2021-12-07T21:54:00.020Z,1638914040.020 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2021-12-07T21:54:03.375Z,1638914043.375 [SBIT](IMPORTANT): git: 2021-11-29_Tethys-13-gf4c976800 2021-12-07T21:54:03.375Z,1638914043.375 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2021-12-07T21:54:04.554Z,1638914044.554 [DropWeight](CRITICAL): DROP WEIGHT MISSING. 2021-12-07T21:54:04.580Z,1638914044.580 [CommandExec](FAULT): Scheduling is paused 2021-12-07T21:54:04.584Z,1638914044.584 [CBIT](CRITICAL): Hardware Fault in component: DropWeight 2021-12-07T21:54:28.970Z,1638914068.970 [SBIT](IMPORTANT): Beginning Startup BIT 2021-12-07T21:54:28.974Z,1638914068.974 [CBIT](IMPORTANT): Beginning ground fault scan 2021-12-07T21:54:35.308Z,1638914075.308 [DAT](FAULT): failed to enter command mode 2021-12-07T21:54:40.333Z,1638914080.333 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.005784 CHAN A1 (24V): -0.026982 CHAN A2 (12V): -0.004334 CHAN A3 (5V): -0.002434 CHAN B0 (3.3V): -0.001223 CHAN B1 (3.15aV): -0.000335 CHAN B2 (3.15bV): -0.000926 CHAN B3 (GND): -0.000185 OPEN: 0.005555 Full Scale: +/- 1 mA 2021-12-07T21:55:22.696Z,1638914122.696 [SBIT](IMPORTANT): SBIT PASSED 2021-12-07T21:55:22.696Z,1638914122.696 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2021-12-07T21:55:22.698Z,1638914122.698 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2021-12-07T21:55:22.698Z,1638914122.698 [SBIT](IMPORTANT): DAT.baud=115200 bit_per_second; 2021-12-07T21:55:22.698Z,1638914122.698 [SBIT](IMPORTANT): DAT.verbosity=3 count; 2021-12-07T21:55:22.698Z,1638914122.698 [SBIT](IMPORTANT): Dock.transponderCode=1 count; 2021-12-07T21:55:22.698Z,1638914122.698 [SBIT](IMPORTANT): DockingServo.closedAngle=-17.5 degree; 2021-12-07T21:55:22.698Z,1638914122.698 [SBIT](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2021-12-07T21:55:22.698Z,1638914122.698 [SBIT](IMPORTANT): DockingServo.openAngle=14 degree; 2021-12-07T21:55:22.699Z,1638914122.699 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2021-12-07T21:55:22.699Z,1638914122.699 [SBIT](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree; 2021-12-07T21:55:22.699Z,1638914122.699 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2021-12-07T21:55:22.699Z,1638914122.699 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2021-12-07T21:55:22.699Z,1638914122.699 [SBIT](IMPORTANT): LineCapture.armSpeed=0.8 meter_per_second; 2021-12-07T21:55:22.699Z,1638914122.699 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=0.8 meter_per_second; 2021-12-07T21:55:22.700Z,1638914122.700 [SBIT](IMPORTANT): LineCapture.rolloutDistance=65 meter; 2021-12-07T21:55:22.700Z,1638914122.700 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2021-12-07T21:55:22.700Z,1638914122.700 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=45 minute; 2021-12-07T21:55:22.700Z,1638914122.700 [SBIT](IMPORTANT): LineCapture.terminalRange=850 meter; 2021-12-07T21:55:22.700Z,1638914122.700 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2021-12-07T21:55:22.700Z,1638914122.700 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=175.670891 cubic_centimeter; 2021-12-07T21:55:22.700Z,1638914122.700 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.001 degree; 2021-12-07T21:55:22.701Z,1638914122.701 [SBIT](IMPORTANT): VerticalControl.massDefault=-1.324180 millimeter; 2021-12-07T21:55:22.701Z,1638914122.701 [SBIT](IMPORTANT): VerticalControl.surfaceThreshold=1.5 meter; 2021-12-07T21:55:23.101Z,1638914123.101 [MissionManager](IMPORTANT): Started mission Startup 2021-12-07T21:55:26.293Z,1638914126.293 [CommandExec](IMPORTANT): got command show stack 2021-12-07T21:55:26.293Z,1638914126.293 [CommandExec](IMPORTANT): Behavior Stack: 2021-12-07T21:55:26.294Z,1638914126.294 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface 2021-12-07T21:55:26.294Z,1638914126.294 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A 2021-12-07T21:55:42.248Z,1638914142.248 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree 2021-12-07T21:55:42.270Z,1638914142.270 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree 2021-12-07T21:55:54.771Z,1638914154.771 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1638914176.000000 second 2021-12-07T21:56:37.481Z,1638914197.481 [CommandExec](IMPORTANT): got command show stack 2021-12-07T21:56:37.481Z,1638914197.481 [CommandExec](IMPORTANT): Behavior Stack: 2021-12-07T21:56:37.481Z,1638914197.481 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface 2021-12-07T21:56:37.482Z,1638914197.482 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B 2021-12-07T21:56:43.487Z,1638914203.487 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-12-07T21:57:16.124Z,1638914236.124 [CommandExec](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool 2021-12-07T21:57:48.421Z,1638914268.421 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-12-07T21:58:21.529Z,1638914301.529 [CommandExec](IMPORTANT): got command show stack 2021-12-07T21:58:21.529Z,1638914301.529 [CommandExec](IMPORTANT): Behavior Stack: 2021-12-07T21:58:21.529Z,1638914301.529 [DefaultWithUndock:SurfaceDefault](IMPORTANT): Priority 0: DefaultWithUndock:SurfaceDefault:B.GoToSurface 2021-12-07T21:58:21.530Z,1638914301.530 [DefaultWithUndock:SurfaceDefault:CheckIn](IMPORTANT): Priority 1: DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS 2021-12-07T21:59:45.584Z,1638914385.584 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2021-12-07T22:00:24.606Z,1638914424.606 [DataOverHttps](IMPORTANT): SBD MTMSN=20211207T220023 2021-12-07T22:00:36.965Z,1638914436.965 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml 2021-12-07T22:00:42.312Z,1638914442.312 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml 2021-12-07T22:00:56.445Z,1638914456.445 [CommandExec](IMPORTANT): got command set lineCaptureDepth.TrackingUpdatePeriodMidcourse 5.000000 second 2021-12-07T22:00:56.445Z,1638914456.445 [CommandExec](IMPORTANT): got command set lineCaptureDepth.NumPingsUSBL 10.000000 count 2021-12-07T22:00:56.446Z,1638914456.446 [CommandExec](IMPORTANT): got command set lineCaptureDepth.RangeUSBL 900.000000 meter 2021-12-07T22:00:56.447Z,1638914456.447 [CommandExec](IMPORTANT): got command run 2021-12-07T22:00:56.452Z,1638914456.452 [CommandExec](IMPORTANT): Running 2021-12-07T22:00:56.703Z,1638914456.703 [MissionManager](IMPORTANT): Started mission lineCaptureDepth 2021-12-07T22:01:36.372Z,1638914496.372 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-12-07T22:01:38.415Z,1638914498.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2021-12-07T22:01:51.962Z,1638914511.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 0.800000 m, bearing: 80.582128 deg, deltaT: 22.837344 s, deltaX: -749.900024 m, approachRate: -32.836571 m/s, posRepo size: 1 2021-12-07T22:01:52.408Z,1638914512.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 0.600000 m, bearing: 87.367538 deg, deltaT: 23.281576 s, deltaX: -750.100037 m, approachRate: -32.218613 m/s, posRepo size: 1 2021-12-07T22:01:52.879Z,1638914512.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 0.800000 m, bearing: 91.872929 deg, deltaT: 23.739481 s, deltaX: -749.900024 m, approachRate: -31.588728 m/s, posRepo size: 1 2021-12-07T22:01:53.270Z,1638914513.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 0.600000 m, bearing: 89.160176 deg, deltaT: 24.150614 s, deltaX: -750.100037 m, approachRate: -31.059254 m/s, posRepo size: 1 2021-12-07T22:01:53.859Z,1638914513.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 0.800000 m, bearing: 88.685143 deg, deltaT: 24.731582 s, deltaX: -749.900024 m, approachRate: -30.321554 m/s, posRepo size: 1 2021-12-07T22:01:53.859Z,1638914513.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Reached target pos rejection count limit. Clearing pos repo. 2021-12-07T22:02:15.883Z,1638914535.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 0.50 m. 2021-12-07T22:02:16.368Z,1638914536.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Intercept lockout. Range: 0.50 m. 2021-12-07T22:02:44.562Z,1638914564.562 [CommandExec](IMPORTANT): got command stop 2021-12-07T22:02:44.562Z,1638914564.562 [CommandExec](IMPORTANT): Scheduling is paused 2021-12-07T22:02:45.847Z,1638914565.847 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-12-07T22:02:53.436Z,1638914573.436 [CommandExec](IMPORTANT): got command stop 2021-12-07T22:03:01.281Z,1638914581.281 [CommandExec](IMPORTANT): got command stop 2021-12-07T22:03:51.766Z,1638914631.766 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-12-07T22:04:11.429Z,1638914651.429 [CommandExec](IMPORTANT): got command quit