2025-06-23T20:11:02.415Z,1750709462.415 [Supervisor](DEBUG): Initializing supervisor.
2025-06-23T20:11:02.419Z,1750709462.419 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-06-23T20:11:02.419Z,1750709462.419 [SyncHandler](INFO): Protected caller Thread ID is 3828
2025-06-23T20:11:02.420Z,1750709462.420 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-06-23T20:11:02.421Z,1750709462.421 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-06-23T20:11:02.421Z,1750709462.421 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3829
2025-06-23T20:11:02.425Z,1750709462.425 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-06-23T20:11:02.445Z,1750709462.445 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-06-23T20:11:02.446Z,1750709462.446 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-06-23T20:11:02.446Z,1750709462.446 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 3830
2025-06-23T20:11:02.451Z,1750709462.451 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-06-23T20:11:02.452Z,1750709462.452 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-06-23T20:11:02.452Z,1750709462.452 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3831
2025-06-23T20:11:02.454Z,1750709462.454 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-06-23T20:11:02.455Z,1750709462.455 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-06-23T20:11:02.456Z,1750709462.456 [logger ThreadHandler](INFO): Protected caller Thread ID is 3832
2025-06-23T20:11:02.459Z,1750709462.459 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-06-23T20:11:02.460Z,1750709462.460 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-06-23T20:11:02.462Z,1750709462.462 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-06-23T20:11:02.631Z,1750709462.631 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-06-23T20:11:02.632Z,1750709462.632 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-06-23T20:11:03.370Z,1750709463.370 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-06-23T20:11:03.370Z,1750709463.370 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-06-23T20:11:03.614Z,1750709463.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-06-23T20:11:03.615Z,1750709463.615 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-06-23T20:11:03.704Z,1750709463.704 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-06-23T20:11:03.846Z,1750709463.846 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-06-23T20:11:03.847Z,1750709463.847 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-06-23T20:11:03.949Z,1750709463.949 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-06-23T20:11:03.950Z,1750709463.950 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-06-23T20:11:04.069Z,1750709464.069 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-06-23T20:11:04.070Z,1750709464.070 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-06-23T20:11:04.485Z,1750709464.485 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-06-23T20:11:04.486Z,1750709464.486 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-06-23T20:11:05.022Z,1750709465.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-06-23T20:11:05.023Z,1750709465.023 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-06-23T20:11:05.250Z,1750709465.250 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-06-23T20:11:05.251Z,1750709465.251 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-06-23T20:11:05.446Z,1750709465.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-06-23T20:11:05.447Z,1750709465.447 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-06-23T20:11:06.005Z,1750709466.005 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-06-23T20:11:06.006Z,1750709466.006 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-06-23T20:11:06.302Z,1750709466.302 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-06-23T20:11:06.303Z,1750709466.303 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-06-23T20:11:06.552Z,1750709466.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-06-23T20:11:06.552Z,1750709466.552 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-06-23T20:11:06.943Z,1750709466.943 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-06-23T20:11:06.944Z,1750709466.944 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-06-23T20:11:07.347Z,1750709467.347 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-06-23T20:11:07.349Z,1750709467.349 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2025-06-23T20:11:07.350Z,1750709467.350 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2025-06-23T20:11:07.808Z,1750709467.808 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2025-06-23T20:11:08.530Z,1750709468.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Dock.cfg
2025-06-23T20:11:08.646Z,1750709468.646 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg
2025-06-23T20:11:08.751Z,1750709468.751 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2025-06-23T20:11:08.870Z,1750709468.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2025-06-23T20:11:08.967Z,1750709468.967 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2025-06-23T20:11:09.074Z,1750709469.074 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2025-06-23T20:11:09.197Z,1750709469.197 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2025-06-23T20:11:09.476Z,1750709469.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-06-23T20:11:09.477Z,1750709469.477 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2025-06-23T20:11:09.571Z,1750709469.571 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2025-06-23T20:11:09.674Z,1750709469.674 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2025-06-23T20:11:09.824Z,1750709469.824 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2025-06-23T20:11:09.931Z,1750709469.931 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-06-23T20:11:09.948Z,1750709469.948 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-06-23T20:11:10.086Z,1750709470.086 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-06-23T20:11:10.086Z,1750709470.086 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-06-23T20:11:10.140Z,1750709470.140 [VerticalControl](DEBUG): Construct VerticalControl.
2025-06-23T20:11:10.201Z,1750709470.201 [VerticalControl] Loaded
2025-06-23T20:11:10.201Z,1750709470.201 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-06-23T20:11:10.204Z,1750709470.204 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-06-23T20:11:10.251Z,1750709470.251 [HorizontalControl] Loaded
2025-06-23T20:11:10.251Z,1750709470.251 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-06-23T20:11:10.254Z,1750709470.254 [SpeedControl](DEBUG): Construct SpeedControl.
2025-06-23T20:11:10.257Z,1750709470.257 [SpeedControl] Loaded
2025-06-23T20:11:10.257Z,1750709470.257 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-06-23T20:11:10.260Z,1750709470.260 [LoopControl](DEBUG): Construct LoopControl.
2025-06-23T20:11:10.260Z,1750709470.260 [LoopControl] Loaded
2025-06-23T20:11:10.261Z,1750709470.261 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-06-23T20:11:10.261Z,1750709470.261 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-06-23T20:11:10.262Z,1750709470.262 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-06-23T20:11:10.312Z,1750709470.312 [DepthRateCalculator] Loaded
2025-06-23T20:11:10.313Z,1750709470.313 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-06-23T20:11:10.318Z,1750709470.318 [PitchRateCalculator] Loaded
2025-06-23T20:11:10.318Z,1750709470.318 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-06-23T20:11:10.328Z,1750709470.328 [SpeedCalculator] Loaded
2025-06-23T20:11:10.328Z,1750709470.328 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-06-23T20:11:10.332Z,1750709470.332 [YawRateCalculator] Loaded
2025-06-23T20:11:10.333Z,1750709470.333 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-06-23T20:11:10.351Z,1750709470.351 [ElevatorOffsetCalculator] Loaded
2025-06-23T20:11:10.352Z,1750709470.352 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-06-23T20:11:10.352Z,1750709470.352 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-06-23T20:11:10.353Z,1750709470.353 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-06-23T20:11:10.383Z,1750709470.383 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-06-23T20:11:10.383Z,1750709470.383 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-06-23T20:11:10.445Z,1750709470.445 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-06-23T20:11:10.445Z,1750709470.445 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-06-23T20:11:10.795Z,1750709470.795 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-06-23T20:11:10.795Z,1750709470.795 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-06-23T20:11:10.970Z,1750709470.970 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-06-23T20:11:10.970Z,1750709470.970 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-06-23T20:11:11.454Z,1750709471.454 [AHRS_M2] Loaded
2025-06-23T20:11:11.454Z,1750709471.454 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-06-23T20:11:11.494Z,1750709471.494 [BackseatComponent] Loaded
2025-06-23T20:11:11.494Z,1750709471.494 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-06-23T20:11:11.495Z,1750709471.495 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409E94E0
2025-06-23T20:11:11.495Z,1750709471.495 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 3920
2025-06-23T20:11:11.498Z,1750709471.498 [LcmUniversalReporter] Loaded
2025-06-23T20:11:11.499Z,1750709471.499 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-06-23T20:11:12.336Z,1750709472.336 [BPC1] Loaded
2025-06-23T20:11:12.336Z,1750709472.336 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-06-23T20:11:12.436Z,1750709472.436 [DAT] Loaded
2025-06-23T20:11:12.436Z,1750709472.436 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-06-23T20:11:12.438Z,1750709472.438 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A194E0
2025-06-23T20:11:12.438Z,1750709472.438 [DAT ThreadHandler](INFO): Protected caller Thread ID is 3921
2025-06-23T20:11:12.517Z,1750709472.517 [DataOverHttps] Loaded
2025-06-23T20:11:12.517Z,1750709472.517 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-06-23T20:11:12.518Z,1750709472.518 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A494E0
2025-06-23T20:11:12.518Z,1750709472.518 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 3922
2025-06-23T20:11:12.542Z,1750709472.542 [Depth_Keller] Loaded
2025-06-23T20:11:12.542Z,1750709472.542 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-06-23T20:11:12.608Z,1750709472.608 [NAL9602] Loaded
2025-06-23T20:11:12.608Z,1750709472.608 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-06-23T20:11:12.638Z,1750709472.638 [Onboard] Loaded
2025-06-23T20:11:12.639Z,1750709472.639 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-06-23T20:11:12.640Z,1750709472.640 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A794E0
2025-06-23T20:11:12.640Z,1750709472.640 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 3923
2025-06-23T20:11:12.654Z,1750709472.654 [Power24vConverter] Loaded
2025-06-23T20:11:12.655Z,1750709472.655 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-06-23T20:11:12.671Z,1750709472.671 [Radio_Surface] Loaded
2025-06-23T20:11:12.671Z,1750709472.671 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-06-23T20:11:12.672Z,1750709472.672 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AA94E0
2025-06-23T20:11:12.672Z,1750709472.672 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3924
2025-06-23T20:11:12.835Z,1750709472.835 [RDI_Pathfinder] Loaded
2025-06-23T20:11:12.835Z,1750709472.835 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-06-23T20:11:12.902Z,1750709472.902 [Sonardyne_Nano] Loaded
2025-06-23T20:11:12.902Z,1750709472.902 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-06-23T20:11:12.902Z,1750709472.902 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-06-23T20:11:12.903Z,1750709472.903 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-06-23T20:11:13.243Z,1750709473.243 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-06-23T20:11:13.243Z,1750709473.243 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-06-23T20:11:13.257Z,1750709473.257 [NavChart] Loaded
2025-06-23T20:11:13.257Z,1750709473.257 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-06-23T20:11:13.263Z,1750709473.263 [UniversalFixResidualReporter] Loaded
2025-06-23T20:11:13.263Z,1750709473.263 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-06-23T20:11:13.263Z,1750709473.263 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-06-23T20:11:13.264Z,1750709473.264 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-06-23T20:11:13.430Z,1750709473.430 [SBIT](DEBUG): Construct Startup Built In Test.
2025-06-23T20:11:13.439Z,1750709473.439 [SBIT] Loaded
2025-06-23T20:11:13.439Z,1750709473.439 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-06-23T20:11:13.442Z,1750709473.442 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-06-23T20:11:13.455Z,1750709473.455 [IBIT] Loaded
2025-06-23T20:11:13.455Z,1750709473.455 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-06-23T20:11:13.461Z,1750709473.461 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-06-23T20:11:13.543Z,1750709473.543 [CBIT] Loaded
2025-06-23T20:11:13.543Z,1750709473.543 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-06-23T20:11:13.576Z,1750709473.576 [GFScanner] Loaded
2025-06-23T20:11:13.576Z,1750709473.576 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-06-23T20:11:13.576Z,1750709473.576 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-06-23T20:11:13.577Z,1750709473.577 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-06-23T20:11:13.715Z,1750709473.715 [BuoyancyServo] Loaded
2025-06-23T20:11:13.716Z,1750709473.716 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-06-23T20:11:13.740Z,1750709473.740 [ElevatorServo] Loaded
2025-06-23T20:11:13.740Z,1750709473.740 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-06-23T20:11:13.769Z,1750709473.769 [DockingStepper] Loaded
2025-06-23T20:11:13.770Z,1750709473.770 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-06-23T20:11:13.792Z,1750709473.792 [MassServo] Loaded
2025-06-23T20:11:13.792Z,1750709473.792 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-06-23T20:11:13.813Z,1750709473.813 [RudderServo] Loaded
2025-06-23T20:11:13.813Z,1750709473.813 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-06-23T20:11:13.832Z,1750709473.832 [ThrusterServo] Loaded
2025-06-23T20:11:13.832Z,1750709473.832 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2025-06-23T20:11:13.833Z,1750709473.833 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-06-23T20:11:13.834Z,1750709473.834 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-06-23T20:11:13.844Z,1750709473.844 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-06-23T20:11:13.844Z,1750709473.844 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-06-23T20:11:14.019Z,1750709474.019 [CTD_Seabird] Loaded
2025-06-23T20:11:14.019Z,1750709474.019 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-06-23T20:11:14.020Z,1750709474.020 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C0C4E0
2025-06-23T20:11:14.021Z,1750709474.021 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 3925
2025-06-23T20:11:14.043Z,1750709474.043 [PAR_Licor] Loaded
2025-06-23T20:11:14.044Z,1750709474.044 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-06-23T20:11:14.089Z,1750709474.089 [WetLabsBB2FL] Loaded
2025-06-23T20:11:14.089Z,1750709474.089 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-06-23T20:11:14.090Z,1750709474.090 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C3C4E0
2025-06-23T20:11:14.091Z,1750709474.091 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 3926
2025-06-23T20:11:14.112Z,1750709474.112 [WetLabsUBAT] Loaded
2025-06-23T20:11:14.112Z,1750709474.112 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2025-06-23T20:11:14.113Z,1750709474.113 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C6C4E0
2025-06-23T20:11:14.114Z,1750709474.114 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 3927
2025-06-23T20:11:14.114Z,1750709474.114 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-06-23T20:11:14.121Z,1750709474.121 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-06-23T20:11:14.124Z,1750709474.124 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-06-23T20:11:14.135Z,1750709474.135 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-06-23T20:11:14.136Z,1750709474.136 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C9C4E0
2025-06-23T20:11:14.136Z,1750709474.136 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3928
2025-06-23T20:11:14.141Z,1750709474.141 [Supervisor](INFO): Main Thread ID is 3827
2025-06-23T20:11:14.141Z,1750709474.141 [Supervisor](DEBUG): Running supervisor.
2025-06-23T20:11:14.142Z,1750709474.142 [CommandExec ThreadHandler](INFO): Handler Thread ID is 3929
2025-06-23T20:11:14.142Z,1750709474.142 [CommandExec](INFO): Initializing the command executive.
2025-06-23T20:11:14.144Z,1750709474.144 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3930
2025-06-23T20:11:14.146Z,1750709474.146 [controlThread ThreadHandler](INFO): Handler Thread ID is 3931
2025-06-23T20:11:14.146Z,1750709474.146 [controlThread](DEBUG): Initializing ControlThread
2025-06-23T20:11:14.147Z,1750709474.147 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-06-23T20:11:14.149Z,1750709474.149 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-06-23T20:11:14.149Z,1750709474.149 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-06-23T20:11:14.150Z,1750709474.150 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-06-23T20:11:14.150Z,1750709474.150 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-06-23T20:11:14.151Z,1750709474.151 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-06-23T20:11:14.151Z,1750709474.151 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-06-23T20:11:14.151Z,1750709474.151 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-06-23T20:11:14.152Z,1750709474.152 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-06-23T20:11:14.154Z,1750709474.154 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-06-23T20:11:14.155Z,1750709474.155 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-06-23T20:11:14.155Z,1750709474.155 [SBIT](INFO): Initialize SBIT Component.
2025-06-23T20:11:14.155Z,1750709474.155 [SBIT](IMPORTANT): git: 2025-06-05-2-g07de84f03
2025-06-23T20:11:14.156Z,1750709474.156 [SBIT](INFO): git hash: 07de84f036b9b391a47d8c2a08834ee5eaa918cc
2025-06-23T20:11:14.156Z,1750709474.156 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-06-23T20:11:14.157Z,1750709474.157 [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
2025-06-23T20:11:14.158Z,1750709474.158 [SBIT](INFO): Beginning SBIT in 93.000000 seconds.
2025-06-23T20:11:14.159Z,1750709474.159 [IBIT](INFO): Initialize IBIT Component.
2025-06-23T20:11:14.160Z,1750709474.160 [CBIT](DEBUG): Initialize CBIT Component.
2025-06-23T20:11:14.160Z,1750709474.160 [logger ThreadHandler](INFO): Handler Thread ID is 3932
2025-06-23T20:11:14.173Z,1750709474.173 [CBIT](DEBUG): Initialized mux pins.
2025-06-23T20:11:14.173Z,1750709474.173 [CBIT](DEBUG): Initializing the watchdog timer.
2025-06-23T20:11:14.185Z,1750709474.185 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 3933
2025-06-23T20:11:14.197Z,1750709474.197 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-06-23T20:11:14.197Z,1750709474.197 [CBIT](DEBUG): Initializing heartbeat.
2025-06-23T20:11:14.198Z,1750709474.198 [DAT ThreadHandler](INFO): Handler Thread ID is 3934
2025-06-23T20:11:14.199Z,1750709474.199 [DAT](INFO): Powering up
2025-06-23T20:11:14.199Z,1750709474.199 [DAT](DEBUG): Initializing DAT.
2025-06-23T20:11:14.202Z,1750709474.202 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 3936
2025-06-23T20:11:14.204Z,1750709474.204 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-06-23T20:11:14.225Z,1750709474.225 [Onboard ThreadHandler](INFO): Handler Thread ID is 3937
2025-06-23T20:11:14.243Z,1750709474.243 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3938
2025-06-23T20:11:14.262Z,1750709474.262 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 3939
2025-06-23T20:11:14.263Z,1750709474.263 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-06-23T20:11:14.266Z,1750709474.266 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 3941
2025-06-23T20:11:14.269Z,1750709474.269 [CBIT](DEBUG): Deactivating emergency mode.
2025-06-23T20:11:14.270Z,1750709474.270 [WetLabsBB2FL](INFO): Powering up
2025-06-23T20:11:14.271Z,1750709474.271 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 3943
2025-06-23T20:11:14.273Z,1750709474.273 [WetLabsUBAT](INFO): Powering up
2025-06-23T20:11:14.275Z,1750709474.275 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3945
2025-06-23T20:11:14.279Z,1750709474.279 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-06-23T20:11:14.280Z,1750709474.280 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-06-23T20:11:14.280Z,1750709474.280 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-06-23T20:11:14.280Z,1750709474.280 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-06-23T20:11:14.280Z,1750709474.280 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-06-23T20:11:14.280Z,1750709474.280 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-06-23T20:11:14.280Z,1750709474.280 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-06-23T20:11:14.281Z,1750709474.281 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-06-23T20:11:14.309Z,1750709474.309 [CBIT](DEBUG): Backplane powered.
2025-06-23T20:11:14.309Z,1750709474.309 [GFScanner](DEBUG): Initializing GFScanner
2025-06-23T20:11:14.309Z,1750709474.309 [GFScanner](DEBUG): Deactivating GF circuits.
2025-06-23T20:11:14.318Z,1750709474.318 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-06-23T20:11:14.318Z,1750709474.318 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-06-23T20:11:14.319Z,1750709474.319 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-06-23T20:11:14.322Z,1750709474.322 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-06-23T20:11:14.327Z,1750709474.327 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-06-23T20:11:14.327Z,1750709474.327 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-06-23T20:11:14.327Z,1750709474.327 [MissionManager](ERROR): Could not load startup mission.
2025-06-23T20:11:14.328Z,1750709474.328 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-06-23T20:11:14.328Z,1750709474.328 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-06-23T20:11:14.331Z,1750709474.331 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-06-23T20:11:14.649Z,1750709474.649 [Radio_Surface](INFO): Powering up
2025-06-23T20:11:14.893Z,1750709474.893 [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>

2025-06-23T20:11:14.900Z,1750709474.900 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-06-23T20:11:14.924Z,1750709474.924 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-06-23T20:11:14.929Z,1750709474.929 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-06-23T20:11:14.949Z,1750709474.949 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-06-23T20:11:14.957Z,1750709474.957 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-06-23T20:11:14.981Z,1750709474.981 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-06-23T20:11:14.983Z,1750709474.983 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-06-23T20:11:15.145Z,1750709475.145 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-06-23T20:11:15.145Z,1750709475.145 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-23T20:11:15.202Z,1750709475.202 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-23T20:11:15.259Z,1750709475.259 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-06-23T20:11:15.262Z,1750709475.262 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-06-23T20:11:15.284Z,1750709475.284 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-06-23T20:11:15.300Z,1750709475.300 [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"
  }
}


2025-06-23T20:11:15.313Z,1750709475.313 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,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,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-06-23T20:11:15.321Z,1750709475.321 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-06-23T20:11:15.390Z,1750709475.390 [Depth_Keller](INFO): Initializing.
2025-06-23T20:11:15.391Z,1750709475.391 [Power24vConverter](INFO): Powering up.
2025-06-23T20:11:15.392Z,1750709475.392 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-23T20:11:15.398Z,1750709475.398 [Sonardyne_Nano](INFO): Initializing.
2025-06-23T20:11:15.450Z,1750709475.450 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-06-23T20:11:15.476Z,1750709475.476 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-06-23T20:11:15.482Z,1750709475.482 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-06-23T20:11:15.483Z,1750709475.483 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-06-23T20:11:15.489Z,1750709475.489 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-06-23T20:11:15.490Z,1750709475.490 [DockingStepper](INFO): Start
2025-06-23T20:11:15.490Z,1750709475.490 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-23T20:11:15.497Z,1750709475.497 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-23T20:11:15.498Z,1750709475.498 [MassServo](DEBUG): Initializing EZServoServo.
2025-06-23T20:11:15.505Z,1750709475.505 [MassServo](DEBUG): Initializing MassServo.
2025-06-23T20:11:15.506Z,1750709475.506 [RudderServo](DEBUG): Initializing EZServoServo.
2025-06-23T20:11:15.513Z,1750709475.513 [RudderServo](DEBUG): Initializing RudderServo.
2025-06-23T20:11:15.514Z,1750709475.514 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-06-23T20:11:15.521Z,1750709475.521 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-06-23T20:11:15.793Z,1750709475.793 [DockingStepper](INFO): Starting
2025-06-23T20:11:16.148Z,1750709476.148 [DockingStepper](INFO): Starting
2025-06-23T20:11:16.717Z,1750709476.717 [DockingStepper](INFO): Starting
2025-06-23T20:11:16.766Z,1750709476.766 [DockingStepper](INFO): Init string: /1z7584aE13561N3m50
2025-06-23T20:11:16.881Z,1750709476.881 [WetLabsBB2FL](INFO): Powering down
2025-06-23T20:11:17.004Z,1750709477.004 [DockingStepper](INFO): Starting
2025-06-23T20:11:17.376Z,1750709477.376 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-06-23T20:11:17.429Z,1750709477.429 [DockingStepper](INFO): Starting
2025-06-23T20:11:17.792Z,1750709477.792 [DockingStepper](INFO): Starting
2025-06-23T20:11:18.253Z,1750709478.253 [DockingStepper](INFO): Starting
2025-06-23T20:11:18.687Z,1750709478.687 [DockingStepper](INFO): Starting
2025-06-23T20:11:18.711Z,1750709478.711 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-23T20:11:19.034Z,1750709479.034 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103
2025-06-23T20:11:19.083Z,1750709479.083 [DockingStepper](INFO): Starting
2025-06-23T20:11:19.533Z,1750709479.533 [DockingStepper](INFO): Commanding positive:54482
2025-06-23T20:11:19.901Z,1750709479.901 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-06-23T20:11:19.902Z,1750709479.902 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-06-23T20:11:23.521Z,1750709483.521 [WetLabsUBAT](INFO): Powering down
2025-06-23T20:11:25.282Z,1750709485.282 [DockingStepper](INFO): Pause
2025-06-23T20:11:26.554Z,1750709486.554 [DAT](INFO): DAT read: 

2025-06-23T20:11:26.555Z,1750709486.555 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-06-23T20:11:32.098Z,1750709492.098 [DAT](INFO): DAT read: MF Frequency Band

2025-06-23T20:11:32.099Z,1750709492.099 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2

2025-06-23T20:11:32.100Z,1750709492.100 [DAT](INFO): DAT read: Jun 23 2025 16:26:26 

2025-06-23T20:11:33.108Z,1750709493.108 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-06-23T20:11:33.110Z,1750709493.110 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-06-23T20:11:33.110Z,1750709493.110 [DAT](INFO): commRate: 600
2025-06-23T20:11:35.173Z,1750709495.173 [DAT](INFO): entering command mode
2025-06-23T20:11:35.374Z,1750709495.374 [DAT](INFO): DAT read: 

2025-06-23T20:11:35.374Z,1750709495.374 [DAT](INFO): DAT read: user:1>

2025-06-23T20:11:35.375Z,1750709495.375 [DAT](INFO): setting verbose to 3
2025-06-23T20:11:35.626Z,1750709495.626 [DAT](INFO): DAT read: user:1>

2025-06-23T20:11:35.627Z,1750709495.627 [DAT](INFO): DAT read: Verbose         | 3           

2025-06-23T20:11:35.627Z,1750709495.627 [DAT](INFO): set verbose to 3
2025-06-23T20:11:35.627Z,1750709495.627 [DAT](INFO): setting DatVerbose to 27440
2025-06-23T20:11:35.878Z,1750709495.878 [DAT](INFO): DAT read: user:2>

2025-06-23T20:11:35.879Z,1750709495.879 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-06-23T20:11:35.879Z,1750709495.879 [DAT](INFO): set DatVerbose to 27440
2025-06-23T20:11:35.879Z,1750709495.879 [DAT](INFO): setting transmit power to 8
2025-06-23T20:11:36.130Z,1750709496.130 [DAT](INFO): DAT read: user:3>

2025-06-23T20:11:36.131Z,1750709496.131 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-06-23T20:11:36.131Z,1750709496.131 [DAT](INFO): set transmit power to 8
2025-06-23T20:11:36.131Z,1750709496.131 [DAT](INFO): setting local address to 10
2025-06-23T20:11:36.382Z,1750709496.382 [DAT](INFO): DAT read: user:4>

2025-06-23T20:11:36.383Z,1750709496.383 [DAT](INFO): DAT read: LocalAddr       | 10          

2025-06-23T20:11:36.383Z,1750709496.383 [DAT](INFO): set local address to 10
2025-06-23T20:11:36.384Z,1750709496.384 [DAT](INFO): Setting time to: 20:11:36 And date to:6/23/2025
2025-06-23T20:11:36.634Z,1750709496.634 [DAT](INFO): DAT read: user:5>

2025-06-23T20:11:36.635Z,1750709496.635 [DAT](INFO): DAT read: Mon Jun 23, 2025  20:11:36  

2025-06-23T20:11:36.635Z,1750709496.635 [DAT](INFO): Local DAT time set to Mon Jun 23, 2025  20:11:36  

2025-06-23T20:11:37.619Z,1750709497.619 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2025-06-23T20:11:37.619Z,1750709497.619 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-23T20:11:37.619Z,1750709497.619 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-23T20:11:37.694Z,1750709497.694 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-23T20:11:38.093Z,1750709498.093 [RDI_Pathfinder](INFO): Powering down
2025-06-23T20:11:38.879Z,1750709498.879 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004190
2025-06-23T20:11:38.925Z,1750709498.925 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-23T20:11:38.925Z,1750709498.925 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-23T20:11:39.234Z,1750709499.234 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-23T20:11:39.877Z,1750709499.877 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:11:42.870Z,1750709502.870 [NAL9602](INFO): Powering up NAL9602
2025-06-23T20:11:53.891Z,1750709513.891 [NAL9602](INFO): NAL9602 initialized
2025-06-23T20:12:01.611Z,1750709521.611 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2025-06-23T20:12:01.611Z,1750709521.611 [RDI_Pathfinder] Communications Fault, FailCount= 2
2025-06-23T20:12:01.611Z,1750709521.611 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-23T20:12:01.705Z,1750709521.705 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-23T20:12:02.097Z,1750709522.097 [RDI_Pathfinder](INFO): Powering down
2025-06-23T20:12:02.905Z,1750709522.905 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-23T20:12:02.906Z,1750709522.906 [RDI_Pathfinder] No Fault, FailCount= 2
2025-06-23T20:12:03.238Z,1750709523.238 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-23T20:12:05.885Z,1750709525.885 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:12:25.451Z,1750709545.451 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2025-06-23T20:12:25.451Z,1750709545.451 [RDI_Pathfinder] Communications Fault, FailCount= 3
2025-06-23T20:12:25.451Z,1750709545.451 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-23T20:12:25.468Z,1750709545.468 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-23T20:12:25.468Z,1750709545.468 [CBIT](CRITICAL): Communications Fault in component: RDI_Pathfinder
2025-06-23T20:12:25.925Z,1750709545.925 [RDI_Pathfinder](INFO): Powering down
2025-06-23T20:12:25.948Z,1750709545.948 [CommandExec](FAULT): Scheduling is paused
2025-06-23T20:12:25.949Z,1750709545.949 [CBIT](INFO): Critical error at 20250623T201225
2025-06-23T20:12:25.949Z,1750709545.949 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-06-23T20:12:27.623Z,1750709547.623 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:12:35.026Z,1750709555.026 [CommandExec](IMPORTANT): got command docking standby
2025-06-23T20:12:35.027Z,1750709555.027 [CommandExec](IMPORTANT): Switching docking module to STANDBY.
2025-06-23T20:12:35.563Z,1750709555.563 [DockingStepper](INFO): Resume
2025-06-23T20:12:35.971Z,1750709555.971 [DockingStepper](INFO): Resuming
2025-06-23T20:12:36.378Z,1750709556.378 [DockingStepper](INFO): Start
2025-06-23T20:12:36.379Z,1750709556.379 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-23T20:12:36.494Z,1750709556.494 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-23T20:12:36.774Z,1750709556.774 [DockingStepper](INFO): Starting
2025-06-23T20:12:37.180Z,1750709557.180 [DockingStepper](INFO): Starting
2025-06-23T20:12:37.586Z,1750709557.586 [DockingStepper](INFO): Starting
2025-06-23T20:12:37.638Z,1750709557.638 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-23T20:12:37.995Z,1750709557.995 [DockingStepper](INFO): Starting
2025-06-23T20:12:38.388Z,1750709558.388 [DockingStepper](INFO): Starting
2025-06-23T20:12:38.828Z,1750709558.828 [DockingStepper](INFO): Starting
2025-06-23T20:12:39.215Z,1750709559.215 [DockingStepper](INFO): Starting
2025-06-23T20:12:39.245Z,1750709559.245 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-23T20:12:39.620Z,1750709559.620 [DockingStepper](INFO): Starting
2025-06-23T20:12:40.079Z,1750709560.079 [DockingStepper](INFO): Changing to mode: 1
2025-06-23T20:12:40.079Z,1750709560.079 [DockingStepper](INFO): Standby mode.
2025-06-23T20:12:45.925Z,1750709565.925 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:12:47.743Z,1750709567.743 [SBIT](IMPORTANT): Beginning Startup BIT
2025-06-23T20:12:47.748Z,1750709567.748 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-06-23T20:12:52.386Z,1750709572.386 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.034838
CHAN A1 (24V): 0.013213
CHAN A2 (12V): 0.006278
CHAN A3 (5V): -0.002646
CHAN B0 (3.3V): -0.002367
CHAN B1 (3.15aV): -0.002408
CHAN B2 (3.15bV): 0.002762
CHAN B3 (GND): -0.002407
OPEN: 0.005455
Full Scale: +/- 1 mA
2025-06-23T20:12:52.734Z,1750709572.734 [CommandExec](IMPORTANT): got command docking arm
2025-06-23T20:12:52.735Z,1750709572.735 [CommandExec](IMPORTANT): Switching docking module to ARM.
2025-06-23T20:12:52.785Z,1750709572.785 [DockingStepper](INFO): Changing to mode: 2
2025-06-23T20:12:52.785Z,1750709572.785 [DockingStepper](INFO): Armed mode.
2025-06-23T20:12:52.849Z,1750709572.849 [DockingStepper](INFO): Commanding negative:54599
2025-06-23T20:13:04.869Z,1750709584.869 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:13:11.167Z,1750709591.167 [CommandExec](IMPORTANT): got command docking standby
2025-06-23T20:13:11.168Z,1750709591.168 [CommandExec](IMPORTANT): Switching docking module to STANDBY.
2025-06-23T20:13:11.538Z,1750709591.538 [DockingStepper](INFO): Changing to mode: 1
2025-06-23T20:13:11.538Z,1750709591.538 [DockingStepper](INFO): Standby mode.
2025-06-23T20:13:11.593Z,1750709591.593 [DockingStepper](INFO): Commanding positive:54673
2025-06-23T20:13:23.745Z,1750709603.745 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:13:41.311Z,1750709621.311 [SBIT](IMPORTANT): SBIT PASSED
2025-06-23T20:13:41.312Z,1750709621.312 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-06-23T20:13:41.312Z,1750709621.312 [SBIT](IMPORTANT): CBIT.gf24Offset=173 microampere;

2025-06-23T20:13:41.312Z,1750709621.312 [SBIT](IMPORTANT): Docked.verbose=0 bool;

2025-06-23T20:13:41.313Z,1750709621.313 [SBIT](IMPORTANT): DockingStepper.closedValue=16450 count;

2025-06-23T20:13:41.313Z,1750709621.313 [SBIT](IMPORTANT): DockingStepper.slideValue=10700 count;

2025-06-23T20:13:41.313Z,1750709621.313 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-06-23T20:13:41.313Z,1750709621.313 [SBIT](IMPORTANT): Express mostRecent WetLabsUBAT.average_bioluminescence;

2025-06-23T20:13:41.313Z,1750709621.313 [SBIT](IMPORTANT): HorizontalControl.rudLimit=8 degree;

2025-06-23T20:13:41.313Z,1750709621.313 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2025-06-23T20:13:41.313Z,1750709621.313 [SBIT](IMPORTANT): Normal linearApproximation _.dinoflagellates 10000000000.000000 none;

2025-06-23T20:13:41.314Z,1750709621.314 [SBIT](IMPORTANT): RudderServo.offsetAngle=1 degree;

2025-06-23T20:13:41.314Z,1750709621.314 [SBIT](IMPORTANT): SpeedControl.rollOptimum=1.025000 m/s;

2025-06-23T20:13:41.314Z,1750709621.314 [SBIT](IMPORTANT): ThrusterServo.currLimit=60 percent;

2025-06-23T20:13:41.314Z,1750709621.314 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=415.338195 cubic_centimeter;

2025-06-23T20:13:41.314Z,1750709621.314 [SBIT](IMPORTANT): VerticalControl.massDefault=18.468839 millimeter;

2025-06-23T20:13:41.702Z,1750709621.702 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-23T20:13:41.703Z,1750709621.703 [DefaultWithUndock] Running Loop=1
2025-06-23T20:13:41.703Z,1750709621.703 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-23T20:13:41.704Z,1750709621.704 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-23T20:13:41.704Z,1750709621.704 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-23T20:13:42.449Z,1750709622.449 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:14:03.617Z,1750709643.617 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:14:12.026Z,1750709652.026 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-06-23T20:14:12.026Z,1750709652.026 [DefaultWithUndock:A.Wait] Stopped
2025-06-23T20:14:12.026Z,1750709652.026 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-23T20:14:12.026Z,1750709652.026 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-06-23T20:14:12.026Z,1750709652.026 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-06-23T20:14:12.027Z,1750709652.027 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-06-23T20:14:12.027Z,1750709652.027 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-06-23T20:14:12.027Z,1750709652.027 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-06-23T20:14:12.027Z,1750709652.027 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-23T20:14:12.027Z,1750709652.027 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-23T20:14:12.423Z,1750709652.423 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-23T20:14:12.423Z,1750709652.423 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-23T20:14:12.425Z,1750709652.425 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth -0.357192 m.
2025-06-23T20:14:12.425Z,1750709652.425 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-06-23T20:14:12.425Z,1750709652.425 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-23T20:14:12.860Z,1750709652.860 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-23T20:14:14.442Z,1750709654.442 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-06-23T20:14:14.442Z,1750709654.442 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-06-23T20:14:14.642Z,1750709654.642 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-06-23T20:14:14.950Z,1750709654.950 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-06-23T20:14:14.950Z,1750709654.950 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-06-23T20:14:22.705Z,1750709662.705 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:14:33.035Z,1750709673.035 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-06-23T20:14:33.431Z,1750709673.431 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-06-23T20:14:33.868Z,1750709673.868 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-06-23T20:14:33.868Z,1750709673.868 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-06-23T20:14:33.868Z,1750709673.868 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-06-23T20:14:33.869Z,1750709673.869 [DefaultWithUndock:LeaveDock] Stopped
2025-06-23T20:14:33.869Z,1750709673.869 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-06-23T20:14:33.869Z,1750709673.869 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-06-23T20:14:33.869Z,1750709673.869 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-06-23T20:14:33.869Z,1750709673.869 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-06-23T20:14:33.869Z,1750709673.869 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-23T20:14:33.870Z,1750709673.870 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-23T20:14:33.870Z,1750709673.870 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-23T20:14:33.870Z,1750709673.870 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-23T20:14:33.871Z,1750709673.871 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-23T20:14:33.871Z,1750709673.871 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-23T20:14:33.871Z,1750709673.871 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-23T20:14:34.256Z,1750709674.256 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-06-23T20:14:34.256Z,1750709674.256 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-23T20:14:34.256Z,1750709674.256 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-23T20:14:34.658Z,1750709674.658 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-23T20:14:41.305Z,1750709681.305 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:14:59.925Z,1750709699.925 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:15:18.474Z,1750709718.474 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:15:25.612Z,1750709725.612 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-23T20:15:25.612Z,1750709725.612 [RDI_Pathfinder] No Fault, FailCount= 3
2025-06-23T20:15:25.943Z,1750709725.943 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-23T20:15:34.080Z,1750709734.080 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-06-23T20:15:36.922Z,1750709736.922 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:15:38.464Z,1750709738.464 [RDI_Pathfinder](FAULT): DVL failed to acquire valid data within timeout.
2025-06-23T20:15:38.464Z,1750709738.464 [RDI_Pathfinder] Data Fault, FailCount= 1
2025-06-23T20:15:38.464Z,1750709738.464 [RDI_Pathfinder](ERROR): Data Fault
2025-06-23T20:15:38.562Z,1750709738.562 [CBIT](ERROR): Data Fault in component: RDI_Pathfinder
2025-06-23T20:15:38.946Z,1750709738.946 [RDI_Pathfinder](INFO): Powering down
2025-06-23T20:15:39.770Z,1750709739.770 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-23T20:15:39.770Z,1750709739.770 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-23T20:15:40.079Z,1750709740.079 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-23T20:15:55.537Z,1750709755.537 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:16:00.372Z,1750709760.372 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-06-23T20:16:02.303Z,1750709762.303 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2025-06-23T20:16:02.303Z,1750709762.303 [RDI_Pathfinder] Communications Fault, FailCount= 2
2025-06-23T20:16:02.303Z,1750709762.303 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-23T20:16:02.378Z,1750709762.378 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-23T20:16:02.789Z,1750709762.789 [RDI_Pathfinder](INFO): Powering down
2025-06-23T20:16:03.606Z,1750709763.606 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-23T20:16:03.606Z,1750709763.606 [RDI_Pathfinder] No Fault, FailCount= 2
2025-06-23T20:16:03.930Z,1750709763.930 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-23T20:16:15.129Z,1750709775.129 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:16:19.174Z,1750709779.174 [CommandExec](IMPORTANT): got command docking arm
2025-06-23T20:16:19.175Z,1750709779.175 [CommandExec](IMPORTANT): Switching docking module to ARM.
2025-06-23T20:16:19.336Z,1750709779.336 [DockingStepper](INFO): Changing to mode: 2
2025-06-23T20:16:19.336Z,1750709779.336 [DockingStepper](INFO): Armed mode.
2025-06-23T20:16:19.401Z,1750709779.401 [DockingStepper](INFO): Commanding negative:54599
2025-06-23T20:16:26.137Z,1750709786.137 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2025-06-23T20:16:26.137Z,1750709786.137 [RDI_Pathfinder] Communications Fault, FailCount= 3
2025-06-23T20:16:26.137Z,1750709786.137 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-23T20:16:26.199Z,1750709786.199 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-23T20:16:26.199Z,1750709786.199 [CBIT](CRITICAL): Communications Fault in component: RDI_Pathfinder
2025-06-23T20:16:26.605Z,1750709786.605 [RDI_Pathfinder](INFO): Powering down
2025-06-23T20:16:26.696Z,1750709786.696 [CBIT](INFO): Critical error at 20250623T201626
2025-06-23T20:16:33.769Z,1750709793.769 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:16:52.375Z,1750709812.375 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-23T20:16:57.242Z,1750709817.242 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-23T20:16:59.502Z,1750709819.502 [CommandExec](IMPORTANT): got command quit
2025-06-23T20:17:00.505Z,1750709820.505 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:00.505Z,1750709820.505 [CommandExec](INFO): Uninitializing the command executive.
2025-06-23T20:17:00.505Z,1750709820.505 [CommandExec](INFO): Uninitializing the command scheduler.
2025-06-23T20:17:00.506Z,1750709820.506 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:00.689Z,1750709820.689 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-06-23T20:17:00.689Z,1750709820.689 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-06-23T20:17:00.689Z,1750709820.689 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:00.690Z,1750709820.690 [NavChartDb](INFO): Join timeout helper Thread ID is 3987
2025-06-23T20:17:01.021Z,1750709821.021 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:01.021Z,1750709821.021 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.022Z,1750709821.022 [ComponentRegistry](INFO): Shutting down WetLabsUBAT ThreadHandler
2025-06-23T20:17:01.022Z,1750709821.022 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.023Z,1750709821.023 [WetLabsUBAT](INFO): Join timeout helper Thread ID is 3988
2025-06-23T20:17:01.025Z,1750709821.025 [WetLabsUBAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:01.026Z,1750709821.026 [WetLabsUBAT](INFO): Powering down
2025-06-23T20:17:01.026Z,1750709821.026 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.041Z,1750709821.041 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-06-23T20:17:01.041Z,1750709821.041 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.042Z,1750709821.042 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3989
2025-06-23T20:17:01.185Z,1750709821.185 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:01.186Z,1750709821.186 [WetLabsBB2FL](INFO): Powering down
2025-06-23T20:17:01.186Z,1750709821.186 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.201Z,1750709821.201 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-06-23T20:17:01.201Z,1750709821.201 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.202Z,1750709821.202 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3990
2025-06-23T20:17:01.733Z,1750709821.733 [CTD_Seabird](INFO): Powering down
2025-06-23T20:17:01.746Z,1750709821.746 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:01.746Z,1750709821.746 [CTD_Seabird](INFO): Powering down
2025-06-23T20:17:01.761Z,1750709821.761 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.768Z,1750709821.768 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-06-23T20:17:01.768Z,1750709821.768 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.768Z,1750709821.768 [Radio_Surface](INFO): Join timeout helper Thread ID is 3991
2025-06-23T20:17:01.937Z,1750709821.937 [Radio_Surface](INFO): Powering down
2025-06-23T20:17:01.938Z,1750709821.938 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:01.938Z,1750709821.938 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.950Z,1750709821.950 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-06-23T20:17:01.950Z,1750709821.950 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:01.950Z,1750709821.950 [Onboard](INFO): Join timeout helper Thread ID is 3992
2025-06-23T20:17:04.521Z,1750709824.521 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:04.522Z,1750709824.522 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:04.538Z,1750709824.538 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-06-23T20:17:04.538Z,1750709824.538 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:04.538Z,1750709824.538 [DataOverHttps](INFO): Join timeout helper Thread ID is 3993
2025-06-23T20:17:04.989Z,1750709824.989 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:04.993Z,1750709824.993 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:04.998Z,1750709824.998 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-06-23T20:17:04.998Z,1750709824.998 [DAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:04.998Z,1750709824.998 [DAT](INFO): Join timeout helper Thread ID is 3994
2025-06-23T20:17:05.201Z,1750709825.201 [DAT](INFO): Powering down
2025-06-23T20:17:05.274Z,1750709825.274 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:05.274Z,1750709825.274 [DAT](INFO): Powering down
2025-06-23T20:17:05.275Z,1750709825.275 [DAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.290Z,1750709825.290 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-06-23T20:17:05.290Z,1750709825.290 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.290Z,1750709825.290 [BackseatComponent](INFO): Join timeout helper Thread ID is 3995
2025-06-23T20:17:05.305Z,1750709825.305 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:05.305Z,1750709825.305 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.326Z,1750709825.326 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-06-23T20:17:05.326Z,1750709825.326 [logger ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.326Z,1750709825.326 [logger](INFO): Join timeout helper Thread ID is 3996
2025-06-23T20:17:05.349Z,1750709825.349 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:05.350Z,1750709825.350 [logger ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.362Z,1750709825.362 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-06-23T20:17:05.363Z,1750709825.363 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.363Z,1750709825.363 [CommandLine](INFO): Join timeout helper Thread ID is 3997
2025-06-23T20:17:05.382Z,1750709825.382 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:05.382Z,1750709825.382 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.383Z,1750709825.383 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-06-23T20:17:05.384Z,1750709825.384 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.384Z,1750709825.384 [CommandExec](INFO): Join timeout helper Thread ID is 3998
2025-06-23T20:17:05.386Z,1750709825.386 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-06-23T20:17:05.386Z,1750709825.386 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.387Z,1750709825.387 [controlThread](INFO): Join timeout helper Thread ID is 3999
2025-06-23T20:17:05.416Z,1750709825.416 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-06-23T20:17:05.416Z,1750709825.416 [controlThread](DEBUG): Uninitializing ControlThread
2025-06-23T20:17:05.417Z,1750709825.417 [AHRS_M2](INFO): Powering down
2025-06-23T20:17:05.497Z,1750709825.497 [NAL9602](INFO): Powering down
2025-06-23T20:17:05.499Z,1750709825.499 [RDI_Pathfinder](INFO): Powering down
2025-06-23T20:17:05.499Z,1750709825.499 [Sonardyne_Nano](INFO): Powering down
2025-06-23T20:17:05.625Z,1750709825.625 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-06-23T20:17:05.626Z,1750709825.626 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-06-23T20:17:05.627Z,1750709825.627 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-06-23T20:17:05.627Z,1750709825.627 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2025-06-23T20:17:05.627Z,1750709825.627 [DefaultWithUndock] Stopped
2025-06-23T20:17:05.627Z,1750709825.627 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-23T20:17:05.627Z,1750709825.627 [DefaultWithUndock:SurfaceDefault] Stopped
2025-06-23T20:17:05.628Z,1750709825.628 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-06-23T20:17:05.628Z,1750709825.628 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-06-23T20:17:05.628Z,1750709825.628 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-23T20:17:05.628Z,1750709825.628 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-23T20:17:05.628Z,1750709825.628 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-23T20:17:05.628Z,1750709825.628 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-23T20:17:05.636Z,1750709825.636 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-06-23T20:17:05.636Z,1750709825.636 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-06-23T20:17:05.637Z,1750709825.637 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-06-23T20:17:05.637Z,1750709825.637 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-06-23T20:17:05.637Z,1750709825.637 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-06-23T20:17:05.637Z,1750709825.637 [BuoyancyServo](INFO): Powering down
2025-06-23T20:17:05.649Z,1750709825.649 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-06-23T20:17:05.649Z,1750709825.649 [ElevatorServo](INFO): Powering down
2025-06-23T20:17:05.650Z,1750709825.650 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-06-23T20:17:05.650Z,1750709825.650 [DockingStepper](INFO): Powering down
2025-06-23T20:17:05.651Z,1750709825.651 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-06-23T20:17:05.651Z,1750709825.651 [MassServo](INFO): Powering down
2025-06-23T20:17:05.652Z,1750709825.652 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-06-23T20:17:05.652Z,1750709825.652 [RudderServo](INFO): Powering down
2025-06-23T20:17:05.653Z,1750709825.653 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2025-06-23T20:17:05.653Z,1750709825.653 [ThrusterServo](INFO): Powering down
2025-06-23T20:17:05.654Z,1750709825.654 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-06-23T20:17:05.654Z,1750709825.654 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-06-23T20:17:05.654Z,1750709825.654 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-06-23T20:17:05.655Z,1750709825.655 [CBIT](DEBUG): Powering off loads.
2025-06-23T20:17:05.665Z,1750709825.665 [CBIT](DEBUG): Disabling WDT.
2025-06-23T20:17:05.677Z,1750709825.677 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-06-23T20:17:05.677Z,1750709825.677 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-06-23T20:17:05.678Z,1750709825.678 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.735Z,1750709825.735 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.738Z,1750709825.738 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.744Z,1750709825.744 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.750Z,1750709825.750 [DAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.791Z,1750709825.791 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.826Z,1750709825.826 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-06-23T20:17:05.826Z,1750709825.826 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-06-23T20:17:05.972Z,1750709825.972 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.974Z,1750709825.974 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.978Z,1750709825.978 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:05.986Z,1750709825.986 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-06-23T20:17:06.053Z,1750709826.053 [logger ThreadHandler](INFO): Thread cancelled.