2025-03-26T16:53:04.379Z,1743007984.379 [Supervisor](DEBUG): Initializing supervisor.
2025-03-26T16:53:04.384Z,1743007984.384 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-03-26T16:53:04.384Z,1743007984.384 [SyncHandler](INFO): Protected caller Thread ID is 6878
2025-03-26T16:53:04.385Z,1743007984.385 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-03-26T16:53:04.386Z,1743007984.386 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-03-26T16:53:04.386Z,1743007984.386 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6879
2025-03-26T16:53:04.403Z,1743007984.403 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-03-26T16:53:04.426Z,1743007984.426 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-03-26T16:53:04.427Z,1743007984.427 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-03-26T16:53:04.427Z,1743007984.427 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 6880
2025-03-26T16:53:04.432Z,1743007984.432 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-03-26T16:53:04.433Z,1743007984.433 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-03-26T16:53:04.433Z,1743007984.433 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6881
2025-03-26T16:53:04.435Z,1743007984.435 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-03-26T16:53:04.437Z,1743007984.437 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-03-26T16:53:04.437Z,1743007984.437 [logger ThreadHandler](INFO): Protected caller Thread ID is 6882
2025-03-26T16:53:04.441Z,1743007984.441 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-03-26T16:53:04.441Z,1743007984.441 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-03-26T16:53:04.443Z,1743007984.443 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-03-26T16:53:04.656Z,1743007984.656 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-03-26T16:53:04.656Z,1743007984.656 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-03-26T16:53:04.937Z,1743007984.937 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-03-26T16:53:04.937Z,1743007984.937 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-03-26T16:53:05.253Z,1743007985.253 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-03-26T16:53:05.253Z,1743007985.253 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-03-26T16:53:05.378Z,1743007985.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-03-26T16:53:05.379Z,1743007985.379 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-03-26T16:53:06.205Z,1743007986.205 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-03-26T16:53:06.206Z,1743007986.206 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-03-26T16:53:06.754Z,1743007986.754 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-03-26T16:53:06.755Z,1743007986.755 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-03-26T16:53:07.353Z,1743007987.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-03-26T16:53:07.353Z,1743007987.353 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-03-26T16:53:07.874Z,1743007987.874 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-03-26T16:53:07.875Z,1743007987.875 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-03-26T16:53:08.769Z,1743007988.769 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-03-26T16:53:08.769Z,1743007988.769 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-03-26T16:53:09.179Z,1743007989.179 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-03-26T16:53:09.179Z,1743007989.179 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-03-26T16:53:09.433Z,1743007989.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-03-26T16:53:09.434Z,1743007989.434 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-03-26T16:53:09.593Z,1743007989.593 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-03-26T16:53:09.593Z,1743007989.593 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-03-26T16:53:09.690Z,1743007989.690 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-03-26T16:53:09.786Z,1743007989.786 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-03-26T16:53:10.006Z,1743007990.006 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-03-26T16:53:10.006Z,1743007990.006 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-03-26T16:53:10.274Z,1743007990.274 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-03-26T16:53:10.277Z,1743007990.277 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2025-03-26T16:53:10.277Z,1743007990.277 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2025-03-26T16:53:10.378Z,1743007990.378 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2025-03-26T16:53:10.663Z,1743007990.663 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-03-26T16:53:10.664Z,1743007990.664 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2025-03-26T16:53:10.764Z,1743007990.764 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2025-03-26T16:53:10.956Z,1743007990.956 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2025-03-26T16:53:11.073Z,1743007991.073 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2025-03-26T16:53:11.201Z,1743007991.201 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2025-03-26T16:53:11.332Z,1743007991.332 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2025-03-26T16:53:11.442Z,1743007991.442 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2025-03-26T16:53:11.624Z,1743007991.624 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg
2025-03-26T16:53:11.737Z,1743007991.737 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/workSite.cfg
2025-03-26T16:53:11.836Z,1743007991.836 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2025-03-26T16:53:11.950Z,1743007991.950 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2025-03-26T16:53:12.053Z,1743007992.053 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2025-03-26T16:53:12.053Z,1743007992.053 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-03-26T16:53:12.062Z,1743007992.062 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-03-26T16:53:12.253Z,1743007992.253 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-03-26T16:53:12.253Z,1743007992.253 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-03-26T16:53:12.397Z,1743007992.397 [BuoyancyServo] Loaded
2025-03-26T16:53:12.397Z,1743007992.397 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-03-26T16:53:12.422Z,1743007992.422 [ElevatorServo] Loaded
2025-03-26T16:53:12.422Z,1743007992.422 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-03-26T16:53:12.445Z,1743007992.445 [MassServo] Loaded
2025-03-26T16:53:12.445Z,1743007992.445 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-03-26T16:53:12.467Z,1743007992.467 [RudderServo] Loaded
2025-03-26T16:53:12.468Z,1743007992.468 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-03-26T16:53:12.486Z,1743007992.486 [ThrusterHE] Loaded
2025-03-26T16:53:12.487Z,1743007992.487 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-03-26T16:53:12.487Z,1743007992.487 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-03-26T16:53:12.488Z,1743007992.488 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-03-26T16:53:12.655Z,1743007992.655 [SBIT](DEBUG): Construct Startup Built In Test.
2025-03-26T16:53:12.671Z,1743007992.671 [SBIT] Loaded
2025-03-26T16:53:12.671Z,1743007992.671 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-03-26T16:53:12.674Z,1743007992.674 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-03-26T16:53:12.696Z,1743007992.696 [IBIT] Loaded
2025-03-26T16:53:12.696Z,1743007992.696 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-03-26T16:53:12.701Z,1743007992.701 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-03-26T16:53:12.898Z,1743007992.898 [CBIT] Loaded
2025-03-26T16:53:12.899Z,1743007992.899 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-03-26T16:53:12.931Z,1743007992.931 [GFScanner] Loaded
2025-03-26T16:53:12.931Z,1743007992.931 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-03-26T16:53:12.932Z,1743007992.932 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-03-26T16:53:12.932Z,1743007992.932 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-03-26T16:53:13.520Z,1743007993.520 [CTD_Seabird] Loaded
2025-03-26T16:53:13.520Z,1743007993.520 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-03-26T16:53:13.521Z,1743007993.521 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406834E0
2025-03-26T16:53:13.522Z,1743007993.522 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 6970
2025-03-26T16:53:13.577Z,1743007993.577 [ESPComponent] Loaded
2025-03-26T16:53:13.578Z,1743007993.578 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-03-26T16:53:13.599Z,1743007993.599 [PAR_Licor] Loaded
2025-03-26T16:53:13.600Z,1743007993.600 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-03-26T16:53:13.647Z,1743007993.647 [WetLabsBB2FL] Loaded
2025-03-26T16:53:13.647Z,1743007993.647 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-03-26T16:53:13.648Z,1743007993.648 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406B34E0
2025-03-26T16:53:13.649Z,1743007993.649 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 6971
2025-03-26T16:53:13.649Z,1743007993.649 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-03-26T16:53:13.650Z,1743007993.650 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-03-26T16:53:13.703Z,1743007993.703 [DepthRateCalculator] Loaded
2025-03-26T16:53:13.703Z,1743007993.703 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-03-26T16:53:13.728Z,1743007993.728 [PitchRateCalculator] Loaded
2025-03-26T16:53:13.728Z,1743007993.728 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-03-26T16:53:13.831Z,1743007993.831 [SpeedCalculator] Loaded
2025-03-26T16:53:13.831Z,1743007993.831 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-03-26T16:53:13.836Z,1743007993.836 [YawRateCalculator] Loaded
2025-03-26T16:53:13.836Z,1743007993.836 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-03-26T16:53:13.856Z,1743007993.856 [ElevatorOffsetCalculator] Loaded
2025-03-26T16:53:13.857Z,1743007993.857 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-03-26T16:53:13.857Z,1743007993.857 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-03-26T16:53:13.858Z,1743007993.858 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-03-26T16:53:14.004Z,1743007994.004 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-03-26T16:53:14.005Z,1743007994.005 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-03-26T16:53:14.039Z,1743007994.039 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-03-26T16:53:14.039Z,1743007994.039 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-03-26T16:53:14.156Z,1743007994.156 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-03-26T16:53:14.156Z,1743007994.156 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-03-26T16:53:14.170Z,1743007994.170 [NavChart] Loaded
2025-03-26T16:53:14.171Z,1743007994.171 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-03-26T16:53:14.177Z,1743007994.177 [UniversalFixResidualReporter] Loaded
2025-03-26T16:53:14.177Z,1743007994.177 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-03-26T16:53:14.177Z,1743007994.177 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-03-26T16:53:14.178Z,1743007994.178 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-03-26T16:53:14.959Z,1743007994.959 [AHRS_M2] Loaded
2025-03-26T16:53:14.959Z,1743007994.959 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-03-26T16:53:15.213Z,1743007995.213 [BackseatComponent] Loaded
2025-03-26T16:53:15.214Z,1743007995.214 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-03-26T16:53:15.215Z,1743007995.215 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A7F4E0
2025-03-26T16:53:15.215Z,1743007995.215 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 6972
2025-03-26T16:53:15.218Z,1743007995.218 [LcmUniversalReporter] Loaded
2025-03-26T16:53:15.219Z,1743007995.219 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-03-26T16:53:15.960Z,1743007995.960 [BPC1] Loaded
2025-03-26T16:53:15.961Z,1743007995.961 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-03-26T16:53:16.059Z,1743007996.059 [DAT] Loaded
2025-03-26T16:53:16.060Z,1743007996.060 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-03-26T16:53:16.061Z,1743007996.061 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40AAF4E0
2025-03-26T16:53:16.061Z,1743007996.061 [DAT ThreadHandler](INFO): Protected caller Thread ID is 6973
2025-03-26T16:53:16.365Z,1743007996.365 [DataOverHttps] Loaded
2025-03-26T16:53:16.366Z,1743007996.366 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-03-26T16:53:16.367Z,1743007996.367 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40ADF4E0
2025-03-26T16:53:16.367Z,1743007996.367 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6974
2025-03-26T16:53:16.391Z,1743007996.391 [Depth_Keller] Loaded
2025-03-26T16:53:16.391Z,1743007996.391 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-03-26T16:53:16.396Z,1743007996.396 [DropWeight] Loaded
2025-03-26T16:53:16.397Z,1743007996.397 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-03-26T16:53:16.438Z,1743007996.438 [DVL_micro] Loaded
2025-03-26T16:53:16.438Z,1743007996.438 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2025-03-26T16:53:16.502Z,1743007996.502 [NAL9602] Loaded
2025-03-26T16:53:16.502Z,1743007996.502 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-03-26T16:53:16.529Z,1743007996.529 [Onboard] Loaded
2025-03-26T16:53:16.529Z,1743007996.529 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-03-26T16:53:16.530Z,1743007996.530 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40B0F4E0
2025-03-26T16:53:16.531Z,1743007996.531 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 6975
2025-03-26T16:53:16.537Z,1743007996.537 [PowerOnly](INFO): Adding load control power supply at /dev/loadB1
2025-03-26T16:53:16.550Z,1743007996.550 [PowerOnly] Loaded
2025-03-26T16:53:16.551Z,1743007996.551 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2025-03-26T16:53:16.565Z,1743007996.565 [Power24vConverter] Loaded
2025-03-26T16:53:16.565Z,1743007996.565 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-03-26T16:53:16.582Z,1743007996.582 [Radio_Surface] Loaded
2025-03-26T16:53:16.582Z,1743007996.582 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-03-26T16:53:16.583Z,1743007996.583 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B3F4E0
2025-03-26T16:53:16.583Z,1743007996.583 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6976
2025-03-26T16:53:16.599Z,1743007996.599 [Sonardyne_Nano] Loaded
2025-03-26T16:53:16.600Z,1743007996.600 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-03-26T16:53:16.600Z,1743007996.600 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-03-26T16:53:16.601Z,1743007996.601 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-03-26T16:53:16.667Z,1743007996.667 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-03-26T16:53:16.668Z,1743007996.668 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-03-26T16:53:16.725Z,1743007996.725 [VerticalControl](DEBUG): Construct VerticalControl.
2025-03-26T16:53:16.779Z,1743007996.779 [VerticalControl] Loaded
2025-03-26T16:53:16.779Z,1743007996.779 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-03-26T16:53:16.782Z,1743007996.782 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-03-26T16:53:16.827Z,1743007996.827 [HorizontalControl] Loaded
2025-03-26T16:53:16.828Z,1743007996.828 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-03-26T16:53:16.830Z,1743007996.830 [SpeedControl](DEBUG): Construct SpeedControl.
2025-03-26T16:53:16.832Z,1743007996.832 [SpeedControl] Loaded
2025-03-26T16:53:16.832Z,1743007996.832 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-03-26T16:53:16.835Z,1743007996.835 [LoopControl](DEBUG): Construct LoopControl.
2025-03-26T16:53:16.836Z,1743007996.836 [LoopControl] Loaded
2025-03-26T16:53:16.836Z,1743007996.836 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-03-26T16:53:16.836Z,1743007996.836 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-03-26T16:53:16.837Z,1743007996.837 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-03-26T16:53:16.847Z,1743007996.847 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-03-26T16:53:16.848Z,1743007996.848 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-03-26T16:53:17.201Z,1743007997.201 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-03-26T16:53:17.207Z,1743007997.207 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-03-26T16:53:17.210Z,1743007997.210 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-03-26T16:53:17.222Z,1743007997.222 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-03-26T16:53:17.223Z,1743007997.223 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-03-26T16:53:17.224Z,1743007997.224 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6977
2025-03-26T16:53:17.230Z,1743007997.230 [Supervisor](INFO): Main Thread ID is 6876
2025-03-26T16:53:17.230Z,1743007997.230 [Supervisor](DEBUG): Running supervisor.
2025-03-26T16:53:17.231Z,1743007997.231 [CommandExec ThreadHandler](INFO): Handler Thread ID is 6978
2025-03-26T16:53:17.231Z,1743007997.231 [CommandExec](INFO): Initializing the command executive.
2025-03-26T16:53:17.233Z,1743007997.233 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6979
2025-03-26T16:53:17.236Z,1743007997.236 [controlThread ThreadHandler](INFO): Handler Thread ID is 6980
2025-03-26T16:53:17.237Z,1743007997.237 [controlThread](DEBUG): Initializing ControlThread
2025-03-26T16:53:17.239Z,1743007997.239 [SBIT](INFO): Initialize SBIT Component.
2025-03-26T16:53:17.239Z,1743007997.239 [SBIT](IMPORTANT): git: 2025-03-26-1-g1815535cc
2025-03-26T16:53:17.239Z,1743007997.239 [SBIT](INFO): git hash: 1815535cca105e464bdb7831f6233b5043f0283f
2025-03-26T16:53:17.240Z,1743007997.240 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-03-26T16:53:17.241Z,1743007997.241 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-03-26T16:53:17.242Z,1743007997.242 [SBIT](INFO): Beginning SBIT in 69.000000 seconds.
2025-03-26T16:53:17.243Z,1743007997.243 [IBIT](INFO): Initialize IBIT Component.
2025-03-26T16:53:17.243Z,1743007997.243 [CBIT](DEBUG): Initialize CBIT Component.
2025-03-26T16:53:17.244Z,1743007997.244 [logger ThreadHandler](INFO): Handler Thread ID is 6981
2025-03-26T16:53:17.256Z,1743007997.256 [CBIT](DEBUG): Initialized mux pins.
2025-03-26T16:53:17.256Z,1743007997.256 [CBIT](DEBUG): Initializing the watchdog timer.
2025-03-26T16:53:17.264Z,1743007997.264 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 6982
2025-03-26T16:53:17.265Z,1743007997.265 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-03-26T16:53:17.269Z,1743007997.269 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 6984
2025-03-26T16:53:17.272Z,1743007997.272 [WetLabsBB2FL](INFO): Powering up
2025-03-26T16:53:17.274Z,1743007997.274 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 6986
2025-03-26T16:53:17.280Z,1743007997.280 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-03-26T16:53:17.280Z,1743007997.280 [CBIT](DEBUG): Initializing heartbeat.
2025-03-26T16:53:17.281Z,1743007997.281 [DAT ThreadHandler](INFO): Handler Thread ID is 6987
2025-03-26T16:53:17.282Z,1743007997.282 [DAT](INFO): Powering up
2025-03-26T16:53:17.282Z,1743007997.282 [DAT](DEBUG): Initializing DAT.
2025-03-26T16:53:17.285Z,1743007997.285 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6989
2025-03-26T16:53:17.286Z,1743007997.286 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-03-26T16:53:17.308Z,1743007997.308 [Onboard ThreadHandler](INFO): Handler Thread ID is 6990
2025-03-26T16:53:17.326Z,1743007997.326 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6991
2025-03-26T16:53:17.352Z,1743007997.352 [CBIT](DEBUG): Deactivating emergency mode.
2025-03-26T16:53:17.353Z,1743007997.353 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6992
2025-03-26T16:53:17.360Z,1743007997.360 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-03-26T16:53:17.361Z,1743007997.361 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-03-26T16:53:17.361Z,1743007997.361 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-03-26T16:53:17.361Z,1743007997.361 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-03-26T16:53:17.361Z,1743007997.361 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-03-26T16:53:17.361Z,1743007997.361 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-03-26T16:53:17.361Z,1743007997.361 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-03-26T16:53:17.362Z,1743007997.362 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-03-26T16:53:17.400Z,1743007997.400 [CBIT](DEBUG): Backplane powered.
2025-03-26T16:53:17.400Z,1743007997.400 [GFScanner](DEBUG): Initializing GFScanner
2025-03-26T16:53:17.400Z,1743007997.400 [GFScanner](DEBUG): Deactivating GF circuits.
2025-03-26T16:53:17.408Z,1743007997.408 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-03-26T16:53:17.409Z,1743007997.409 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-03-26T16:53:17.409Z,1743007997.409 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-03-26T16:53:17.409Z,1743007997.409 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-03-26T16:53:17.410Z,1743007997.410 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-03-26T16:53:17.411Z,1743007997.411 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-03-26T16:53:17.411Z,1743007997.411 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-03-26T16:53:17.430Z,1743007997.430 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-03-26T16:53:17.431Z,1743007997.431 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-03-26T16:53:17.432Z,1743007997.432 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-03-26T16:53:17.433Z,1743007997.433 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-03-26T16:53:17.434Z,1743007997.434 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-03-26T16:53:17.434Z,1743007997.434 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-03-26T16:53:17.435Z,1743007997.435 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-03-26T16:53:17.437Z,1743007997.437 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-03-26T16:53:17.511Z,1743007997.511 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-03-26T16:53:17.537Z,1743007997.537 [DAT](INFO): Using elevation to construct direction to contact in vehicle frame.
2025-03-26T16:53:17.545Z,1743007997.545 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-26T16:53:17.594Z,1743007997.594 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-03-26T16:53:17.595Z,1743007997.595 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-03-26T16:53:17.595Z,1743007997.595 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-03-26T16:53:17.601Z,1743007997.601 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-03-26T16:53:17.732Z,1743007997.732 [Radio_Surface](INFO): Powering up
2025-03-26T16:53:17.938Z,1743007997.938 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-03-26T16:53:17.964Z,1743007997.964 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-03-26T16:53:17.965Z,1743007997.965 [Default:A.Wait](DEBUG): Construct Wait.
2025-03-26T16:53:17.967Z,1743007997.967 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-03-26T16:53:18.004Z,1743007998.004 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-03-26T16:53:18.007Z,1743007998.007 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-03-26T16:53:18.029Z,1743007998.029 [Default:E.Execute](DEBUG): Construct Execute.
2025-03-26T16:53:18.056Z,1743007998.056 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

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

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

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

          set command = "Burn on"
        }

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

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

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

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-03-26T16:53:18.062Z,1743007998.062 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,PowerOnly,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-03-26T16:53:18.087Z,1743007998.087 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-03-26T16:53:18.224Z,1743007998.224 [Depth_Keller](INFO): Initializing.
2025-03-26T16:53:18.234Z,1743007998.234 [Power24vConverter](INFO): Powering up.
2025-03-26T16:53:18.235Z,1743007998.235 [Sonardyne_Nano](INFO): Initializing.
2025-03-26T16:53:18.260Z,1743007998.260 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-03-26T16:53:18.326Z,1743007998.326 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-03-26T16:53:18.332Z,1743007998.332 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-03-26T16:53:18.333Z,1743007998.333 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-03-26T16:53:18.340Z,1743007998.340 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-03-26T16:53:18.341Z,1743007998.341 [MassServo](DEBUG): Initializing EZServoServo.
2025-03-26T16:53:18.348Z,1743007998.348 [MassServo](DEBUG): Initializing MassServo.
2025-03-26T16:53:18.349Z,1743007998.349 [RudderServo](DEBUG): Initializing EZServoServo.
2025-03-26T16:53:18.356Z,1743007998.356 [RudderServo](DEBUG): Initializing RudderServo.
2025-03-26T16:53:18.357Z,1743007998.357 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-03-26T16:53:18.364Z,1743007998.364 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-03-26T16:53:18.507Z,1743007998.507 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2025-03-26T16:53:18.507Z,1743007998.507 [DropWeight] Hardware Fault, FailCount= 1
2025-03-26T16:53:18.507Z,1743007998.507 [DropWeight](ERROR): Hardware Fault
2025-03-26T16:53:18.534Z,1743007998.534 [CommandExec](FAULT): Scheduling is paused
2025-03-26T16:53:18.535Z,1743007998.535 [CBIT](INFO): Critical error at 20250326T165318
2025-03-26T16:53:18.535Z,1743007998.535 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-03-26T16:53:18.546Z,1743007998.546 [CBIT](ERROR): Hardware Fault in component: DropWeight
2025-03-26T16:53:18.547Z,1743007998.547 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2025-03-26T16:53:18.956Z,1743007998.956 [CBIT](INFO): Critical error at 20250326T165318
2025-03-26T16:53:19.884Z,1743007999.884 [WetLabsBB2FL](INFO): Powering down
2025-03-26T16:53:21.747Z,1743008001.747 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-03-26T16:53:22.611Z,1743008002.611 [Sonardyne_Nano](FAULT): Failed hardware self-test:>CKHW:FAIL;LBK

2025-03-26T16:53:22.611Z,1743008002.611 [Sonardyne_Nano] Hardware Fault, FailCount= 1
2025-03-26T16:53:22.611Z,1743008002.611 [Sonardyne_Nano](ERROR): Hardware Fault
2025-03-26T16:53:22.792Z,1743008002.792 [CBIT](ERROR): Hardware Fault in component: Sonardyne_Nano
2025-03-26T16:53:22.962Z,1743008002.962 [Sonardyne_Nano](INFO): Powering down
2025-03-26T16:53:23.825Z,1743008003.825 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-03-26T16:53:23.888Z,1743008003.888 [CBIT](INFO): Clearing failed state for component Sonardyne_Nano
2025-03-26T16:53:23.889Z,1743008003.889 [Sonardyne_Nano] No Fault, FailCount= 1
2025-03-26T16:53:24.174Z,1743008004.174 [Sonardyne_Nano](INFO): Initializing.
2025-03-26T16:53:24.296Z,1743008004.296 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-03-26T16:53:26.194Z,1743008006.194 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-03-26T16:53:27.409Z,1743008007.409 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213
2025-03-26T16:53:27.779Z,1743008007.779 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-03-26T16:53:30.401Z,1743008010.401 [DAT](INFO): DAT read: 

2025-03-26T16:53:30.403Z,1743008010.403 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-03-26T16:53:32.109Z,1743008012.109 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004050
2025-03-26T16:53:32.166Z,1743008012.166 [DAT](INFO): DAT read: MF Frequency Band

2025-03-26T16:53:32.167Z,1743008012.167 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-03-26T16:53:32.167Z,1743008012.167 [DAT](INFO): DAT read: Mar 14 2025 19:24:35 

2025-03-26T16:53:33.173Z,1743008013.173 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-03-26T16:53:33.174Z,1743008013.174 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC

2025-03-26T16:53:33.174Z,1743008013.174 [DAT](INFO): commRate: 1200
2025-03-26T16:53:35.240Z,1743008015.240 [DAT](INFO): entering command mode
2025-03-26T16:53:35.440Z,1743008015.440 [DAT](INFO): DAT read: 

2025-03-26T16:53:35.441Z,1743008015.441 [DAT](INFO): DAT read: user:1>

2025-03-26T16:53:35.441Z,1743008015.441 [DAT](INFO): setting verbose to 3
2025-03-26T16:53:35.693Z,1743008015.693 [DAT](INFO): DAT read: user:1>

2025-03-26T16:53:35.694Z,1743008015.694 [DAT](INFO): DAT read: Verbose         | 3           

2025-03-26T16:53:35.694Z,1743008015.694 [DAT](INFO): set verbose to 3
2025-03-26T16:53:35.694Z,1743008015.694 [DAT](INFO): setting DatVerbose to 27440
2025-03-26T16:53:35.945Z,1743008015.945 [DAT](INFO): DAT read: user:2>

2025-03-26T16:53:35.946Z,1743008015.946 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-03-26T16:53:35.946Z,1743008015.946 [DAT](INFO): set DatVerbose to 27440
2025-03-26T16:53:35.946Z,1743008015.946 [DAT](INFO): setting transmit power to 8
2025-03-26T16:53:36.197Z,1743008016.197 [DAT](INFO): DAT read: user:3>

2025-03-26T16:53:36.197Z,1743008016.197 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-03-26T16:53:36.198Z,1743008016.198 [DAT](INFO): set transmit power to 8
2025-03-26T16:53:36.198Z,1743008016.198 [DAT](INFO): setting local address to 5
2025-03-26T16:53:36.449Z,1743008016.449 [DAT](INFO): DAT read: user:4>

2025-03-26T16:53:36.450Z,1743008016.450 [DAT](INFO): DAT read: LocalAddr       | 5           

2025-03-26T16:53:36.450Z,1743008016.450 [DAT](INFO): set local address to 5
2025-03-26T16:53:36.451Z,1743008016.451 [DAT](INFO): Setting time to: 16:53:36 And date to:3/26/2025
2025-03-26T16:53:36.701Z,1743008016.701 [DAT](INFO): DAT read: user:5>

2025-03-26T16:53:36.701Z,1743008016.701 [DAT](INFO): DAT read: Wed Mar 26, 2025  16:53:36  

2025-03-26T16:53:36.702Z,1743008016.702 [DAT](INFO): Local DAT time set to Wed Mar 26, 2025  16:53:36  

2025-03-26T16:53:46.798Z,1743008026.798 [NAL9602](INFO): Powering up NAL9602
2025-03-26T16:53:53.143Z,1743008033.143 [CommandExec](IMPORTANT): got command get platform_mass_position
2025-03-26T16:53:53.152Z,1743008033.152 [CommandExec](IMPORTANT): platform_mass_position 0.012163 m
2025-03-26T16:53:57.756Z,1743008037.756 [NAL9602](INFO): NAL9602 initialized
2025-03-26T16:54:09.440Z,1743008049.440 [CommandExec](IMPORTANT): got command maintain control VerticalControl.massPositionAction 2 centimeter
2025-03-26T16:54:09.476Z,1743008049.476 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2025-03-26T16:54:09.526Z,1743008049.526 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,DVL_micro,NAL9602,PowerOnly,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-03-26T16:54:12.255Z,1743008052.255 [NAL9602](INFO): SBD MO Status=2, MOMSN=19207, MT Status=2, MTMSN=0
2025-03-26T16:54:12.260Z,1743008052.260 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-03-26T16:54:16.783Z,1743008056.783 [CommandExec](IMPORTANT): got command get platform_mass_position centimeter
2025-03-26T16:54:16.783Z,1743008056.783 [CommandExec](IMPORTANT): platform_mass_position 1.640856 cm
2025-03-26T16:54:26.815Z,1743008066.815 [SBIT](IMPORTANT): Beginning Startup BIT
2025-03-26T16:54:26.819Z,1743008066.819 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-03-26T16:54:31.297Z,1743008071.297 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.070353
CHAN A1 (24V): 0.016107
CHAN A2 (12V): -0.009257
CHAN A3 (5V): -0.132280
CHAN B0 (3.3V): -0.010271
CHAN B1 (3.15aV): -0.003129
CHAN B2 (3.15bV): -0.001573
CHAN B3 (GND): -0.040543
OPEN: 0.012063
Full Scale: +/- 1 mA
2025-03-26T16:54:40.159Z,1743008080.159 [SBIT](FAULT): Mass: EXPECTED:0.020108 ACTUAL:0.020000
2025-03-26T16:55:06.836Z,1743008106.836 [SBIT](FAULT): Mass: EXPECTED:0.010551 ACTUAL:0.020000
2025-03-26T16:55:06.836Z,1743008106.836 [SBIT](FAULT): Control surface position failure.
2025-03-26T16:55:20.516Z,1743008120.516 [SBIT](FAULT): Mass: EXPECTED:0.012408 ACTUAL:0.020000
2025-03-26T16:55:20.516Z,1743008120.516 [SBIT](FAULT): Control surface position failure.
2025-03-26T16:55:20.973Z,1743008120.973 [SBIT](CRITICAL): SBIT FAILED
2025-03-26T16:55:20.974Z,1743008120.974 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-03-26T16:55:20.974Z,1743008120.974 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=5 count;

2025-03-26T16:55:20.974Z,1743008120.974 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool;

2025-03-26T16:55:20.975Z,1743008120.975 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool;

2025-03-26T16:55:20.975Z,1743008120.975 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=209.04 cubic_centimeter;

2025-03-26T16:55:20.975Z,1743008120.975 [SBIT](IMPORTANT): VerticalControl.kdDepth=0.4 radian_per_second_per_meter;

2025-03-26T16:55:20.975Z,1743008120.975 [SBIT](IMPORTANT): VerticalControl.kpDepth=0.1 radian_per_meter;

2025-03-26T16:55:20.975Z,1743008120.975 [SBIT](IMPORTANT): VerticalControl.massDefault=12.4082 millimeter;

2025-03-26T16:55:20.985Z,1743008120.985 [CBIT](INFO): Critical error at 20250326T165520
2025-03-26T16:55:21.334Z,1743008121.334 [MissionManager](IMPORTANT): Started mission Startup
2025-03-26T16:55:21.334Z,1743008121.334 [Startup] Running Loop=1
2025-03-26T16:55:21.334Z,1743008121.334 [Startup](DEBUG): Aggregate::initialize Startup
2025-03-26T16:55:21.335Z,1743008121.335 [Startup:A.GoToSurface] Running Loop=1
2025-03-26T16:55:21.335Z,1743008121.335 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-26T16:55:21.335Z,1743008121.335 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-26T16:55:21.340Z,1743008121.340 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-26T16:55:21.340Z,1743008121.340 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-26T16:55:21.341Z,1743008121.341 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-26T16:55:21.341Z,1743008121.341 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-26T16:55:21.341Z,1743008121.341 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-26T16:55:21.343Z,1743008121.343 [Startup:StartupSatComms] Running Loop=1
2025-03-26T16:55:21.343Z,1743008121.343 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-03-26T16:55:21.343Z,1743008121.343 [Startup:StartupSatComms:A] Running Loop=1
2025-03-26T16:55:21.749Z,1743008121.749 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-03-26T16:55:34.542Z,1743008134.542 [CommandExec](IMPORTANT): got command maintain control VerticalControl.massPositionAction 3.5 centimeter
2025-03-26T16:56:17.618Z,1743008177.618 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-03-26T16:56:17.618Z,1743008177.618 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-26T16:56:17.629Z,1743008177.629 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-26T16:56:17.926Z,1743008177.926 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-26T16:56:17.926Z,1743008177.926 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-03-26T16:56:21.545Z,1743008181.545 [Startup:StartupSatComms:A](INFO): Timed out from 2025-03-26T16:55:21.3Z
2025-03-26T16:56:21.545Z,1743008181.545 [Startup:StartupSatComms:A] Stopped
2025-03-26T16:56:21.545Z,1743008181.545 [Startup:StartupSatComms:B] Running Loop=1
2025-03-26T16:56:21.958Z,1743008181.958 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-26T16:57:21.742Z,1743008241.742 [Startup:StartupSatComms:B](INFO): Timed out from 2025-03-26T16:56:21.5Z
2025-03-26T16:57:21.742Z,1743008241.742 [Startup:StartupSatComms:B] Stopped
2025-03-26T16:57:21.742Z,1743008241.742 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-03-26T16:57:21.742Z,1743008241.742 [Startup:StartupSatComms] Stopped
2025-03-26T16:57:21.743Z,1743008241.743 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-03-26T16:57:21.743Z,1743008241.743 [Startup](INFO): Completed Startup
2025-03-26T16:57:21.744Z,1743008241.744 [MissionManager](INFO): Startup is completed.
2025-03-26T16:57:21.744Z,1743008241.744 [MissionManager](INFO): Uninitializing Mission Startup
2025-03-26T16:57:21.744Z,1743008241.744 [Startup] Stopped
2025-03-26T16:57:21.744Z,1743008241.744 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-03-26T16:57:21.744Z,1743008241.744 [Startup:A.GoToSurface] Stopped
2025-03-26T16:57:21.744Z,1743008241.744 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-03-26T16:57:22.161Z,1743008242.161 [MissionManager](IMPORTANT): Started mission Default
2025-03-26T16:57:22.161Z,1743008242.161 [Default] Running Loop=1
2025-03-26T16:57:22.161Z,1743008242.161 [Default](DEBUG): Aggregate::initialize Default
2025-03-26T16:57:22.161Z,1743008242.161 [Default:B.GoToSurface] Running Loop=1
2025-03-26T16:57:22.161Z,1743008242.161 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-03-26T16:57:22.161Z,1743008242.161 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-03-26T16:57:22.162Z,1743008242.162 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-03-26T16:57:22.162Z,1743008242.162 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-03-26T16:57:22.162Z,1743008242.162 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-03-26T16:57:22.163Z,1743008242.163 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-03-26T16:57:22.163Z,1743008242.163 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-03-26T16:57:22.163Z,1743008242.163 [Default:A.Wait] Running Loop=1
2025-03-26T16:57:22.163Z,1743008242.163 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-03-26T16:57:35.494Z,1743008255.494 [Default:A.Wait](INFO): Done Waiting.
2025-03-26T16:57:35.494Z,1743008255.494 [Default:A.Wait] Stopped
2025-03-26T16:57:35.494Z,1743008255.494 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-03-26T16:57:35.881Z,1743008255.881 [Default:CheckIn] Running Loop=1
2025-03-26T16:57:35.882Z,1743008255.882 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-03-26T16:57:35.882Z,1743008255.882 [Default:CheckIn:Read_GPS] Running Loop=1
2025-03-26T16:57:36.275Z,1743008256.275 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-03-26T16:59:00.714Z,1743008340.714 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-03-26T16:59:18.517Z,1743008358.517 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-03-26T16:59:18.517Z,1743008358.517 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-26T16:59:18.528Z,1743008358.528 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-26T16:59:18.939Z,1743008358.939 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-26T16:59:18.939Z,1743008358.939 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-03-26T17:00:55.464Z,1743008455.464 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-03-26T17:00:55.467Z,1743008455.467 [BPC1](INFO): Received data from all battery sticks.
2025-03-26T17:02:19.506Z,1743008539.506 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2025-03-26T17:02:19.506Z,1743008539.506 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-26T17:02:19.517Z,1743008539.517 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-26T17:02:19.924Z,1743008539.924 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-26T17:02:19.924Z,1743008539.924 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2025-03-26T17:02:36.097Z,1743008556.097 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-03-26T16:57:35.9Z
2025-03-26T17:02:36.097Z,1743008556.097 [Default:CheckIn:Read_GPS] Stopped
2025-03-26T17:02:36.098Z,1743008556.098 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-03-26T17:02:36.506Z,1743008556.506 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-03-26T17:04:00.090Z,1743008640.090 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-03-26T17:04:00.090Z,1743008640.090 [NAL9602] Data Fault, FailCount= 1
2025-03-26T17:04:00.090Z,1743008640.090 [NAL9602](ERROR): Data Fault
2025-03-26T17:04:00.175Z,1743008640.175 [CBIT](ERROR): Data Fault in component: NAL9602
2025-03-26T17:04:00.512Z,1743008640.512 [NAL9602](INFO): Powering down
2025-03-26T17:04:01.352Z,1743008641.352 [CBIT](INFO): Clearing failed state for component NAL9602
2025-03-26T17:04:01.352Z,1743008641.352 [NAL9602] No Fault, FailCount= 1
2025-03-26T17:04:30.008Z,1743008670.008 [DVL_micro](ERROR): Failed to parse:
:SA,-04.37,-02.55,207.3
2025-03-26T17:04:30.813Z,1743008670.813 [NAL9602](INFO): Powering up NAL9602
2025-03-26T17:04:41.745Z,1743008681.745 [NAL9602](INFO): NAL9602 initialized
2025-03-26T17:05:20.513Z,1743008720.513 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2025-03-26T17:05:20.513Z,1743008720.513 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-03-26T17:05:20.560Z,1743008720.560 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-03-26T17:05:20.962Z,1743008720.962 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-03-26T17:05:20.963Z,1743008720.96