2025-11-07T02:06:15.150Z,1762481175.150 [Supervisor](DEBUG): Initializing supervisor.
2025-11-07T02:06:15.155Z,1762481175.155 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-11-07T02:06:15.155Z,1762481175.155 [SyncHandler](INFO): Protected caller Thread ID is 8002
2025-11-07T02:06:15.156Z,1762481175.156 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-11-07T02:06:15.157Z,1762481175.157 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-11-07T02:06:15.157Z,1762481175.157 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 8003
2025-11-07T02:06:15.161Z,1762481175.161 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-11-07T02:06:15.180Z,1762481175.180 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-11-07T02:06:15.181Z,1762481175.181 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-11-07T02:06:15.181Z,1762481175.181 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 8004
2025-11-07T02:06:15.185Z,1762481175.185 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-11-07T02:06:15.186Z,1762481175.186 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-11-07T02:06:15.187Z,1762481175.187 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 8005
2025-11-07T02:06:15.189Z,1762481175.189 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-11-07T02:06:15.190Z,1762481175.190 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-11-07T02:06:15.190Z,1762481175.190 [logger ThreadHandler](INFO): Protected caller Thread ID is 8006
2025-11-07T02:06:15.194Z,1762481175.194 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-11-07T02:06:15.194Z,1762481175.194 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-11-07T02:06:15.196Z,1762481175.196 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-11-07T02:06:15.300Z,1762481175.300 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-11-07T02:06:15.300Z,1762481175.300 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-11-07T02:06:16.015Z,1762481176.015 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-11-07T02:06:16.015Z,1762481176.015 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-11-07T02:06:16.257Z,1762481176.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-11-07T02:06:16.257Z,1762481176.257 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-11-07T02:06:16.345Z,1762481176.345 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-11-07T02:06:16.486Z,1762481176.486 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-11-07T02:06:16.486Z,1762481176.486 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-11-07T02:06:16.585Z,1762481176.585 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-11-07T02:06:16.586Z,1762481176.586 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-11-07T02:06:16.702Z,1762481176.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-11-07T02:06:16.703Z,1762481176.703 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-11-07T02:06:17.093Z,1762481177.093 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-11-07T02:06:17.094Z,1762481177.094 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-11-07T02:06:17.704Z,1762481177.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-11-07T02:06:17.705Z,1762481177.705 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-11-07T02:06:17.926Z,1762481177.926 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-11-07T02:06:17.927Z,1762481177.927 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-11-07T02:06:18.116Z,1762481178.116 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-11-07T02:06:18.117Z,1762481178.117 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-11-07T02:06:18.653Z,1762481178.653 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-11-07T02:06:18.654Z,1762481178.654 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-11-07T02:06:18.941Z,1762481178.941 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-11-07T02:06:18.942Z,1762481178.942 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-11-07T02:06:19.182Z,1762481179.182 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-11-07T02:06:19.183Z,1762481179.183 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-11-07T02:06:19.566Z,1762481179.566 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-11-07T02:06:19.567Z,1762481179.567 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-11-07T02:06:20.038Z,1762481180.038 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-11-07T02:06:20.040Z,1762481180.040 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2025-11-07T02:06:20.041Z,1762481180.041 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2025-11-07T02:06:20.325Z,1762481180.325 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2025-11-07T02:06:20.566Z,1762481180.566 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Dock.cfg
2025-11-07T02:06:20.679Z,1762481180.679 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg
2025-11-07T02:06:20.782Z,1762481180.782 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2025-11-07T02:06:20.897Z,1762481180.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2025-11-07T02:06:20.991Z,1762481180.991 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2025-11-07T02:06:21.094Z,1762481181.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2025-11-07T02:06:21.213Z,1762481181.213 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2025-11-07T02:06:21.485Z,1762481181.485 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-11-07T02:06:21.486Z,1762481181.486 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2025-11-07T02:06:21.578Z,1762481181.578 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2025-11-07T02:06:21.680Z,1762481181.680 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2025-11-07T02:06:21.827Z,1762481181.827 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2025-11-07T02:06:21.932Z,1762481181.932 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/root/
2025-11-07T02:06:21.932Z,1762481181.932 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-11-07T02:06:21.948Z,1762481181.948 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-11-07T02:06:22.084Z,1762481182.084 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-11-07T02:06:22.085Z,1762481182.085 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-11-07T02:06:22.139Z,1762481182.139 [VerticalControl](DEBUG): Construct VerticalControl.
2025-11-07T02:06:22.198Z,1762481182.198 [VerticalControl] Loaded
2025-11-07T02:06:22.198Z,1762481182.198 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-11-07T02:06:22.201Z,1762481182.201 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-11-07T02:06:22.247Z,1762481182.247 [HorizontalControl] Loaded
2025-11-07T02:06:22.247Z,1762481182.247 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-11-07T02:06:22.249Z,1762481182.249 [SpeedControl](DEBUG): Construct SpeedControl.
2025-11-07T02:06:22.252Z,1762481182.252 [SpeedControl] Loaded
2025-11-07T02:06:22.253Z,1762481182.253 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-11-07T02:06:22.255Z,1762481182.255 [LoopControl](DEBUG): Construct LoopControl.
2025-11-07T02:06:22.256Z,1762481182.256 [LoopControl] Loaded
2025-11-07T02:06:22.256Z,1762481182.256 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-11-07T02:06:22.256Z,1762481182.256 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-11-07T02:06:22.257Z,1762481182.257 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-11-07T02:06:22.308Z,1762481182.308 [DepthRateCalculator] Loaded
2025-11-07T02:06:22.308Z,1762481182.308 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-11-07T02:06:22.313Z,1762481182.313 [PitchRateCalculator] Loaded
2025-11-07T02:06:22.313Z,1762481182.313 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-11-07T02:06:22.323Z,1762481182.323 [SpeedCalculator] Loaded
2025-11-07T02:06:22.323Z,1762481182.323 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-11-07T02:06:22.327Z,1762481182.327 [YawRateCalculator] Loaded
2025-11-07T02:06:22.327Z,1762481182.327 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-11-07T02:06:22.345Z,1762481182.345 [ElevatorOffsetCalculator] Loaded
2025-11-07T02:06:22.346Z,1762481182.346 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-11-07T02:06:22.346Z,1762481182.346 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-11-07T02:06:22.347Z,1762481182.347 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-11-07T02:06:22.377Z,1762481182.377 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-11-07T02:06:22.377Z,1762481182.377 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-11-07T02:06:22.438Z,1762481182.438 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-11-07T02:06:22.439Z,1762481182.439 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-11-07T02:06:22.789Z,1762481182.789 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-11-07T02:06:22.790Z,1762481182.790 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-11-07T02:06:22.982Z,1762481182.982 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-11-07T02:06:22.982Z,1762481182.982 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-11-07T02:06:23.467Z,1762481183.467 [AHRS_M2] Loaded
2025-11-07T02:06:23.467Z,1762481183.467 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-11-07T02:06:23.506Z,1762481183.506 [BackseatComponent] Loaded
2025-11-07T02:06:23.506Z,1762481183.506 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-11-07T02:06:23.507Z,1762481183.507 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409EA4E0
2025-11-07T02:06:23.508Z,1762481183.508 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 8095
2025-11-07T02:06:23.511Z,1762481183.511 [LcmPublisher](INFO): Full slate access is ENABLED. All requested slate values (including non-universals) will be published on LCM.
2025-11-07T02:06:23.511Z,1762481183.511 [LcmPublisher] Loaded
2025-11-07T02:06:23.511Z,1762481183.511 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2025-11-07T02:06:24.322Z,1762481184.322 [BPC1] Loaded
2025-11-07T02:06:24.323Z,1762481184.323 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-11-07T02:06:24.419Z,1762481184.419 [DAT] Loaded
2025-11-07T02:06:24.420Z,1762481184.420 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-11-07T02:06:24.421Z,1762481184.421 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A1A4E0
2025-11-07T02:06:24.421Z,1762481184.421 [DAT ThreadHandler](INFO): Protected caller Thread ID is 8096
2025-11-07T02:06:24.492Z,1762481184.492 [DataOverHttps] Loaded
2025-11-07T02:06:24.492Z,1762481184.492 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-11-07T02:06:24.493Z,1762481184.493 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A4A4E0
2025-11-07T02:06:24.493Z,1762481184.493 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 8097
2025-11-07T02:06:24.516Z,1762481184.516 [Depth_Keller] Loaded
2025-11-07T02:06:24.517Z,1762481184.517 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-11-07T02:06:24.521Z,1762481184.521 [DropWeight] Loaded
2025-11-07T02:06:24.522Z,1762481184.522 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-11-07T02:06:24.586Z,1762481184.586 [NAL9602] Loaded
2025-11-07T02:06:24.586Z,1762481184.586 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-11-07T02:06:24.616Z,1762481184.616 [Onboard] Loaded
2025-11-07T02:06:24.616Z,1762481184.616 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-11-07T02:06:24.617Z,1762481184.617 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A7A4E0
2025-11-07T02:06:24.618Z,1762481184.618 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 8098
2025-11-07T02:06:24.632Z,1762481184.632 [Power24vConverter] Loaded
2025-11-07T02:06:24.632Z,1762481184.632 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-11-07T02:06:24.648Z,1762481184.648 [Radio_Surface] Loaded
2025-11-07T02:06:24.648Z,1762481184.648 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-11-07T02:06:24.649Z,1762481184.649 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AAA4E0
2025-11-07T02:06:24.649Z,1762481184.649 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 8099
2025-11-07T02:06:24.696Z,1762481184.696 [RDI_Pathfinder] Loaded
2025-11-07T02:06:24.696Z,1762481184.696 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-11-07T02:06:24.711Z,1762481184.711 [Sonardyne_Nano] Loaded
2025-11-07T02:06:24.712Z,1762481184.712 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-11-07T02:06:24.712Z,1762481184.712 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-11-07T02:06:24.713Z,1762481184.713 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-11-07T02:06:24.825Z,1762481184.825 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-11-07T02:06:24.825Z,1762481184.825 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-11-07T02:06:24.839Z,1762481184.839 [NavChart] Loaded
2025-11-07T02:06:24.839Z,1762481184.839 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-11-07T02:06:24.845Z,1762481184.845 [UniversalFixResidualReporter] Loaded
2025-11-07T02:06:24.845Z,1762481184.845 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-11-07T02:06:24.845Z,1762481184.845 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-11-07T02:06:24.846Z,1762481184.846 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-11-07T02:06:25.009Z,1762481185.009 [SBIT](DEBUG): Construct Startup Built In Test.
2025-11-07T02:06:25.018Z,1762481185.018 [SBIT] Loaded
2025-11-07T02:06:25.018Z,1762481185.018 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-11-07T02:06:25.021Z,1762481185.021 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-11-07T02:06:25.034Z,1762481185.034 [IBIT] Loaded
2025-11-07T02:06:25.034Z,1762481185.034 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-11-07T02:06:25.039Z,1762481185.039 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-11-07T02:06:25.118Z,1762481185.118 [CBIT] Loaded
2025-11-07T02:06:25.119Z,1762481185.119 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-11-07T02:06:25.150Z,1762481185.150 [GFScanner] Loaded
2025-11-07T02:06:25.151Z,1762481185.151 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-11-07T02:06:25.151Z,1762481185.151 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-11-07T02:06:25.151Z,1762481185.151 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-11-07T02:06:25.545Z,1762481185.545 [BuoyancyServo] Loaded
2025-11-07T02:06:25.545Z,1762481185.545 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-11-07T02:06:25.568Z,1762481185.568 [ElevatorServo] Loaded
2025-11-07T02:06:25.569Z,1762481185.569 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-11-07T02:06:25.597Z,1762481185.597 [DockingStepper] Loaded
2025-11-07T02:06:25.597Z,1762481185.597 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-11-07T02:06:25.619Z,1762481185.619 [MassServo] Loaded
2025-11-07T02:06:25.619Z,1762481185.619 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-11-07T02:06:25.674Z,1762481185.674 [RudderServo] Loaded
2025-11-07T02:06:25.674Z,1762481185.674 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-11-07T02:06:25.721Z,1762481185.721 [ThrusterServo] Loaded
2025-11-07T02:06:25.721Z,1762481185.721 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2025-11-07T02:06:25.722Z,1762481185.722 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-11-07T02:06:25.722Z,1762481185.722 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-11-07T02:06:25.822Z,1762481185.822 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-11-07T02:06:25.822Z,1762481185.822 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-11-07T02:06:25.997Z,1762481185.997 [CTD_Seabird] Loaded
2025-11-07T02:06:25.997Z,1762481185.997 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-11-07T02:06:25.998Z,1762481185.998 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C0D4E0
2025-11-07T02:06:25.999Z,1762481185.999 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 8100
2025-11-07T02:06:26.021Z,1762481186.021 [PAR_Licor] Loaded
2025-11-07T02:06:26.022Z,1762481186.022 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-11-07T02:06:26.067Z,1762481186.067 [WetLabsBB2FL] Loaded
2025-11-07T02:06:26.067Z,1762481186.067 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-11-07T02:06:26.068Z,1762481186.068 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C3D4E0
2025-11-07T02:06:26.068Z,1762481186.068 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 8101
2025-11-07T02:06:26.089Z,1762481186.089 [WetLabsUBAT] Loaded
2025-11-07T02:06:26.089Z,1762481186.089 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2025-11-07T02:06:26.090Z,1762481186.090 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2025-11-07T02:06:26.091Z,1762481186.091 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 8102
2025-11-07T02:06:26.091Z,1762481186.091 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-11-07T02:06:26.098Z,1762481186.098 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-11-07T02:06:26.100Z,1762481186.100 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-11-07T02:06:26.112Z,1762481186.112 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-11-07T02:06:26.112Z,1762481186.112 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C9D4E0
2025-11-07T02:06:26.113Z,1762481186.113 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 8103
2025-11-07T02:06:26.117Z,1762481186.117 [Supervisor](INFO): Main Thread ID is 8001
2025-11-07T02:06:26.117Z,1762481186.117 [Supervisor](DEBUG): Running supervisor.
2025-11-07T02:06:26.118Z,1762481186.118 [CommandExec ThreadHandler](INFO): Handler Thread ID is 8104
2025-11-07T02:06:26.118Z,1762481186.118 [CommandExec](INFO): Initializing the command executive.
2025-11-07T02:06:26.120Z,1762481186.120 [CommandLine ThreadHandler](INFO): Handler Thread ID is 8105
2025-11-07T02:06:26.122Z,1762481186.122 [controlThread ThreadHandler](INFO): Handler Thread ID is 8106
2025-11-07T02:06:26.123Z,1762481186.123 [controlThread](DEBUG): Initializing ControlThread
2025-11-07T02:06:26.124Z,1762481186.124 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-11-07T02:06:26.125Z,1762481186.125 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-11-07T02:06:26.126Z,1762481186.126 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-11-07T02:06:26.126Z,1762481186.126 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-11-07T02:06:26.127Z,1762481186.127 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-11-07T02:06:26.127Z,1762481186.127 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-11-07T02:06:26.128Z,1762481186.128 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-11-07T02:06:26.128Z,1762481186.128 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-11-07T02:06:26.128Z,1762481186.128 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-11-07T02:06:26.133Z,1762481186.133 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-11-07T02:06:26.133Z,1762481186.133 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-11-07T02:06:26.133Z,1762481186.133 [SBIT](INFO): Initialize SBIT Component.
2025-11-07T02:06:26.134Z,1762481186.134 [SBIT](IMPORTANT): git: 2025-10-23
2025-11-07T02:06:26.134Z,1762481186.134 [SBIT](INFO): git hash: 8a36ff280500b42a57cbb356490d4e9b9ffd6cfe
2025-11-07T02:06:26.134Z,1762481186.134 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-11-07T02:06:26.135Z,1762481186.135 [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
2025-11-07T02:06:26.137Z,1762481186.137 [SBIT](INFO): Beginning SBIT in 75.000000 seconds.
2025-11-07T02:06:26.137Z,1762481186.137 [IBIT](INFO): Initialize IBIT Component.
2025-11-07T02:06:26.138Z,1762481186.138 [CBIT](DEBUG): Initialize CBIT Component.
2025-11-07T02:06:26.139Z,1762481186.139 [logger ThreadHandler](INFO): Handler Thread ID is 8107
2025-11-07T02:06:26.152Z,1762481186.152 [CBIT](DEBUG): Initialized mux pins.
2025-11-07T02:06:26.152Z,1762481186.152 [CBIT](DEBUG): Initializing the watchdog timer.
2025-11-07T02:06:26.164Z,1762481186.164 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 8108
2025-11-07T02:06:26.176Z,1762481186.176 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-11-07T02:06:26.176Z,1762481186.176 [CBIT](DEBUG): Initializing heartbeat.
2025-11-07T02:06:26.177Z,1762481186.177 [DAT ThreadHandler](INFO): Handler Thread ID is 8109
2025-11-07T02:06:26.177Z,1762481186.177 [DAT](INFO): Powering up
2025-11-07T02:06:26.178Z,1762481186.178 [DAT](DEBUG): Initializing DAT.
2025-11-07T02:06:26.181Z,1762481186.181 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 8111
2025-11-07T02:06:26.183Z,1762481186.183 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-11-07T02:06:26.204Z,1762481186.204 [Onboard ThreadHandler](INFO): Handler Thread ID is 8112
2025-11-07T02:06:26.222Z,1762481186.222 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 8113
2025-11-07T02:06:26.241Z,1762481186.241 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 8114
2025-11-07T02:06:26.242Z,1762481186.242 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-11-07T02:06:26.245Z,1762481186.245 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 8116
2025-11-07T02:06:26.248Z,1762481186.248 [CBIT](DEBUG): Deactivating emergency mode.
2025-11-07T02:06:26.248Z,1762481186.248 [WetLabsBB2FL](INFO): Powering up
2025-11-07T02:06:26.250Z,1762481186.250 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 8118
2025-11-07T02:06:26.252Z,1762481186.252 [WetLabsUBAT](INFO): Powering up
2025-11-07T02:06:26.253Z,1762481186.253 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 8120
2025-11-07T02:06:26.257Z,1762481186.257 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-11-07T02:06:26.257Z,1762481186.257 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-11-07T02:06:26.257Z,1762481186.257 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-11-07T02:06:26.257Z,1762481186.257 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-11-07T02:06:26.257Z,1762481186.257 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-11-07T02:06:26.257Z,1762481186.257 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-11-07T02:06:26.258Z,1762481186.258 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-11-07T02:06:26.258Z,1762481186.258 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-11-07T02:06:26.288Z,1762481186.288 [CBIT](DEBUG): Backplane powered.
2025-11-07T02:06:26.288Z,1762481186.288 [GFScanner](DEBUG): Initializing GFScanner
2025-11-07T02:06:26.288Z,1762481186.288 [GFScanner](DEBUG): Deactivating GF circuits.
2025-11-07T02:06:26.296Z,1762481186.296 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-11-07T02:06:26.297Z,1762481186.297 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-11-07T02:06:26.297Z,1762481186.297 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-11-07T02:06:26.298Z,1762481186.298 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-11-07T02:06:26.316Z,1762481186.316 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-11-07T02:06:26.316Z,1762481186.316 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-11-07T02:06:26.316Z,1762481186.316 [MissionManager](ERROR): Could not load startup mission.
2025-11-07T02:06:26.317Z,1762481186.317 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-11-07T02:06:26.317Z,1762481186.317 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-11-07T02:06:26.318Z,1762481186.318 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-11-07T02:06:26.628Z,1762481186.628 [Radio_Surface](INFO): Powering up
2025-11-07T02:06:26.910Z,1762481186.910 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="DefaultWithUndock">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:hour />
        <Value>6</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DriftTimeout">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>30</Value>
        </Setting>
    </Guidance:Wait>
    <Aggregate Id="LeaveDock">
        <Sequence />
        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">
                Timed out while trying to detach from dock at current depth of 
                <Universal:depth />
                <Units:meter />
                .
            </Syslog>
        </Timeout>
        <Estimation:TrackAcousticContact>
            <While>
                <Universal:depth />
                <Gt>
                    <Control:VerticalControl.surfaceThreshold />
                </Gt>
            </While>
            <Setting>
                <Estimation:TrackAcousticContact.contactLabelSetting />
                <Arg Name="TransponderCode" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.numberOfSamplesSetting />
                <Arg Name="NumberOfPings" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.updatePeriodSetting />
                <Arg Name="TrackingUpdatePeriod" />
            </Setting>
        </Estimation:TrackAcousticContact>
        <Dock:Undock>
            <Sequence />
            <Setting>
                <Dock:Undock.driftTimeout />
                <Arg Name="DriftTimeout" />
            </Setting>
        </Dock:Undock>
    </Aggregate>
    <Aggregate Id="SurfaceDefault">
        <Sequence />
        <Guidance:GoToSurface>
            <Progression />
        </Guidance:GoToSurface>
        <Aggregate Id="CheckIn">
            <Sequence Repeat="288" />
            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P5M" />
                <Universal:time_fix />
            </ReadDatum>
            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P2H">
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>Burn on</String>
                        </Setting>
                    </Guidance:Execute>
                    <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
                </Timeout>
                <Universal:platform_communications />
            </ReadDatum>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Units:minute />
                    <Value>5</Value>
                </Setting>
            </Guidance:Wait>
            <Assign>
                <Sequence />
                <Arg Name="ElapsedSinceDefaultStarted" />
                <Elapsed>
                    <Universal:mission_started />
                </Elapsed>
            </Assign>
            <Syslog Severity="Important">
                Default mission has been running for 
                <Arg Name="ElapsedSinceDefaultStarted" />
                <Units:minute />
            </Syslog>
        </Aggregate>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-11-07T02:06:26.940Z,1762481186.940 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-11-07T02:06:26.944Z,1762481186.944 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-11-07T02:06:26.961Z,1762481186.961 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-11-07T02:06:26.964Z,1762481186.964 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-11-07T02:06:26.996Z,1762481186.996 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-11-07T02:06:27.009Z,1762481187.009 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-11-07T02:06:27.010Z,1762481187.010 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-11-07T02:06:27.148Z,1762481187.148 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-11-07T02:06:27.148Z,1762481187.148 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-11-07T02:06:27.211Z,1762481187.211 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-11-07T02:06:27.257Z,1762481187.257 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-11-07T02:06:27.284Z,1762481187.284 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-11-07T02:06:27.302Z,1762481187.302 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-11-07T02:06:27.314Z,1762481187.314 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission DefaultWithUndock {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute

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

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

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

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

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

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

    run in sequence

    set duration = 30 second
  }

  aggregate LeaveDock {
    run in sequence

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

    # Acoustic tracking directives

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

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

    # Leave the dock

    behavior Dock:Undock {
      run in sequence

      set driftTimeout = DriftTimeout
    }
  }

  aggregate SurfaceDefault {
    run in sequence

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

    behavior Guidance:GoToSurface {
      run in progression
    }

    aggregate CheckIn {
      run in sequence repeat=288

      readDatum id="Read_GPS" {
        timeout duration=P5M

        Universal:time_fix
      }

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

            set command = "Burn on"
          }

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

        Universal:platform_communications
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = 5 minute
      }

      assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

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

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-11-07T02:06:27.319Z,1762481187.319 [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,GFScanner,LcmPublisher,Reporter,LogSplitter,
2025-11-07T02:06:27.334Z,1762481187.334 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-11-07T02:06:27.392Z,1762481187.392 [Depth_Keller](INFO): Initializing.
2025-11-07T02:06:27.394Z,1762481187.394 [Power24vConverter](INFO): Powering up.
2025-11-07T02:06:27.394Z,1762481187.394 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-11-07T02:06:27.400Z,1762481187.400 [Sonardyne_Nano](INFO): Initializing.
2025-11-07T02:06:27.432Z,1762481187.432 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-11-07T02:06:27.454Z,1762481187.454 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-11-07T02:06:27.461Z,1762481187.461 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-11-07T02:06:27.462Z,1762481187.462 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-11-07T02:06:27.469Z,1762481187.469 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-11-07T02:06:27.469Z,1762481187.469 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-11-07T02:06:27.476Z,1762481187.476 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-11-07T02:06:27.477Z,1762481187.477 [MassServo](DEBUG): Initializing EZServoServo.
2025-11-07T02:06:27.484Z,1762481187.484 [MassServo](DEBUG): Initializing MassServo.
2025-11-07T02:06:27.485Z,1762481187.485 [RudderServo](DEBUG): Initializing EZServoServo.
2025-11-07T02:06:27.492Z,1762481187.492 [RudderServo](DEBUG): Initializing RudderServo.
2025-11-07T02:06:27.493Z,1762481187.493 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-11-07T02:06:27.500Z,1762481187.500 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-11-07T02:06:27.769Z,1762481187.769 [Depth_Keller](ERROR): Pressure or depth reading out of range: -1.000394 decibar, -0.993022 m
2025-11-07T02:06:27.770Z,1762481187.770 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2025-11-07T02:06:27.770Z,1762481187.770 [DropWeight] Hardware Fault, FailCount= 1
2025-11-07T02:06:27.770Z,1762481187.770 [DropWeight](ERROR): Hardware Fault
2025-11-07T02:06:27.773Z,1762481187.773 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-11-07T02:06:27.799Z,1762481187.799 [CommandExec](FAULT): Scheduling is paused
2025-11-07T02:06:27.799Z,1762481187.799 [CBIT](INFO): Critical error at 20251107T020627
2025-11-07T02:06:27.799Z,1762481187.799 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-11-07T02:06:27.810Z,1762481187.810 [CBIT](ERROR): Hardware Fault in component: DropWeight
2025-11-07T02:06:27.810Z,1762481187.810 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2025-11-07T02:06:28.156Z,1762481188.156 [CBIT](INFO): Critical error at 20251107T020627
2025-11-07T02:06:28.895Z,1762481188.895 [WetLabsBB2FL](INFO): Powering down
2025-11-07T02:06:29.350Z,1762481189.350 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-11-07T02:06:31.014Z,1762481191.014 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103
2025-11-07T02:06:31.880Z,1762481191.880 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-11-07T02:06:31.881Z,1762481191.881 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-11-07T02:06:35.500Z,1762481195.500 [WetLabsUBAT](INFO): Powering down
2025-11-07T02:06:35.830Z,1762481195.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525018,0.847944,-0.073119],[-0.851035,0.524030,-0.033650],[0.009783,0.079894,0.996755]]
2025-11-07T02:06:36.247Z,1762481196.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526383,0.847177,-0.072200],[-0.850190,0.525432,-0.033125],[0.009873,0.078820,0.996840]]
2025-11-07T02:06:36.625Z,1762481196.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528606,0.845729,-0.072920],[-0.848796,0.527719,-0.032520],[0.010978,0.079085,0.996807]]
2025-11-07T02:06:37.026Z,1762481197.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529940,0.844924,-0.072576],[-0.847964,0.529060,-0.032443],[0.010985,0.078735,0.996835]]
2025-11-07T02:06:37.429Z,1762481197.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531810,0.843746,-0.072594],[-0.846799,0.530872,-0.033266],[0.010470,0.079164,0.996807]]
2025-11-07T02:06:37.833Z,1762481197.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533227,0.842930,-0.071682],[-0.845916,0.532249,-0.033711],[0.009737,0.078613,0.996858]]
2025-11-07T02:06:38.238Z,1762481198.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534384,0.842233,-0.071260],[-0.845191,0.533373,-0.034131],[0.009262,0.078468,0.996874]]
2025-11-07T02:06:38.641Z,1762481198.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533594,0.842756,-0.070991],[-0.845689,0.532604,-0.033806],[0.009320,0.078075,0.996904]]
2025-11-07T02:06:38.780Z,1762481198.780 [DAT](INFO): DAT read: 

2025-11-07T02:06:38.782Z,1762481198.782 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-11-07T02:06:39.046Z,1762481199.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532807,0.843235,-0.071211],[-0.846183,0.531834,-0.033582],[0.009555,0.078150,0.996896]]
2025-11-07T02:06:39.449Z,1762481199.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531542,0.844055,-0.070948],[-0.846977,0.530593,-0.033190],[0.009630,0.077734,0.996928]]
2025-11-07T02:06:40.257Z,1762481200.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529428,0.845408,-0.070640],[-0.848298,0.528517,-0.032567],[0.009802,0.077165,0.996970]]
2025-11-07T02:06:40.396Z,1762481200.396 [CommandExec](IMPORTANT): got command quit
2025-11-07T02:06:40.661Z,1762481200.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529025,0.845644,-0.070835],[-0.848551,0.528094,-0.032823],[0.009651,0.077472,0.996948]]
2025-11-07T02:06:41.065Z,1762481201.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526868,0.846977,-0.070998],[-0.849888,0.525975,-0.032256],[0.010023,0.077335,0.996955]]
2025-11-07T02:06:41.400Z,1762481201.400 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:41.400Z,1762481201.400 [CommandExec](INFO): Uninitializing the command executive.
2025-11-07T02:06:41.400Z,1762481201.400 [CommandExec](INFO): Uninitializing the command scheduler.
2025-11-07T02:06:41.400Z,1762481201.400 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:41.470Z,1762481201.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527407,0.846612,-0.071342],[-0.849558,0.526463,-0.032981],[0.009637,0.078004,0.996906]]
2025-11-07T02:06:41.584Z,1762481201.584 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-11-07T02:06:41.584Z,1762481201.584 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-11-07T02:06:41.585Z,1762481201.585 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:41.586Z,1762481201.586 [NavChartDb](INFO): Join timeout helper Thread ID is 8130
2025-11-07T02:06:41.873Z,1762481201.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524693,0.848327,-0.070980],[-0.851233,0.523809,-0.032043],[0.009997,0.077234,0.996963]]
2025-11-07T02:06:42.078Z,1762481202.078 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:42.078Z,1762481202.078 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:42.084Z,1762481202.084 [ComponentRegistry](INFO): Shutting down WetLabsUBAT ThreadHandler
2025-11-07T02:06:42.084Z,1762481202.084 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:42.084Z,1762481202.084 [WetLabsUBAT](INFO): Join timeout helper Thread ID is 8131
2025-11-07T02:06:42.272Z,1762481202.272 [WetLabsUBAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:42.272Z,1762481202.272 [WetLabsUBAT](INFO): Powering down
2025-11-07T02:06:42.273Z,1762481202.273 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:42.275Z,1762481202.275 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-11-07T02:06:42.275Z,1762481202.275 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:42.275Z,1762481202.275 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 8132
2025-11-07T02:06:42.279Z,1762481202.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525062,0.848081,-0.071185],[-0.851009,0.524140,-0.032575],[0.009685,0.077683,0.996931]]
2025-11-07T02:06:42.404Z,1762481202.404 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:42.404Z,1762481202.404 [WetLabsBB2FL](INFO): Powering down
2025-11-07T02:06:42.405Z,1762481202.405 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:42.424Z,1762481202.424 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-11-07T02:06:42.424Z,1762481202.424 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:42.424Z,1762481202.424 [CTD_Seabird](INFO): Join timeout helper Thread ID is 8133
2025-11-07T02:06:42.681Z,1762481202.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528008,0.846215,-0.071609],[-0.849195,0.526965,-0.034298],[0.008712,0.078920,0.996843]]
2025-11-07T02:06:43.085Z,1762481203.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528148,0.846099,-0.071940],[-0.849108,0.527084,-0.034604],[0.008640,0.079361,0.996809]]
2025-11-07T02:06:43.308Z,1762481203.308 [CTD_Seabird](INFO): Powering down
2025-11-07T02:06:43.328Z,1762481203.328 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:43.328Z,1762481203.328 [CTD_Seabird](INFO): Powering down
2025-11-07T02:06:43.340Z,1762481203.340 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:43.356Z,1762481203.356 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-11-07T02:06:43.356Z,1762481203.356 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:43.356Z,1762481203.356 [Radio_Surface](INFO): Join timeout helper Thread ID is 8134
2025-11-07T02:06:43.489Z,1762481203.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530095,0.844935,-0.071298],[-0.847904,0.528956,-0.035569],[0.007659,0.079309,0.996821]]
2025-11-07T02:06:43.597Z,1762481203.597 [Radio_Surface](INFO): Powering down
2025-11-07T02:06:43.599Z,1762481203.599 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:43.599Z,1762481203.599 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:43.605Z,1762481203.605 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-11-07T02:06:43.605Z,1762481203.605 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:43.605Z,1762481203.605 [Onboard](INFO): Join timeout helper Thread ID is 8135
2025-11-07T02:06:43.893Z,1762481203.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532645,0.843375,-0.070764],[-0.846314,0.531408,-0.036865],[0.006513,0.079525,0.996812]]
2025-11-07T02:06:44.297Z,1762481204.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533266,0.842932,-0.071364],[-0.845924,0.531983,-0.037508],[0.006348,0.080370,0.996745]]
2025-11-07T02:06:44.325Z,1762481204.325 [DAT](INFO): DAT read: MF Frequency Band

2025-11-07T02:06:44.326Z,1762481204.326 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2

2025-11-07T02:06:44.327Z,1762481204.327 [DAT](INFO): DAT read: Nov  7 2025 02:06:08 

2025-11-07T02:06:44.424Z,1762481204.424 [DockingStepper](FAULT): Timed out moving from: 3998 to: 14000 response: ÿ
2025-11-07T02:06:44.424Z,1762481204.424 [DockingStepper] Hardware Fault, FailCount= 1
2025-11-07T02:06:44.425Z,1762481204.425 [DockingStepper](ERROR): Hardware Fault
2025-11-07T02:06:44.464Z,1762481204.464 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-11-07T02:06:44.701Z,1762481204.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529160,0.845531,-0.071176],[-0.848488,0.528022,-0.035511],[0.007556,0.079183,0.996832]]
2025-11-07T02:06:44.718Z,1762481204.718 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-11-07T02:06:44.718Z,1762481204.718 [DockingStepper](INFO): Powering down
2025-11-07T02:06:45.105Z,1762481205.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526536,0.847186,-0.070964],[-0.850114,0.525477,-0.034370],[0.008172,0.078424,0.996887]]
2025-11-07T02:06:45.333Z,1762481205.333 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-11-07T02:06:45.334Z,1762481205.334 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-11-07T02:06:45.335Z,1762481205.335 [DAT](INFO): commRate: 600
2025-11-07T02:06:45.912Z,1762481205.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525660,0.847713,-0.071161],[-0.850652,0.524627,-0.034012],[0.008500,0.078412,0.996885]]
2025-11-07T02:06:46.220Z,1762481206.220 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:46.220Z,1762481206.220 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.243Z,1762481206.243 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-11-07T02:06:46.246Z,1762481206.246 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.246Z,1762481206.246 [DataOverHttps](INFO): Join timeout helper Thread ID is 8136
2025-11-07T02:06:46.260Z,1762481206.260 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:46.260Z,1762481206.260 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.264Z,1762481206.264 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-11-07T02:06:46.264Z,1762481206.264 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.265Z,1762481206.265 [DAT](INFO): Join timeout helper Thread ID is 8137
2025-11-07T02:06:46.317Z,1762481206.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525351,0.847907,-0.071142],[-0.850843,0.524325,-0.033901],[0.008557,0.078341,0.996890]]
2025-11-07T02:06:46.340Z,1762481206.340 [DAT](INFO): Powering down
2025-11-07T02:06:46.412Z,1762481206.412 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:46.412Z,1762481206.412 [DAT](INFO): Powering down
2025-11-07T02:06:46.413Z,1762481206.413 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.416Z,1762481206.416 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-11-07T02:06:46.416Z,1762481206.416 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.417Z,1762481206.417 [BackseatComponent](INFO): Join timeout helper Thread ID is 8138
2025-11-07T02:06:46.592Z,1762481206.592 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:46.592Z,1762481206.592 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.596Z,1762481206.596 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-11-07T02:06:46.597Z,1762481206.597 [logger ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.597Z,1762481206.597 [logger](INFO): Join timeout helper Thread ID is 8139
2025-11-07T02:06:46.600Z,1762481206.600 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:46.600Z,1762481206.600 [logger ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.616Z,1762481206.616 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-11-07T02:06:46.617Z,1762481206.617 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.617Z,1762481206.617 [CommandLine](INFO): Join timeout helper Thread ID is 8140
2025-11-07T02:06:46.680Z,1762481206.680 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:46.680Z,1762481206.680 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.696Z,1762481206.696 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-11-07T02:06:46.696Z,1762481206.696 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.697Z,1762481206.697 [CommandExec](INFO): Join timeout helper Thread ID is 8141
2025-11-07T02:06:46.698Z,1762481206.698 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-11-07T02:06:46.698Z,1762481206.698 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:46.698Z,1762481206.698 [controlThread](INFO): Join timeout helper Thread ID is 8142
2025-11-07T02:06:46.712Z,1762481206.712 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T02:06:46.712Z,1762481206.712 [controlThread](DEBUG): Uninitializing ControlThread
2025-11-07T02:06:46.712Z,1762481206.712 [AHRS_M2](INFO): Powering down
2025-11-07T02:06:46.785Z,1762481206.785 [NAL9602](INFO): Powering down
2025-11-07T02:06:46.856Z,1762481206.856 [RDI_Pathfinder](INFO): Powering down
2025-11-07T02:06:46.857Z,1762481206.857 [Sonardyne_Nano](INFO): Powering down
2025-11-07T02:06:46.984Z,1762481206.984 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-11-07T02:06:46.985Z,1762481206.985 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-11-07T02:06:46.985Z,1762481206.985 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-11-07T02:06:46.986Z,1762481206.986 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2025-11-07T02:06:46.994Z,1762481206.994 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-11-07T02:06:46.994Z,1762481206.994 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-11-07T02:06:46.995Z,1762481206.995 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-11-07T02:06:46.995Z,1762481206.995 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-11-07T02:06:46.995Z,1762481206.995 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-11-07T02:06:46.996Z,1762481206.996 [BuoyancyServo](INFO): Powering down
2025-11-07T02:06:47.008Z,1762481207.008 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-11-07T02:06:47.008Z,1762481207.008 [ElevatorServo](INFO): Powering down
2025-11-07T02:06:47.009Z,1762481207.009 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-11-07T02:06:47.009Z,1762481207.009 [DockingStepper](INFO): Powering down
2025-11-07T02:06:47.010Z,1762481207.010 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-11-07T02:06:47.010Z,1762481207.010 [MassServo](INFO): Powering down
2025-11-07T02:06:47.011Z,1762481207.011 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-11-07T02:06:47.011Z,1762481207.011 [RudderServo](INFO): Powering down
2025-11-07T02:06:47.012Z,1762481207.012 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2025-11-07T02:06:47.012Z,1762481207.012 [ThrusterServo](INFO): Powering down
2025-11-07T02:06:47.013Z,1762481207.013 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-11-07T02:06:47.013Z,1762481207.013 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-11-07T02:06:47.013Z,1762481207.013 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-11-07T02:06:47.013Z,1762481207.013 [CBIT](DEBUG): Powering off loads.
2025-11-07T02:06:47.027Z,1762481207.027 [CBIT](DEBUG): Disabling WDT.
2025-11-07T02:06:47.040Z,1762481207.040 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-11-07T02:06:47.040Z,1762481207.040 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-11-07T02:06:47.041Z,1762481207.041 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.106Z,1762481207.106 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.109Z,1762481207.109 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.115Z,1762481207.115 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.121Z,1762481207.121 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.163Z,1762481207.163 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.197Z,1762481207.197 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-11-07T02:06:47.197Z,1762481207.197 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-11-07T02:06:47.581Z,1762481207.581 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.583Z,1762481207.583 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.587Z,1762481207.587 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.596Z,1762481207.596 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T02:06:47.659Z,1762481207.659 [logger ThreadHandler](INFO): Thread cancelled.