2021-11-19T21:56:45.794Z,1637359005.794 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2021-11-19T21:56:50.841Z,1637359010.841 [SBIT](IMPORTANT): git: 2021-11-01-35-g8275d7085 2021-11-19T21:56:50.842Z,1637359010.842 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2021-11-19T21:56:53.054Z,1637359013.054 [DockingServo](FAULT): Failed to initialize 2021-11-19T21:57:12.487Z,1637359032.487 [SBIT](IMPORTANT): Beginning Startup BIT 2021-11-19T21:57:12.492Z,1637359032.492 [CBIT](IMPORTANT): Beginning ground fault scan 2021-11-19T21:57:23.463Z,1637359043.463 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.004689 CHAN A1 (24V): -0.026871 CHAN A2 (12V): -0.004174 CHAN A3 (5V): -0.002630 CHAN B0 (3.3V): -0.001051 CHAN B1 (3.15aV): -0.001156 CHAN B2 (3.15bV): -0.001261 CHAN B3 (GND): -0.000551 OPEN: 0.005870 Full Scale: +/- 1 mA 2021-11-19T21:57:24.194Z,1637359044.194 [DAT](FAULT): failed to enter command mode 2021-11-19T21:58:06.311Z,1637359086.311 [SBIT](IMPORTANT): SBIT PASSED 2021-11-19T21:58:06.311Z,1637359086.311 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2021-11-19T21:58:06.312Z,1637359086.312 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2021-11-19T21:58:06.312Z,1637359086.312 [SBIT](IMPORTANT): BackseatComponent.loadAtStartup=1 bool; 2021-11-19T21:58:06.312Z,1637359086.312 [SBIT](IMPORTANT): BackseatComponent.simulateHardware=0 bool; 2021-11-19T21:58:06.312Z,1637359086.312 [SBIT](IMPORTANT): DAT.baud=115200 bit_per_second; 2021-11-19T21:58:06.313Z,1637359086.313 [SBIT](IMPORTANT): DAT.verbosity=3 count; 2021-11-19T21:58:06.313Z,1637359086.313 [SBIT](IMPORTANT): Dock.depth=23.7 meter; 2021-11-19T21:58:06.313Z,1637359086.313 [SBIT](IMPORTANT): Dock.lat=36.81228 angular_degree; 2021-11-19T21:58:06.313Z,1637359086.313 [SBIT](IMPORTANT): Dock.lon=-121.81564 angular_degree; 2021-11-19T21:58:06.313Z,1637359086.313 [SBIT](IMPORTANT): Dock.transponderCode=50 count; 2021-11-19T21:58:06.313Z,1637359086.313 [SBIT](IMPORTANT): Docked.detachTimeout=30 second; 2021-11-19T21:58:06.313Z,1637359086.313 [SBIT](IMPORTANT): Docked.dockingDepthOffset=-1.315 meter; 2021-11-19T21:58:06.314Z,1637359086.314 [SBIT](IMPORTANT): DockingServo.closedAngle=-17.5 degree; 2021-11-19T21:58:06.314Z,1637359086.314 [SBIT](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2021-11-19T21:58:06.315Z,1637359086.315 [SBIT](IMPORTANT): DockingServo.openAngle=14 degree; 2021-11-19T21:58:06.315Z,1637359086.315 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2021-11-19T21:58:06.315Z,1637359086.315 [SBIT](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree; 2021-11-19T21:58:06.315Z,1637359086.315 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2021-11-19T21:58:06.315Z,1637359086.315 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2021-11-19T21:58:06.315Z,1637359086.315 [SBIT](IMPORTANT): LineCapture.armRange=80 meter; 2021-11-19T21:58:06.315Z,1637359086.315 [SBIT](IMPORTANT): LineCapture.armSpeed=0.8 meter_per_second; 2021-11-19T21:58:06.316Z,1637359086.316 [SBIT](IMPORTANT): LineCapture.latchDelayTimeout=45 second; 2021-11-19T21:58:06.316Z,1637359086.316 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=0.8 meter_per_second; 2021-11-19T21:58:06.316Z,1637359086.316 [SBIT](IMPORTANT): LineCapture.navigationGain=nan none; 2021-11-19T21:58:06.316Z,1637359086.316 [SBIT](IMPORTANT): LineCapture.rolloutDistance=300 meter; 2021-11-19T21:58:06.316Z,1637359086.316 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2021-11-19T21:58:06.316Z,1637359086.316 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=45 minute; 2021-11-19T21:58:06.316Z,1637359086.316 [SBIT](IMPORTANT): LineCapture.terminalRange=750 meter; 2021-11-19T21:58:06.316Z,1637359086.316 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2021-11-19T21:58:06.317Z,1637359086.317 [SBIT](IMPORTANT): PowerOnly.sampleTime=90 second; 2021-11-19T21:58:06.317Z,1637359086.317 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=95.386640 cubic_centimeter; 2021-11-19T21:58:06.317Z,1637359086.317 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.001 degree; 2021-11-19T21:58:06.317Z,1637359086.317 [SBIT](IMPORTANT): VerticalControl.massDefault=0.262981 millimeter; 2021-11-19T21:58:06.317Z,1637359086.317 [SBIT](IMPORTANT): VerticalControl.surfaceThreshold=1.5 meter; 2021-11-19T21:58:06.634Z,1637359086.634 [MissionManager](IMPORTANT): Started mission Startup 2021-11-19T21:59:30.539Z,1637359170.539 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-11-19T22:00:35.433Z,1637359235.433 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-11-19T22:02:42.116Z,1637359362.116 [DataOverHttps](IMPORTANT): SBD MTMSN=20211119T220215 2021-11-19T22:02:54.622Z,1637359374.622 [CommandExec](IMPORTANT): got command configSet LineCapture.rolloutSpeed 1.000000 meter_per_second persist 2021-11-19T22:02:54.633Z,1637359374.633 [CommandExec](IMPORTANT): got command configSet LineCapture.rolloutTimeout 13.000000 minute persist 2021-11-19T22:02:54.864Z,1637359374.864 [DataOverHttps](IMPORTANT): SBD MTMSN=20211119T220227 2021-11-19T22:03:02.468Z,1637359382.468 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 20 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 1.5 s" 2majo 1 2.000000 2021-11-19T22:03:02.468Z,1637359382.468 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2majo 2021-11-19T22:03:02.469Z,1637359382.469 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='2majo'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 20 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 1.5 s", ASAP 2021-11-19T22:03:03.436Z,1637359383.436 [DataOverHttps](IMPORTANT): SBD MTMSN=20211119T220236 2021-11-19T22:03:11.177Z,1637359391.177 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run" 2majo 2 2.000000 2021-11-19T22:03:11.178Z,1637359391.178 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2majo 2021-11-19T22:03:11.179Z,1637359391.179 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='2majo'): "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run", ASAP 2021-11-19T22:03:11.288Z,1637359391.288 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml 2021-11-19T22:03:14.861Z,1637359394.861 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml 2021-11-19T22:03:30.301Z,1637359410.301 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 20.000000 minute 2021-11-19T22:03:30.302Z,1637359410.302 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 120.000000 minute 2021-11-19T22:03:30.303Z,1637359410.303 [CommandExec](IMPORTANT): got command set lineCaptureDepth.WaitOnDockTimeout 1.000000 minute 2021-11-19T22:03:30.303Z,1637359410.303 [CommandExec](IMPORTANT): got command set lineCaptureDepth.TrackingUpdatePeriod 1.500000 second 2021-11-19T22:03:35.787Z,1637359415.787 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MaxDepth 28.000000 meter 2021-11-19T22:03:35.788Z,1637359415.788 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.750000 kilometer 2021-11-19T22:03:35.788Z,1637359415.788 [CommandExec](IMPORTANT): got command run 2021-11-19T22:03:35.793Z,1637359415.793 [CommandExec](IMPORTANT): Running 2021-11-19T22:03:35.884Z,1637359415.884 [MissionManager](IMPORTANT): Started mission lineCaptureDepth 2021-11-19T22:04:15.914Z,1637359455.914 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-11-19T22:05:51.400Z,1637359551.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2021-11-19T22:20:14.564Z,1637360414.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 49.500000 m, bearing: 95.999688 deg, deltaT: 3.417039 s, approachRate: -5.853021 m/s, posRepo size: 4 2021-11-19T22:20:22.227Z,1637360422.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 54.00 m. 2021-11-19T22:23:07.289Z,1637360587.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 8.90 m. Rolling out. 2021-11-19T22:23:36.500Z,1637360616.500 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-11-19T22:24:41.844Z,1637360681.844 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-11-19T22:25:48.125Z,1637360748.125 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=4937, MT Status=1, MTMSN=175