2025-04-11T20:15:59.746Z,1744402559.746 [Supervisor](DEBUG): Initializing supervisor.
2025-04-11T20:15:59.751Z,1744402559.751 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-04-11T20:15:59.751Z,1744402559.751 [SyncHandler](INFO): Protected caller Thread ID is 839
2025-04-11T20:15:59.752Z,1744402559.752 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-04-11T20:15:59.753Z,1744402559.753 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-04-11T20:15:59.753Z,1744402559.753 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 840
2025-04-11T20:15:59.757Z,1744402559.757 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-04-11T20:15:59.774Z,1744402559.774 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-04-11T20:15:59.775Z,1744402559.775 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-04-11T20:15:59.776Z,1744402559.776 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 841
2025-04-11T20:15:59.780Z,1744402559.780 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-04-11T20:15:59.781Z,1744402559.781 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-04-11T20:15:59.781Z,1744402559.781 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 842
2025-04-11T20:15:59.783Z,1744402559.783 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-04-11T20:15:59.784Z,1744402559.784 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-04-11T20:15:59.785Z,1744402559.785 [logger ThreadHandler](INFO): Protected caller Thread ID is 843
2025-04-11T20:15:59.788Z,1744402559.788 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-04-11T20:15:59.789Z,1744402559.789 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-04-11T20:15:59.793Z,1744402559.793 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-04-11T20:15:59.900Z,1744402559.900 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-04-11T20:15:59.902Z,1744402559.902 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-04-11T20:16:00.668Z,1744402560.668 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-04-11T20:16:00.670Z,1744402560.670 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-04-11T20:16:00.908Z,1744402560.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-04-11T20:16:00.910Z,1744402560.910 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-04-11T20:16:00.999Z,1744402560.999 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-04-11T20:16:01.139Z,1744402561.139 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-04-11T20:16:01.141Z,1744402561.141 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-04-11T20:16:01.232Z,1744402561.232 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-04-11T20:16:01.350Z,1744402561.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-04-11T20:16:01.350Z,1744402561.350 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-04-11T20:16:01.754Z,1744402561.754 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-04-11T20:16:01.755Z,1744402561.755 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-04-11T20:16:02.292Z,1744402562.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-04-11T20:16:02.293Z,1744402562.293 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-04-11T20:16:02.520Z,1744402562.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-04-11T20:16:02.522Z,1744402562.522 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-04-11T20:16:02.713Z,1744402562.713 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-04-11T20:16:02.714Z,1744402562.714 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-04-11T20:16:03.422Z,1744402563.422 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-04-11T20:16:03.423Z,1744402563.423 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-04-11T20:16:03.932Z,1744402563.932 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-04-11T20:16:03.934Z,1744402563.934 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-04-11T20:16:04.175Z,1744402564.175 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-04-11T20:16:04.176Z,1744402564.176 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-04-11T20:16:04.559Z,1744402564.559 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-04-11T20:16:04.561Z,1744402564.561 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-04-11T20:16:04.918Z,1744402564.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-04-11T20:16:04.920Z,1744402564.920 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2025-04-11T20:16:04.923Z,1744402564.923 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2025-04-11T20:16:05.016Z,1744402565.016 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2025-04-11T20:16:05.199Z,1744402565.199 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Dock.cfg
2025-04-11T20:16:05.314Z,1744402565.314 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg
2025-04-11T20:16:05.418Z,1744402565.418 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2025-04-11T20:16:05.534Z,1744402565.534 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2025-04-11T20:16:05.629Z,1744402565.629 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2025-04-11T20:16:05.733Z,1744402565.733 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2025-04-11T20:16:05.855Z,1744402565.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2025-04-11T20:16:06.136Z,1744402566.136 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-04-11T20:16:06.137Z,1744402566.137 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2025-04-11T20:16:06.231Z,1744402566.231 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2025-04-11T20:16:06.334Z,1744402566.334 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2025-04-11T20:16:06.487Z,1744402566.487 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2025-04-11T20:16:06.597Z,1744402566.597 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2025-04-11T20:16:06.602Z,1744402566.602 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-04-11T20:16:06.774Z,1744402566.774 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-04-11T20:16:06.774Z,1744402566.774 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-04-11T20:16:06.847Z,1744402566.847 [VerticalControl](DEBUG): Construct VerticalControl.
2025-04-11T20:16:06.907Z,1744402566.907 [VerticalControl] Loaded
2025-04-11T20:16:06.908Z,1744402566.908 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-04-11T20:16:06.910Z,1744402566.910 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-04-11T20:16:06.959Z,1744402566.959 [HorizontalControl] Loaded
2025-04-11T20:16:06.959Z,1744402566.959 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-04-11T20:16:06.961Z,1744402566.961 [SpeedControl](DEBUG): Construct SpeedControl.
2025-04-11T20:16:06.964Z,1744402566.964 [SpeedControl] Loaded
2025-04-11T20:16:06.965Z,1744402566.965 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-04-11T20:16:06.967Z,1744402566.967 [LoopControl](DEBUG): Construct LoopControl.
2025-04-11T20:16:06.968Z,1744402566.968 [LoopControl] Loaded
2025-04-11T20:16:06.968Z,1744402566.968 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-04-11T20:16:06.968Z,1744402566.968 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-04-11T20:16:06.969Z,1744402566.969 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-04-11T20:16:07.042Z,1744402567.042 [DepthRateCalculator] Loaded
2025-04-11T20:16:07.042Z,1744402567.042 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-04-11T20:16:07.047Z,1744402567.047 [PitchRateCalculator] Loaded
2025-04-11T20:16:07.047Z,1744402567.047 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-04-11T20:16:07.057Z,1744402567.057 [SpeedCalculator] Loaded
2025-04-11T20:16:07.057Z,1744402567.057 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-04-11T20:16:07.061Z,1744402567.061 [YawRateCalculator] Loaded
2025-04-11T20:16:07.062Z,1744402567.062 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-04-11T20:16:07.080Z,1744402567.080 [ElevatorOffsetCalculator] Loaded
2025-04-11T20:16:07.080Z,1744402567.080 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-04-11T20:16:07.081Z,1744402567.081 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-04-11T20:16:07.083Z,1744402567.083 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-04-11T20:16:07.125Z,1744402567.125 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-04-11T20:16:07.127Z,1744402567.127 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-04-11T20:16:07.212Z,1744402567.212 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-04-11T20:16:07.213Z,1744402567.213 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-04-11T20:16:07.621Z,1744402567.621 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-04-11T20:16:07.621Z,1744402567.621 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-04-11T20:16:07.839Z,1744402567.839 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-04-11T20:16:07.839Z,1744402567.839 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-04-11T20:16:08.666Z,1744402568.666 [AHRS_M2] Loaded
2025-04-11T20:16:08.666Z,1744402568.666 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-04-11T20:16:09.053Z,1744402569.053 [BackseatComponent] Loaded
2025-04-11T20:16:09.053Z,1744402569.053 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-04-11T20:16:09.060Z,1744402569.060 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409E24E0
2025-04-11T20:16:09.060Z,1744402569.060 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 931
2025-04-11T20:16:09.063Z,1744402569.063 [LcmUniversalReporter] Loaded
2025-04-11T20:16:09.063Z,1744402569.063 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-04-11T20:16:09.902Z,1744402569.902 [BPC1] Loaded
2025-04-11T20:16:09.902Z,1744402569.902 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-04-11T20:16:09.998Z,1744402569.998 [DAT] Loaded
2025-04-11T20:16:09.999Z,1744402569.999 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-04-11T20:16:09.000Z,1744402570.000 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A124E0
2025-04-11T20:16:09.000Z,1744402570.000 [DAT ThreadHandler](INFO): Protected caller Thread ID is 932
2025-04-11T20:16:10.142Z,1744402570.142 [DataOverHttps] Loaded
2025-04-11T20:16:10.142Z,1744402570.142 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-04-11T20:16:10.143Z,1744402570.143 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A424E0
2025-04-11T20:16:10.144Z,1744402570.144 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 933
2025-04-11T20:16:10.167Z,1744402570.167 [Depth_Keller] Loaded
2025-04-11T20:16:10.167Z,1744402570.167 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-04-11T20:16:10.172Z,1744402570.172 [DropWeight] Loaded
2025-04-11T20:16:10.172Z,1744402570.172 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-04-11T20:16:10.237Z,1744402570.237 [NAL9602] Loaded
2025-04-11T20:16:10.237Z,1744402570.237 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-04-11T20:16:10.266Z,1744402570.266 [Onboard] Loaded
2025-04-11T20:16:10.266Z,1744402570.266 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-04-11T20:16:10.267Z,1744402570.267 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A724E0
2025-04-11T20:16:10.268Z,1744402570.268 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 934
2025-04-11T20:16:10.281Z,1744402570.281 [Power24vConverter] Loaded
2025-04-11T20:16:10.282Z,1744402570.282 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-04-11T20:16:10.297Z,1744402570.297 [Radio_Surface] Loaded
2025-04-11T20:16:10.298Z,1744402570.298 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-04-11T20:16:10.299Z,1744402570.299 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AA24E0
2025-04-11T20:16:10.299Z,1744402570.299 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 935
2025-04-11T20:16:10.346Z,1744402570.346 [RDI_Pathfinder] Loaded
2025-04-11T20:16:10.346Z,1744402570.346 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-04-11T20:16:10.361Z,1744402570.361 [Sonardyne_Nano] Loaded
2025-04-11T20:16:10.361Z,1744402570.361 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-04-11T20:16:10.362Z,1744402570.362 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-04-11T20:16:10.362Z,1744402570.362 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-04-11T20:16:10.499Z,1744402570.499 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-04-11T20:16:10.499Z,1744402570.499 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-04-11T20:16:10.513Z,1744402570.513 [NavChart] Loaded
2025-04-11T20:16:10.513Z,1744402570.513 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-04-11T20:16:10.519Z,1744402570.519 [UniversalFixResidualReporter] Loaded
2025-04-11T20:16:10.519Z,1744402570.519 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-04-11T20:16:10.520Z,1744402570.520 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-04-11T20:16:10.521Z,1744402570.521 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-04-11T20:16:10.694Z,1744402570.694 [SBIT](DEBUG): Construct Startup Built In Test.
2025-04-11T20:16:10.703Z,1744402570.703 [SBIT] Loaded
2025-04-11T20:16:10.703Z,1744402570.703 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-04-11T20:16:10.706Z,1744402570.706 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-04-11T20:16:10.719Z,1744402570.719 [IBIT] Loaded
2025-04-11T20:16:10.719Z,1744402570.719 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-04-11T20:16:10.725Z,1744402570.725 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-04-11T20:16:10.831Z,1744402570.831 [CBIT] Loaded
2025-04-11T20:16:10.832Z,1744402570.832 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-04-11T20:16:10.832Z,1744402570.832 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-04-11T20:16:10.833Z,1744402570.833 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-04-11T20:16:10.998Z,1744402570.998 [BuoyancyServo] Loaded
2025-04-11T20:16:10.998Z,1744402570.998 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-04-11T20:16:11.021Z,1744402571.021 [ElevatorServo] Loaded
2025-04-11T20:16:11.021Z,1744402571.021 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-04-11T20:16:11.051Z,1744402571.051 [DockingStepper] Loaded
2025-04-11T20:16:11.052Z,1744402571.052 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-04-11T20:16:11.073Z,1744402571.073 [MassServo] Loaded
2025-04-11T20:16:11.073Z,1744402571.073 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-04-11T20:16:11.094Z,1744402571.094 [RudderServo] Loaded
2025-04-11T20:16:11.094Z,1744402571.094 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-04-11T20:16:11.113Z,1744402571.113 [ThrusterServo] Loaded
2025-04-11T20:16:11.113Z,1744402571.113 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2025-04-11T20:16:11.114Z,1744402571.114 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-04-11T20:16:11.115Z,1744402571.115 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-04-11T20:16:11.130Z,1744402571.130 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-04-11T20:16:11.131Z,1744402571.131 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-04-11T20:16:11.356Z,1744402571.356 [CTD_Seabird] Loaded
2025-04-11T20:16:11.357Z,1744402571.357 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-04-11T20:16:11.358Z,1744402571.358 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BEF4E0
2025-04-11T20:16:11.358Z,1744402571.358 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 936
2025-04-11T20:16:11.381Z,1744402571.381 [PAR_Licor] Loaded
2025-04-11T20:16:11.381Z,1744402571.381 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-04-11T20:16:11.426Z,1744402571.426 [WetLabsBB2FL] Loaded
2025-04-11T20:16:11.427Z,1744402571.427 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-04-11T20:16:11.428Z,1744402571.428 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C1F4E0
2025-04-11T20:16:11.428Z,1744402571.428 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 937
2025-04-11T20:16:11.449Z,1744402571.449 [WetLabsUBAT] Loaded
2025-04-11T20:16:11.450Z,1744402571.450 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2025-04-11T20:16:11.451Z,1744402571.451 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C4F4E0
2025-04-11T20:16:11.451Z,1744402571.451 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 938
2025-04-11T20:16:11.452Z,1744402571.452 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-04-11T20:16:11.458Z,1744402571.458 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-04-11T20:16:11.461Z,1744402571.461 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-04-11T20:16:11.473Z,1744402571.473 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-04-11T20:16:11.473Z,1744402571.473 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C7F4E0
2025-04-11T20:16:11.474Z,1744402571.474 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 939
2025-04-11T20:16:11.478Z,1744402571.478 [Supervisor](INFO): Main Thread ID is 830
2025-04-11T20:16:11.478Z,1744402571.478 [Supervisor](DEBUG): Running supervisor.
2025-04-11T20:16:11.479Z,1744402571.479 [CommandExec ThreadHandler](INFO): Handler Thread ID is 940
2025-04-11T20:16:11.479Z,1744402571.479 [CommandExec](INFO): Initializing the command executive.
2025-04-11T20:16:11.481Z,1744402571.481 [CommandLine ThreadHandler](INFO): Handler Thread ID is 941
2025-04-11T20:16:11.483Z,1744402571.483 [controlThread ThreadHandler](INFO): Handler Thread ID is 942
2025-04-11T20:16:11.483Z,1744402571.483 [controlThread](DEBUG): Initializing ControlThread
2025-04-11T20:16:11.484Z,1744402571.484 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-04-11T20:16:11.486Z,1744402571.486 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-04-11T20:16:11.487Z,1744402571.487 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-04-11T20:16:11.487Z,1744402571.487 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-04-11T20:16:11.487Z,1744402571.487 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-04-11T20:16:11.488Z,1744402571.488 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-04-11T20:16:11.488Z,1744402571.488 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-04-11T20:16:11.489Z,1744402571.489 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-04-11T20:16:11.489Z,1744402571.489 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-04-11T20:16:11.494Z,1744402571.494 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-04-11T20:16:11.495Z,1744402571.495 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-04-11T20:16:11.495Z,1744402571.495 [SBIT](INFO): Initialize SBIT Component.
2025-04-11T20:16:11.495Z,1744402571.495 [SBIT](IMPORTANT): git: 2025-01-23
2025-04-11T20:16:11.496Z,1744402571.496 [SBIT](INFO): git hash: e941ed7ca4296489cfe1bf7015177657c0080d4b
2025-04-11T20:16:11.496Z,1744402571.496 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-04-11T20:16:11.497Z,1744402571.497 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-04-11T20:16:11.498Z,1744402571.498 [SBIT](INFO): Beginning SBIT in 46.000000 seconds.
2025-04-11T20:16:11.499Z,1744402571.499 [IBIT](INFO): Initialize IBIT Component.
2025-04-11T20:16:11.500Z,1744402571.500 [CBIT](DEBUG): Initialize CBIT Component.
2025-04-11T20:16:11.501Z,1744402571.501 [logger ThreadHandler](INFO): Handler Thread ID is 943
2025-04-11T20:16:11.512Z,1744402571.512 [CBIT](DEBUG): Initialized mux pins.
2025-04-11T20:16:11.512Z,1744402571.512 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2025-04-11T20:16:11.512Z,1744402571.512 [CBIT](DEBUG): Initializing the watchdog timer.
2025-04-11T20:16:11.520Z,1744402571.520 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 944
2025-04-11T20:16:11.532Z,1744402571.532 [DAT ThreadHandler](INFO): Handler Thread ID is 945
2025-04-11T20:16:11.533Z,1744402571.533 [DAT](INFO): Powering up
2025-04-11T20:16:11.533Z,1744402571.533 [DAT](DEBUG): Initializing DAT.
2025-04-11T20:16:11.536Z,1744402571.536 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2025-04-11T20:16:11.536Z,1744402571.536 [CBIT](DEBUG): Initializing heartbeat.
2025-04-11T20:16:11.538Z,1744402571.538 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 947
2025-04-11T20:16:11.540Z,1744402571.540 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-04-11T20:16:11.548Z,1744402571.548 [Onboard ThreadHandler](INFO): Handler Thread ID is 948
2025-04-11T20:16:11.578Z,1744402571.578 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 949
2025-04-11T20:16:11.596Z,1744402571.596 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 950
2025-04-11T20:16:11.597Z,1744402571.597 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-04-11T20:16:11.601Z,1744402571.601 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 952
2025-04-11T20:16:11.604Z,1744402571.604 [WetLabsBB2FL](INFO): Powering up
2025-04-11T20:16:11.605Z,1744402571.605 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 954
2025-04-11T20:16:11.608Z,1744402571.608 [CBIT](DEBUG): Deactivating GF circuits.
2025-04-11T20:16:11.608Z,1744402571.608 [CBIT](DEBUG): Deactivating emergency mode.
2025-04-11T20:16:11.609Z,1744402571.609 [WetLabsUBAT](INFO): Powering up
2025-04-11T20:16:11.610Z,1744402571.610 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 956
2025-04-11T20:16:11.619Z,1744402571.619 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-04-11T20:16:11.619Z,1744402571.619 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-04-11T20:16:11.620Z,1744402571.620 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-04-11T20:16:11.620Z,1744402571.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-04-11T20:16:11.620Z,1744402571.620 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-04-11T20:16:11.620Z,1744402571.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-04-11T20:16:11.620Z,1744402571.620 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-04-11T20:16:11.621Z,1744402571.621 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-04-11T20:16:11.648Z,1744402571.648 [CBIT](DEBUG): Backplane powered.
2025-04-11T20:16:11.652Z,1744402571.652 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-04-11T20:16:11.653Z,1744402571.653 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-04-11T20:16:11.653Z,1744402571.653 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-04-11T20:16:11.672Z,1744402571.672 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-04-11T20:16:11.691Z,1744402571.691 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-04-11T20:16:11.691Z,1744402571.691 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-04-11T20:16:11.691Z,1744402571.691 [MissionManager](ERROR): Could not load startup mission.
2025-04-11T20:16:11.692Z,1744402571.692 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-04-11T20:16:11.692Z,1744402571.692 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-04-11T20:16:11.696Z,1744402571.696 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-04-11T20:16:11.980Z,1744402571.980 [Radio_Surface](INFO): Powering up
2025-04-11T20:16:12.222Z,1744402572.222 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="DefaultWithUndock">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:hour />
        <Value>6</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DriftTimeout">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>30</Value>
        </Setting>
    </Guidance:Wait>
    <Aggregate Id="LeaveDock">
        <Sequence />
        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">
                Timed out while trying to detach from dock at current depth of 
                <Universal:depth />
                <Units:meter />
                .
            </Syslog>
        </Timeout>
        <Estimation:TrackAcousticContact>
            <While>
                <Universal:depth />
                <Gt>
                    <Control:VerticalControl.surfaceThreshold />
                </Gt>
            </While>
            <Setting>
                <Estimation:TrackAcousticContact.contactLabelSetting />
                <Arg Name="TransponderCode" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.numberOfSamplesSetting />
                <Arg Name="NumberOfPings" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.updatePeriodSetting />
                <Arg Name="TrackingUpdatePeriod" />
            </Setting>
        </Estimation:TrackAcousticContact>
        <Dock:Undock>
            <Sequence />
            <Setting>
                <Dock:Undock.driftTimeout />
                <Arg Name="DriftTimeout" />
            </Setting>
        </Dock:Undock>
    </Aggregate>
    <Aggregate Id="SurfaceDefault">
        <Sequence />
        <Guidance:GoToSurface>
            <Progression />
        </Guidance:GoToSurface>
        <Aggregate Id="CheckIn">
            <Sequence Repeat="288" />
            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P5M" />
                <Universal:time_fix />
            </ReadDatum>
            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P2H">
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>Burn on</String>
                        </Setting>
                    </Guidance:Execute>
                    <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
                </Timeout>
                <Universal:platform_communications />
            </ReadDatum>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Units:minute />
                    <Value>5</Value>
                </Setting>
            </Guidance:Wait>
            <Assign>
                <Sequence />
                <Arg Name="ElapsedSinceDefaultStarted" />
                <Elapsed>
                    <Universal:mission_started />
                </Elapsed>
            </Assign>
            <Syslog Severity="Important">
                Default mission has been running for 
                <Arg Name="ElapsedSinceDefaultStarted" />
                <Units:minute />
            </Syslog>
        </Aggregate>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-04-11T20:16:12.249Z,1744402572.249 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-04-11T20:16:12.273Z,1744402572.273 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-04-11T20:16:12.277Z,1744402572.277 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-04-11T20:16:12.297Z,1744402572.297 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-04-11T20:16:12.301Z,1744402572.301 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-04-11T20:16:12.316Z,1744402572.316 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-04-11T20:16:12.318Z,1744402572.318 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-04-11T20:16:12.456Z,1744402572.456 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-04-11T20:16:12.456Z,1744402572.456 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-04-11T20:16:12.517Z,1744402572.517 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-11T20:16:12.555Z,1744402572.555 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-04-11T20:16:12.557Z,1744402572.557 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-04-11T20:16:12.583Z,1744402572.583 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-04-11T20:16:12.601Z,1744402572.601 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission DefaultWithUndock {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute

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

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

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

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

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

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

    run in sequence

    set duration = 30 second
  }

  aggregate LeaveDock {
    run in sequence

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

    # Acoustic tracking directives

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

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

    # Leave the dock

    behavior Dock:Undock {
      run in sequence

      set driftTimeout = DriftTimeout
    }
  }

  aggregate SurfaceDefault {
    run in sequence

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

    behavior Guidance:GoToSurface {
      run in progression
    }

    aggregate CheckIn {
      run in sequence repeat=288

      readDatum id="Read_GPS" {
        timeout duration=P5M

        Universal:time_fix
      }

      readDatum id="Read_Iridium" {
        timeout duration=P2H {
          behavior Guidance:Execute {
            run in sequence

            set command = "Burn on"
          }

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

        Universal:platform_communications
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = 5 minute
      }

      assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

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

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-04-11T20:16:12.605Z,1744402572.605 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2025-04-11T20:16:12.632Z,1744402572.632 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-04-11T20:16:12.794Z,1744402572.794 [Depth_Keller](ERROR): Pressure or depth reading out of range: -1.000394 decibar, -0.993022 m
2025-04-11T20:16:12.795Z,1744402572.795 [Power24vConverter](INFO): Powering up.
2025-04-11T20:16:12.800Z,1744402572.800 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-04-11T20:16:12.808Z,1744402572.808 [Sonardyne_Nano](INFO): Initializing.
2025-04-11T20:16:12.836Z,1744402572.836 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-04-11T20:16:12.863Z,1744402572.863 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-04-11T20:16:12.876Z,1744402572.876 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-04-11T20:16:12.877Z,1744402572.877 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-11T20:16:12.884Z,1744402572.884 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-11T20:16:12.885Z,1744402572.885 [DockingStepper](INFO): Start
2025-04-11T20:16:12.885Z,1744402572.885 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-04-11T20:16:12.892Z,1744402572.892 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-04-11T20:16:12.893Z,1744402572.893 [MassServo](DEBUG): Initializing EZServoServo.
2025-04-11T20:16:12.900Z,1744402572.900 [MassServo](DEBUG): Initializing MassServo.
2025-04-11T20:16:12.901Z,1744402572.901 [RudderServo](DEBUG): Initializing EZServoServo.
2025-04-11T20:16:12.908Z,1744402572.908 [RudderServo](DEBUG): Initializing RudderServo.
2025-04-11T20:16:12.909Z,1744402572.909 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-04-11T20:16:12.916Z,1744402572.916 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-04-11T20:16:12.918Z,1744402572.918 [CommandExec](FAULT): Scheduling is paused
2025-04-11T20:16:12.918Z,1744402572.918 [CBIT](INFO): Critical error at 20250411T201611
2025-04-11T20:16:12.919Z,1744402572.919 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-04-11T20:16:13.057Z,1744402573.057 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2025-04-11T20:16:13.058Z,1744402573.058 [DropWeight] Hardware Fault, FailCount= 1
2025-04-11T20:16:13.058Z,1744402573.058 [DropWeight](ERROR): Hardware Fault
2025-04-11T20:16:13.082Z,1744402573.082 [DockingStepper](INFO): Starting
2025-04-11T20:16:13.092Z,1744402573.092 [CBIT](INFO): Critical error at 20250411T201613
2025-04-11T20:16:13.095Z,1744402573.095 [CBIT](ERROR): Hardware Fault in component: DropWeight
2025-04-11T20:16:13.095Z,1744402573.095 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2025-04-11T20:16:13.439Z,1744402573.439 [DockingStepper](INFO): Starting
2025-04-11T20:16:13.449Z,1744402573.449 [CBIT](INFO): Critical error at 20250411T201613
2025-04-11T20:16:13.964Z,1744402573.964 [DockingStepper](INFO): Starting
2025-04-11T20:16:14.012Z,1744402574.012 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-04-11T20:16:14.216Z,1744402574.216 [WetLabsBB2FL](INFO): Powering down
2025-04-11T20:16:14.295Z,1744402574.295 [DockingStepper](INFO): Starting
2025-04-11T20:16:14.651Z,1744402574.651 [DockingStepper](INFO): Starting
2025-04-11T20:16:15.038Z,1744402575.038 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-04-11T20:16:15.080Z,1744402575.080 [DockingStepper](INFO): Starting
2025-04-11T20:16:15.516Z,1744402575.516 [DockingStepper](INFO): Starting
2025-04-11T20:16:15.540Z,1744402575.540 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-04-11T20:16:16.007Z,1744402576.007 [DockingStepper](INFO): Starting
2025-04-11T20:16:16.286Z,1744402576.286 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103
2025-04-11T20:16:16.726Z,1744402576.726 [DockingStepper](INFO): Pause
2025-04-11T20:16:17.237Z,1744402577.237 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-04-11T20:16:17.238Z,1744402577.238 [Radio_Surface](INFO): No local IP found
2025-04-11T20:16:20.932Z,1744402580.932 [WetLabsUBAT](INFO): Powering down
2025-04-11T20:16:21.641Z,1744402581.641 [CBIT](CRITICAL): Environmental Failure. Press:14.504516 PSI. Humidity:42%. Temp:23 C. ABORTING MISSION
2025-04-11T20:16:22.122Z,1744402582.122 [CBIT](INFO): Critical error at 20250411T201621
2025-04-11T20:16:25.906Z,1744402585.906 [DAT](INFO): DAT read: 

2025-04-11T20:16:25.907Z,1744402585.907 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-04-11T20:16:26.485Z,1744402586.485 [CommandExec](IMPORTANT): got command restart system
2025-04-11T20:16:28.648Z,1744402588.648 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:28.648Z,1744402588.648 [CommandExec](INFO): Uninitializing the command executive.
2025-04-11T20:16:28.648Z,1744402588.648 [CommandExec](INFO): Uninitializing the command scheduler.
2025-04-11T20:16:28.649Z,1744402588.649 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:28.756Z,1744402588.756 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-04-11T20:16:28.756Z,1744402588.756 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-04-11T20:16:28.756Z,1744402588.756 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:28.757Z,1744402588.757 [NavChartDb](INFO): Join timeout helper Thread ID is 971
2025-04-11T20:16:28.838Z,1744402588.838 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:28.838Z,1744402588.838 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:28.852Z,1744402588.852 [ComponentRegistry](INFO): Shutting down WetLabsUBAT ThreadHandler
2025-04-11T20:16:28.852Z,1744402588.852 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:28.852Z,1744402588.852 [WetLabsUBAT](INFO): Join timeout helper Thread ID is 972
2025-04-11T20:16:28.920Z,1744402588.920 [WetLabsUBAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:28.920Z,1744402588.920 [WetLabsUBAT](INFO): Powering down
2025-04-11T20:16:28.921Z,1744402588.921 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:28.932Z,1744402588.932 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-04-11T20:16:28.932Z,1744402588.932 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:28.933Z,1744402588.933 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 973
2025-04-11T20:16:29.256Z,1744402589.256 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:29.256Z,1744402589.256 [WetLabsBB2FL](INFO): Powering down
2025-04-11T20:16:29.257Z,1744402589.257 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:29.268Z,1744402589.268 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-04-11T20:16:29.268Z,1744402589.268 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:29.268Z,1744402589.268 [CTD_Seabird](INFO): Join timeout helper Thread ID is 974
2025-04-11T20:16:29.668Z,1744402589.668 [CTD_Seabird](INFO): Powering down
2025-04-11T20:16:29.680Z,1744402589.680 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:29.680Z,1744402589.680 [CTD_Seabird](INFO): Powering down
2025-04-11T20:16:29.692Z,1744402589.692 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:29.696Z,1744402589.696 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-04-11T20:16:29.696Z,1744402589.696 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:29.696Z,1744402589.696 [Radio_Surface](INFO): Join timeout helper Thread ID is 975
2025-04-11T20:16:29.756Z,1744402589.756 [Radio_Surface](INFO): Powering down
2025-04-11T20:16:29.757Z,1744402589.757 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:29.757Z,1744402589.757 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:29.773Z,1744402589.773 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-04-11T20:16:29.773Z,1744402589.773 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:29.773Z,1744402589.773 [Onboard](INFO): Join timeout helper Thread ID is 976
2025-04-11T20:16:31.564Z,1744402591.564 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:31.564Z,1744402591.564 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.577Z,1744402591.577 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-04-11T20:16:31.577Z,1744402591.577 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.578Z,1744402591.578 [DataOverHttps](INFO): Join timeout helper Thread ID is 977
2025-04-11T20:16:31.616Z,1744402591.616 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:31.617Z,1744402591.617 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.628Z,1744402591.628 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-04-11T20:16:31.629Z,1744402591.629 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.629Z,1744402591.629 [DAT](INFO): Join timeout helper Thread ID is 978
2025-04-11T20:16:31.708Z,1744402591.708 [DAT](INFO): Powering down
2025-04-11T20:16:31.781Z,1744402591.781 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:31.782Z,1744402591.782 [DAT](INFO): Powering down
2025-04-11T20:16:31.782Z,1744402591.782 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.800Z,1744402591.800 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-04-11T20:16:31.800Z,1744402591.800 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.801Z,1744402591.801 [BackseatComponent](INFO): Join timeout helper Thread ID is 979
2025-04-11T20:16:31.928Z,1744402591.928 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:31.928Z,1744402591.928 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.942Z,1744402591.942 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-04-11T20:16:31.942Z,1744402591.942 [logger ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.943Z,1744402591.943 [logger](INFO): Join timeout helper Thread ID is 980
2025-04-11T20:16:31.943Z,1744402591.943 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:31.943Z,1744402591.943 [logger ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.951Z,1744402591.951 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-04-11T20:16:31.951Z,1744402591.951 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.951Z,1744402591.951 [CommandLine](INFO): Join timeout helper Thread ID is 981
2025-04-11T20:16:31.956Z,1744402591.956 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:31.956Z,1744402591.956 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.972Z,1744402591.972 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-04-11T20:16:31.973Z,1744402591.973 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.973Z,1744402591.973 [CommandExec](INFO): Join timeout helper Thread ID is 982
2025-04-11T20:16:31.974Z,1744402591.974 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-04-11T20:16:31.974Z,1744402591.974 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:31.974Z,1744402591.974 [controlThread](INFO): Join timeout helper Thread ID is 983
2025-04-11T20:16:31.000Z,1744402592.000 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-11T20:16:32.000Z,1744402592.000 [controlThread](DEBUG): Uninitializing ControlThread
2025-04-11T20:16:32.001Z,1744402592.001 [AHRS_M2](INFO): Powering down
2025-04-11T20:16:32.073Z,1744402592.073 [NAL9602](INFO): Powering down
2025-04-11T20:16:32.144Z,1744402592.144 [RDI_Pathfinder](INFO): Powering down
2025-04-11T20:16:32.145Z,1744402592.145 [Sonardyne_Nano](INFO): Powering down
2025-04-11T20:16:32.264Z,1744402592.264 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-04-11T20:16:32.265Z,1744402592.265 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-04-11T20:16:32.266Z,1744402592.266 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-04-11T20:16:32.266Z,1744402592.266 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2025-04-11T20:16:32.275Z,1744402592.275 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-04-11T20:16:32.275Z,1744402592.275 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-04-11T20:16:32.275Z,1744402592.275 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-04-11T20:16:32.276Z,1744402592.276 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-04-11T20:16:32.276Z,1744402592.276 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-04-11T20:16:32.276Z,1744402592.276 [BuoyancyServo](INFO): Powering down
2025-04-11T20:16:32.288Z,1744402592.288 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-11T20:16:32.288Z,1744402592.288 [ElevatorServo](INFO): Powering down
2025-04-11T20:16:32.289Z,1744402592.289 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-04-11T20:16:32.289Z,1744402592.289 [DockingStepper](INFO): Powering down
2025-04-11T20:16:32.290Z,1744402592.290 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-04-11T20:16:32.290Z,1744402592.290 [MassServo](INFO): Powering down
2025-04-11T20:16:32.291Z,1744402592.291 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-04-11T20:16:32.291Z,1744402592.291 [RudderServo](INFO): Powering down
2025-04-11T20:16:32.292Z,1744402592.292 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2025-04-11T20:16:32.292Z,1744402592.292 [ThrusterServo](INFO): Powering down
2025-04-11T20:16:32.293Z,1744402592.293 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-04-11T20:16:32.293Z,1744402592.293 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-04-11T20:16:32.293Z,1744402592.293 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-04-11T20:16:32.294Z,1744402592.294 [CBIT](DEBUG): Powering off loads.
2025-04-11T20:16:32.307Z,1744402592.307 [CBIT](DEBUG): Disabling WDT.
2025-04-11T20:16:32.319Z,1744402592.319 [CBIT](DEBUG): Opening all GF detection circuits.
2025-04-11T20:16:32.321Z,1744402592.321 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.385Z,1744402592.385 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.388Z,1744402592.388 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.394Z,1744402592.394 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.401Z,1744402592.401 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.445Z,1744402592.445 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.745Z,1744402592.745 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.747Z,1744402592.747 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.752Z,1744402592.752 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.760Z,1744402592.760 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-11T20:16:32.824Z,1744402592.824 [logger ThreadHandler](INFO): Thread cancelled.