2025-11-07T19:13:23.070Z,1762542803.070 [Supervisor](DEBUG): Initializing supervisor.
2025-11-07T19:13:23.076Z,1762542803.076 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-11-07T19:13:23.076Z,1762542803.076 [SyncHandler](INFO): Protected caller Thread ID is 1020
2025-11-07T19:13:23.077Z,1762542803.077 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-11-07T19:13:23.078Z,1762542803.078 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-11-07T19:13:23.078Z,1762542803.078 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1021
2025-11-07T19:13:23.082Z,1762542803.082 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-11-07T19:13:23.103Z,1762542803.103 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-11-07T19:13:23.104Z,1762542803.104 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-11-07T19:13:23.104Z,1762542803.104 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1022
2025-11-07T19:13:23.109Z,1762542803.109 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-11-07T19:13:23.110Z,1762542803.110 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-11-07T19:13:23.110Z,1762542803.110 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1023
2025-11-07T19:13:23.112Z,1762542803.112 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-11-07T19:13:23.113Z,1762542803.113 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-11-07T19:13:23.114Z,1762542803.114 [logger ThreadHandler](INFO): Protected caller Thread ID is 1024
2025-11-07T19:13:23.117Z,1762542803.117 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-11-07T19:13:23.118Z,1762542803.118 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-11-07T19:13:23.120Z,1762542803.120 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-11-07T19:13:23.230Z,1762542803.230 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-11-07T19:13:23.230Z,1762542803.230 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-11-07T19:13:24.122Z,1762542804.122 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-11-07T19:13:24.123Z,1762542804.123 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-11-07T19:13:24.389Z,1762542804.389 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-11-07T19:13:24.390Z,1762542804.390 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-11-07T19:13:24.482Z,1762542804.482 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-11-07T19:13:24.632Z,1762542804.632 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-11-07T19:13:24.632Z,1762542804.632 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-11-07T19:13:24.738Z,1762542804.738 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-11-07T19:13:24.739Z,1762542804.739 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-11-07T19:13:24.861Z,1762542804.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-11-07T19:13:24.862Z,1762542804.862 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-11-07T19:13:25.290Z,1762542805.290 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-11-07T19:13:25.291Z,1762542805.291 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-11-07T19:13:25.858Z,1762542805.858 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-11-07T19:13:25.859Z,1762542805.859 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-11-07T19:13:26.100Z,1762542806.100 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-11-07T19:13:26.100Z,1762542806.100 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-11-07T19:13:26.312Z,1762542806.312 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-11-07T19:13:26.313Z,1762542806.313 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-11-07T19:13:26.891Z,1762542806.891 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-11-07T19:13:26.892Z,1762542806.892 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-11-07T19:13:27.209Z,1762542807.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-11-07T19:13:27.210Z,1762542807.210 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-11-07T19:13:27.470Z,1762542807.470 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-11-07T19:13:27.470Z,1762542807.470 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-11-07T19:13:27.906Z,1762542807.906 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-11-07T19:13:27.906Z,1762542807.906 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-11-07T19:13:28.709Z,1762542808.709 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-11-07T19:13:28.711Z,1762542808.711 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2025-11-07T19:13:28.712Z,1762542808.712 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2025-11-07T19:13:28.810Z,1762542808.810 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2025-11-07T19:13:28.998Z,1762542808.998 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Dock.cfg
2025-11-07T19:13:29.119Z,1762542809.119 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg
2025-11-07T19:13:29.229Z,1762542809.229 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2025-11-07T19:13:29.352Z,1762542809.352 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2025-11-07T19:13:29.451Z,1762542809.451 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2025-11-07T19:13:29.560Z,1762542809.560 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2025-11-07T19:13:29.689Z,1762542809.689 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2025-11-07T19:13:29.969Z,1762542809.969 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-11-07T19:13:29.970Z,1762542809.970 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2025-11-07T19:13:30.068Z,1762542810.068 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2025-11-07T19:13:30.175Z,1762542810.175 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2025-11-07T19:13:30.333Z,1762542810.333 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2025-11-07T19:13:30.446Z,1762542810.446 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/root/
2025-11-07T19:13:30.446Z,1762542810.446 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-11-07T19:13:30.462Z,1762542810.462 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-11-07T19:13:30.598Z,1762542810.598 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-11-07T19:13:30.599Z,1762542810.599 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-11-07T19:13:30.653Z,1762542810.653 [VerticalControl](DEBUG): Construct VerticalControl.
2025-11-07T19:13:30.714Z,1762542810.714 [VerticalControl] Loaded
2025-11-07T19:13:30.714Z,1762542810.714 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-11-07T19:13:30.717Z,1762542810.717 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-11-07T19:13:30.764Z,1762542810.764 [HorizontalControl] Loaded
2025-11-07T19:13:30.764Z,1762542810.764 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-11-07T19:13:30.767Z,1762542810.767 [SpeedControl](DEBUG): Construct SpeedControl.
2025-11-07T19:13:30.770Z,1762542810.770 [SpeedControl] Loaded
2025-11-07T19:13:30.770Z,1762542810.770 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-11-07T19:13:30.773Z,1762542810.773 [LoopControl](DEBUG): Construct LoopControl.
2025-11-07T19:13:30.773Z,1762542810.773 [LoopControl] Loaded
2025-11-07T19:13:30.774Z,1762542810.774 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-11-07T19:13:30.774Z,1762542810.774 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-11-07T19:13:30.775Z,1762542810.775 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-11-07T19:13:30.826Z,1762542810.826 [DepthRateCalculator] Loaded
2025-11-07T19:13:30.826Z,1762542810.826 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-11-07T19:13:30.831Z,1762542810.831 [PitchRateCalculator] Loaded
2025-11-07T19:13:30.832Z,1762542810.832 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-11-07T19:13:30.842Z,1762542810.842 [SpeedCalculator] Loaded
2025-11-07T19:13:30.842Z,1762542810.842 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-11-07T19:13:30.846Z,1762542810.846 [YawRateCalculator] Loaded
2025-11-07T19:13:30.846Z,1762542810.846 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-11-07T19:13:30.865Z,1762542810.865 [ElevatorOffsetCalculator] Loaded
2025-11-07T19:13:30.865Z,1762542810.865 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-11-07T19:13:30.866Z,1762542810.866 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-11-07T19:13:30.866Z,1762542810.866 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-11-07T19:13:30.897Z,1762542810.897 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-11-07T19:13:30.898Z,1762542810.898 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-11-07T19:13:30.960Z,1762542810.960 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-11-07T19:13:30.960Z,1762542810.960 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-11-07T19:13:31.308Z,1762542811.308 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-11-07T19:13:31.308Z,1762542811.308 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-11-07T19:13:31.488Z,1762542811.488 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-11-07T19:13:31.488Z,1762542811.488 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-11-07T19:13:31.985Z,1762542811.985 [AHRS_M2] Loaded
2025-11-07T19:13:31.986Z,1762542811.986 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-11-07T19:13:32.056Z,1762542812.056 [BackseatComponent] Loaded
2025-11-07T19:13:32.056Z,1762542812.056 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-11-07T19:13:32.058Z,1762542812.058 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409EA4E0
2025-11-07T19:13:32.058Z,1762542812.058 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1113
2025-11-07T19:13:32.061Z,1762542812.061 [LcmPublisher](INFO): Full slate access is ENABLED. All requested slate values (including non-universals) will be published on LCM.
2025-11-07T19:13:32.061Z,1762542812.061 [LcmPublisher] Loaded
2025-11-07T19:13:32.062Z,1762542812.062 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2025-11-07T19:13:32.890Z,1762542812.890 [BPC1] Loaded
2025-11-07T19:13:32.890Z,1762542812.890 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-11-07T19:13:32.989Z,1762542812.989 [DAT] Loaded
2025-11-07T19:13:32.989Z,1762542812.989 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-11-07T19:13:32.990Z,1762542812.990 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A1A4E0
2025-11-07T19:13:32.991Z,1762542812.991 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1114
2025-11-07T19:13:33.091Z,1762542813.091 [DataOverHttps] Loaded
2025-11-07T19:13:33.092Z,1762542813.092 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-11-07T19:13:33.093Z,1762542813.093 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A4A4E0
2025-11-07T19:13:33.093Z,1762542813.093 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1115
2025-11-07T19:13:33.116Z,1762542813.116 [Depth_Keller] Loaded
2025-11-07T19:13:33.116Z,1762542813.116 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-11-07T19:13:33.121Z,1762542813.121 [DropWeight] Loaded
2025-11-07T19:13:33.122Z,1762542813.122 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-11-07T19:13:33.187Z,1762542813.187 [NAL9602] Loaded
2025-11-07T19:13:33.187Z,1762542813.187 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-11-07T19:13:33.217Z,1762542813.217 [Onboard] Loaded
2025-11-07T19:13:33.218Z,1762542813.218 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-11-07T19:13:33.219Z,1762542813.219 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A7A4E0
2025-11-07T19:13:33.219Z,1762542813.219 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1116
2025-11-07T19:13:33.233Z,1762542813.233 [Power24vConverter] Loaded
2025-11-07T19:13:33.233Z,1762542813.233 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-11-07T19:13:33.250Z,1762542813.250 [Radio_Surface] Loaded
2025-11-07T19:13:33.250Z,1762542813.250 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-11-07T19:13:33.251Z,1762542813.251 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AAA4E0
2025-11-07T19:13:33.251Z,1762542813.251 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1117
2025-11-07T19:13:33.299Z,1762542813.299 [RDI_Pathfinder] Loaded
2025-11-07T19:13:33.299Z,1762542813.299 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-11-07T19:13:33.315Z,1762542813.315 [Sonardyne_Nano] Loaded
2025-11-07T19:13:33.315Z,1762542813.315 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-11-07T19:13:33.316Z,1762542813.316 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-11-07T19:13:33.316Z,1762542813.316 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-11-07T19:13:33.809Z,1762542813.809 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-11-07T19:13:33.809Z,1762542813.809 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-11-07T19:13:33.823Z,1762542813.823 [NavChart] Loaded
2025-11-07T19:13:33.823Z,1762542813.823 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-11-07T19:13:33.829Z,1762542813.829 [UniversalFixResidualReporter] Loaded
2025-11-07T19:13:33.829Z,1762542813.829 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-11-07T19:13:33.830Z,1762542813.830 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-11-07T19:13:33.830Z,1762542813.830 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-11-07T19:13:33.999Z,1762542813.999 [SBIT](DEBUG): Construct Startup Built In Test.
2025-11-07T19:13:34.008Z,1762542814.008 [SBIT] Loaded
2025-11-07T19:13:34.009Z,1762542814.009 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-11-07T19:13:34.012Z,1762542814.012 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-11-07T19:13:34.024Z,1762542814.024 [IBIT] Loaded
2025-11-07T19:13:34.025Z,1762542814.025 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-11-07T19:13:34.030Z,1762542814.030 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-11-07T19:13:34.113Z,1762542814.113 [CBIT] Loaded
2025-11-07T19:13:34.113Z,1762542814.113 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-11-07T19:13:34.146Z,1762542814.146 [GFScanner] Loaded
2025-11-07T19:13:34.146Z,1762542814.146 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-11-07T19:13:34.147Z,1762542814.147 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-11-07T19:13:34.147Z,1762542814.147 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-11-07T19:13:34.285Z,1762542814.285 [BuoyancyServo] Loaded
2025-11-07T19:13:34.286Z,1762542814.286 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-11-07T19:13:34.309Z,1762542814.309 [ElevatorServo] Loaded
2025-11-07T19:13:34.309Z,1762542814.309 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-11-07T19:13:34.339Z,1762542814.339 [DockingStepper] Loaded
2025-11-07T19:13:34.339Z,1762542814.339 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-11-07T19:13:34.364Z,1762542814.364 [MassServo] Loaded
2025-11-07T19:13:34.364Z,1762542814.364 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-11-07T19:13:34.385Z,1762542814.385 [RudderServo] Loaded
2025-11-07T19:13:34.386Z,1762542814.386 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-11-07T19:13:34.406Z,1762542814.406 [ThrusterServo] Loaded
2025-11-07T19:13:34.406Z,1762542814.406 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2025-11-07T19:13:34.407Z,1762542814.407 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-11-07T19:13:34.407Z,1762542814.407 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-11-07T19:13:34.418Z,1762542814.418 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-11-07T19:13:34.418Z,1762542814.418 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-11-07T19:13:34.599Z,1762542814.599 [CTD_Seabird] Loaded
2025-11-07T19:13:34.599Z,1762542814.599 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-11-07T19:13:34.600Z,1762542814.600 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C0D4E0
2025-11-07T19:13:34.601Z,1762542814.601 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1118
2025-11-07T19:13:34.624Z,1762542814.624 [PAR_Licor] Loaded
2025-11-07T19:13:34.624Z,1762542814.624 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-11-07T19:13:34.670Z,1762542814.670 [WetLabsBB2FL] Loaded
2025-11-07T19:13:34.671Z,1762542814.671 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-11-07T19:13:34.672Z,1762542814.672 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C3D4E0
2025-11-07T19:13:34.672Z,1762542814.672 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1119
2025-11-07T19:13:34.693Z,1762542814.693 [WetLabsUBAT] Loaded
2025-11-07T19:13:34.694Z,1762542814.694 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2025-11-07T19:13:34.695Z,1762542814.695 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2025-11-07T19:13:34.695Z,1762542814.695 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 1120
2025-11-07T19:13:34.696Z,1762542814.696 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-11-07T19:13:34.702Z,1762542814.702 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-11-07T19:13:34.705Z,1762542814.705 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-11-07T19:13:34.717Z,1762542814.717 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-11-07T19:13:34.718Z,1762542814.718 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C9D4E0
2025-11-07T19:13:34.718Z,1762542814.718 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1121
2025-11-07T19:13:34.725Z,1762542814.725 [Supervisor](INFO): Main Thread ID is 1019
2025-11-07T19:13:34.725Z,1762542814.725 [Supervisor](DEBUG): Running supervisor.
2025-11-07T19:13:34.726Z,1762542814.726 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1122
2025-11-07T19:13:34.726Z,1762542814.726 [CommandExec](INFO): Initializing the command executive.
2025-11-07T19:13:34.728Z,1762542814.728 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1123
2025-11-07T19:13:34.731Z,1762542814.731 [controlThread ThreadHandler](INFO): Handler Thread ID is 1124
2025-11-07T19:13:34.732Z,1762542814.732 [controlThread](DEBUG): Initializing ControlThread
2025-11-07T19:13:34.733Z,1762542814.733 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-11-07T19:13:34.735Z,1762542814.735 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-11-07T19:13:34.735Z,1762542814.735 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-11-07T19:13:34.736Z,1762542814.736 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-11-07T19:13:34.736Z,1762542814.736 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-11-07T19:13:34.736Z,1762542814.736 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-11-07T19:13:34.737Z,1762542814.737 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-11-07T19:13:34.737Z,1762542814.737 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-11-07T19:13:34.737Z,1762542814.737 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-11-07T19:13:34.741Z,1762542814.741 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-11-07T19:13:34.742Z,1762542814.742 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-11-07T19:13:34.742Z,1762542814.742 [SBIT](INFO): Initialize SBIT Component.
2025-11-07T19:13:34.742Z,1762542814.742 [SBIT](IMPORTANT): git: 2025-11-06-3-g49d7e8466
2025-11-07T19:13:34.743Z,1762542814.743 [SBIT](INFO): git hash: 49d7e8466fc027fb5ca162e83acc0be428d1c4a3
2025-11-07T19:13:34.743Z,1762542814.743 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-11-07T19:13:34.744Z,1762542814.744 [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
2025-11-07T19:13:34.745Z,1762542814.745 [SBIT](INFO): Beginning SBIT in 75.000000 seconds.
2025-11-07T19:13:34.746Z,1762542814.746 [IBIT](INFO): Initialize IBIT Component.
2025-11-07T19:13:34.746Z,1762542814.746 [CBIT](DEBUG): Initialize CBIT Component.
2025-11-07T19:13:34.747Z,1762542814.747 [logger ThreadHandler](INFO): Handler Thread ID is 1125
2025-11-07T19:13:34.760Z,1762542814.760 [CBIT](DEBUG): Initialized mux pins.
2025-11-07T19:13:34.760Z,1762542814.760 [CBIT](DEBUG): Initializing the watchdog timer.
2025-11-07T19:13:34.768Z,1762542814.768 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1126
2025-11-07T19:13:34.784Z,1762542814.784 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-11-07T19:13:34.784Z,1762542814.784 [CBIT](DEBUG): Initializing heartbeat.
2025-11-07T19:13:34.785Z,1762542814.785 [DAT ThreadHandler](INFO): Handler Thread ID is 1127
2025-11-07T19:13:34.786Z,1762542814.786 [DAT](INFO): Powering up
2025-11-07T19:13:34.786Z,1762542814.786 [DAT](DEBUG): Initializing DAT.
2025-11-07T19:13:34.789Z,1762542814.789 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1129
2025-11-07T19:13:34.791Z,1762542814.791 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-11-07T19:13:34.812Z,1762542814.812 [Onboard ThreadHandler](INFO): Handler Thread ID is 1130
2025-11-07T19:13:34.830Z,1762542814.830 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1131
2025-11-07T19:13:34.850Z,1762542814.850 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1132
2025-11-07T19:13:34.850Z,1762542814.850 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-11-07T19:13:34.856Z,1762542814.856 [CBIT](DEBUG): Deactivating emergency mode.
2025-11-07T19:13:34.864Z,1762542814.864 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1134
2025-11-07T19:13:34.868Z,1762542814.868 [WetLabsBB2FL](INFO): Powering up
2025-11-07T19:13:34.869Z,1762542814.869 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 1136
2025-11-07T19:13:34.872Z,1762542814.872 [WetLabsUBAT](INFO): Powering up
2025-11-07T19:13:34.873Z,1762542814.873 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1138
2025-11-07T19:13:34.880Z,1762542814.880 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-11-07T19:13:34.880Z,1762542814.880 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-11-07T19:13:34.880Z,1762542814.880 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-11-07T19:13:34.880Z,1762542814.880 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-11-07T19:13:34.880Z,1762542814.880 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-11-07T19:13:34.881Z,1762542814.881 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-11-07T19:13:34.881Z,1762542814.881 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-11-07T19:13:34.881Z,1762542814.881 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-11-07T19:13:34.896Z,1762542814.896 [CBIT](DEBUG): Backplane powered.
2025-11-07T19:13:34.896Z,1762542814.896 [GFScanner](DEBUG): Initializing GFScanner
2025-11-07T19:13:34.896Z,1762542814.896 [GFScanner](DEBUG): Deactivating GF circuits.
2025-11-07T19:13:34.906Z,1762542814.906 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-11-07T19:13:34.907Z,1762542814.907 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-11-07T19:13:34.907Z,1762542814.907 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-11-07T19:13:34.916Z,1762542814.916 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-11-07T19:13:34.931Z,1762542814.931 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-11-07T19:13:34.940Z,1762542814.940 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-11-07T19:13:34.944Z,1762542814.944 [MissionManager](ERROR): Could not load startup mission.
2025-11-07T19:13:34.944Z,1762542814.944 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-11-07T19:13:34.944Z,1762542814.944 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-11-07T19:13:34.946Z,1762542814.946 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-11-07T19:13:35.236Z,1762542815.236 [Radio_Surface](INFO): Powering up
2025-11-07T19:13:35.538Z,1762542815.538 [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>

2025-11-07T19:13:35.562Z,1762542815.562 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-11-07T19:13:35.578Z,1762542815.578 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-11-07T19:13:35.582Z,1762542815.582 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-11-07T19:13:35.613Z,1762542815.613 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-11-07T19:13:35.617Z,1762542815.617 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-11-07T19:13:35.633Z,1762542815.633 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-11-07T19:13:35.634Z,1762542815.634 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-11-07T19:13:35.815Z,1762542815.815 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-11-07T19:13:35.815Z,1762542815.815 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-11-07T19:13:35.872Z,1762542815.872 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-11-07T19:13:35.918Z,1762542815.918 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-11-07T19:13:35.929Z,1762542815.929 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-11-07T19:13:35.936Z,1762542815.936 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-11-07T19:13:35.967Z,1762542815.967 [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"
  }
}


2025-11-07T19:13:35.976Z,1762542815.976 [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,
2025-11-07T19:13:35.995Z,1762542815.995 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-11-07T19:13:36.056Z,1762542816.056 [Depth_Keller](INFO): Initializing.
2025-11-07T19:13:36.058Z,1762542816.058 [Power24vConverter](INFO): Powering up.
2025-11-07T19:13:36.058Z,1762542816.058 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-11-07T19:13:36.064Z,1762542816.064 [Sonardyne_Nano](INFO): Initializing.
2025-11-07T19:13:36.108Z,1762542816.108 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-11-07T19:13:36.135Z,1762542816.135 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-11-07T19:13:36.140Z,1762542816.140 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-11-07T19:13:36.141Z,1762542816.141 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-11-07T19:13:36.148Z,1762542816.148 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-11-07T19:13:36.149Z,1762542816.149 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-11-07T19:13:36.150Z,1762542816.150 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-11-07T19:13:36.151Z,1762542816.151 [MassServo](DEBUG): Initializing EZServoServo.
2025-11-07T19:13:36.164Z,1762542816.164 [MassServo](DEBUG): Initializing MassServo.
2025-11-07T19:13:36.165Z,1762542816.165 [RudderServo](DEBUG): Initializing EZServoServo.
2025-11-07T19:13:36.172Z,1762542816.172 [RudderServo](DEBUG): Initializing RudderServo.
2025-11-07T19:13:36.173Z,1762542816.173 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-11-07T19:13:36.181Z,1762542816.181 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-11-07T19:13:36.425Z,1762542816.425 [Depth_Keller](ERROR): Pressure or depth reading out of range: 824.648376 decibar, 0.000000 m
2025-11-07T19:13:36.425Z,1762542816.425 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2025-11-07T19:13:36.425Z,1762542816.425 [DropWeight] Hardware Fault, FailCount= 1
2025-11-07T19:13:36.425Z,1762542816.425 [DropWeight](ERROR): Hardware Fault
2025-11-07T19:13:36.437Z,1762542816.437 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-11-07T19:13:36.454Z,1762542816.454 [CommandExec](FAULT): Scheduling is paused
2025-11-07T19:13:36.454Z,1762542816.454 [CBIT](INFO): Critical error at 20251107T191336
2025-11-07T19:13:36.455Z,1762542816.455 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-11-07T19:13:36.465Z,1762542816.465 [CBIT](ERROR): Hardware Fault in component: DropWeight
2025-11-07T19:13:36.466Z,1762542816.466 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2025-11-07T19:13:36.848Z,1762542816.848 [CBIT](INFO): Critical error at 20251107T191336
2025-11-07T19:13:37.416Z,1762542817.416 [DockingStepper](ERROR): only read 3 of 4 ADC values. Response is: ÿ/0`16319,15743,1238304
2025-11-07T19:13:37.477Z,1762542817.477 [WetLabsBB2FL](INFO): Powering down
2025-11-07T19:13:38.030Z,1762542818.030 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-11-07T19:13:39.316Z,1762542819.316 [DockingStepper](FAULT): Initialization uart error:serial timeout
2025-11-07T19:13:39.316Z,1762542819.316 [DockingStepper] Communications Fault, FailCount= 1
2025-11-07T19:13:39.316Z,1762542819.316 [DockingStepper](ERROR): Communications Fault
2025-11-07T19:13:39.372Z,1762542819.372 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-11-07T19:13:39.574Z,1762542819.574 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-11-07T19:13:39.574Z,1762542819.574 [DockingStepper](INFO): Powering down
2025-11-07T19:13:39.832Z,1762542819.832 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103
2025-11-07T19:13:40.524Z,1762542820.524 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-11-07T19:13:40.525Z,1762542820.525 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-11-07T19:13:41.888Z,1762542821.888 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-11-07T19:13:44.116Z,1762542824.116 [WetLabsUBAT](INFO): Powering down
2025-11-07T19:13:47.456Z,1762542827.456 [DAT](INFO): DAT read: 

2025-11-07T19:13:47.458Z,1762542827.458 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-11-07T19:13:48.098Z,1762542828.098 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004473
2025-11-07T19:13:49.084Z,1762542829.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-07T19:13:53.005Z,1762542833.005 [DAT](INFO): DAT read: MF Frequency Band

2025-11-07T19:13:53.006Z,1762542833.006 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2

2025-11-07T19:13:53.006Z,1762542833.006 [DAT](INFO): DAT read: Nov  7 2025 03:21:24 

2025-11-07T19:13:54.013Z,1762542834.013 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-11-07T19:13:54.014Z,1762542834.014 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-11-07T19:13:54.014Z,1762542834.014 [DAT](INFO): commRate: 600
2025-11-07T19:13:56.080Z,1762542836.080 [DAT](INFO): entering command mode
2025-11-07T19:13:56.280Z,1762542836.280 [DAT](INFO): DAT read: 

2025-11-07T19:13:56.281Z,1762542836.281 [DAT](INFO): DAT read: user:1>

2025-11-07T19:13:56.281Z,1762542836.281 [DAT](INFO): setting verbose to 3
2025-11-07T19:13:56.532Z,1762542836.532 [DAT](INFO): DAT read: user:1>

2025-11-07T19:13:56.533Z,1762542836.533 [DAT](INFO): DAT read: Verbose         | 3           

2025-11-07T19:13:56.534Z,1762542836.534 [DAT](INFO): set verbose to 3
2025-11-07T19:13:56.534Z,1762542836.534 [DAT](INFO): setting DatVerbose to 27440
2025-11-07T19:13:56.784Z,1762542836.784 [DAT](INFO): DAT read: user:2>

2025-11-07T19:13:56.785Z,1762542836.785 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-11-07T19:13:56.786Z,1762542836.786 [DAT](INFO): set DatVerbose to 27440
2025-11-07T19:13:56.786Z,1762542836.786 [DAT](INFO): setting transmit power to 8
2025-11-07T19:13:57.036Z,1762542837.036 [DAT](INFO): DAT read: user:3>

2025-11-07T19:13:57.037Z,1762542837.037 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-11-07T19:13:57.038Z,1762542837.038 [DAT](INFO): set transmit power to 8
2025-11-07T19:13:57.038Z,1762542837.038 [DAT](INFO): setting local address to 10
2025-11-07T19:13:57.288Z,1762542837.288 [DAT](INFO): DAT read: user:4>

2025-11-07T19:13:57.289Z,1762542837.289 [DAT](INFO): DAT read: LocalAddr       | 10          

2025-11-07T19:13:57.290Z,1762542837.290 [DAT](INFO): set local address to 10
2025-11-07T19:13:57.291Z,1762542837.291 [DAT](INFO): Setting time to: 19:13:57 And date to:11/7/2025
2025-11-07T19:13:57.540Z,1762542837.540 [DAT](INFO): DAT read: user:5>

2025-11-07T19:13:57.541Z,1762542837.541 [DAT](INFO): DAT read: Fri Nov 7, 2025  19:13:57  

2025-11-07T19:13:57.542Z,1762542837.542 [DAT](INFO): Local DAT time set to Fri Nov 7, 2025  19:13:57  

2025-11-07T19:14:00.136Z,1762542840.136 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-11-07T19:14:00.137Z,1762542840.137 [DockingStepper] No Fault, FailCount= 1
2025-11-07T19:14:00.487Z,1762542840.487 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-11-07T19:14:00.508Z,1762542840.508 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-11-07T19:14:02.056Z,1762542842.056 [DockingStepper](ERROR): getADC uart error serial timeout
2025-11-07T19:14:03.345Z,1762542843.345 [NAL9602](INFO): Powering up NAL9602
2025-11-07T19:14:04.172Z,1762542844.172 [DockingStepper](FAULT): Initialization uart error:serial timeout
2025-11-07T19:14:04.172Z,1762542844.172 [DockingStepper] Communications Fault, FailCount= 2
2025-11-07T19:14:04.172Z,1762542844.172 [DockingStepper](ERROR): Communications Fault
2025-11-07T19:14:04.201Z,1762542844.201 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-11-07T19:14:04.253Z,1762542844.253 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-11-07T19:14:04.253Z,1762542844.253 [DockingStepper](INFO): Powering down
2025-11-07T19:14:05.844Z,1762542845.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-07T19:14:14.313Z,1762542854.313 [NAL9602](INFO): NAL9602 initialized
2025-11-07T19:14:18.512Z,1762542858.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-07T19:14:21.496Z,1762542861.496 [CommandExec](IMPORTANT): got command configSet DockingStepper.loadAtStartup 0 bool persist
2025-11-07T19:14:21.497Z,1762542861.497 [CommandExec](IMPORTANT): configSet DockingStepper.loadAtStartup requires a restart to take effect.
2025-11-07T19:14:21.501Z,1762542861.501 [CommandExec](IMPORTANT): got command restart application
2025-11-07T19:14:22.504Z,1762542862.504 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:22.504Z,1762542862.504 [CommandExec](INFO): Uninitializing the command executive.
2025-11-07T19:14:22.504Z,1762542862.504 [CommandExec](INFO): Uninitializing the command scheduler.
2025-11-07T19:14:22.505Z,1762542862.505 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:22.640Z,1762542862.640 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-11-07T19:14:22.640Z,1762542862.640 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-11-07T19:14:22.640Z,1762542862.640 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:22.641Z,1762542862.641 [NavChartDb](INFO): Join timeout helper Thread ID is 1147
2025-11-07T19:14:24.797Z,1762542864.797 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:24.797Z,1762542864.797 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:24.800Z,1762542864.800 [ComponentRegistry](INFO): Shutting down WetLabsUBAT ThreadHandler
2025-11-07T19:14:24.800Z,1762542864.800 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:24.800Z,1762542864.800 [WetLabsUBAT](INFO): Join timeout helper Thread ID is 1148
2025-11-07T19:14:24.844Z,1762542864.844 [WetLabsUBAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:24.844Z,1762542864.844 [WetLabsUBAT](INFO): Powering down
2025-11-07T19:14:24.845Z,1762542864.845 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:24.888Z,1762542864.888 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-11-07T19:14:24.888Z,1762542864.888 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:24.888Z,1762542864.888 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1149
2025-11-07T19:14:24.922Z,1762542864.922 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-11-07T19:14:24.922Z,1762542864.922 [DockingStepper] No Fault, FailCount= 2
2025-11-07T19:14:25.254Z,1762542865.254 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-11-07T19:14:25.255Z,1762542865.255 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-11-07T19:14:25.312Z,1762542865.312 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:25.312Z,1762542865.312 [WetLabsBB2FL](INFO): Powering down
2025-11-07T19:14:25.313Z,1762542865.313 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:25.334Z,1762542865.334 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-11-07T19:14:25.334Z,1762542865.334 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:25.335Z,1762542865.335 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1150
2025-11-07T19:14:26.068Z,1762542866.068 [CTD_Seabird](INFO): Powering down
2025-11-07T19:14:26.080Z,1762542866.080 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:26.080Z,1762542866.080 [CTD_Seabird](INFO): Powering down
2025-11-07T19:14:26.092Z,1762542866.092 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:26.092Z,1762542866.092 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-11-07T19:14:26.093Z,1762542866.093 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:26.093Z,1762542866.093 [Radio_Surface](INFO): Join timeout helper Thread ID is 1151
2025-11-07T19:14:26.176Z,1762542866.176 [Radio_Surface](INFO): Powering down
2025-11-07T19:14:26.177Z,1762542866.177 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:26.178Z,1762542866.178 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:26.193Z,1762542866.193 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-11-07T19:14:26.193Z,1762542866.193 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:26.193Z,1762542866.193 [Onboard](INFO): Join timeout helper Thread ID is 1152
2025-11-07T19:14:26.784Z,1762542866.784 [DockingStepper](ERROR): getADC uart error serial timeout
2025-11-07T19:14:28.820Z,1762542868.820 [DockingStepper](FAULT): Initialization uart error:serial timeout
2025-11-07T19:14:28.820Z,1762542868.820 [DockingStepper] Communications Fault, FailCount= 3
2025-11-07T19:14:28.820Z,1762542868.820 [DockingStepper](ERROR): Communications Fault
2025-11-07T19:14:28.824Z,1762542868.824 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-11-07T19:14:28.921Z,1762542868.921 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-11-07T19:14:28.921Z,1762542868.921 [DockingStepper](INFO): Powering down
2025-11-07T19:14:29.864Z,1762542869.864 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:29.864Z,1762542869.864 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:29.876Z,1762542869.876 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-11-07T19:14:29.876Z,1762542869.876 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:29.877Z,1762542869.877 [DataOverHttps](INFO): Join timeout helper Thread ID is 1153
2025-11-07T19:14:30.824Z,1762542870.824 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:30.827Z,1762542870.827 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:30.848Z,1762542870.848 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-11-07T19:14:30.848Z,1762542870.848 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:30.849Z,1762542870.849 [DAT](INFO): Join timeout helper Thread ID is 1154
2025-11-07T19:14:31.064Z,1762542871.064 [DAT](INFO): Powering down
2025-11-07T19:14:31.136Z,1762542871.136 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:31.136Z,1762542871.136 [DAT](INFO): Powering down
2025-11-07T19:14:31.137Z,1762542871.137 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.161Z,1762542871.161 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-11-07T19:14:31.161Z,1762542871.161 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.161Z,1762542871.161 [BackseatComponent](INFO): Join timeout helper Thread ID is 1155
2025-11-07T19:14:31.185Z,1762542871.185 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:31.185Z,1762542871.185 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.189Z,1762542871.189 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-11-07T19:14:31.189Z,1762542871.189 [logger ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.189Z,1762542871.189 [logger](INFO): Join timeout helper Thread ID is 1156
2025-11-07T19:14:31.196Z,1762542871.196 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:31.196Z,1762542871.196 [logger ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.212Z,1762542871.212 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-11-07T19:14:31.212Z,1762542871.212 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.213Z,1762542871.213 [CommandLine](INFO): Join timeout helper Thread ID is 1157
2025-11-07T19:14:31.260Z,1762542871.260 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:31.260Z,1762542871.260 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.293Z,1762542871.293 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-11-07T19:14:31.293Z,1762542871.293 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.293Z,1762542871.293 [CommandExec](INFO): Join timeout helper Thread ID is 1158
2025-11-07T19:14:31.301Z,1762542871.301 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-11-07T19:14:31.301Z,1762542871.301 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.301Z,1762542871.301 [controlThread](INFO): Join timeout helper Thread ID is 1159
2025-11-07T19:14:31.319Z,1762542871.319 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-11-07T19:14:31.319Z,1762542871.319 [controlThread](DEBUG): Uninitializing ControlThread
2025-11-07T19:14:31.320Z,1762542871.320 [AHRS_M2](INFO): Powering down
2025-11-07T19:14:31.400Z,1762542871.400 [NAL9602](INFO): Powering down
2025-11-07T19:14:31.472Z,1762542871.472 [RDI_Pathfinder](INFO): Powering down
2025-11-07T19:14:31.473Z,1762542871.473 [Sonardyne_Nano](INFO): Powering down
2025-11-07T19:14:31.600Z,1762542871.600 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-11-07T19:14:31.601Z,1762542871.601 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-11-07T19:14:31.601Z,1762542871.601 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-11-07T19:14:31.602Z,1762542871.602 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2025-11-07T19:14:31.610Z,1762542871.610 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-11-07T19:14:31.611Z,1762542871.611 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-11-07T19:14:31.611Z,1762542871.611 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-11-07T19:14:31.611Z,1762542871.611 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-11-07T19:14:31.612Z,1762542871.612 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-11-07T19:14:31.612Z,1762542871.612 [BuoyancyServo](INFO): Powering down
2025-11-07T19:14:31.624Z,1762542871.624 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-11-07T19:14:31.624Z,1762542871.624 [ElevatorServo](INFO): Powering down
2025-11-07T19:14:31.625Z,1762542871.625 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-11-07T19:14:31.625Z,1762542871.625 [DockingStepper](INFO): Powering down
2025-11-07T19:14:31.626Z,1762542871.626 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-11-07T19:14:31.626Z,1762542871.626 [MassServo](INFO): Powering down
2025-11-07T19:14:31.627Z,1762542871.627 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-11-07T19:14:31.627Z,1762542871.627 [RudderServo](INFO): Powering down
2025-11-07T19:14:31.628Z,1762542871.628 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2025-11-07T19:14:31.628Z,1762542871.628 [ThrusterServo](INFO): Powering down
2025-11-07T19:14:31.629Z,1762542871.629 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-11-07T19:14:31.629Z,1762542871.629 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-11-07T19:14:31.629Z,1762542871.629 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-11-07T19:14:31.629Z,1762542871.629 [CBIT](DEBUG): Powering off loads.
2025-11-07T19:14:31.644Z,1762542871.644 [CBIT](DEBUG): Disabling WDT.
2025-11-07T19:14:31.656Z,1762542871.656 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-11-07T19:14:31.656Z,1762542871.656 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-11-07T19:14:31.657Z,1762542871.657 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.715Z,1762542871.715 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.718Z,1762542871.718 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.724Z,1762542871.724 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.730Z,1762542871.730 [DAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.772Z,1762542871.772 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.806Z,1762542871.806 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-11-07T19:14:31.807Z,1762542871.807 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-11-07T19:14:31.953Z,1762542871.953 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.955Z,1762542871.955 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.960Z,1762542871.960 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:31.968Z,1762542871.968 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-11-07T19:14:32.017Z,1762542872.017 [logger ThreadHandler](INFO): Thread cancelled.