2026-01-14T23:42:41.293Z,1768434161.293 [Supervisor](DEBUG): Initializing supervisor.
2026-01-14T23:42:41.297Z,1768434161.297 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2026-01-14T23:42:41.298Z,1768434161.298 [SyncHandler](INFO): Protected caller Thread ID is 840
2026-01-14T23:42:41.298Z,1768434161.298 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2026-01-14T23:42:41.299Z,1768434161.299 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2026-01-14T23:42:41.300Z,1768434161.300 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 841
2026-01-14T23:42:41.303Z,1768434161.303 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2026-01-14T23:42:41.323Z,1768434161.323 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2026-01-14T23:42:41.324Z,1768434161.324 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2026-01-14T23:42:41.324Z,1768434161.324 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 842
2026-01-14T23:42:41.328Z,1768434161.328 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2026-01-14T23:42:41.329Z,1768434161.329 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2026-01-14T23:42:41.329Z,1768434161.329 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 843
2026-01-14T23:42:41.331Z,1768434161.331 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2026-01-14T23:42:41.332Z,1768434161.332 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2026-01-14T23:42:41.333Z,1768434161.333 [logger ThreadHandler](INFO): Protected caller Thread ID is 844
2026-01-14T23:42:41.336Z,1768434161.336 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2026-01-14T23:42:41.337Z,1768434161.337 [Supervisor](INFO): Looking for Config files in directory: Config/
2026-01-14T23:42:41.341Z,1768434161.341 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2026-01-14T23:42:41.446Z,1768434161.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2026-01-14T23:42:41.448Z,1768434161.448 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2026-01-14T23:42:42.163Z,1768434162.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2026-01-14T23:42:42.164Z,1768434162.164 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2026-01-14T23:42:42.407Z,1768434162.407 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2026-01-14T23:42:42.408Z,1768434162.408 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2026-01-14T23:42:42.497Z,1768434162.497 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2026-01-14T23:42:42.637Z,1768434162.637 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2026-01-14T23:42:42.637Z,1768434162.637 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2026-01-14T23:42:42.736Z,1768434162.736 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2026-01-14T23:42:42.738Z,1768434162.738 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2026-01-14T23:42:42.853Z,1768434162.853 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2026-01-14T23:42:42.854Z,1768434162.854 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2026-01-14T23:42:43.244Z,1768434163.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2026-01-14T23:42:43.245Z,1768434163.245 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2026-01-14T23:42:43.780Z,1768434163.780 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2026-01-14T23:42:43.782Z,1768434163.782 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2026-01-14T23:42:44.003Z,1768434164.003 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2026-01-14T23:42:44.004Z,1768434164.004 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2026-01-14T23:42:44.194Z,1768434164.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2026-01-14T23:42:44.196Z,1768434164.196 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2026-01-14T23:42:44.737Z,1768434164.737 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2026-01-14T23:42:45.278Z,1768434165.278 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2026-01-14T23:42:45.584Z,1768434165.584 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2026-01-14T23:42:45.586Z,1768434165.586 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2026-01-14T23:42:45.827Z,1768434165.827 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2026-01-14T23:42:45.828Z,1768434165.828 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2026-01-14T23:42:46.214Z,1768434166.214 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2026-01-14T23:42:46.216Z,1768434166.216 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2026-01-14T23:42:46.571Z,1768434166.571 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2026-01-14T23:42:46.573Z,1768434166.573 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2026-01-14T23:42:46.575Z,1768434166.575 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2026-01-14T23:42:46.669Z,1768434166.669 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2026-01-14T23:42:46.840Z,1768434166.840 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Dock.cfg
2026-01-14T23:42:46.980Z,1768434166.980 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg
2026-01-14T23:42:47.082Z,1768434167.082 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2026-01-14T23:42:47.197Z,1768434167.197 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2026-01-14T23:42:47.291Z,1768434167.291 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2026-01-14T23:42:47.394Z,1768434167.394 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2026-01-14T23:42:47.513Z,1768434167.513 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2026-01-14T23:42:47.784Z,1768434167.784 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2026-01-14T23:42:47.784Z,1768434167.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2026-01-14T23:42:47.877Z,1768434167.877 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2026-01-14T23:42:47.978Z,1768434167.978 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2026-01-14T23:42:48.124Z,1768434168.124 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2026-01-14T23:42:48.228Z,1768434168.228 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2026-01-14T23:42:48.245Z,1768434168.245 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2026-01-14T23:42:48.411Z,1768434168.411 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2026-01-14T23:42:48.412Z,1768434168.412 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2026-01-14T23:42:48.483Z,1768434168.483 [VerticalControl](DEBUG): Construct VerticalControl.
2026-01-14T23:42:48.542Z,1768434168.542 [VerticalControl] Loaded
2026-01-14T23:42:48.543Z,1768434168.543 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2026-01-14T23:42:48.545Z,1768434168.545 [HorizontalControl](DEBUG): Construct HorizontalControl.
2026-01-14T23:42:48.592Z,1768434168.592 [HorizontalControl] Loaded
2026-01-14T23:42:48.592Z,1768434168.592 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2026-01-14T23:42:48.595Z,1768434168.595 [SpeedControl](DEBUG): Construct SpeedControl.
2026-01-14T23:42:48.598Z,1768434168.598 [SpeedControl] Loaded
2026-01-14T23:42:48.598Z,1768434168.598 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2026-01-14T23:42:48.601Z,1768434168.601 [LoopControl](DEBUG): Construct LoopControl.
2026-01-14T23:42:48.601Z,1768434168.601 [LoopControl] Loaded
2026-01-14T23:42:48.601Z,1768434168.601 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2026-01-14T23:42:48.602Z,1768434168.602 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2026-01-14T23:42:48.602Z,1768434168.602 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2026-01-14T23:42:48.673Z,1768434168.673 [DepthRateCalculator] Loaded
2026-01-14T23:42:48.673Z,1768434168.673 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2026-01-14T23:42:48.678Z,1768434168.678 [PitchRateCalculator] Loaded
2026-01-14T23:42:48.678Z,1768434168.678 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2026-01-14T23:42:48.688Z,1768434168.688 [SpeedCalculator] Loaded
2026-01-14T23:42:48.688Z,1768434168.688 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2026-01-14T23:42:48.692Z,1768434168.692 [YawRateCalculator] Loaded
2026-01-14T23:42:48.692Z,1768434168.692 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2026-01-14T23:42:48.711Z,1768434168.711 [ElevatorOffsetCalculator] Loaded
2026-01-14T23:42:48.711Z,1768434168.711 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2026-01-14T23:42:48.711Z,1768434168.711 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2026-01-14T23:42:48.712Z,1768434168.712 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2026-01-14T23:42:48.761Z,1768434168.761 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2026-01-14T23:42:48.761Z,1768434168.761 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2026-01-14T23:42:48.848Z,1768434168.848 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2026-01-14T23:42:48.850Z,1768434168.850 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2026-01-14T23:42:49.251Z,1768434169.251 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2026-01-14T23:42:49.252Z,1768434169.252 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2026-01-14T23:42:49.465Z,1768434169.465 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2026-01-14T23:42:49.466Z,1768434169.466 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2026-01-14T23:42:50.430Z,1768434170.430 [AHRS_M2] Loaded
2026-01-14T23:42:50.430Z,1768434170.430 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2026-01-14T23:42:50.745Z,1768434170.745 [BackseatComponent] Loaded
2026-01-14T23:42:50.745Z,1768434170.745 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2026-01-14T23:42:50.748Z,1768434170.748 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409EA4E0
2026-01-14T23:42:50.749Z,1768434170.749 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 932
2026-01-14T23:42:50.753Z,1768434170.753 [LcmPublisher](INFO): Full slate access is ENABLED. All requested slate values (including non-universals) will be published on LCM.
2026-01-14T23:42:50.753Z,1768434170.753 [LcmPublisher] Loaded
2026-01-14T23:42:50.753Z,1768434170.753 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2026-01-14T23:42:51.575Z,1768434171.575 [BPC1] Loaded
2026-01-14T23:42:51.576Z,1768434171.576 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2026-01-14T23:42:51.672Z,1768434171.672 [DAT] Loaded
2026-01-14T23:42:51.672Z,1768434171.672 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2026-01-14T23:42:51.673Z,1768434171.673 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A1A4E0
2026-01-14T23:42:51.674Z,1768434171.674 [DAT ThreadHandler](INFO): Protected caller Thread ID is 933
2026-01-14T23:42:51.813Z,1768434171.813 [DataOverHttps] Loaded
2026-01-14T23:42:51.813Z,1768434171.813 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2026-01-14T23:42:51.814Z,1768434171.814 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A4A4E0
2026-01-14T23:42:51.815Z,1768434171.815 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 934
2026-01-14T23:42:51.838Z,1768434171.838 [Depth_Keller] Loaded
2026-01-14T23:42:51.838Z,1768434171.838 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2026-01-14T23:42:51.843Z,1768434171.843 [DropWeight] Loaded
2026-01-14T23:42:51.843Z,1768434171.843 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2026-01-14T23:42:51.907Z,1768434171.907 [NAL9602] Loaded
2026-01-14T23:42:51.907Z,1768434171.907 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2026-01-14T23:42:51.936Z,1768434171.936 [Onboard] Loaded
2026-01-14T23:42:51.937Z,1768434171.937 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2026-01-14T23:42:51.938Z,1768434171.938 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A7A4E0
2026-01-14T23:42:51.938Z,1768434171.938 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 935
2026-01-14T23:42:51.952Z,1768434171.952 [Power24vConverter] Loaded
2026-01-14T23:42:51.952Z,1768434171.952 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2026-01-14T23:42:51.967Z,1768434171.967 [Radio_Surface] Loaded
2026-01-14T23:42:51.968Z,1768434171.968 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2026-01-14T23:42:51.969Z,1768434171.969 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AAA4E0
2026-01-14T23:42:51.969Z,1768434171.969 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 936
2026-01-14T23:42:52.015Z,1768434172.015 [RDI_Pathfinder] Loaded
2026-01-14T23:42:52.016Z,1768434172.016 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2026-01-14T23:42:52.030Z,1768434172.030 [Sonardyne_Nano] Loaded
2026-01-14T23:42:52.031Z,1768434172.031 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2026-01-14T23:42:52.031Z,1768434172.031 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2026-01-14T23:42:52.032Z,1768434172.032 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2026-01-14T23:42:52.169Z,1768434172.169 [DeadReckonUsingMultipleVelocitySources] Loaded
2026-01-14T23:42:52.170Z,1768434172.170 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2026-01-14T23:42:52.183Z,1768434172.183 [NavChart] Loaded
2026-01-14T23:42:52.183Z,1768434172.183 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2026-01-14T23:42:52.189Z,1768434172.189 [UniversalFixResidualReporter] Loaded
2026-01-14T23:42:52.189Z,1768434172.189 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2026-01-14T23:42:52.190Z,1768434172.190 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2026-01-14T23:42:52.190Z,1768434172.190 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2026-01-14T23:42:52.384Z,1768434172.384 [SBIT](DEBUG): Construct Startup Built In Test.
2026-01-14T23:42:52.393Z,1768434172.393 [SBIT] Loaded
2026-01-14T23:42:52.393Z,1768434172.393 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2026-01-14T23:42:52.396Z,1768434172.396 [IBIT](DEBUG): Construct Initiated Built In Test.
2026-01-14T23:42:52.408Z,1768434172.408 [IBIT] Loaded
2026-01-14T23:42:52.409Z,1768434172.409 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2026-01-14T23:42:52.414Z,1768434172.414 [CBIT](DEBUG): Construct Continuous Built In Test.
2026-01-14T23:42:52.494Z,1768434172.494 [CBIT] Loaded
2026-01-14T23:42:52.494Z,1768434172.494 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2026-01-14T23:42:52.526Z,1768434172.526 [GFScanner] Loaded
2026-01-14T23:42:52.527Z,1768434172.527 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2026-01-14T23:42:52.527Z,1768434172.527 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2026-01-14T23:42:52.528Z,1768434172.528 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2026-01-14T23:42:52.692Z,1768434172.692 [BuoyancyServo] Loaded
2026-01-14T23:42:52.692Z,1768434172.692 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2026-01-14T23:42:52.715Z,1768434172.715 [ElevatorServo] Loaded
2026-01-14T23:42:52.715Z,1768434172.715 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2026-01-14T23:42:52.744Z,1768434172.744 [DockingStepper] Loaded
2026-01-14T23:42:52.744Z,1768434172.744 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2026-01-14T23:42:52.766Z,1768434172.766 [MassServo] Loaded
2026-01-14T23:42:52.766Z,1768434172.766 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2026-01-14T23:42:52.786Z,1768434172.786 [RudderServo] Loaded
2026-01-14T23:42:52.787Z,1768434172.787 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2026-01-14T23:42:52.805Z,1768434172.805 [ThrusterServo] Loaded
2026-01-14T23:42:52.806Z,1768434172.806 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2026-01-14T23:42:52.806Z,1768434172.806 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2026-01-14T23:42:52.807Z,1768434172.807 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2026-01-14T23:42:52.823Z,1768434172.823 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2026-01-14T23:42:52.825Z,1768434172.825 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2026-01-14T23:42:53.055Z,1768434173.055 [CTD_Seabird] Loaded
2026-01-14T23:42:53.055Z,1768434173.055 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2026-01-14T23:42:53.056Z,1768434173.056 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C0D4E0
2026-01-14T23:42:53.056Z,1768434173.056 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 937
2026-01-14T23:42:53.079Z,1768434173.079 [PAR_Licor] Loaded
2026-01-14T23:42:53.079Z,1768434173.079 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2026-01-14T23:42:53.124Z,1768434173.124 [WetLabsBB2FL] Loaded
2026-01-14T23:42:53.124Z,1768434173.124 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2026-01-14T23:42:53.125Z,1768434173.125 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C3D4E0
2026-01-14T23:42:53.125Z,1768434173.125 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 938
2026-01-14T23:42:53.146Z,1768434173.146 [WetLabsUBAT] Loaded
2026-01-14T23:42:53.147Z,1768434173.147 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2026-01-14T23:42:53.148Z,1768434173.148 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2026-01-14T23:42:53.148Z,1768434173.148 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 939
2026-01-14T23:42:53.149Z,1768434173.149 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2026-01-14T23:42:53.155Z,1768434173.155 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2026-01-14T23:42:53.158Z,1768434173.158 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2026-01-14T23:42:53.170Z,1768434173.170 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2026-01-14T23:42:53.171Z,1768434173.171 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C9D4E0
2026-01-14T23:42:53.172Z,1768434173.172 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 940
2026-01-14T23:42:53.176Z,1768434173.176 [Supervisor](INFO): Main Thread ID is 831
2026-01-14T23:42:53.176Z,1768434173.176 [Supervisor](DEBUG): Running supervisor.
2026-01-14T23:42:53.177Z,1768434173.177 [CommandExec ThreadHandler](INFO): Handler Thread ID is 941
2026-01-14T23:42:53.177Z,1768434173.177 [CommandExec](INFO): Initializing the command executive.
2026-01-14T23:42:53.179Z,1768434173.179 [CommandLine ThreadHandler](INFO): Handler Thread ID is 942
2026-01-14T23:42:53.181Z,1768434173.181 [controlThread ThreadHandler](INFO): Handler Thread ID is 943
2026-01-14T23:42:53.182Z,1768434173.182 [controlThread](DEBUG): Initializing ControlThread
2026-01-14T23:42:53.182Z,1768434173.182 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2026-01-14T23:42:53.184Z,1768434173.184 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2026-01-14T23:42:53.185Z,1768434173.185 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2026-01-14T23:42:53.185Z,1768434173.185 [LoopControl](DEBUG): Initialize LoopControlComponent.
2026-01-14T23:42:53.186Z,1768434173.186 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2026-01-14T23:42:53.186Z,1768434173.186 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2026-01-14T23:42:53.186Z,1768434173.186 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2026-01-14T23:42:53.187Z,1768434173.187 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2026-01-14T23:42:53.187Z,1768434173.187 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2026-01-14T23:42:53.191Z,1768434173.191 [NavChart](DEBUG): Initialize NavChart Navigation.
2026-01-14T23:42:53.191Z,1768434173.191 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2026-01-14T23:42:53.191Z,1768434173.191 [SBIT](INFO): Initialize SBIT Component.
2026-01-14T23:42:53.192Z,1768434173.192 [SBIT](IMPORTANT): git: 2025-12-08
2026-01-14T23:42:53.192Z,1768434173.192 [SBIT](INFO): git hash: eeac4c2f4f4dbc8506b8351228d523ccb0de86b1
2026-01-14T23:42:53.192Z,1768434173.192 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2026-01-14T23:42:53.194Z,1768434173.194 [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
2026-01-14T23:42:53.195Z,1768434173.195 [SBIT](INFO): Beginning SBIT in 63.000000 seconds.
2026-01-14T23:42:53.195Z,1768434173.195 [IBIT](INFO): Initialize IBIT Component.
2026-01-14T23:42:53.196Z,1768434173.196 [CBIT](DEBUG): Initialize CBIT Component.
2026-01-14T23:42:53.197Z,1768434173.197 [logger ThreadHandler](INFO): Handler Thread ID is 944
2026-01-14T23:42:53.209Z,1768434173.209 [CBIT](DEBUG): Initialized mux pins.
2026-01-14T23:42:53.209Z,1768434173.209 [CBIT](DEBUG): Initializing the watchdog timer.
2026-01-14T23:42:53.217Z,1768434173.217 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 945
2026-01-14T23:42:53.233Z,1768434173.233 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2026-01-14T23:42:53.233Z,1768434173.233 [CBIT](DEBUG): Initializing heartbeat.
2026-01-14T23:42:53.234Z,1768434173.234 [DAT ThreadHandler](INFO): Handler Thread ID is 946
2026-01-14T23:42:53.234Z,1768434173.234 [DAT](INFO): Powering up
2026-01-14T23:42:53.235Z,1768434173.235 [DAT](DEBUG): Initializing DAT.
2026-01-14T23:42:53.238Z,1768434173.238 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 948
2026-01-14T23:42:53.240Z,1768434173.240 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2026-01-14T23:42:53.261Z,1768434173.261 [Onboard ThreadHandler](INFO): Handler Thread ID is 949
2026-01-14T23:42:53.278Z,1768434173.278 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 950
2026-01-14T23:42:53.299Z,1768434173.299 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 951
2026-01-14T23:42:53.300Z,1768434173.300 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2026-01-14T23:42:53.305Z,1768434173.305 [CBIT](DEBUG): Deactivating emergency mode.
2026-01-14T23:42:53.306Z,1768434173.306 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 953
2026-01-14T23:42:53.309Z,1768434173.309 [WetLabsBB2FL](INFO): Powering up
2026-01-14T23:42:53.310Z,1768434173.310 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 955
2026-01-14T23:42:53.313Z,1768434173.313 [WetLabsUBAT](INFO): Powering up
2026-01-14T23:42:53.314Z,1768434173.314 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 957
2026-01-14T23:42:53.323Z,1768434173.323 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2026-01-14T23:42:53.323Z,1768434173.323 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2026-01-14T23:42:53.323Z,1768434173.323 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2026-01-14T23:42:53.324Z,1768434173.324 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2026-01-14T23:42:53.324Z,1768434173.324 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2026-01-14T23:42:53.324Z,1768434173.324 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2026-01-14T23:42:53.324Z,1768434173.324 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2026-01-14T23:42:53.324Z,1768434173.324 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2026-01-14T23:42:53.345Z,1768434173.345 [CBIT](DEBUG): Backplane powered.
2026-01-14T23:42:53.345Z,1768434173.345 [GFScanner](DEBUG): Initializing GFScanner
2026-01-14T23:42:53.345Z,1768434173.345 [GFScanner](DEBUG): Deactivating GF circuits.
2026-01-14T23:42:53.353Z,1768434173.353 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2026-01-14T23:42:53.354Z,1768434173.354 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2026-01-14T23:42:53.354Z,1768434173.354 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2026-01-14T23:42:53.368Z,1768434173.368 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2026-01-14T23:42:53.383Z,1768434173.383 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2026-01-14T23:42:53.384Z,1768434173.384 [MissionManager](ERROR): Top node has no child nodes: Mission
2026-01-14T23:42:53.384Z,1768434173.384 [MissionManager](ERROR): Could not load startup mission.
2026-01-14T23:42:53.384Z,1768434173.384 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2026-01-14T23:42:53.385Z,1768434173.385 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2026-01-14T23:42:53.389Z,1768434173.389 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2026-01-14T23:42:53.685Z,1768434173.685 [Radio_Surface](INFO): Powering up
2026-01-14T23:42:53.912Z,1768434173.912 [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>

2026-01-14T23:42:53.935Z,1768434173.935 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2026-01-14T23:42:53.959Z,1768434173.959 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2026-01-14T23:42:53.963Z,1768434173.963 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2026-01-14T23:42:53.987Z,1768434173.987 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2026-01-14T23:42:54.011Z,1768434174.011 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2026-01-14T23:42:54.015Z,1768434174.015 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2026-01-14T23:42:54.016Z,1768434174.016 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2026-01-14T23:42:54.181Z,1768434174.181 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2026-01-14T23:42:54.181Z,1768434174.181 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2026-01-14T23:42:54.230Z,1768434174.230 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-14T23:42:54.280Z,1768434174.280 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2026-01-14T23:42:54.282Z,1768434174.282 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2026-01-14T23:42:54.304Z,1768434174.304 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2026-01-14T23:42:54.325Z,1768434174.325 [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"
  }
}


2026-01-14T23:42:54.330Z,1768434174.330 [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,
2026-01-14T23:42:54.358Z,1768434174.358 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2026-01-14T23:42:54.513Z,1768434174.513 [Depth_Keller](INFO): Initializing.
2026-01-14T23:42:54.515Z,1768434174.515 [Power24vConverter](INFO): Powering up.
2026-01-14T23:42:54.517Z,1768434174.517 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2026-01-14T23:42:54.525Z,1768434174.525 [Sonardyne_Nano](INFO): Initializing.
2026-01-14T23:42:54.569Z,1768434174.569 [DepthRateCalculator](ERROR): Depth measurement is not active
2026-01-14T23:42:54.603Z,1768434174.603 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2026-01-14T23:42:54.609Z,1768434174.609 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2026-01-14T23:42:54.610Z,1768434174.610 [ElevatorServo](DEBUG): Initializing EZServoServo.
2026-01-14T23:42:54.617Z,1768434174.617 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2026-01-14T23:42:54.618Z,1768434174.618 [DockingStepper](DEBUG): Initializing EZServoServo.
2026-01-14T23:42:54.625Z,1768434174.625 [DockingStepper](DEBUG): Initializing DockingStepper.
2026-01-14T23:42:54.626Z,1768434174.626 [MassServo](DEBUG): Initializing EZServoServo.
2026-01-14T23:42:54.634Z,1768434174.634 [MassServo](DEBUG): Initializing MassServo.
2026-01-14T23:42:54.634Z,1768434174.634 [RudderServo](DEBUG): Initializing EZServoServo.
2026-01-14T23:42:54.641Z,1768434174.641 [RudderServo](DEBUG): Initializing RudderServo.
2026-01-14T23:42:54.642Z,1768434174.642 [ThrusterServo](DEBUG): Initializing EZServoServo.
2026-01-14T23:42:54.649Z,1768434174.649 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2026-01-14T23:42:54.779Z,1768434174.779 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2026-01-14T23:42:54.779Z,1768434174.779 [DropWeight] Hardware Fault, FailCount= 1
2026-01-14T23:42:54.779Z,1768434174.779 [DropWeight](ERROR): Hardware Fault
2026-01-14T23:42:54.826Z,1768434174.826 [CommandExec](FAULT): Scheduling is paused
2026-01-14T23:42:54.827Z,1768434174.827 [CBIT](INFO): Critical error at 20260114T234254
2026-01-14T23:42:54.827Z,1768434174.827 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2026-01-14T23:42:54.837Z,1768434174.837 [CBIT](ERROR): Hardware Fault in component: DropWeight
2026-01-14T23:42:54.838Z,1768434174.838 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2026-01-14T23:42:55.166Z,1768434175.166 [CBIT](INFO): Critical error at 20260114T234254
2026-01-14T23:42:55.921Z,1768434175.921 [WetLabsBB2FL](INFO): Powering down
2026-01-14T23:42:56.764Z,1768434176.764 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2026-01-14T23:42:58.421Z,1768434178.421 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103
2026-01-14T23:42:58.888Z,1768434178.888 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2026-01-14T23:42:58.938Z,1768434178.938 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2026-01-14T23:42:58.938Z,1768434178.938 [Radio_Surface](INFO): No local IP found
2026-01-14T23:43:02.617Z,1768434182.617 [WetLabsUBAT](INFO): Powering down
2026-01-14T23:43:07.353Z,1768434187.353 [DAT](INFO): DAT read: 

2026-01-14T23:43:07.355Z,1768434187.355 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2026-01-14T23:43:07.453Z,1768434187.453 [CommandExec](IMPORTANT): got command quit
2026-01-14T23:43:08.457Z,1768434188.457 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:08.457Z,1768434188.457 [CommandExec](INFO): Uninitializing the command executive.
2026-01-14T23:43:08.457Z,1768434188.457 [CommandExec](INFO): Uninitializing the command scheduler.
2026-01-14T23:43:08.457Z,1768434188.457 [CommandExec ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:08.629Z,1768434188.629 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2026-01-14T23:43:08.629Z,1768434188.629 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2026-01-14T23:43:08.629Z,1768434188.629 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:08.630Z,1768434188.630 [NavChartDb](INFO): Join timeout helper Thread ID is 969
2026-01-14T23:43:09.029Z,1768434189.029 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:09.029Z,1768434189.029 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:09.045Z,1768434189.045 [ComponentRegistry](INFO): Shutting down WetLabsUBAT ThreadHandler
2026-01-14T23:43:09.045Z,1768434189.045 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:09.046Z,1768434189.046 [WetLabsUBAT](INFO): Join timeout helper Thread ID is 970
2026-01-14T23:43:09.389Z,1768434189.389 [WetLabsUBAT ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:09.389Z,1768434189.389 [WetLabsUBAT](INFO): Powering down
2026-01-14T23:43:09.390Z,1768434189.390 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:09.398Z,1768434189.398 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2026-01-14T23:43:09.398Z,1768434189.398 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:09.399Z,1768434189.399 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 971
2026-01-14T23:43:09.433Z,1768434189.433 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:09.433Z,1768434189.433 [WetLabsBB2FL](INFO): Powering down
2026-01-14T23:43:09.434Z,1768434189.434 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:09.449Z,1768434189.449 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2026-01-14T23:43:09.449Z,1768434189.449 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:09.449Z,1768434189.449 [CTD_Seabird](INFO): Join timeout helper Thread ID is 972
2026-01-14T23:43:10.365Z,1768434190.365 [CTD_Seabird](INFO): Powering down
2026-01-14T23:43:10.377Z,1768434190.377 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:10.377Z,1768434190.377 [CTD_Seabird](INFO): Powering down
2026-01-14T23:43:10.389Z,1768434190.389 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:10.405Z,1768434190.405 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2026-01-14T23:43:10.405Z,1768434190.405 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:10.405Z,1768434190.405 [Radio_Surface](INFO): Join timeout helper Thread ID is 973
2026-01-14T23:43:10.657Z,1768434190.657 [Radio_Surface](INFO): Powering down
2026-01-14T23:43:10.658Z,1768434190.658 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:10.658Z,1768434190.658 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:10.662Z,1768434190.662 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2026-01-14T23:43:10.662Z,1768434190.662 [Onboard ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:10.663Z,1768434190.663 [Onboard](INFO): Join timeout helper Thread ID is 974
2026-01-14T23:43:13.150Z,1768434193.150 [DAT](INFO): DAT read: MF Frequency Band

2026-01-14T23:43:13.151Z,1768434193.151 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2

2026-01-14T23:43:13.151Z,1768434193.151 [DAT](INFO): DAT read: Dec 11 2025 23:33:42 

2026-01-14T23:43:13.277Z,1768434193.277 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:13.277Z,1768434193.277 [Onboard ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.285Z,1768434193.285 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2026-01-14T23:43:13.286Z,1768434193.286 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.286Z,1768434193.286 [DataOverHttps](INFO): Join timeout helper Thread ID is 975
2026-01-14T23:43:13.317Z,1768434193.317 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:13.318Z,1768434193.318 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.325Z,1768434193.325 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2026-01-14T23:43:13.325Z,1768434193.325 [DAT ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.326Z,1768434193.326 [DAT](INFO): Join timeout helper Thread ID is 976
2026-01-14T23:43:13.401Z,1768434193.401 [DAT](INFO): Powering down
2026-01-14T23:43:13.473Z,1768434193.473 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:13.473Z,1768434193.473 [DAT](INFO): Powering down
2026-01-14T23:43:13.474Z,1768434193.474 [DAT ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.490Z,1768434193.490 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2026-01-14T23:43:13.490Z,1768434193.490 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.490Z,1768434193.490 [BackseatComponent](INFO): Join timeout helper Thread ID is 977
2026-01-14T23:43:13.625Z,1768434193.625 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:13.625Z,1768434193.625 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.633Z,1768434193.633 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2026-01-14T23:43:13.633Z,1768434193.633 [logger ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.634Z,1768434193.634 [logger](INFO): Join timeout helper Thread ID is 978
2026-01-14T23:43:13.657Z,1768434193.657 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:13.657Z,1768434193.657 [logger ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.673Z,1768434193.673 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2026-01-14T23:43:13.673Z,1768434193.673 [CommandLine ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.674Z,1768434193.674 [CommandLine](INFO): Join timeout helper Thread ID is 979
2026-01-14T23:43:13.705Z,1768434193.705 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:13.705Z,1768434193.705 [CommandLine ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.713Z,1768434193.713 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2026-01-14T23:43:13.713Z,1768434193.713 [CommandExec ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.714Z,1768434193.714 [CommandExec](INFO): Join timeout helper Thread ID is 980
2026-01-14T23:43:13.715Z,1768434193.715 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2026-01-14T23:43:13.715Z,1768434193.715 [controlThread ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:13.716Z,1768434193.716 [controlThread](INFO): Join timeout helper Thread ID is 981
2026-01-14T23:43:13.837Z,1768434193.837 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2026-01-14T23:43:13.837Z,1768434193.837 [controlThread](DEBUG): Uninitializing ControlThread
2026-01-14T23:43:13.838Z,1768434193.838 [AHRS_M2](INFO): Powering down
2026-01-14T23:43:13.917Z,1768434193.917 [NAL9602](INFO): Powering down
2026-01-14T23:43:13.989Z,1768434193.989 [RDI_Pathfinder](INFO): Powering down
2026-01-14T23:43:13.990Z,1768434193.990 [Sonardyne_Nano](INFO): Powering down
2026-01-14T23:43:14.117Z,1768434194.117 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2026-01-14T23:43:14.118Z,1768434194.118 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2026-01-14T23:43:14.118Z,1768434194.118 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2026-01-14T23:43:14.119Z,1768434194.119 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2026-01-14T23:43:14.127Z,1768434194.127 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2026-01-14T23:43:14.127Z,1768434194.128 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2026-01-14T23:43:14.128Z,1768434194.128 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2026-01-14T23:43:14.128Z,1768434194.128 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2026-01-14T23:43:14.128Z,1768434194.128 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2026-01-14T23:43:14.129Z,1768434194.129 [BuoyancyServo](INFO): Powering down
2026-01-14T23:43:14.141Z,1768434194.141 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2026-01-14T23:43:14.141Z,1768434194.141 [ElevatorServo](INFO): Powering down
2026-01-14T23:43:14.142Z,1768434194.142 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2026-01-14T23:43:14.142Z,1768434194.142 [DockingStepper](INFO): Powering down
2026-01-14T23:43:14.143Z,1768434194.143 [MassServo](DEBUG): Uninitialize Mass Servo.
2026-01-14T23:43:14.143Z,1768434194.143 [MassServo](INFO): Powering down
2026-01-14T23:43:14.144Z,1768434194.144 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2026-01-14T23:43:14.144Z,1768434194.144 [RudderServo](INFO): Powering down
2026-01-14T23:43:14.145Z,1768434194.145 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2026-01-14T23:43:14.145Z,1768434194.145 [ThrusterServo](INFO): Powering down
2026-01-14T23:43:14.146Z,1768434194.146 [SBIT](DEBUG): Uninitialize SBIT Component.
2026-01-14T23:43:14.146Z,1768434194.146 [IBIT](DEBUG): Uninitialize IBIT Component.
2026-01-14T23:43:14.146Z,1768434194.146 [CBIT](DEBUG): Uninitialize CBIT Component.
2026-01-14T23:43:14.146Z,1768434194.146 [CBIT](DEBUG): Powering off loads.
2026-01-14T23:43:14.157Z,1768434194.157 [CBIT](DEBUG): Disabling WDT.
2026-01-14T23:43:14.169Z,1768434194.169 [GFScanner](DEBUG): Uninitialize GFScanner component.
2026-01-14T23:43:14.169Z,1768434194.169 [GFScanner](DEBUG): Opening all GF detection circuits.
2026-01-14T23:43:14.170Z,1768434194.170 [controlThread ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.227Z,1768434194.227 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.230Z,1768434194.230 [Onboard ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.236Z,1768434194.236 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.242Z,1768434194.242 [DAT ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.286Z,1768434194.286 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.319Z,1768434194.319 [GFScanner](DEBUG): Uninitialize GFScanner component.
2026-01-14T23:43:14.319Z,1768434194.319 [GFScanner](DEBUG): Opening all GF detection circuits.
2026-01-14T23:43:14.586Z,1768434194.586 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.588Z,1768434194.588 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.592Z,1768434194.592 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.600Z,1768434194.600 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2026-01-14T23:43:14.667Z,1768434194.667 [logger ThreadHandler](INFO): Thread cancelled.