我们的一台BlueROV似乎出现了间歇性故障，飞行控制器板会循环重启。该设备运行的是最新的稳定版代码，ardupilot 4.6.5和blueOS 1.4.2。故障表现为在操作过程中失去功能控制，但设备仍处于IMU控制下运行。
接下来应该采取哪些步骤来找出根本原因？
7/11/2025 12:38:33 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:38:29 pm : Frame: VECTORED_6DOF
7/11/2025 12:38:29 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:38:29 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:38:29 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:38:25 pm : Frame: VECTORED_6DOF
7/11/2025 12:38:25 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:38:25 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:38:25 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:38:21 pm : Frame: VECTORED_6DOF
7/11/2025 12:38:21 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:38:21 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:38:21 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:38:17 pm : Frame: VECTORED_6DOF
7/11/2025 12:38:17 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:38:17 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:38:17 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:38:13 pm : Frame: VECTORED_6DOF
7/11/2025 12:38:13 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:38:13 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:38:13 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:38:10 pm : Frame: VECTORED_6DOF
7/11/2025 12:38:10 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:38:10 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:38:10 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:38:07 pm : Frame: VECTORED_6DOF
7/11/2025 12:38:07 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:38:07 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:38:07 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:38:06 pm : MYGCS: 255, heartbeat lost
7/11/2025 12:38:02 pm : Frame: VECTORED_6DOF
7/11/2025 12:38:02 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:38:02 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:38:02 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:58 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:58 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:58 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:58 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:55 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:55 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:55 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:55 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:51 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:51 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:51 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:51 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:48 pm : DVL is too hot (48.86 C). Please cool it down.
7/11/2025 12:37:47 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:47 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:47 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:47 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:44 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:44 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:44 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:44 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:41 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:41 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:41 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:40 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:37 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:37 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:37 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:37 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:32 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:32 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:32 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:32 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:29 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:29 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:29 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:29 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:26 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:26 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:26 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:26 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:22 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:22 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:22 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:22 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:18 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:18 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:18 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:18 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:15 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:15 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:15 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:14 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:11 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:11 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:11 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:11 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:10 pm : MYGCS: 255, heartbeat lost
7/11/2025 12:37:07 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:07 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:07 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:07 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:37:03 pm : Frame: VECTORED_6DOF
7/11/2025 12:37:03 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:37:03 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:37:03 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:59 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:59 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:59 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:59 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:56 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:56 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:56 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:56 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:52 pm : DVL is too hot (48.69 C). Please cool it down.
7/11/2025 12:36:52 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:52 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:52 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:52 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:51 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:51 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:51 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:51 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:31 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:31 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:31 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:31 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:27 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:27 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:27 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:27 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:23 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:23 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:23 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:23 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:22 pm : MYGCS: 255, heartbeat lost
7/11/2025 12:36:19 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:19 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:19 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:19 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:16 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:16 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:16 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:16 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:12 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:12 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:12 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:12 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:08 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:08 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:08 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:08 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:04 pm : DVL is too hot (48.53 C). Please cool it down.
7/11/2025 12:36:04 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:04 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:04 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:04 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:36:00 pm : Frame: VECTORED_6DOF
7/11/2025 12:36:00 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:36:00 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:36:00 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:56 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:56 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:56 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:56 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:52 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:52 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:52 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:52 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:48 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:48 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:48 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:48 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:44 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:44 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:44 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:44 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:40 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:40 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:40 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:40 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:36 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:36 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:36 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:36 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:33 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:33 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:33 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:33 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:29 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:29 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:29 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:29 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:26 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:26 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:26 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:26 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:25 pm : MYGCS: 255, heartbeat lost
7/11/2025 12:35:22 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:22 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:22 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:22 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:18 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:18 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:18 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:18 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:15 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:15 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:15 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:15 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:11 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:11 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:11 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:11 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:07 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:07 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:07 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:07 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:07 pm : DVL is too hot (48.49 C). Please cool it down.
7/11/2025 12:35:04 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:04 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:04 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:04 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:35:00 pm : Frame: VECTORED_6DOF
7/11/2025 12:35:00 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:35:00 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:35:00 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:34:56 pm : Frame: VECTORED_6DOF
7/11/2025 12:34:56 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:34:56 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:34:56 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:34:52 pm : Frame: VECTORED_6DOF
7/11/2025 12:34:52 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:34:52 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:34:52 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:34:48 pm : Frame: VECTORED_6DOF
7/11/2025 12:34:48 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:34:48 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:34:48 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:34:36 pm : MYGCS: 255, heartbeat lost
7/11/2025 12:34:24 pm : DVL is too hot (48.28 C). Please cool it down.
7/11/2025 12:34:15 pm : Lost manual control
7/11/2025 12:34:15 pm : u-blox 1 HW: 00190000 SW: EXT CORE 4.04 (7f89f7)
7/11/2025 12:33:58 pm : GPS 1: detected as u-blox at 230400 baud
7/11/2025 12:33:49 pm : DVL is too hot (48.18 C). Please cool it down.
7/11/2025 12:33:42 pm : GPS 1: detected as u-blox at 230400 baud
7/11/2025 12:33:14 pm : Frame: VECTORED_6DOF
7/11/2025 12:33:14 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:33:14 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:33:14 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:33:08 pm : Frame: VECTORED_6DOF
7/11/2025 12:33:08 pm : IMU0: fast sampling enabled 8.0kHz/1.0kHz
7/11/2025 12:33:08 pm : 159f341bb7f94b3e95496f20f3f15642
7/11/2025 12:33:08 pm : ArduSub V4.5.6 (1a196cab)
7/11/2025 12:33:08 pm : GPS 1: detected as u-blox at 230400 baud
7/11/2025 12:33:04 pm : EKF3 IMU0 MAG0 initial yaw alignment complete
7/11/2025 12:33:04 pm : EKF3 IMU0 tilt alignment complete
7/11/2025 12:33:02 pm : AHRS: EKF3 active
7/11/2025 12:33:02 pm : EKF3 IMU0 initialised
7/11/2025 12:33:00 pm : Lost manual control
7/11/2025 12:32:59 pm : AHRS: DCM active
7/11/2025 12:32:59 pm : ArduPilot Ready
7/11/2025 12:32:59 pm : Barometer 2 calibration complete
7/11/2025 12:32:59 pm : Barometer 1 calibration complete