2021-11-18T22:04:52.941Z,1637273092.941 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2021-11-18T22:04:59.085Z,1637273099.085 [SBIT](IMPORTANT): git: 2021-10-11a 2021-11-18T22:04:59.086Z,1637273099.086 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2021-11-18T22:05:00.935Z,1637273100.935 [DockingServo](FAULT): Failed to initialize 2021-11-18T22:05:20.550Z,1637273120.550 [SBIT](IMPORTANT): Beginning Startup BIT 2021-11-18T22:05:20.570Z,1637273120.570 [CBIT](IMPORTANT): Beginning ground fault scan 2021-11-18T22:05:31.478Z,1637273131.478 [DAT](FAULT): failed to enter command mode 2021-11-18T22:05:31.873Z,1637273131.873 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.004744 CHAN A1 (24V): -0.027096 CHAN A2 (12V): -0.004678 CHAN A3 (5V): -0.002380 CHAN B0 (3.3V): -0.001069 CHAN B1 (3.15aV): -0.001393 CHAN B2 (3.15bV): -0.000560 CHAN B3 (GND): -0.000619 OPEN: 0.005960 Full Scale: +/- 1 mA 2021-11-18T22:06:14.375Z,1637273174.375 [SBIT](IMPORTANT): SBIT PASSED 2021-11-18T22:06:14.376Z,1637273174.376 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2021-11-18T22:06:14.377Z,1637273174.377 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2021-11-18T22:06:14.377Z,1637273174.377 [SBIT](IMPORTANT): BackseatComponent.loadAtStartup=1 bool; 2021-11-18T22:06:14.377Z,1637273174.377 [SBIT](IMPORTANT): BackseatComponent.simulateHardware=0 bool; 2021-11-18T22:06:14.377Z,1637273174.377 [SBIT](IMPORTANT): DAT.baud=115200 bit_per_second; 2021-11-18T22:06:14.377Z,1637273174.377 [SBIT](IMPORTANT): DAT.verbosity=3 count; 2021-11-18T22:06:14.377Z,1637273174.377 [SBIT](IMPORTANT): Dock.depth=23.7 meter; 2021-11-18T22:06:14.377Z,1637273174.377 [SBIT](IMPORTANT): Dock.lat=36.81228 angular_degree; 2021-11-18T22:06:14.378Z,1637273174.378 [SBIT](IMPORTANT): Dock.lon=-121.81564 angular_degree; 2021-11-18T22:06:14.378Z,1637273174.378 [SBIT](IMPORTANT): Dock.transponderCode=50 count; 2021-11-18T22:06:14.378Z,1637273174.378 [SBIT](IMPORTANT): Docked.detachTimeout=30 second; 2021-11-18T22:06:14.378Z,1637273174.378 [SBIT](IMPORTANT): Docked.dockingDepthOffset=-1.315 meter; 2021-11-18T22:06:14.378Z,1637273174.378 [SBIT](IMPORTANT): DockingServo.closedAngle=-17.5 degree; 2021-11-18T22:06:14.378Z,1637273174.378 [SBIT](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2021-11-18T22:06:14.378Z,1637273174.378 [SBIT](IMPORTANT): DockingServo.openAngle=14 degree; 2021-11-18T22:06:14.379Z,1637273174.379 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2021-11-18T22:06:14.379Z,1637273174.379 [SBIT](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree; 2021-11-18T22:06:14.379Z,1637273174.379 [SBIT](IMPORTANT): LineCapture.armRange=80 meter; 2021-11-18T22:06:14.379Z,1637273174.379 [SBIT](IMPORTANT): LineCapture.latchDelayTimeout=30 second; 2021-11-18T22:06:14.379Z,1637273174.379 [SBIT](IMPORTANT): LineCapture.navigationGain=nan none; 2021-11-18T22:06:14.379Z,1637273174.379 [SBIT](IMPORTANT): LineCapture.rolloutDistance=250 meter; 2021-11-18T22:06:14.379Z,1637273174.379 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=1 meter_per_second; 2021-11-18T22:06:14.379Z,1637273174.379 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=13 minute; 2021-11-18T22:06:14.380Z,1637273174.380 [SBIT](IMPORTANT): LineCapture.terminalRange=750 meter; 2021-11-18T22:06:14.380Z,1637273174.380 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2021-11-18T22:06:14.380Z,1637273174.380 [SBIT](IMPORTANT): PowerOnly.sampleTime=90 second; 2021-11-18T22:06:14.380Z,1637273174.380 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=95.386640 cubic_centimeter; 2021-11-18T22:06:14.380Z,1637273174.380 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.001 degree; 2021-11-18T22:06:14.380Z,1637273174.380 [SBIT](IMPORTANT): VerticalControl.massDefault=0.262981 millimeter; 2021-11-18T22:06:14.380Z,1637273174.380 [SBIT](IMPORTANT): VerticalControl.surfaceThreshold=1.5 meter; 2021-11-18T22:06:14.670Z,1637273174.670 [MissionManager](IMPORTANT): Started mission Startup 2021-11-18T22:08:15.554Z,1637273295.554 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-11-18T22:09:19.844Z,1637273359.844 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-11-18T22:15:01.555Z,1637273701.555 [CommandExec](IMPORTANT): got command failComponent 2021-11-18T22:15:01.555Z,1637273701.555 [CommandExec](IMPORTANT): Failed components: 2021-11-18T22:15:01.556Z,1637273701.556 [CommandExec](IMPORTANT): No failed Components. 2021-11-18T22:16:17.589Z,1637273777.589 [DataOverHttps](IMPORTANT): SBD MTMSN=20211118T221549 2021-11-18T22:16:25.519Z,1637273785.519 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 30 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 2.5 s" 2kghj 1 2.000000 2021-11-18T22:16:25.520Z,1637273785.520 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2kghj 2021-11-18T22:16:25.521Z,1637273785.521 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='2kghj'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 30 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 2.5 s", ASAP 2021-11-18T22:16:26.500Z,1637273786.500 [DataOverHttps](IMPORTANT): SBD MTMSN=20211118T221558 2021-11-18T22:16:38.150Z,1637273798.150 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run" 2kghj 2 2.000000 2021-11-18T22:16:38.151Z,1637273798.151 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2kghj 2021-11-18T22:16:38.152Z,1637273798.152 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='2kghj'): "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run", ASAP 2021-11-18T22:16:38.392Z,1637273798.392 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml 2021-11-18T22:16:44.997Z,1637273804.997 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml 2021-11-18T22:16:57.370Z,1637273817.370 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 8.690473 min 2021-11-18T22:17:16.998Z,1637273836.998 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 30.000000 minute 2021-11-18T22:17:16.999Z,1637273836.999 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 120.000000 minute 2021-11-18T22:17:17.001Z,1637273837.001 [CommandExec](IMPORTANT): got command set lineCaptureDepth.WaitOnDockTimeout 1.000000 minute 2021-11-18T22:17:17.001Z,1637273837.001 [CommandExec](IMPORTANT): got command set lineCaptureDepth.TrackingUpdatePeriod 2.500000 second 2021-11-18T22:17:26.670Z,1637273846.670 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MaxDepth 28.000000 meter 2021-11-18T22:17:26.679Z,1637273846.679 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.750000 kilometer 2021-11-18T22:17:26.680Z,1637273846.680 [CommandExec](IMPORTANT): got command run 2021-11-18T22:17:26.688Z,1637273846.688 [CommandExec](IMPORTANT): Running 2021-11-18T22:17:26.761Z,1637273846.761 [MissionManager](IMPORTANT): Started mission lineCaptureDepth 2021-11-18T22:18:07.007Z,1637273887.007 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-11-18T22:18:09.076Z,1637273889.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2021-11-18T22:18:11.194Z,1637273891.194 [DataOverHttps](IMPORTANT): SBD MTMSN=20211118T221742 2021-11-18T22:18:21.269Z,1637273901.269 [CommandExec](IMPORTANT): got command configSet LineCapture.rolloutDistance 300.000000 meter persist 2021-11-18T22:18:21.272Z,1637273901.272 [CommandExec](IMPORTANT): got command configSet LineCapture.rolloutTimeout 15.000000 minute persist 2021-11-18T22:18:35.594Z,1637273915.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 55.40 m. 2021-11-18T22:20:12.979Z,1637274012.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 43.700001 m, bearing: 61.879301 deg, deltaT: 0.603767 s, approachRate: 21.697113 m/s, posRepo size: 4 2021-11-18T22:20:58.716Z,1637274058.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 0.900000 m, bearing: 187.072119 deg, deltaT: 0.579648 s, approachRate: -53.308212 m/s, posRepo size: 4 2021-11-18T22:20:59.201Z,1637274059.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 1.500000 m, bearing: 204.926849 deg, deltaT: 1.145728 s, approachRate: -26.446066 m/s, posRepo size: 4 2021-11-18T22:20:59.633Z,1637274059.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 1.400000 m, bearing: 207.956393 deg, deltaT: 1.628384 s, approachRate: -18.668816 m/s, posRepo size: 4 2021-11-18T22:21:00.209Z,1637274060.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 18.900000 m, bearing: 178.694127 deg, deltaT: 2.102800 s, approachRate: -6.134677 m/s, posRepo size: 4 2021-11-18T22:21:09.984Z,1637274069.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 11.300000 m, bearing: 141.645474 deg, deltaT: 0.507356 s, approachRate: -34.492546 m/s, posRepo size: 4 2021-11-18T22:21:10.438Z,1637274070.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 11.300000 m, bearing: 139.696780 deg, deltaT: 0.953638 s, approachRate: -18.350779 m/s, posRepo size: 4 2021-11-18T22:21:11.380Z,1637274071.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 11.700000 m, bearing: 135.681189 deg, deltaT: 1.789918 s, approachRate: -9.553510 m/s, posRepo size: 4 2021-11-18T22:21:20.963Z,1637274080.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 33.20 m. Rolling out. 2021-11-18T22:27:05.222Z,1637274425.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Completed rollout at range: 258.90 m. Resuming terminal guidance. 2021-11-18T22:32:41.563Z,1637274761.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 45.799999 m, bearing: 16.202392 deg, deltaT: 4.263044 s, approachRate: -5.019886 m/s, posRepo size: 4 2021-11-18T22:32:49.833Z,1637274769.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 38.40 m. 2021-11-18T22:47:27.885Z,1637275647.885 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-11-18T22:48:55.522Z,1637275735.522 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-11-18T22:58:05.620Z,1637276285.620 [DataOverHttps](IMPORTANT): SBD MTMSN=20211118T225737