2026-01-12T18:21:04.251Z,1768242064.251 [Supervisor](DEBUG): Initializing supervisor.
2026-01-12T18:21:04.256Z,1768242064.256 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2026-01-12T18:21:04.256Z,1768242064.256 [SyncHandler](INFO): Protected caller Thread ID is 3744
2026-01-12T18:21:04.257Z,1768242064.257 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2026-01-12T18:21:04.258Z,1768242064.258 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2026-01-12T18:21:04.258Z,1768242064.258 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3745
2026-01-12T18:21:04.262Z,1768242064.262 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2026-01-12T18:21:04.282Z,1768242064.282 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2026-01-12T18:21:04.283Z,1768242064.283 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2026-01-12T18:21:04.283Z,1768242064.283 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 3746
2026-01-12T18:21:04.287Z,1768242064.287 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2026-01-12T18:21:04.288Z,1768242064.288 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2026-01-12T18:21:04.288Z,1768242064.288 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3747
2026-01-12T18:21:04.290Z,1768242064.290 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2026-01-12T18:21:04.291Z,1768242064.291 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2026-01-12T18:21:04.292Z,1768242064.292 [logger ThreadHandler](INFO): Protected caller Thread ID is 3748
2026-01-12T18:21:04.295Z,1768242064.295 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2026-01-12T18:21:04.296Z,1768242064.296 [Supervisor](INFO): Looking for Config files in directory: Config/
2026-01-12T18:21:04.297Z,1768242064.297 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2026-01-12T18:21:04.404Z,1768242064.404 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2026-01-12T18:21:04.404Z,1768242064.404 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2026-01-12T18:21:04.642Z,1768242064.642 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2026-01-12T18:21:04.643Z,1768242064.643 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2026-01-12T18:21:04.914Z,1768242064.914 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2026-01-12T18:21:04.914Z,1768242064.914 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2026-01-12T18:21:05.031Z,1768242065.031 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2026-01-12T18:21:05.031Z,1768242065.031 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2026-01-12T18:21:05.789Z,1768242065.789 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2026-01-12T18:21:05.790Z,1768242065.790 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2026-01-12T18:21:06.319Z,1768242066.319 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2026-01-12T18:21:06.319Z,1768242066.319 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2026-01-12T18:21:06.864Z,1768242066.864 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2026-01-12T18:21:06.864Z,1768242066.864 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2026-01-12T18:21:07.291Z,1768242067.291 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2026-01-12T18:21:07.291Z,1768242067.291 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2026-01-12T18:21:07.646Z,1768242067.646 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2026-01-12T18:21:07.647Z,1768242067.647 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2026-01-12T18:21:08.041Z,1768242068.041 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2026-01-12T18:21:08.042Z,1768242068.042 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2026-01-12T18:21:08.350Z,1768242068.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2026-01-12T18:21:08.351Z,1768242068.351 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2026-01-12T18:21:08.510Z,1768242068.510 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2026-01-12T18:21:08.510Z,1768242068.510 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2026-01-12T18:21:08.613Z,1768242068.613 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2026-01-12T18:21:08.614Z,1768242068.614 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2026-01-12T18:21:08.704Z,1768242068.704 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2026-01-12T18:21:08.922Z,1768242068.922 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2026-01-12T18:21:08.922Z,1768242068.922 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2026-01-12T18:21:09.635Z,1768242069.635 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2026-01-12T18:21:09.637Z,1768242069.637 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2026-01-12T18:21:09.638Z,1768242069.638 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2026-01-12T18:21:09.733Z,1768242069.733 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2026-01-12T18:21:10.011Z,1768242070.011 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2026-01-12T18:21:10.011Z,1768242070.011 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2026-01-12T18:21:10.106Z,1768242070.106 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2026-01-12T18:21:10.285Z,1768242070.285 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2026-01-12T18:21:10.398Z,1768242070.398 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2026-01-12T18:21:10.518Z,1768242070.518 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2026-01-12T18:21:10.638Z,1768242070.638 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2026-01-12T18:21:10.743Z,1768242070.743 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2026-01-12T18:21:10.911Z,1768242070.911 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg
2026-01-12T18:21:11.019Z,1768242071.019 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/workSite.cfg
2026-01-12T18:21:11.114Z,1768242071.114 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2026-01-12T18:21:11.222Z,1768242071.222 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2026-01-12T18:21:11.321Z,1768242071.321 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2026-01-12T18:21:11.321Z,1768242071.321 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2026-01-12T18:21:11.322Z,1768242071.322 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2026-01-12T18:21:11.505Z,1768242071.505 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2026-01-12T18:21:11.505Z,1768242071.505 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2026-01-12T18:21:11.647Z,1768242071.647 [BuoyancyServo] Loaded
2026-01-12T18:21:11.647Z,1768242071.647 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2026-01-12T18:21:11.671Z,1768242071.671 [ElevatorServo] Loaded
2026-01-12T18:21:11.671Z,1768242071.671 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2026-01-12T18:21:11.694Z,1768242071.694 [MassServo] Loaded
2026-01-12T18:21:11.694Z,1768242071.694 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2026-01-12T18:21:11.716Z,1768242071.716 [RudderServo] Loaded
2026-01-12T18:21:11.716Z,1768242071.716 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2026-01-12T18:21:11.734Z,1768242071.734 [ThrusterHE] Loaded
2026-01-12T18:21:11.734Z,1768242071.734 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2026-01-12T18:21:11.735Z,1768242071.735 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2026-01-12T18:21:11.735Z,1768242071.735 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2026-01-12T18:21:11.902Z,1768242071.902 [SBIT](DEBUG): Construct Startup Built In Test.
2026-01-12T18:21:11.916Z,1768242071.916 [SBIT] Loaded
2026-01-12T18:21:11.917Z,1768242071.917 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2026-01-12T18:21:11.919Z,1768242071.919 [IBIT](DEBUG): Construct Initiated Built In Test.
2026-01-12T18:21:11.940Z,1768242071.940 [IBIT] Loaded
2026-01-12T18:21:11.940Z,1768242071.940 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2026-01-12T18:21:11.945Z,1768242071.945 [CBIT](DEBUG): Construct Continuous Built In Test.
2026-01-12T18:21:12.141Z,1768242072.141 [CBIT] Loaded
2026-01-12T18:21:12.141Z,1768242072.141 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2026-01-12T18:21:12.172Z,1768242072.172 [GFScanner] Loaded
2026-01-12T18:21:12.172Z,1768242072.172 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2026-01-12T18:21:12.173Z,1768242072.173 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2026-01-12T18:21:12.173Z,1768242072.173 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2026-01-12T18:21:12.346Z,1768242072.346 [CTD_Seabird] Loaded
2026-01-12T18:21:12.346Z,1768242072.346 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2026-01-12T18:21:12.347Z,1768242072.347 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406874E0
2026-01-12T18:21:12.347Z,1768242072.347 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 3837
2026-01-12T18:21:12.383Z,1768242072.383 [ESPComponent] Loaded
2026-01-12T18:21:12.383Z,1768242072.383 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2026-01-12T18:21:12.405Z,1768242072.405 [PAR_Licor] Loaded
2026-01-12T18:21:12.405Z,1768242072.405 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2026-01-12T18:21:12.449Z,1768242072.449 [WetLabsBB2FL] Loaded
2026-01-12T18:21:12.449Z,1768242072.449 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2026-01-12T18:21:12.450Z,1768242072.450 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406B74E0
2026-01-12T18:21:12.451Z,1768242072.451 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 3838
2026-01-12T18:21:12.451Z,1768242072.451 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2026-01-12T18:21:12.452Z,1768242072.452 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2026-01-12T18:21:12.505Z,1768242072.505 [DepthRateCalculator] Loaded
2026-01-12T18:21:12.505Z,1768242072.505 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2026-01-12T18:21:12.511Z,1768242072.511 [PitchRateCalculator] Loaded
2026-01-12T18:21:12.511Z,1768242072.511 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2026-01-12T18:21:12.521Z,1768242072.521 [SpeedCalculator] Loaded
2026-01-12T18:21:12.521Z,1768242072.521 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2026-01-12T18:21:12.526Z,1768242072.526 [YawRateCalculator] Loaded
2026-01-12T18:21:12.526Z,1768242072.526 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2026-01-12T18:21:12.546Z,1768242072.546 [ElevatorOffsetCalculator] Loaded
2026-01-12T18:21:12.546Z,1768242072.546 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2026-01-12T18:21:12.546Z,1768242072.546 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2026-01-12T18:21:12.547Z,1768242072.547 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2026-01-12T18:21:12.687Z,1768242072.687 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2026-01-12T18:21:12.688Z,1768242072.688 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2026-01-12T18:21:12.718Z,1768242072.718 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2026-01-12T18:21:12.718Z,1768242072.718 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2026-01-12T18:21:12.833Z,1768242072.833 [DeadReckonUsingMultipleVelocitySources] Loaded
2026-01-12T18:21:12.833Z,1768242072.833 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2026-01-12T18:21:12.847Z,1768242072.847 [NavChart] Loaded
2026-01-12T18:21:12.847Z,1768242072.847 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2026-01-12T18:21:12.853Z,1768242072.853 [UniversalFixResidualReporter] Loaded
2026-01-12T18:21:12.853Z,1768242072.853 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2026-01-12T18:21:12.854Z,1768242072.854 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2026-01-12T18:21:12.854Z,1768242072.854 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2026-01-12T18:21:13.348Z,1768242073.348 [AHRS_M2] Loaded
2026-01-12T18:21:13.348Z,1768242073.348 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2026-01-12T18:21:13.387Z,1768242073.387 [BackseatComponent] Loaded
2026-01-12T18:21:13.388Z,1768242073.388 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2026-01-12T18:21:13.389Z,1768242073.389 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A854E0
2026-01-12T18:21:13.389Z,1768242073.389 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 3839
2026-01-12T18:21:13.392Z,1768242073.392 [LcmPublisher] Loaded
2026-01-12T18:21:13.393Z,1768242073.393 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2026-01-12T18:21:14.281Z,1768242074.281 [BPC1] Loaded
2026-01-12T18:21:14.282Z,1768242074.282 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2026-01-12T18:21:14.638Z,1768242074.638 [DAT] Loaded
2026-01-12T18:21:14.639Z,1768242074.639 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2026-01-12T18:21:14.640Z,1768242074.640 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40AB54E0
2026-01-12T18:21:14.640Z,1768242074.640 [DAT ThreadHandler](INFO): Protected caller Thread ID is 3840
2026-01-12T18:21:14.712Z,1768242074.712 [DataOverHttps] Loaded
2026-01-12T18:21:14.713Z,1768242074.713 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2026-01-12T18:21:14.714Z,1768242074.714 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40AE54E0
2026-01-12T18:21:14.714Z,1768242074.714 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 3841
2026-01-12T18:21:14.775Z,1768242074.775 [Depth_Keller] Loaded
2026-01-12T18:21:14.776Z,1768242074.776 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2026-01-12T18:21:14.789Z,1768242074.789 [DropWeight] Loaded
2026-01-12T18:21:14.789Z,1768242074.789 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2026-01-12T18:21:14.912Z,1768242074.912 [DVL_micro] Loaded
2026-01-12T18:21:14.912Z,1768242074.912 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2026-01-12T18:21:14.976Z,1768242074.976 [NAL9602] Loaded
2026-01-12T18:21:14.976Z,1768242074.976 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2026-01-12T18:21:15.003Z,1768242075.003 [Onboard] Loaded
2026-01-12T18:21:15.003Z,1768242075.003 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2026-01-12T18:21:15.004Z,1768242075.004 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40B154E0
2026-01-12T18:21:15.004Z,1768242075.004 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 3842
2026-01-12T18:21:15.010Z,1768242075.010 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2026-01-12T18:21:15.025Z,1768242075.025 [PowerOnly] Loaded
2026-01-12T18:21:15.025Z,1768242075.025 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2026-01-12T18:21:15.039Z,1768242075.039 [Power24vConverter] Loaded
2026-01-12T18:21:15.039Z,1768242075.039 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2026-01-12T18:21:15.056Z,1768242075.056 [Radio_Surface] Loaded
2026-01-12T18:21:15.056Z,1768242075.056 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2026-01-12T18:21:15.057Z,1768242075.057 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B454E0
2026-01-12T18:21:15.057Z,1768242075.057 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3843
2026-01-12T18:21:15.073Z,1768242075.073 [Sonardyne_Nano] Loaded
2026-01-12T18:21:15.073Z,1768242075.073 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2026-01-12T18:21:15.074Z,1768242075.074 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2026-01-12T18:21:15.075Z,1768242075.075 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2026-01-12T18:21:15.135Z,1768242075.135 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2026-01-12T18:21:15.136Z,1768242075.136 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2026-01-12T18:21:15.194Z,1768242075.194 [VerticalControl](DEBUG): Construct VerticalControl.
2026-01-12T18:21:15.245Z,1768242075.245 [VerticalControl] Loaded
2026-01-12T18:21:15.245Z,1768242075.245 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2026-01-12T18:21:15.248Z,1768242075.248 [HorizontalControl](DEBUG): Construct HorizontalControl.
2026-01-12T18:21:15.293Z,1768242075.293 [HorizontalControl] Loaded
2026-01-12T18:21:15.293Z,1768242075.293 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2026-01-12T18:21:15.295Z,1768242075.295 [SpeedControl](DEBUG): Construct SpeedControl.
2026-01-12T18:21:15.297Z,1768242075.297 [SpeedControl] Loaded
2026-01-12T18:21:15.297Z,1768242075.297 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2026-01-12T18:21:15.300Z,1768242075.300 [LoopControl](DEBUG): Construct LoopControl.
2026-01-12T18:21:15.301Z,1768242075.301 [LoopControl] Loaded
2026-01-12T18:21:15.301Z,1768242075.301 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2026-01-12T18:21:15.301Z,1768242075.301 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2026-01-12T18:21:15.302Z,1768242075.302 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2026-01-12T18:21:15.312Z,1768242075.312 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2026-01-12T18:21:15.313Z,1768242075.313 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2026-01-12T18:21:15.666Z,1768242075.666 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2026-01-12T18:21:15.672Z,1768242075.672 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2026-01-12T18:21:15.675Z,1768242075.675 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2026-01-12T18:21:15.686Z,1768242075.686 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2026-01-12T18:21:15.687Z,1768242075.687 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2026-01-12T18:21:15.688Z,1768242075.688 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3844
2026-01-12T18:21:15.692Z,1768242075.692 [Supervisor](INFO): Main Thread ID is 3743
2026-01-12T18:21:15.692Z,1768242075.692 [Supervisor](DEBUG): Running supervisor.
2026-01-12T18:21:15.693Z,1768242075.693 [CommandExec ThreadHandler](INFO): Handler Thread ID is 3845
2026-01-12T18:21:15.693Z,1768242075.693 [CommandExec](INFO): Initializing the command executive.
2026-01-12T18:21:15.695Z,1768242075.695 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3846
2026-01-12T18:21:15.697Z,1768242075.697 [controlThread ThreadHandler](INFO): Handler Thread ID is 3847
2026-01-12T18:21:15.698Z,1768242075.698 [controlThread](DEBUG): Initializing ControlThread
2026-01-12T18:21:15.700Z,1768242075.700 [SBIT](INFO): Initialize SBIT Component.
2026-01-12T18:21:15.700Z,1768242075.700 [SBIT](IMPORTANT): git: 2025-12-04
2026-01-12T18:21:15.700Z,1768242075.700 [SBIT](INFO): git hash: 9bae910f87c476713ef0b63f9da99d151f0f5f1b
2026-01-12T18:21:15.701Z,1768242075.701 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2026-01-12T18:21:15.702Z,1768242075.702 [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
2026-01-12T18:21:15.703Z,1768242075.703 [SBIT](INFO): Beginning SBIT in 107.000000 seconds.
2026-01-12T18:21:15.704Z,1768242075.704 [IBIT](INFO): Initialize IBIT Component.
2026-01-12T18:21:15.704Z,1768242075.704 [CBIT](DEBUG): Initialize CBIT Component.
2026-01-12T18:21:15.705Z,1768242075.705 [logger ThreadHandler](INFO): Handler Thread ID is 3848
2026-01-12T18:21:15.717Z,1768242075.717 [CBIT](DEBUG): Initialized mux pins.
2026-01-12T18:21:15.717Z,1768242075.717 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2026-01-12T18:21:15.717Z,1768242075.717 [CBIT](DEBUG): Initializing the watchdog timer.
2026-01-12T18:21:15.726Z,1768242075.726 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 3849
2026-01-12T18:21:15.726Z,1768242075.726 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2026-01-12T18:21:15.731Z,1768242075.731 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 3851
2026-01-12T18:21:15.734Z,1768242075.734 [WetLabsBB2FL](INFO): Powering up
2026-01-12T18:21:15.735Z,1768242075.735 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 3853
2026-01-12T18:21:15.741Z,1768242075.741 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2026-01-12T18:21:15.741Z,1768242075.741 [CBIT] Hardware Fault, FailCount= 1
2026-01-12T18:21:15.741Z,1768242075.741 [CBIT](ERROR): Hardware Fault
2026-01-12T18:21:15.742Z,1768242075.742 [CBIT](DEBUG): Initializing heartbeat.
2026-01-12T18:21:15.743Z,1768242075.743 [DAT ThreadHandler](INFO): Handler Thread ID is 3854
2026-01-12T18:21:15.744Z,1768242075.744 [DAT](INFO): Powering up
2026-01-12T18:21:15.744Z,1768242075.744 [DAT](DEBUG): Initializing DAT.
2026-01-12T18:21:15.746Z,1768242075.746 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 3856
2026-01-12T18:21:15.748Z,1768242075.748 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2026-01-12T18:21:15.769Z,1768242075.769 [Onboard ThreadHandler](INFO): Handler Thread ID is 3857
2026-01-12T18:21:15.787Z,1768242075.787 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3858
2026-01-12T18:21:15.808Z,1768242075.808 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3859
2026-01-12T18:21:15.810Z,1768242075.810 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2026-01-12T18:21:15.810Z,1768242075.810 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2026-01-12T18:21:15.811Z,1768242075.811 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2026-01-12T18:21:15.811Z,1768242075.811 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2026-01-12T18:21:15.811Z,1768242075.811 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2026-01-12T18:21:15.811Z,1768242075.811 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2026-01-12T18:21:15.811Z,1768242075.811 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2026-01-12T18:21:15.811Z,1768242075.811 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2026-01-12T18:21:15.813Z,1768242075.813 [CBIT](DEBUG): Deactivating emergency mode.
2026-01-12T18:21:15.853Z,1768242075.853 [CBIT](DEBUG): Backplane powered.
2026-01-12T18:21:15.853Z,1768242075.853 [GFScanner](DEBUG): Initializing GFScanner
2026-01-12T18:21:15.854Z,1768242075.854 [GFScanner](DEBUG): Deactivating GF circuits.
2026-01-12T18:21:15.865Z,1768242075.865 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2026-01-12T18:21:15.866Z,1768242075.866 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2026-01-12T18:21:15.866Z,1768242075.866 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2026-01-12T18:21:15.866Z,1768242075.866 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2026-01-12T18:21:15.867Z,1768242075.867 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2026-01-12T18:21:15.868Z,1768242075.868 [NavChart](DEBUG): Initialize NavChart Navigation.
2026-01-12T18:21:15.868Z,1768242075.868 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2026-01-12T18:21:15.872Z,1768242075.872 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2026-01-12T18:21:15.882Z,1768242075.882 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2026-01-12T18:21:15.883Z,1768242075.883 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2026-01-12T18:21:15.883Z,1768242075.883 [LoopControl](DEBUG): Initialize LoopControlComponent.
2026-01-12T18:21:15.884Z,1768242075.884 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2026-01-12T18:21:15.885Z,1768242075.885 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2026-01-12T18:21:15.893Z,1768242075.893 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2026-01-12T18:21:15.894Z,1768242075.894 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2026-01-12T18:21:15.985Z,1768242075.985 [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>

2026-01-12T18:21:15.993Z,1768242075.993 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-12T18:21:16.046Z,1768242076.046 [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
    }
  }
}


2026-01-12T18:21:16.047Z,1768242076.047 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2026-01-12T18:21:16.047Z,1768242076.047 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2026-01-12T18:21:16.048Z,1768242076.048 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2026-01-12T18:21:16.193Z,1768242076.193 [Radio_Surface](INFO): Powering up
2026-01-12T18:21:16.390Z,1768242076.390 [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>

2026-01-12T18:21:16.404Z,1768242076.404 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2026-01-12T18:21:16.405Z,1768242076.405 [Default:A.Wait](DEBUG): Construct Wait.
2026-01-12T18:21:16.407Z,1768242076.407 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-12T18:21:16.461Z,1768242076.461 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2026-01-12T18:21:16.464Z,1768242076.464 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2026-01-12T18:21:16.494Z,1768242076.494 [Default:E.Execute](DEBUG): Construct Execute.
2026-01-12T18:21:16.497Z,1768242076.497 [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"
  }
}


2026-01-12T18:21:16.506Z,1768242076.506 [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,LcmPublisher,Reporter,LogSplitter,
2026-01-12T18:21:16.535Z,1768242076.535 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2026-01-12T18:21:16.598Z,1768242076.598 [Depth_Keller](INFO): Initializing.
2026-01-12T18:21:16.607Z,1768242076.607 [Power24vConverter](INFO): Powering up.
2026-01-12T18:21:16.607Z,1768242076.607 [Sonardyne_Nano](INFO): Initializing.
2026-01-12T18:21:16.634Z,1768242076.634 [DepthRateCalculator](ERROR): Depth measurement is not active
2026-01-12T18:21:16.656Z,1768242076.656 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2026-01-12T18:21:16.661Z,1768242076.661 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2026-01-12T18:21:16.662Z,1768242076.662 [ElevatorServo](DEBUG): Initializing EZServoServo.
2026-01-12T18:21:16.669Z,1768242076.669 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2026-01-12T18:21:16.670Z,1768242076.670 [MassServo](DEBUG): Initializing EZServoServo.
2026-01-12T18:21:16.677Z,1768242076.677 [MassServo](DEBUG): Initializing MassServo.
2026-01-12T18:21:16.678Z,1768242076.678 [RudderServo](DEBUG): Initializing EZServoServo.
2026-01-12T18:21:16.685Z,1768242076.685 [RudderServo](DEBUG): Initializing RudderServo.
2026-01-12T18:21:16.686Z,1768242076.686 [ThrusterHE](DEBUG): Initializing EZServoServo.
2026-01-12T18:21:16.694Z,1768242076.694 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2026-01-12T18:21:16.695Z,1768242076.695 [CBIT](DEBUG): Uninitialize CBIT Component.
2026-01-12T18:21:16.695Z,1768242076.695 [CBIT](DEBUG): Powering off loads.
2026-01-12T18:21:16.709Z,1768242076.709 [CBIT](DEBUG): Disabling WDT.
2026-01-12T18:21:16.978Z,1768242076.978 [Depth_Keller](ERROR): Pressure or depth reading out of range: 947.322021 decibar, 0.000000 m
2026-01-12T18:21:16.980Z,1768242076.980 [PowerOnly](INFO): Powering up loadControl
2026-01-12T18:21:17.010Z,1768242077.010 [DepthRateCalculator](ERROR): Depth measurement is not active
2026-01-12T18:21:18.069Z,1768242078.069 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2026-01-12T18:21:18.069Z,1768242078.069 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2026-01-12T18:21:18.069Z,1768242078.069 [BuoyancyServo] Communications Fault, FailCount= 1
2026-01-12T18:21:18.069Z,1768242078.069 [BuoyancyServo](ERROR): Communications Fault
2026-01-12T18:21:18.381Z,1768242078.381 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2026-01-12T18:21:18.381Z,1768242078.381 [ElevatorServo](FAULT): Elevator failed to initialize
2026-01-12T18:21:18.381Z,1768242078.381 [ElevatorServo] Communications Fault, FailCount= 1
2026-01-12T18:21:18.381Z,1768242078.381 [ElevatorServo](ERROR): Communications Fault
2026-01-12T18:21:18.693Z,1768242078.693 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2026-01-12T18:21:18.693Z,1768242078.693 [RudderServo](FAULT): Rudder failed to initialize
2026-01-12T18:21:18.693Z,1768242078.693 [RudderServo] Communications Fault, FailCount= 1
2026-01-12T18:21:18.693Z,1768242078.693 [RudderServo](ERROR): Communications Fault
2026-01-12T18:21:18.719Z,1768242078.719 [PowerOnly](FAULT): loadControlLCB fault:  Current Limiter Activated.
2026-01-12T18:21:18.720Z,1768242078.720 [PowerOnly] Hardware Fault, FailCount= 1
2026-01-12T18:21:18.720Z,1768242078.720 [PowerOnly](ERROR): Hardware Fault
2026-01-12T18:21:18.756Z,1768242078.756 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2026-01-12T18:21:18.765Z,1768242078.765 [ElevatorServo](INFO): Powering down
2026-01-12T18:21:18.766Z,1768242078.766 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2026-01-12T18:21:18.767Z,1768242078.767 [RudderServo](INFO): Powering down
2026-01-12T18:21:18.768Z,1768242078.768 [ThrusterHE](FAULT): Thruster failed to initialize
2026-01-12T18:21:18.768Z,1768242078.768 [ThrusterHE] Communications Fault, FailCount= 1
2026-01-12T18:21:18.768Z,1768242078.768 [ThrusterHE](ERROR): Communications Fault
2026-01-12T18:21:19.111Z,1768242079.111 [PowerOnly](INFO): Powering down loadControl
2026-01-12T18:21:19.113Z,1768242079.113 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2026-01-12T18:21:19.156Z,1768242079.156 [ElevatorServo](FAULT): LCB fault:  Current Limiter Activated.
2026-01-12T18:21:19.156Z,1768242079.156 [ElevatorServo] Hardware Fault, FailCount= 1
2026-01-12T18:21:19.157Z,1768242079.157 [ElevatorServo](ERROR): Hardware Fault
2026-01-12T18:21:19.158Z,1768242079.158 [RudderServo](FAULT): LCB fault:  Current Limiter Activated.
2026-01-12T18:21:19.158Z,1768242079.158 [RudderServo] Hardware Fault, FailCount= 1
2026-01-12T18:21:19.158Z,1768242079.158 [RudderServo](ERROR): Hardware Fault
2026-01-12T18:21:19.158Z,1768242079.158 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2026-01-12T18:21:19.158Z,1768242079.158 [ThrusterHE](INFO): Powering down
2026-01-12T18:21:19.515Z,1768242079.515 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2026-01-12T18:21:19.533Z,1768242079.533 [ElevatorServo](DEBUG): Initializing EZServoServo.
2026-01-12T18:21:19.654Z,1768242079.654 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2026-01-12T18:21:19.957Z,1768242079.957 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2026-01-12T18:21:19.957Z,1768242079.957 [MassServo] Communications Fault, FailCount= 1
2026-01-12T18:21:19.957Z,1768242079.957 [MassServo](ERROR): Communications Fault
2026-01-12T18:21:19.958Z,1768242079.958 [RudderServo](DEBUG): Initializing EZServoServo.
2026-01-12T18:21:20.078Z,1768242080.078 [RudderServo](DEBUG): Initializing RudderServo.
2026-01-12T18:21:20.079Z,1768242080.079 [ThrusterHE](FAULT): LCB fault:  Current Limiter Activated.
2026-01-12T18:21:20.079Z,1768242080.079 [ThrusterHE] Hardware Fault, FailCount= 1
2026-01-12T18:21:20.079Z,1768242080.079 [ThrusterHE](ERROR): Hardware Fault
2026-01-12T18:21:20.221Z,1768242080.221 [AHRS_M2](ERROR): setBoresightMatrix UART error: serial timeout
2026-01-12T18:21:20.227Z,1768242080.227 [PowerOnly](INFO): Powering down loadControl
2026-01-12T18:21:20.282Z,1768242080.282 [MassServo](DEBUG): Uninitialize Mass Servo.
2026-01-12T18:21:20.282Z,1768242080.282 [MassServo](INFO): Powering down
2026-01-12T18:21:20.563Z,1768242080.563 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2026-01-12T18:21:20.582Z,1768242080.582 [MassServo](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2026-01-12T18:21:20.583Z,1768242080.583 [MassServo] Hardware Fault, FailCount= 1
2026-01-12T18:21:20.583Z,1768242080.583 [MassServo](ERROR): Hardware Fault
2026-01-12T18:21:20.993Z,1768242080.993 [AHRS_M2](ERROR): Format BitStream UART error: serial timeout
2026-01-12T18:21:20.996Z,1768242080.996 [PowerOnly](INFO): Powering down loadControl
2026-01-12T18:21:21.001Z,1768242081.001 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213
2026-01-12T18:21:21.011Z,1768242081.011 [MassServo](DEBUG): Initializing EZServoServo.
2026-01-12T18:21:21.029Z,1768242081.029 [WetLabsBB2FL] Communications Fault, FailCount= 1
2026-01-12T18:21:21.029Z,1768242081.029 [WetLabsBB2FL](ERROR): Communications Fault
2026-01-12T18:21:21.130Z,1768242081.130 [MassServo](DEBUG): Initializing MassServo.
2026-01-12T18:21:21.331Z,1768242081.331 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2026-01-12T18:21:21.334Z,1768242081.334 [Sonardyne_Nano](ERROR): External power not detected
2026-01-12T18:21:21.529Z,1768242081.529 [WetLabsBB2FL](INFO): Powering down
2026-01-12T18:21:21.735Z,1768242081.735 [PowerOnly](INFO): Powering down loadControl
2026-01-12T18:21:22.245Z,1768242082.245 [AHRS_M2](ERROR): Subscribe Pitch UART error: serial timeout
2026-01-12T18:21:22.251Z,1768242082.251 [PowerOnly](FAULT): loadControl LCB fault:  Current Limiter Activated.
2026-01-12T18:21:22.543Z,1768242082.543 [PowerOnly](INFO): Powering down loadControl
2026-01-12T18:21:22.658Z,1768242082.658 [Radio_Surface](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2026-01-12T18:21:22.658Z,1768242082.658 [Radio_Surface] Hardware Fault, FailCount= 1
2026-01-12T18:21:22.658Z,1768242082.658 [Radio_Surface](ERROR): Hardware Fault
2026-01-12T18:21:23.061Z,1768242083.061 [Radio_Surface](INFO): Powering down
2026-01-12T18:21:23.465Z,1768242083.465 [Radio_Surface](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2026-01-12T18:21:27.362Z,1768242087.362 [AHRS_M2](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2026-01-12T18:21:27.362Z,1768242087.362 [AHRS_M2] Hardware Fault, FailCount= 1
2026-01-12T18:21:27.362Z,1768242087.362 [AHRS_M2](ERROR): Hardware Fault
2026-01-12T18:21:27.778Z,1768242087.778 [AHRS_M2](INFO): Powering down
2026-01-12T18:21:28.170Z,1768242088.170 [AHRS_M2](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2026-01-12T18:21:28.777Z,1768242088.777 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2026-01-12T18:21:28.777Z,1768242088.777 [CTD_Seabird] Communications Fault, FailCount= 1
2026-01-12T18:21:28.778Z,1768242088.778 [CTD_Seabird](ERROR): Communications Fault
2026-01-12T18:21:29.182Z,1768242089.182 [CTD_Seabird](INFO): Powering down
2026-01-12T18:21:29.723Z,1768242089.723 [CTD_Seabird](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2026-01-12T18:21:29.723Z,1768242089.723 [CTD_Seabird] Hardware Fault, FailCount= 1
2026-01-12T18:21:29.723Z,1768242089.723 [CTD_Seabird](ERROR): Hardware Fault
2026-01-12T18:21:33.830Z,1768242093.830 [DVL_micro](FAULT): Failed to initialize within timeout.
2026-01-12T18:21:33.830Z,1768242093.830 [DVL_micro] Communications Fault, FailCount= 1
2026-01-12T18:21:33.830Z,1768242093.830 [DVL_micro](ERROR): Communications Fault
2026-01-12T18:21:34.325Z,1768242094.325 [DVL_micro](INFO): Powering down
2026-01-12T18:21:34.783Z,1768242094.783 [CommandExec](IMPORTANT): got command restart application
2026-01-12T18:21:35.785Z,1768242095.785 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2026-01-12T18:21:35.785Z,1768242095.785 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:35.786Z,1768242095.786 [CommandExec](INFO): Uninitializing the command executive.
2026-01-12T18:21:35.786Z,1768242095.786 [CommandExec](INFO): Uninitializing the command scheduler.
2026-01-12T18:21:35.786Z,1768242095.786 [CommandExec ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:35.845Z,1768242095.845 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2026-01-12T18:21:35.845Z,1768242095.845 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2026-01-12T18:21:35.845Z,1768242095.845 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:35.846Z,1768242095.846 [NavChartDb](INFO): Join timeout helper Thread ID is 3871
2026-01-12T18:21:36.923Z,1768242096.923 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:36.923Z,1768242096.923 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:36.933Z,1768242096.933 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2026-01-12T18:21:36.933Z,1768242096.933 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:36.934Z,1768242096.934 [Radio_Surface](INFO): Join timeout helper Thread ID is 3872
2026-01-12T18:21:37.205Z,1768242097.205 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:37.205Z,1768242097.205 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:37.209Z,1768242097.209 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2026-01-12T18:21:37.209Z,1768242097.209 [Onboard ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:37.210Z,1768242097.210 [Onboard](INFO): Join timeout helper Thread ID is 3873
2026-01-12T18:21:40.817Z,1768242100.817 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:40.818Z,1768242100.818 [Onboard ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:40.851Z,1768242100.851 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2026-01-12T18:21:40.851Z,1768242100.851 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:40.852Z,1768242100.852 [DataOverHttps](INFO): Join timeout helper Thread ID is 3874
2026-01-12T18:21:40.873Z,1768242100.873 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:40.875Z,1768242100.875 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:40.910Z,1768242100.910 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2026-01-12T18:21:40.910Z,1768242100.910 [DAT ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:40.910Z,1768242100.910 [DAT](INFO): Join timeout helper Thread ID is 3875
2026-01-12T18:21:40.953Z,1768242100.953 [DAT](INFO): Powering down
2026-01-12T18:21:41.022Z,1768242101.022 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:41.022Z,1768242101.022 [DAT](INFO): Powering down
2026-01-12T18:21:41.023Z,1768242101.023 [DAT ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.030Z,1768242101.030 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2026-01-12T18:21:41.030Z,1768242101.030 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.031Z,1768242101.031 [BackseatComponent](INFO): Join timeout helper Thread ID is 3876
2026-01-12T18:21:41.041Z,1768242101.041 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:41.042Z,1768242101.042 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.050Z,1768242101.050 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2026-01-12T18:21:41.050Z,1768242101.050 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.050Z,1768242101.050 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3877
2026-01-12T18:21:41.325Z,1768242101.325 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:41.328Z,1768242101.328 [WetLabsBB2FL](INFO): Powering down
2026-01-12T18:21:41.332Z,1768242101.332 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.346Z,1768242101.346 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2026-01-12T18:21:41.346Z,1768242101.346 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.346Z,1768242101.346 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3878
2026-01-12T18:21:41.437Z,1768242101.437 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:41.437Z,1768242101.437 [CTD_Seabird](INFO): Powering down
2026-01-12T18:21:41.449Z,1768242101.449 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.466Z,1768242101.466 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2026-01-12T18:21:41.466Z,1768242101.466 [logger ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.466Z,1768242101.466 [logger](INFO): Join timeout helper Thread ID is 3879
2026-01-12T18:21:41.481Z,1768242101.481 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:41.481Z,1768242101.481 [logger ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.486Z,1768242101.486 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2026-01-12T18:21:41.486Z,1768242101.486 [CommandLine ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.486Z,1768242101.486 [CommandLine](INFO): Join timeout helper Thread ID is 3880
2026-01-12T18:21:41.501Z,1768242101.501 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:41.502Z,1768242101.502 [CommandLine ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.506Z,1768242101.506 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2026-01-12T18:21:41.506Z,1768242101.506 [CommandExec ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.506Z,1768242101.506 [CommandExec](INFO): Join timeout helper Thread ID is 3881
2026-01-12T18:21:41.514Z,1768242101.514 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2026-01-12T18:21:41.514Z,1768242101.514 [controlThread ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:41.514Z,1768242101.514 [controlThread](INFO): Join timeout helper Thread ID is 3882
2026-01-12T18:21:41.525Z,1768242101.525 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-12T18:21:41.526Z,1768242101.526 [controlThread](DEBUG): Uninitializing ControlThread
2026-01-12T18:21:41.526Z,1768242101.526 [AHRS_M2](INFO): Powering down
2026-01-12T18:21:41.594Z,1768242101.594 [DVL_micro](INFO): Powering down
2026-01-12T18:21:41.594Z,1768242101.594 [NAL9602](INFO): Powering down
2026-01-12T18:21:41.596Z,1768242101.596 [Sonardyne_Nano](INFO): Powering down
2026-01-12T18:21:41.801Z,1768242101.801 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2026-01-12T18:21:41.802Z,1768242101.802 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2026-01-12T18:21:41.803Z,1768242101.803 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2026-01-12T18:21:41.803Z,1768242101.803 [MissionManager](INFO): Uninitializing Mission Default
2026-01-12T18:21:41.806Z,1768242101.806 [MissionManager](INFO): Uninitializing Mission Startup
2026-01-12T18:21:41.807Z,1768242101.807 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2026-01-12T18:21:41.808Z,1768242101.808 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2026-01-12T18:21:41.808Z,1768242101.808 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2026-01-12T18:21:41.808Z,1768242101.808 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2026-01-12T18:21:41.808Z,1768242101.808 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2026-01-12T18:21:41.809Z,1768242101.809 [BuoyancyServo](INFO): Powering down
2026-01-12T18:21:41.941Z,1768242101.941 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2026-01-12T18:21:41.941Z,1768242101.941 [ElevatorServo](INFO): Powering down
2026-01-12T18:21:41.942Z,1768242101.942 [MassServo](DEBUG): Uninitialize Mass Servo.
2026-01-12T18:21:41.942Z,1768242101.942 [MassServo](INFO): Powering down
2026-01-12T18:21:41.943Z,1768242101.943 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2026-01-12T18:21:41.943Z,1768242101.943 [RudderServo](INFO): Powering down
2026-01-12T18:21:41.944Z,1768242101.944 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2026-01-12T18:21:41.944Z,1768242101.944 [ThrusterHE](INFO): Powering down
2026-01-12T18:21:41.945Z,1768242101.945 [SBIT](DEBUG): Uninitialize SBIT Component.
2026-01-12T18:21:41.945Z,1768242101.945 [IBIT](DEBUG): Uninitialize IBIT Component.
2026-01-12T18:21:41.946Z,1768242101.946 [CBIT](DEBUG): Uninitialize CBIT Component.
2026-01-12T18:21:41.946Z,1768242101.946 [CBIT](DEBUG): Powering off loads.
2026-01-12T18:21:41.957Z,1768242101.957 [CBIT](DEBUG): Disabling WDT.
2026-01-12T18:21:41.969Z,1768242101.969 [GFScanner](DEBUG): Uninitialize GFScanner component.
2026-01-12T18:21:41.969Z,1768242101.969 [GFScanner](DEBUG): Opening all GF detection circuits.
2026-01-12T18:21:41.970Z,1768242101.970 [controlThread ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.356Z,1768242102.356 [GFScanner](DEBUG): Uninitialize GFScanner component.
2026-01-12T18:21:42.356Z,1768242102.356 [GFScanner](DEBUG): Opening all GF detection circuits.
2026-01-12T18:21:42.372Z,1768242102.372 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.378Z,1768242102.378 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.410Z,1768242102.410 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.413Z,1768242102.413 [Onboard ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.421Z,1768242102.421 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.427Z,1768242102.427 [DAT ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.472Z,1768242102.472 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.525Z,1768242102.525 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2026-01-12T18:21:42.593Z,1768242102.593 [logger ThreadHandler](INFO): Thread cancelled.