9/6/2022:  Strangely the heave-cone controller stopped reporting a change in the quaternion and mag result.  At the same time door watch reported 0-0 for the tarn-actual door position, even when a tf_SetPos 1 was sent, and while the encoder was clearly showing the doors opening.  So this is a first, the past week we’ve been operating without kicking the watchdog regularily so perhaps that’s related, but unlikely.  A tf_Reset set it all back to working, not a power-reset so presumably the vectornav did not restart as a result of a tf_Reset, although maybe it gets cycled at power-up of the pic.  Something to look at…