2021-11-18T19:14:08.259Z,1637262848.259 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2021-11-18T19:14:11.833Z,1637262851.833 [SBIT](IMPORTANT): git: 2021-11-01-24-g9e6b786ff 2021-11-18T19:14:11.834Z,1637262851.834 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2021-11-18T19:14:13.679Z,1637262853.679 [DockingServo](FAULT): Failed to initialize 2021-11-18T19:14:33.266Z,1637262873.266 [SBIT](IMPORTANT): Beginning Startup BIT 2021-11-18T19:14:33.303Z,1637262873.303 [CBIT](IMPORTANT): Beginning ground fault scan 2021-11-18T19:14:44.198Z,1637262884.198 [DAT](FAULT): failed to enter command mode 2021-11-18T19:14:44.252Z,1637262884.252 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.004951 CHAN A1 (24V): -0.026744 CHAN A2 (12V): -0.004533 CHAN A3 (5V): -0.002433 CHAN B0 (3.3V): -0.001116 CHAN B1 (3.15aV): -0.001525 CHAN B2 (3.15bV): -0.001449 CHAN B3 (GND): -0.000506 OPEN: 0.006138 Full Scale: +/- 1 mA 2021-11-18T19:15:26.695Z,1637262926.695 [SBIT](IMPORTANT): SBIT PASSED 2021-11-18T19:15:26.696Z,1637262926.696 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2021-11-18T19:15:26.696Z,1637262926.696 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2021-11-18T19:15:26.697Z,1637262926.697 [SBIT](IMPORTANT): BackseatComponent.loadAtStartup=1 bool; 2021-11-18T19:15:26.697Z,1637262926.697 [SBIT](IMPORTANT): BackseatComponent.simulateHardware=0 bool; 2021-11-18T19:15:26.697Z,1637262926.697 [SBIT](IMPORTANT): DAT.baud=115200 bit_per_second; 2021-11-18T19:15:26.697Z,1637262926.697 [SBIT](IMPORTANT): DAT.verbosity=3 count; 2021-11-18T19:15:26.697Z,1637262926.697 [SBIT](IMPORTANT): Dock.depth=23.7 meter; 2021-11-18T19:15:26.697Z,1637262926.697 [SBIT](IMPORTANT): Dock.lat=36.81228 angular_degree; 2021-11-18T19:15:26.697Z,1637262926.697 [SBIT](IMPORTANT): Dock.lon=-121.81564 angular_degree; 2021-11-18T19:15:26.698Z,1637262926.698 [SBIT](IMPORTANT): Dock.transponderCode=50 count; 2021-11-18T19:15:26.698Z,1637262926.698 [SBIT](IMPORTANT): Docked.detachTimeout=30 second; 2021-11-18T19:15:26.698Z,1637262926.698 [SBIT](IMPORTANT): Docked.dockingDepthOffset=-1.315 meter; 2021-11-18T19:15:26.698Z,1637262926.698 [SBIT](IMPORTANT): DockingServo.closedAngle=-17.5 degree; 2021-11-18T19:15:26.698Z,1637262926.698 [SBIT](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2021-11-18T19:15:26.698Z,1637262926.698 [SBIT](IMPORTANT): DockingServo.openAngle=14 degree; 2021-11-18T19:15:26.698Z,1637262926.698 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2021-11-18T19:15:26.699Z,1637262926.699 [SBIT](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree; 2021-11-18T19:15:26.699Z,1637262926.699 [SBIT](IMPORTANT): LineCapture.armRange=80 meter; 2021-11-18T19:15:26.699Z,1637262926.699 [SBIT](IMPORTANT): LineCapture.latchDelayTimeout=30 second; 2021-11-18T19:15:26.699Z,1637262926.699 [SBIT](IMPORTANT): LineCapture.navigationGain=nan none; 2021-11-18T19:15:26.699Z,1637262926.699 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=45 minute; 2021-11-18T19:15:26.699Z,1637262926.699 [SBIT](IMPORTANT): LineCapture.terminalRange=750 meter; 2021-11-18T19:15:26.699Z,1637262926.699 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2021-11-18T19:15:26.699Z,1637262926.699 [SBIT](IMPORTANT): PowerOnly.sampleTime=90 second; 2021-11-18T19:15:26.700Z,1637262926.700 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=95.386640 cubic_centimeter; 2021-11-18T19:15:26.700Z,1637262926.700 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.001 degree; 2021-11-18T19:15:26.700Z,1637262926.700 [SBIT](IMPORTANT): VerticalControl.massDefault=0.262981 millimeter; 2021-11-18T19:15:26.700Z,1637262926.700 [SBIT](IMPORTANT): VerticalControl.surfaceThreshold=1.5 meter; 2021-11-18T19:15:26.999Z,1637262926.999 [MissionManager](IMPORTANT): Started mission Startup 2021-11-18T19:16:29.547Z,1637262989.547 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-11-18T19:17:33.854Z,1637263053.854 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-11-18T19:21:30.152Z,1637263290.152 [CommandExec](IMPORTANT): got command failComponent 2021-11-18T19:21:30.152Z,1637263290.152 [CommandExec](IMPORTANT): Failed components: 2021-11-18T19:21:30.152Z,1637263290.152 [CommandExec](IMPORTANT): No failed Components. 2021-11-18T19:23:43.428Z,1637263423.428 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.224207 min 2021-11-18T19:29:16.071Z,1637263756.071 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 12.768590 min 2021-11-18T19:34:49.391Z,1637264089.391 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 18.322522 min 2021-11-18T19:40:22.315Z,1637264422.315 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 23.872719 min 2021-11-18T19:46:03.938Z,1637264763.938 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 29.566467 min 2021-11-18T19:51:41.131Z,1637265101.131 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 35.186698 min 2021-11-18T19:57:14.091Z,1637265434.091 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 40.736235 min 2021-11-18T20:02:46.527Z,1637265766.527 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 46.276396 min 2021-11-18T20:08:21.499Z,1637266101.499 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 51.858940 min 2021-11-18T20:14:02.587Z,1637266442.587 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 57.543852 min 2021-11-18T20:16:52.644Z,1637266612.644 [CommandExec](IMPORTANT): got command show variable lineCapture 2021-11-18T20:16:52.727Z,1637266612.727 [CommandExec](IMPORTANT): LineCapture.midcourseSpeed (meter_per_second) 2021-11-18T20:16:52.727Z,1637266612.727 [CommandExec](IMPORTANT): LineCapture.midcourseDepth (meter) 2021-11-18T20:16:52.727Z,1637266612.727 [CommandExec](IMPORTANT): LineCapture.midcourseTimeout (hour) 2021-11-18T20:16:52.728Z,1637266612.728 [CommandExec](IMPORTANT): LineCapture.terminalRange (meter) 2021-11-18T20:16:52.728Z,1637266612.728 [CommandExec](IMPORTANT): LineCapture.acousticTimeout (minute) 2021-11-18T20:16:52.729Z,1637266612.729 [CommandExec](IMPORTANT): LineCapture.armRange (meter) 2021-11-18T20:16:52.729Z,1637266612.729 [CommandExec](IMPORTANT): LineCapture.armSpeed (meter_per_second) 2021-11-18T20:16:52.729Z,1637266612.729 [CommandExec](IMPORTANT): LineCapture.lockoutRange (meter) 2021-11-18T20:16:52.730Z,1637266612.730 [CommandExec](IMPORTANT): LineCapture.interceptTimeout (second) 2021-11-18T20:16:52.730Z,1637266612.730 [CommandExec](IMPORTANT): LineCapture.latchDelayTimeout (second) 2021-11-18T20:16:52.731Z,1637266612.731 [CommandExec](IMPORTANT): LineCapture.rolloutDistance (meter) 2021-11-18T20:16:52.731Z,1637266612.731 [CommandExec](IMPORTANT): LineCapture.rolloutSpeed (meter_per_second) 2021-11-18T20:16:52.731Z,1637266612.731 [CommandExec](IMPORTANT): LineCapture.rolloutTimeout (minute) 2021-11-18T20:16:52.732Z,1637266612.732 [CommandExec](IMPORTANT): LineCapture.kpHeadingTerminalGuidance (ratio) 2021-11-18T20:16:52.732Z,1637266612.732 [CommandExec](IMPORTANT): LineCapture.kiHeadingTerminalGuidance (reciprocal_second) 2021-11-18T20:16:52.733Z,1637266612.733 [CommandExec](IMPORTANT): LineCapture.kpHeadingFinalApproach (ratio) 2021-11-18T20:16:52.733Z,1637266612.733 [CommandExec](IMPORTANT): LineCapture.kiHeadingFinalApproach (reciprocal_second) 2021-11-18T20:16:52.733Z,1637266612.733 [CommandExec](IMPORTANT): LineCapture.navigationGain (none) 2021-11-18T20:16:52.734Z,1637266612.734 [CommandExec](IMPORTANT): LineCapture.verbose (bool) 2021-11-18T20:16:52.759Z,1637266612.759 [CommandExec](IMPORTANT): LineCapture.searchTimeout (hour) 2021-11-18T20:16:52.759Z,1637266612.759 [CommandExec](IMPORTANT): LineCapture.searchCircleRadius (meter) 2021-11-18T20:17:22.117Z,1637266642.117 [CommandExec](IMPORTANT): got command get LineCapture.rolloutDistance 2021-11-18T20:17:22.118Z,1637266642.118 [CommandExec](IMPORTANT): LineCapture.rolloutDistance 150.000000 m 2021-11-18T20:18:01.903Z,1637266681.903 [CommandExec](IMPORTANT): got command get LineCapture.rolloutTimeout 2021-11-18T20:18:01.904Z,1637266681.904 [CommandExec](IMPORTANT): LineCapture.rolloutTimeout 45.000000 min 2021-11-18T20:19:03.493Z,1637266743.493 [DataOverHttps](IMPORTANT): SBD MTMSN=20211118T201835 2021-11-18T20:19:11.785Z,1637266751.785 [CommandExec](IMPORTANT): got command configSet LineCapture.rolloutSpeed 1.000000 meter_per_second persist 2021-11-18T20:19:11.813Z,1637266751.813 [CommandExec](IMPORTANT): got command configSet LineCapture.rolloutDistance 250.000000 meter persist 2021-11-18T20:19:11.820Z,1637266751.820 [CommandExec](IMPORTANT): got command configSet LineCapture.rolloutTimeout 13.000000 minute persist 2021-11-18T20:19:38.080Z,1637266778.080 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 63.134806 min 2021-11-18T20:20:42.297Z,1637266842.297 [DataOverHttps](IMPORTANT): SBD MTMSN=20211118T202013 2021-11-18T20:20:53.811Z,1637266853.811 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 90 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 2.5 s" 2kb5d 1 2.000000 2021-11-18T20:20:53.811Z,1637266853.811 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2kb5d 2021-11-18T20:20:53.813Z,1637266853.813 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='2kb5d'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 90 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 2.5 s", ASAP 2021-11-18T20:20:54.776Z,1637266854.776 [DataOverHttps](IMPORTANT): SBD MTMSN=20211118T202026 2021-11-18T20:21:02.414Z,1637266862.414 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run" 2kb5d 2 2.000000 2021-11-18T20:21:02.414Z,1637266862.414 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2kb5d 2021-11-18T20:21:02.416Z,1637266862.416 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='2kb5d'): "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run", ASAP 2021-11-18T20:21:02.517Z,1637266862.517 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml 2021-11-18T20:21:06.245Z,1637266866.245 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml 2021-11-18T20:21:21.176Z,1637266881.176 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 90.000000 minute 2021-11-18T20:21:21.177Z,1637266881.177 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 120.000000 minute 2021-11-18T20:21:21.177Z,1637266881.177 [CommandExec](IMPORTANT): got command set lineCaptureDepth.WaitOnDockTimeout 1.000000 minute 2021-11-18T20:21:21.178Z,1637266881.178 [CommandExec](IMPORTANT): got command set lineCaptureDepth.TrackingUpdatePeriod 2.500000 second 2021-11-18T20:21:26.677Z,1637266886.677 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MaxDepth 28.000000 meter 2021-11-18T20:21:26.677Z,1637266886.677 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.750000 kilometer 2021-11-18T20:21:26.678Z,1637266886.678 [CommandExec](IMPORTANT): got command run 2021-11-18T20:21:26.687Z,1637266886.687 [CommandExec](IMPORTANT): Running 2021-11-18T20:21:26.939Z,1637266886.939 [MissionManager](IMPORTANT): Started mission lineCaptureDepth 2021-11-18T20:22:06.810Z,1637266926.810 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-11-18T20:52:46.885Z,1637268766.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2021-11-18T21:06:15.030Z,1637269575.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 56.90 m. 2021-11-18T21:07:08.253Z,1637269628.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 12.00 m. Rolling out. 2021-11-18T21:13:32.952Z,1637270012.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Completed rollout at range: 314.50 m. Resuming terminal guidance. 2021-11-18T21:19:47.165Z,1637270387.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 45.30 m. 2021-11-18T21:20:52.980Z,1637270452.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 10.50 m. Rolling out. 2021-11-18T21:26:47.359Z,1637270807.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Completed rollout at range: 278.70 m. Resuming terminal guidance. 2021-11-18T21:32:54.807Z,1637271174.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 47.10 m. 2021-11-18T21:33:50.714Z,1637271230.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 11.00 m. Rolling out. 2021-11-18T21:39:12.459Z,1637271552.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Completed rollout at range: 253.50 m. Resuming terminal guidance. 2021-11-18T21:46:03.485Z,1637271963.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 29.10 m. 2021-11-18T21:46:47.128Z,1637272007.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 8.00 m. Rolling out. 2021-11-18T21:51:27.950Z,1637272287.950 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-11-18T21:52:33.834Z,1637272353.834 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-11-18T21:57:58.381Z,1637272678.381 [DataOverHttps](IMPORTANT): SBD MOMSN=16265974, MTMSN=20211118T215730