2025-01-09T22:47:54.678Z,1736462874.678 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2025-01-09T22:48:00.133Z,1736462880.133 [SBIT](IMPORTANT): git: 2025-01-09_B 2025-01-09T22:48:00.134Z,1736462880.134 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-01-09T22:48:00.291Z,1736462880.291 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-01-09T22:48:01.419Z,1736462881.419 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-09T22:48:04.935Z,1736462884.935 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103 2025-01-09T22:49:47.558Z,1736462987.558 [SBIT](IMPORTANT): Beginning Startup BIT 2025-01-09T22:49:47.563Z,1736462987.563 [CBIT](IMPORTANT): Beginning ground fault scan 2025-01-09T22:49:59.053Z,1736462999.053 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.028419 CHAN A1 (24V): 0.031061 CHAN A2 (12V): 0.019662 CHAN A3 (5V): 0.005782 CHAN B0 (3.3V): 0.004530 CHAN B1 (3.15aV): 0.003989 CHAN B2 (3.15bV): 0.004366 CHAN B3 (GND): -0.000328 OPEN: -0.000200 Full Scale: +/- 1 mA 2025-01-09T22:50:27.356Z,1736463027.356 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.463218 2025-01-09T22:50:27.356Z,1736463027.356 [SBIT](FAULT): Control surface position failure. 2025-01-09T22:50:41.422Z,1736463041.422 [SBIT](CRITICAL): SBIT FAILED 2025-01-09T22:50:41.422Z,1736463041.422 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2025-01-09T22:50:41.423Z,1736463041.423 [SBIT](IMPORTANT): CBIT.gf24Offset=173 microampere; 2025-01-09T22:50:41.423Z,1736463041.423 [SBIT](IMPORTANT): DAT.convertPhaseDataToDirection=0 bool; 2025-01-09T22:50:41.423Z,1736463041.423 [SBIT](IMPORTANT): DockingStepper.closedValue=16450 count; 2025-01-09T22:50:41.423Z,1736463041.423 [SBIT](IMPORTANT): DockingStepper.slideValue=10700 count; 2025-01-09T22:50:41.423Z,1736463041.423 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none; 2025-01-09T22:50:41.424Z,1736463041.424 [SBIT](IMPORTANT): LineCapture.openLoopFlyby=0 bool; 2025-01-09T22:50:41.424Z,1736463041.424 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2025-01-09T22:50:41.424Z,1736463041.424 [SBIT](IMPORTANT): RudderServo.offsetAngle=0.2 degree; 2025-01-09T22:50:41.424Z,1736463041.424 [SBIT](IMPORTANT): SpeedControl.rollOptimum=1.100000 meter_per_second; 2025-01-09T22:50:41.424Z,1736463041.424 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=401.869368 cubic_centimeter; 2025-01-09T22:50:41.424Z,1736463041.424 [SBIT](IMPORTANT): VerticalControl.massDefault=21.805965 millimeter; 2025-01-09T22:50:41.424Z,1736463041.424 [SBIT](IMPORTANT): VerticalControl.massOnlyForceInt=0 bool; 2025-01-09T22:50:41.426Z,1736463041.426 [CommandExec](FAULT): Scheduling is paused 2025-01-09T22:50:41.786Z,1736463041.786 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-01-09T22:51:33.886Z,1736463093.886 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-01-09T22:54:02.496Z,1736463242.496 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T225404 2025-01-09T22:54:10.314Z,1736463250.314 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.8964 degree;set optimize_roll_speed.Longitude -122.11969 degree" 51ea2 1 2.000000 2025-01-09T22:54:10.315Z,1736463250.315 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=51ea2 2025-01-09T22:54:10.316Z,1736463250.316 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='51ea2'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.NeedCommsTime 60 min;set optimize_roll_speed.Latitude 36.8964 degree;set optimize_roll_speed.Longitude -122.11969 degree", ASAP 2025-01-09T22:54:11.304Z,1736463251.304 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T225413 2025-01-09T22:54:22.473Z,1736463262.473 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed.TargetRollAngle 5 degree;set optimize_roll_speed.RollError 0.5 degree;run" 51ea2 2 2.000000 2025-01-09T22:54:22.474Z,1736463262.474 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=51ea2 2025-01-09T22:54:22.475Z,1736463262.475 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='51ea2'): "set optimize_roll_speed.TargetRollAngle 5 degree;set optimize_roll_speed.RollError 0.5 degree;run", ASAP 2025-01-09T22:54:22.607Z,1736463262.607 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl 2025-01-09T22:54:27.446Z,1736463267.446 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed 2025-01-09T22:54:48.587Z,1736463288.587 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 60 minute 2025-01-09T22:54:48.588Z,1736463288.588 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.8964 degree 2025-01-09T22:54:48.589Z,1736463288.589 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -122.11969 degree 2025-01-09T22:54:55.387Z,1736463295.387 [CommandExec](IMPORTANT): got command set optimize_roll_speed.TargetRollAngle 5 degree 2025-01-09T22:54:55.387Z,1736463295.387 [CommandExec](IMPORTANT): got command set optimize_roll_speed.RollError 0.5 degree 2025-01-09T22:54:55.388Z,1736463295.388 [CommandExec](IMPORTANT): got command run 2025-01-09T22:54:55.394Z,1736463295.394 [CommandExec](IMPORTANT): Running 2025-01-09T22:54:55.696Z,1736463295.696 [MissionManager](IMPORTANT): Started mission optimize_roll_speed 2025-01-09T22:56:16.212Z,1736463376.212 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.896400,-122.119690 2025-01-09T23:01:16.332Z,1736463676.332 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 8.627473 degrees over 722 samples 2025-01-09T23:01:16.333Z,1736463676.333 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.950000 m/s (avg roll: 8.627473 degrees, target: 5.000000 degrees) 2025-01-09T23:06:16.947Z,1736463976.947 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 6.736600 degrees over 740 samples 2025-01-09T23:06:16.948Z,1736463976.948 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Same direction. New step: 0.100000 m/s 2025-01-09T23:06:16.948Z,1736463976.948 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 1.050000 m/s (avg roll: 6.736600 degrees, target: 5.000000 degrees) 2025-01-09T23:11:17.521Z,1736464277.521 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 5.636612 degrees over 739 samples 2025-01-09T23:11:17.521Z,1736464277.521 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Same direction. New step: 0.200000 m/s 2025-01-09T23:11:17.538Z,1736464277.538 [optimize_roll_speed:Transit:B.SetRollSpeed](FAULT): Cannot achieve target roll 5.000000 degrees. Maximum speed reached: 1.100000 m/s 2025-01-09T23:11:17.539Z,1736464277.539 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 1.100000 m/s (avg roll: 5.636612 degrees, target: 5.000000 degrees) 2025-01-09T23:11:17.540Z,1736464277.540 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Persisting best achievable speed 1.100000 m/s for 5.000000 degrees roll to config 2025-01-09T23:11:17.547Z,1736464277.547 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2025-01-09T23:11:17.548Z,1736464277.548 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): CBIT.gf24Offset=173 microampere; 2025-01-09T23:11:17.548Z,1736464277.548 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DAT.convertPhaseDataToDirection=0 bool; 2025-01-09T23:11:17.549Z,1736464277.549 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DockingStepper.closedValue=16450 count; 2025-01-09T23:11:17.550Z,1736464277.550 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): DockingStepper.slideValue=10700 count; 2025-01-09T23:11:17.555Z,1736464277.555 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.navigationGain=3 none; 2025-01-09T23:11:17.555Z,1736464277.555 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.openLoopFlyby=0 bool; 2025-01-09T23:11:17.556Z,1736464277.556 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2025-01-09T23:11:17.556Z,1736464277.556 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): RudderServo.offsetAngle=0.2 degree; 2025-01-09T23:11:17.557Z,1736464277.557 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): SpeedControl.rollOptimum=1.100000 meter_per_second; 2025-01-09T23:11:17.566Z,1736464277.566 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.buoyancyNeutral=401.869368 cubic_centimeter; 2025-01-09T23:11:17.567Z,1736464277.567 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massDefault=21.805965 millimeter; 2025-01-09T23:11:17.567Z,1736464277.567 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): VerticalControl.massOnlyForceInt=0 bool; 2025-01-09T23:16:18.099Z,1736464578.099 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.649623 degrees over 738 samples 2025-01-09T23:21:18.680Z,1736464878.680 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.717800 degrees over 738 samples 2025-01-09T23:26:19.280Z,1736465179.280 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 5.103190 degrees over 737 samples 2025-01-09T23:29:05.719Z,1736465345.719 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.896400,-122.119690 2025-01-09T23:31:19.923Z,1736465479.923 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 4.756979 degrees over 737 samples 2025-01-09T23:35:59.483Z,1736465759.483 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-01-09T23:36:20.648Z,1736465780.648 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 12.639697 degrees over 739 samples 2025-01-09T23:36:45.679Z,1736465805.679 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-01-09T23:37:37.402Z,1736465857.402 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-01-09T23:39:04.063Z,1736465944.063 [DataOverHttps](IMPORTANT): SBD MTMSN=20250109T233905