56:58.746Z,1762477018.746 [SBIT] Loaded
2025-11-07T00:56:58.746Z,1762477018.746 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-11-07T00:56:58.749Z,1762477018.749 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-11-07T00:56:58.762Z,1762477018.762 [IBIT] Loaded
2025-11-07T00:56:58.762Z,1762477018.762 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-11-07T00:56:58.767Z,1762477018.767 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-11-07T00:56:58.846Z,1762477018.846 [CBIT] Loaded
2025-11-07T00:56:58.847Z,1762477018.847 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-11-07T00:56:58.878Z,1762477018.878 [GFScanner] Loaded
2025-11-07T00:56:58.879Z,1762477018.879 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-11-07T00:56:58.879Z,1762477018.879 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-11-07T00:56:58.885Z,1762477018.885 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-11-07T00:56:58.888Z,1762477018.888 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-11-07T00:56:58.899Z,1762477018.899 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-11-07T00:56:58.900Z,1762477018.900 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2025-11-07T00:56:58.900Z,1762477018.900 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4040
2025-11-07T00:56:58.905Z,1762477018.905 [Supervisor](INFO): Main Thread ID is 3790
2025-11-07T00:56:58.905Z,1762477018.905 [Supervisor](DEBUG): Running supervisor.
2025-11-07T00:56:58.905Z,1762477018.905 [CommandExec ThreadHandler](INFO): Handler Thread ID is 4041
2025-11-07T00:56:58.906Z,1762477018.906 [CommandExec](INFO): Initializing the command executive.
2025-11-07T00:56:58.907Z,1762477018.907 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4042
2025-11-07T00:56:58.909Z,1762477018.909 [controlThread ThreadHandler](INFO): Handler Thread ID is 4043
2025-11-07T00:56:58.910Z,1762477018.910 [controlThread](DEBUG): Initializing ControlThread
2025-11-07T00:56:58.911Z,1762477018.911 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-11-07T00:56:58.911Z,1762477018.911 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-11-07T00:56:58.911Z,1762477018.911 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-11-07T00:56:58.912Z,1762477018.912 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-11-07T00:56:58.912Z,1762477018.912 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-11-07T00:56:58.913Z,1762477018.913 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-11-07T00:56:58.914Z,1762477018.914 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-11-07T00:56:58.915Z,1762477018.915 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-11-07T00:56:58.916Z,1762477018.916 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-11-07T00:56:58.917Z,1762477018.917 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-11-07T00:56:58.917Z,1762477018.917 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-11-07T00:56:58.925Z,1762477018.925 [SBIT](INFO): Initialize SBIT Component.
2025-11-07T00:56:58.925Z,1762477018.925 [SBIT](IMPORTANT): git: 2025-10-23
2025-11-07T00:56:58.925Z,1762477018.925 [SBIT](INFO): git hash: 8a36ff280500b42a57cbb356490d4e9b9ffd6cfe
2025-11-07T00:56:58.926Z,1762477018.926 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-11-07T00:56:58.927Z,1762477018.927 [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
2025-11-07T00:56:58.928Z,1762477018.928 [SBIT](INFO): Beginning SBIT in 109.000000 seconds.
2025-11-07T00:56:58.929Z,1762477018.929 [IBIT](INFO): Initialize IBIT Component.
2025-11-07T00:56:58.929Z,1762477018.929 [CBIT](DEBUG): Initialize CBIT Component.
2025-11-07T00:56:58.930Z,1762477018.930 [logger ThreadHandler](INFO): Handler Thread ID is 4044
2025-11-07T00:56:58.940Z,1762477018.940 [CBIT](DEBUG): Initialized mux pins.
2025-11-07T00:56:58.941Z,1762477018.941 [CBIT](DEBUG): Initializing the watchdog timer.
2025-11-07T00:56:58.949Z,1762477018.949 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 4045
2025-11-07T00:56:58.961Z,1762477018.961 [DAT ThreadHandler](INFO): Handler Thread ID is 4046
2025-11-07T00:56:58.962Z,1762477018.962 [DAT](INFO): Powering up
2025-11-07T00:56:58.962Z,1762477018.962 [DAT](DEBUG): Initializing DAT.
2025-11-07T00:56:58.964Z,1762477018.964 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2025-11-07T00:56:58.965Z,1762477018.965 [CBIT](DEBUG): Initializing heartbeat.
2025-11-07T00:56:58.967Z,1762477018.967 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4048
2025-11-07T00:56:58.968Z,1762477018.968 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-11-07T00:56:58.977Z,1762477018.977 [Onboard ThreadHandler](INFO): Handler Thread ID is 4049
2025-11-07T00:56:58.994Z,1762477018.994 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4050
2025-11-07T00:56:59.036Z,1762477019.036 [CBIT](DEBUG): Deactivating emergency mode.
2025-11-07T00:56:59.044Z,1762477019.044 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 4051
2025-11-07T00:56:59.045Z,1762477019.045 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-11-07T00:56:59.061Z,1762477019.061 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4054
2025-11-07T00:56:59.063Z,1762477019.063 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-11-07T00:56:59.063Z,1762477019.063 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-11-07T00:56:59.063Z,1762477019.063 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-11-07T00:56:59.064Z,1762477019.064 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-11-07T00:56:59.064Z,1762477019.064 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-11-07T00:56:59.064Z,1762477019.064 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-11-07T00:56:59.064Z,1762477019.064 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-11-07T00:56:59.065Z,1762477019.065 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-11-07T00:56:59.076Z,1762477019.076 [CBIT](DEBUG): Backplane powered.
2025-11-07T00:56:59.077Z,1762477019.077 [GFScanner](DEBUG): Initializing GFScanner
2025-11-07T00:56:59.077Z,1762477019.077 [GFScanner](DEBUG): Deactivating GF circuits.
2025-11-07T00:56:59.081Z,1762477019.081 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-11-07T00:56:59.082Z,1762477019.082 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-11-07T00:56:59.082Z,1762477019.082 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-11-07T00:56:59.084Z,1762477019.084 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-11-07T00:56:59.089Z,1762477019.089 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-11-07T00:56:59.089Z,1762477019.089 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-11-07T00:56:59.089Z,1762477019.089 [MissionManager](ERROR): Could not load startup mission.
2025-11-07T00:56:59.090Z,1762477019.090 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-11-07T00:56:59.090Z,1762477019.090 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-11-07T00:56:59.091Z,1762477019.091 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-11-07T00:56:59.100Z,1762477019.100 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 4053
2025-11-07T00:56:59.113Z,1762477019.113 [WetLabsBB2FL](INFO): Powering up
2025-11-07T00:56:59.401Z,1762477019.401 [Radio_Surface](INFO): Powering up
2025-11-07T00:56:59.675Z,1762477019.675 [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>

2025-11-07T00:56:59.690Z,1762477019.690 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-11-07T00:56:59.702Z,1762477019.702 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-11-07T00:56:59.707Z,1762477019.707 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-11-07T00:56:59.738Z,1762477019.738 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-11-07T00:56:59.742Z,1762477019.742 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-11-07T00:56:59.758Z,1762477019.758 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-11-07T00:56:59.759Z,1762477019.759 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-11-07T00:56:59.938Z,1762477019.938 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-11-07T00:56:59.938Z,1762477019.938 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-11-07T00:56:59.981Z,1762477019.981 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-11-07T00:57:00.035Z,1762477020.035 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-11-07T00:57:00.037Z,1762477020.037 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-11-07T00:57:00.053Z,1762477020.053 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-11-07T00:57:00.081Z,1762477020.081 [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"
  }
}


2025-11-07T00:57:00.086Z,1762477020.086 [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,LcmPublisher,Reporter,LogSplitter,
2025-11-07T00:57:00.110Z,1762477020.110 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-11-07T00:57:00.174Z,1762477020.174 [Depth_Keller](INFO): Initializing.
2025-11-07T00:57:00.175Z,1762477020.175 [Power24vConverter](INFO): Powering up.
2025-11-07T00:57:00.176Z,1762477020.176 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-11-07T00:57:00.178Z,1762477020.178 [Sonardyne_Nano](INFO): Initializing.
2025-11-07T00:57:00.205Z,1762477020.205 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-11-07T00:57:00.232Z,1762477020.232 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-11-07T00:57:00.249Z,1762477020.249 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-11-07T00:57:00.250Z,1762477020.250 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-11-07T00:57:00.257Z,1762477020.257 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-11-07T00:57:00.258Z,1762477020.258 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-11-07T00:57:00.265Z,1762477020.265 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-11-07T00:57:00.266Z,1762477020.266 [MassServo](DEBUG): Initializing EZServoServo.
2025-11-07T00:57:00.273Z,1762477020.273 [MassServo](DEBUG): Initializing MassServo.
2025-11-07T00:57:00.274Z,1762477020.274 [RudderServo](DEBUG): Initializing EZServoServo.
2025-11-07T00:57:00.281Z,1762477020.281 [RudderServo](DEBUG): Initializing RudderServo.
2025-11-07T00:57:00.282Z,1762477020.282 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-11-07T00:57:00.289Z,1762477020.289 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-11-07T00:57:00.291Z,1762477020.291 [CommandExec](FAULT): Scheduling is paused
2025-11-07T00:57:00.291Z,1762477020.291 [CBIT](INFO): Critical error at 20251107T005658
2025-11-07T00:57:00.292Z,1762477020.292 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-11-07T00:57:00.538Z,1762477020.538 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2025-11-07T00:57:00.538Z,1762477020.538 [DropWeight] Hardware Fault, FailCount= 1
2025-11-07T00:57:00.538Z,1762477020.538 [DropWeight](ERROR): Hardware Fault
2025-11-07T00:57:00.572Z,1762477020.572 [CBIT](INFO): Critical error at 20251107T005700
2025-11-07T00:57:00.593Z,1762477020.593 [CBIT](ERROR): Hardware Fault in component: DropWeight
2025-11-07T00:57:00.593Z,1762477020.593 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2025-11-07T00:57:00.922Z,1762477020.922 [CBIT](INFO): Critical error at 20251107T005700
2025-11-07T00:57:01.213Z,1762477021.213 [WetLabsBB2FL](INFO): Powering down
2025-11-07T00:57:01.749Z,1762477021.749 [DockingStepper](ERROR): getADC uart error serial timeout
2025-11-07T00:57:02.060Z,1762477022.060 [DockingStepper](ERROR): Initialization uart error serial timeout
2025-11-07T00:57:02.233Z,1762477022.233 [CommandExec](IMPORTANT): got command quit
2025-11-07T00:57:02.527Z,1762477022.527 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-11-07T00:57:03.237Z,1762477023.237 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:03.237Z,1762477023.237 [CommandExec](INFO): Uninitializing the command executive.
2025-11-07T00:57:03.237Z,1762477023.237 [CommandExec](INFO): Uninitializing the command scheduler.
2025-11-07T00:57:03.237Z,1762477023.237 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:03.396Z,1762477023.396 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-11-07T00:57:03.396Z,1762477023.396 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-11-07T00:57:03.397Z,1762477023.397 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:03.397Z,1762477023.397 [NavChartDb](INFO): Join timeout helper Thread ID is 4065
2025-11-07T00:57:03.765Z,1762477023.765 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207
2025-11-07T00:57:04.229Z,1762477024.229 [DockingStepper](FAULT): Initialization uart error:serial timeout
2025-11-07T00:57:04.229Z,1762477024.229 [DockingStepper] Communications Fault, FailCount= 1
2025-11-07T00:57:04.229Z,1762477024.229 [DockingStepper](ERROR): Communications Fault
2025-11-07T00:57:04.309Z,1762477024.309 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-11-07T00:57:04.361Z,1762477024.361 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-11-07T00:57:04.457Z,1762477024.457 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-11-07T00:57:04.457Z,1762477024.457 [DockingStepper](INFO): Powering down
2025-11-07T00:57:04.661Z,1762477024.661 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-11-07T00:57:04.662Z,1762477024.662 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-11-07T00:57:06.077Z,1762477026.077 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-11-07T00:57:06.464Z,1762477026.464 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:06.464Z,1762477026.464 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:06.477Z,1762477026.477 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-11-07T00:57:06.477Z,1762477026.477 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:06.477Z,1762477026.477 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 4066
2025-11-07T00:57:06.661Z,1762477026.661 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:06.661Z,1762477026.661 [WetLabsBB2FL](INFO): Powering down
2025-11-07T00:57:06.662Z,1762477026.662 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:06.665Z,1762477026.665 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-11-07T00:57:06.665Z,1762477026.665 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:06.665Z,1762477026.665 [CTD_Seabird](INFO): Join timeout helper Thread ID is 4067
2025-11-07T00:57:07.077Z,1762477027.077 [CTD_Seabird](INFO): Powering down
2025-11-07T00:57:07.209Z,1762477027.209 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:07.209Z,1762477027.209 [CTD_Seabird](INFO): Powering down
2025-11-07T00:57:07.221Z,1762477027.221 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:07.233Z,1762477027.233 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-11-07T00:57:07.233Z,1762477027.233 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:07.233Z,1762477027.233 [Radio_Surface](INFO): Join timeout helper Thread ID is 4068
2025-11-07T00:57:07.489Z,1762477027.489 [Radio_Surface](INFO): Powering down
2025-11-07T00:57:07.490Z,1762477027.490 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:07.490Z,1762477027.490 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:07.493Z,1762477027.493 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-11-07T00:57:07.493Z,1762477027.493 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:07.493Z,1762477027.493 [Onboard](INFO): Join timeout helper Thread ID is 4069
2025-11-07T00:57:08.781Z,1762477028.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989471,0.144721,0.001718],[-0.144656,-0.989269,0.020528],[0.004670,0.020063,0.999788]]
2025-11-07T00:57:08.985Z,1762477028.985 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:08.985Z,1762477028.985 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.001Z,1762477029.001 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-11-07T00:57:09.001Z,1762477029.001 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.002Z,1762477029.002 [DataOverHttps](INFO): Join timeout helper Thread ID is 4070
2025-11-07T00:57:09.005Z,1762477029.005 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:09.005Z,1762477029.005 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.017Z,1762477029.017 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-11-07T00:57:09.017Z,1762477029.017 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.018Z,1762477029.018 [DAT](INFO): Join timeout helper Thread ID is 4071
2025-11-07T00:57:09.048Z,1762477029.048 [DAT](INFO): Powering down
2025-11-07T00:57:09.121Z,1762477029.121 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:09.121Z,1762477029.121 [DAT](INFO): Powering down
2025-11-07T00:57:09.122Z,1762477029.122 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.137Z,1762477029.137 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-11-07T00:57:09.137Z,1762477029.137 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.138Z,1762477029.138 [BackseatComponent](INFO): Join timeout helper Thread ID is 4072
2025-11-07T00:57:09.157Z,1762477029.157 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:09.157Z,1762477029.157 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.181Z,1762477029.181 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-11-07T00:57:09.181Z,1762477029.181 [logger ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.182Z,1762477029.182 [logger](INFO): Join timeout helper Thread ID is 4073
2025-11-07T00:57:09.202Z,1762477029.202 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:09.203Z,1762477029.203 [logger ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.209Z,1762477029.209 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-11-07T00:57:09.209Z,1762477029.209 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.210Z,1762477029.210 [CommandLine](INFO): Join timeout helper Thread ID is 4074
2025-11-07T00:57:09.225Z,1762477029.225 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:09.225Z,1762477029.225 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.231Z,1762477029.231 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-11-07T00:57:09.231Z,1762477029.231 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.232Z,1762477029.232 [CommandExec](INFO): Join timeout helper Thread ID is 4075
2025-11-07T00:57:09.234Z,1762477029.234 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-11-07T00:57:09.235Z,1762477029.235 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:09.235Z,1762477029.235 [controlThread](INFO): Join timeout helper Thread ID is 4076
2025-11-07T00:57:09.561Z,1762477029.561 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T00:57:09.561Z,1762477029.561 [controlThread](DEBUG): Uninitializing ControlThread
2025-11-07T00:57:09.561Z,1762477029.561 [AHRS_M2](INFO): Powering down
2025-11-07T00:57:09.641Z,1762477029.641 [NAL9602](INFO): Powering down
2025-11-07T00:57:09.713Z,1762477029.713 [RDI_Pathfinder](INFO): Powering down
2025-11-07T00:57:09.714Z,1762477029.714 [Sonardyne_Nano](INFO): Powering down
2025-11-07T00:57:09.921Z,1762477029.921 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-11-07T00:57:09.922Z,1762477029.922 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-11-07T00:57:09.922Z,1762477029.922 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-11-07T00:57:09.923Z,1762477029.923 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2025-11-07T00:57:09.931Z,1762477029.931 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-11-07T00:57:09.931Z,1762477029.931 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-11-07T00:57:09.931Z,1762477029.931 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-11-07T00:57:09.932Z,1762477029.932 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-11-07T00:57:09.932Z,1762477029.932 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-11-07T00:57:09.932Z,1762477029.932 [BuoyancyServo](INFO): Powering down
2025-11-07T00:57:09.945Z,1762477029.945 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-11-07T00:57:09.945Z,1762477029.945 [ElevatorServo](INFO): Powering down
2025-11-07T00:57:09.946Z,1762477029.946 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-11-07T00:57:09.946Z,1762477029.946 [DockingStepper](INFO): Powering down
2025-11-07T00:57:09.946Z,1762477029.946 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-11-07T00:57:09.947Z,1762477029.947 [MassServo](INFO): Powering down
2025-11-07T00:57:09.947Z,1762477029.947 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-11-07T00:57:09.947Z,1762477029.947 [RudderServo](INFO): Powering down
2025-11-07T00:57:09.948Z,1762477029.948 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-11-07T00:57:09.949Z,1762477029.949 [ThrusterHE](INFO): Powering down
2025-11-07T00:57:09.949Z,1762477029.949 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-11-07T00:57:09.950Z,1762477029.950 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-11-07T00:57:09.950Z,1762477029.950 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-11-07T00:57:09.950Z,1762477029.950 [CBIT](DEBUG): Powering off loads.
2025-11-07T00:57:09.960Z,1762477029.960 [CBIT](DEBUG): Disabling WDT.
2025-11-07T00:57:09.973Z,1762477029.973 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-11-07T00:57:09.973Z,1762477029.973 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-11-07T00:57:09.974Z,1762477029.974 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.034Z,1762477030.034 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.037Z,1762477030.037 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.044Z,1762477030.044 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.050Z,1762477030.050 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.092Z,1762477030.092 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.506Z,1762477030.506 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.512Z,1762477030.512 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.520Z,1762477030.520 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-11-07T00:57:10.520Z,1762477030.520 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-11-07T00:57:10.534Z,1762477030.534 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T00:57:10.598Z,1762477030.598 [logger ThreadHandler](INFO): Thread cancelled.