2024-11-13T18:21:13.104Z,1731522073.104 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2024-11-13T18:21:17.339Z,1731522077.339 [SBIT](IMPORTANT): git: 2024-11-11_A-1-g651d69155 2024-11-13T18:21:17.340Z,1731522077.340 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2024-11-13T18:21:17.497Z,1731522077.497 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2024-11-13T18:21:18.555Z,1731522078.555 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2024-11-13T18:21:22.148Z,1731522082.148 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103 2024-11-13T18:22:15.847Z,1731522135.847 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=44954, MT Status=1, MTMSN=2512 2024-11-13T18:22:16.645Z,1731522136.645 [CommandExec](IMPORTANT): got command schedule "set lineCaptureHoming.RangeUSBL .0001 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m" 22ds1 2 3.000000 2024-11-13T18:22:16.645Z,1731522136.645 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=22ds1 2024-11-13T18:22:16.646Z,1731522136.646 [CommandExec](IMPORTANT): Scheduled #1 (#2 of 3 with id='22ds1'): "set lineCaptureHoming.RangeUSBL .0001 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m", AFTER MISSION 2024-11-13T18:23:06.105Z,1731522186.105 [SBIT](IMPORTANT): Beginning Startup BIT 2024-11-13T18:23:06.114Z,1731522186.114 [CBIT](IMPORTANT): Beginning ground fault scan 2024-11-13T18:23:17.104Z,1731522197.104 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.052678 CHAN A1 (24V): 0.064866 CHAN A2 (12V): 0.030942 CHAN A3 (5V): 0.011130 CHAN B0 (3.3V): 0.008794 CHAN B1 (3.15aV): 0.008792 CHAN B2 (3.15bV): 0.008403 CHAN B3 (GND): 0.002172 OPEN: 0.007748 Full Scale: +/- 1 mA 2024-11-13T18:23:59.817Z,1731522239.817 [SBIT](IMPORTANT): SBIT PASSED 2024-11-13T18:23:59.817Z,1731522239.817 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2024-11-13T18:23:59.818Z,1731522239.818 [SBIT](IMPORTANT): CBIT.gf24Offset=173 microampere; 2024-11-13T18:23:59.818Z,1731522239.818 [SBIT](IMPORTANT): DeadReckonUsingMultipleVelocitySources.verbosity=2 count; 2024-11-13T18:23:59.818Z,1731522239.818 [SBIT](IMPORTANT): DockingStepper.closedValue=16450 count; 2024-11-13T18:23:59.818Z,1731522239.818 [SBIT](IMPORTANT): DockingStepper.slideValue=10700 count; 2024-11-13T18:23:59.818Z,1731522239.818 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2024-11-13T18:23:59.818Z,1731522239.818 [SBIT](IMPORTANT): Express linearApproximation DATMMP.acoustic_contact_range 15.000000 meter; 2024-11-13T18:23:59.819Z,1731522239.819 [SBIT](IMPORTANT): Express linearApproximation TrackAcousticContact.range_to_contact 5.000000 meter; 2024-11-13T18:23:59.819Z,1731522239.819 [SBIT](IMPORTANT): Express linearApproximation TrnDataBridge.mmse_lat 0.000200 angular_degree; 2024-11-13T18:23:59.819Z,1731522239.819 [SBIT](IMPORTANT): Express linearApproximation TrnDataBridge.mmse_lon 0.000200 angular_degree; 2024-11-13T18:23:59.819Z,1731522239.819 [SBIT](IMPORTANT): Express all TrnDataBridge.useitorloseit; 2024-11-13T18:23:59.823Z,1731522239.823 [SBIT](IMPORTANT): LineCapture.interceptTimeout=5 second; 2024-11-13T18:23:59.823Z,1731522239.823 [SBIT](IMPORTANT): LineCapture.kiHeadingFinalApproach=0.02 reciprocal_second; 2024-11-13T18:23:59.823Z,1731522239.823 [SBIT](IMPORTANT): LineCapture.kiHeadingTerminalGuidance=0.02 reciprocal_second; 2024-11-13T18:23:59.823Z,1731522239.823 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): LineCapture.numHeadingUpdatesFlyby=4 count; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): LineCapture.openLoopFlyby=1 bool; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): RudderServo.offsetAngle=0.2 degree; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): ThrusterServo.loadAtStartup=0 bool; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): TrnDataBridge.loadAtStartup=0 bool; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): Undock.reverseThrustTimeout=20 second; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=376.119457 cubic_centimeter; 2024-11-13T18:23:59.824Z,1731522239.824 [SBIT](IMPORTANT): VerticalControl.kdPitchMass=1.25 second; 2024-11-13T18:23:59.825Z,1731522239.825 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=1.25 reciprocal_second; 2024-11-13T18:23:59.825Z,1731522239.825 [SBIT](IMPORTANT): VerticalControl.kpPitchMass=1.25 none; 2024-11-13T18:23:59.825Z,1731522239.825 [SBIT](IMPORTANT): VerticalControl.massDeadband=0.05 centimeter; 2024-11-13T18:23:59.825Z,1731522239.825 [SBIT](IMPORTANT): VerticalControl.massDefault=22.052823 millimeter; 2024-11-13T18:23:59.825Z,1731522239.825 [SBIT](IMPORTANT): VerticalControl.massOnlyForceInt=0 bool; 2024-11-13T18:24:00.261Z,1731522240.261 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2024-11-13T18:24:52.342Z,1731522292.342 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2024-11-13T18:25:10.496Z,1731522310.496 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=44955, MT Status=1, MTMSN=2513 2024-11-13T18:25:11.032Z,1731522311.032 [CommandExec](IMPORTANT): got command schedule "set lineCaptureHoming.MaxDepth 72 m;run" 22ds1 3 3.000000 2024-11-13T18:25:11.033Z,1731522311.033 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=22ds1 2024-11-13T18:25:11.034Z,1731522311.034 [CommandExec](IMPORTANT): Scheduled #2 (#3 of 3 with id='22ds1'): "set lineCaptureHoming.MaxDepth 72 m;run", AFTER MISSION 2024-11-13T18:25:29.038Z,1731522329.038 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=44956, MT Status=1, MTMSN=2514 2024-11-13T18:25:29.686Z,1731522329.686 [CommandExec](IMPORTANT): got command schedule "load Transport/transit.tl;set transit.Latitude 36.903 degree;set transit.Longitude -122.113 degree;run" 2024-11-13T18:25:29.687Z,1731522329.687 [CommandExec](IMPORTANT): Scheduled #3: "load Transport/transit.tl;set transit.Latitude 36.903 degree;set transit.Longitude -122.113 degree;run", AFTER MISSION 2024-11-13T18:25:29.800Z,1731522329.800 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2024-11-13T18:25:33.771Z,1731522333.771 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2024-11-13T18:25:38.223Z,1731522338.223 [CommandExec](IMPORTANT): got command set transit.Latitude 36.903 degree 2024-11-13T18:25:38.224Z,1731522338.224 [CommandExec](IMPORTANT): got command set transit.Longitude -122.113 degree 2024-11-13T18:25:38.224Z,1731522338.224 [CommandExec](IMPORTANT): got command run 2024-11-13T18:25:38.226Z,1731522338.226 [CommandExec](IMPORTANT): Running 2024-11-13T18:25:39.494Z,1731522339.494 [MissionManager](IMPORTANT): Started mission transit 2024-11-13T18:25:41.049Z,1731522341.049 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903000,-122.112999 2024-11-13T18:25:53.318Z,1731522353.318 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=44957, MT Status=1, MTMSN=2515 2024-11-13T18:25:54.159Z,1731522354.159 [CommandExec](IMPORTANT): got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count" 22dt9 1 3.000000 2024-11-13T18:25:54.167Z,1731522354.167 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=22dt9 2024-11-13T18:25:54.176Z,1731522354.176 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 3 with id='22dt9'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count", AFTER MISSION 2024-11-13T18:44:17.765Z,1731523457.765 [DataOverHttps](IMPORTANT): SBD MTMSN=20241113T184418 2024-11-13T18:44:26.096Z,1731523466.096 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2024-11-13T18:44:28.430Z,1731523468.430 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2024-11-13T18:44:28.630Z,1731523468.630 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2024-11-13T18:44:35.580Z,1731523475.580 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree 2024-11-13T18:44:35.581Z,1731523475.581 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree 2024-11-13T18:44:35.582Z,1731523475.582 [CommandExec](IMPORTANT): got command set transit.Depth 0.5 meter 2024-11-13T18:44:35.582Z,1731523475.582 [CommandExec](IMPORTANT): got command run 2024-11-13T18:44:35.588Z,1731523475.588 [CommandExec](IMPORTANT): Running 2024-11-13T18:44:35.877Z,1731523475.877 [MissionManager](IMPORTANT): Started mission transit 2024-11-13T18:44:37.476Z,1731523477.476 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2024-11-13T18:56:11.309Z,1731524171.309 [NAL9602](FAULT): Timeout waiting for SBDI response. 2024-11-13T18:57:51.902Z,1731524271.902 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=44958, MT Status=1, MTMSN=2516 2024-11-13T18:57:52.656Z,1731524272.656 [CommandExec](IMPORTANT): got command schedule "set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m" 22dt9 2 3.000000 2024-11-13T18:57:52.656Z,1731524272.656 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=22dt9 2024-11-13T18:57:52.657Z,1731524272.657 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 3 with id='22dt9'): "set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m", AFTER MISSION 2024-11-13T19:14:45.104Z,1731525285.104 [RudderServo](FAULT): Invalid EZ Servo response:"7\r" 2024-11-13T19:29:24.075Z,1731526164.075 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=44959, MT Status=1, MTMSN=2517 2024-11-13T19:29:24.702Z,1731526164.702 [CommandExec](IMPORTANT): got command schedule "load Transport/transit.tl;set transit.Latitude 36.903 degree;set transit.Longitude -122.113 degree;run" 2024-11-13T19:29:24.702Z,1731526164.702 [CommandExec](IMPORTANT): Scheduled #6: "load Transport/transit.tl;set transit.Latitude 36.903 degree;set transit.Longitude -122.113 degree;run", AFTER MISSION 2024-11-13T19:44:36.346Z,1731527076.346 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2024-11-13T19:44:40.114Z,1731527080.114 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2024-11-13T19:44:40.379Z,1731527080.379 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2024-11-13T19:44:45.467Z,1731527085.467 [CommandExec](IMPORTANT): got command set transit.Latitude 36.903 degree 2024-11-13T19:44:45.468Z,1731527085.468 [CommandExec](IMPORTANT): got command set transit.Longitude -122.113 degree 2024-11-13T19:44:45.468Z,1731527085.468 [CommandExec](IMPORTANT): got command run 2024-11-13T19:44:45.475Z,1731527085.475 [CommandExec](IMPORTANT): Running 2024-11-13T19:44:45.560Z,1731527085.560 [MissionManager](IMPORTANT): Started mission transit 2024-11-13T19:44:47.186Z,1731527087.186 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903000,-122.112999 2024-11-13T19:59:44.068Z,1731527984.068 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=44960, MT Status=1, MTMSN=2518 2024-11-13T19:59:44.920Z,1731527984.920 [CommandExec](IMPORTANT): got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count" 22dtt 1 3.000000 2024-11-13T19:59:44.920Z,1731527984.920 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=22dtt 2024-11-13T19:59:44.921Z,1731527984.921 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 3 with id='22dtt'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count", AFTER MISSION 2024-11-13T20:15:07.708Z,1731528907.708 [RudderServo](FAULT): Invalid EZ Servo response:"\r" 2024-11-13T20:30:12.298Z,1731529812.298 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=44961, MT Status=1, MTMSN=2519 2024-11-13T20:30:13.077Z,1731529813.077 [CommandExec](IMPORTANT): got command schedule "set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m" 22dtt 2 3.000000 2024-11-13T20:30:13.077Z,1731529813.077 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=22dtt 2024-11-13T20:30:13.078Z,1731529813.078 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 3 with id='22dtt'): "set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 70 m;set lineCaptureHoming.MinAltitude 4 m", AFTER MISSION 2024-11-13T20:32:08.652Z,1731529928.652 [ElevatorServo](FAULT): Invalid EZ Servo response:"\377\r" 2024-11-13T20:36:22.877Z,1731530182.877 [DataOverHttps](IMPORTANT): SBD MTMSN=20241113T203623 2024-11-13T20:36:30.588Z,1731530190.588 [RudderServo](FAULT): Unknown EZ Servo Error: 10