2022-07-13T18:40:47.636Z,1657737647.636 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2022-07-13T18:40:51.187Z,1657737651.187 [SBIT](IMPORTANT): git: 2022-07-12TimP 2022-07-13T18:40:51.187Z,1657737651.187 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2022-07-13T18:40:52.015Z,1657737652.015 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2022-07-13T18:40:52.978Z,1657737652.978 [DockingServo](FAULT): Failed to initialize 2022-07-13T18:42:48.644Z,1657737768.644 [SBIT](IMPORTANT): Beginning Startup BIT 2022-07-13T18:42:48.649Z,1657737768.649 [CBIT](IMPORTANT): Beginning ground fault scan 2022-07-13T18:42:59.638Z,1657737779.638 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.055924 CHAN A1 (24V): 0.130006 CHAN A2 (12V): 0.031651 CHAN A3 (5V): 0.007462 CHAN B0 (3.3V): 0.004533 CHAN B1 (3.15aV): 0.005311 CHAN B2 (3.15bV): 0.004612 CHAN B3 (GND): -0.005568 OPEN: 0.010985 Full Scale: +/- 1 mA 2022-07-13T18:43:42.051Z,1657737822.051 [SBIT](IMPORTANT): SBIT PASSED 2022-07-13T18:43:42.052Z,1657737822.052 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2022-07-13T18:43:42.052Z,1657737822.052 [SBIT](IMPORTANT): DAT.ignoreElevationAngle=0 bool; 2022-07-13T18:43:42.052Z,1657737822.052 [SBIT](IMPORTANT): DAT.surfaceThreshold=-1 meter; 2022-07-13T18:43:42.053Z,1657737822.053 [SBIT](IMPORTANT): DAT.verbosity=3 count; 2022-07-13T18:43:42.053Z,1657737822.053 [SBIT](IMPORTANT): Dock.depth=68.5 meter; 2022-07-13T18:43:42.053Z,1657737822.053 [SBIT](IMPORTANT): Dock.lat=36.7729 angular_degree; 2022-07-13T18:43:42.053Z,1657737822.053 [SBIT](IMPORTANT): Dock.lon=-121.863 angular_degree; 2022-07-13T18:43:42.053Z,1657737822.053 [SBIT](IMPORTANT): Docked.dockingDepthOffset=1.7 meter; 2022-07-13T18:43:42.053Z,1657737822.053 [SBIT](IMPORTANT): DockingServo.closedAngle=0 degree; 2022-07-13T18:43:42.053Z,1657737822.053 [SBIT](IMPORTANT): DockingServo.openAngle=30 degree; 2022-07-13T18:43:42.053Z,1657737822.053 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5 meter; 2022-07-13T18:43:42.054Z,1657737822.054 [SBIT](IMPORTANT): Express none WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water; 2022-07-13T18:43:42.054Z,1657737822.054 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2022-07-13T18:43:42.054Z,1657737822.054 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2022-07-13T18:43:42.054Z,1657737822.054 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=0 bool; 2022-07-13T18:43:42.054Z,1657737822.054 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=2 day; 2022-07-13T18:43:42.054Z,1657737822.054 [SBIT](IMPORTANT): LineCapture.acousticTimeout=10 minute; 2022-07-13T18:43:42.054Z,1657737822.054 [SBIT](IMPORTANT): LineCapture.armSpeed=1 meter_per_second; 2022-07-13T18:43:42.054Z,1657737822.054 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=1 meter_per_second; 2022-07-13T18:43:42.055Z,1657737822.055 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none; 2022-07-13T18:43:42.055Z,1657737822.055 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=1 meter_per_second; 2022-07-13T18:43:42.055Z,1657737822.055 [SBIT](IMPORTANT): LineCapture.shortFinalRange=16 meter; 2022-07-13T18:43:42.055Z,1657737822.055 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=183.341962 cubic_centimeter; 2022-07-13T18:43:42.055Z,1657737822.055 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.05 degree; 2022-07-13T18:43:42.055Z,1657737822.055 [SBIT](IMPORTANT): VerticalControl.massDefault=24.437392 millimeter; 2022-07-13T18:43:42.055Z,1657737822.055 [SBIT](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup=0 bool; 2022-07-13T18:43:42.375Z,1657737822.375 [MissionManager](IMPORTANT): Started mission Startup 2022-07-13T18:44:41.729Z,1657737881.729 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-07-13T18:45:45.882Z,1657737945.882 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-07-13T18:45:50.451Z,1657737950.451 [CommandExec](IMPORTANT): got command show stack 2022-07-13T18:45:50.452Z,1657737950.452 [CommandExec](IMPORTANT): Behavior Stack: 2022-07-13T18:45:50.452Z,1657737950.452 [DefaultWithUndock:SurfaceDefault](IMPORTANT): Priority 0: DefaultWithUndock:SurfaceDefault:A.GoToSurface 2022-07-13T18:45:50.452Z,1657737950.452 [DefaultWithUndock:SurfaceDefault:CheckIn](IMPORTANT): Priority 1: DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium 2022-07-13T18:46:07.826Z,1657737967.826 [CommandExec](IMPORTANT): got command failComponent 2022-07-13T18:46:07.826Z,1657737967.826 [CommandExec](IMPORTANT): Failed components: 2022-07-13T18:46:07.827Z,1657737967.827 [CommandExec](IMPORTANT): No failed Components. 2022-07-13T18:48:07.142Z,1657738087.142 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout 2022-07-13T18:52:04.248Z,1657738324.248 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.368866 min 2022-07-13T18:55:51.112Z,1657738551.112 [DataOverHttps](IMPORTANT): SBD MTMSN=20220713T185550 2022-07-13T18:55:58.671Z,1657738558.671 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/HotBunking/relief_vehicle.xml;set reliefVehicle.MissionTimeout 3 h;set reliefVehicle.Lat 36.797 degree;set reliefVehicle.Lon -121.847 degree;set reliefVehicle.MidcourseSpeed 1.1 m/s" 4gpwh 1 2.000000 2022-07-13T18:55:58.671Z,1657738558.671 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4gpwh 2022-07-13T18:55:58.672Z,1657738558.672 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='4gpwh'): "load Engineering/HotBunking/relief_vehicle.xml;set reliefVehicle.MissionTimeout 3 h;set reliefVehicle.Lat 36.797 degree;set reliefVehicle.Lon -121.847 degree;set reliefVehicle.MidcourseSpeed 1.1 m/s", ASAP 2022-07-13T18:55:59.647Z,1657738559.647 [DataOverHttps](IMPORTANT): SBD MTMSN=20220713T185558 2022-07-13T18:56:10.151Z,1657738570.151 [CommandExec](IMPORTANT): got command schedule asap "set reliefVehicle.MidcourseTimeout 1.5 h;set reliefVehicle.FinalApproachSpeed 0.8 m/s;set reliefVehicle.SuccessRange 20.0 m;set reliefVehicle.HoldDuration 3 min;run" 4gpwh 2 2.000000 2022-07-13T18:56:10.151Z,1657738570.151 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4gpwh 2022-07-13T18:56:10.152Z,1657738570.152 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='4gpwh'): "set reliefVehicle.MidcourseTimeout 1.5 h;set reliefVehicle.FinalApproachSpeed 0.8 m/s;set reliefVehicle.SuccessRange 20.0 m;set reliefVehicle.HoldDuration 3 min;run", ASAP 2022-07-13T18:56:10.299Z,1657738570.299 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/HotBunking/relief_vehicle.xml 2022-07-13T18:56:12.610Z,1657738572.610 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/HotBunking/relief_vehicle.xml 2022-07-13T18:56:27.120Z,1657738587.120 [CommandExec](IMPORTANT): got command set reliefVehicle.MissionTimeout 3 hour 2022-07-13T18:56:27.120Z,1657738587.120 [CommandExec](IMPORTANT): got command set reliefVehicle.Lat 36.797 degree 2022-07-13T18:56:27.121Z,1657738587.121 [CommandExec](IMPORTANT): got command set reliefVehicle.Lon -121.847 degree 2022-07-13T18:56:27.122Z,1657738587.122 [CommandExec](IMPORTANT): got command set reliefVehicle.MidcourseSpeed 1.1 meter_per_second 2022-07-13T18:56:44.640Z,1657738604.640 [CommandExec](IMPORTANT): got command set reliefVehicle.MidcourseTimeout 1.5 hour 2022-07-13T18:56:44.641Z,1657738604.641 [CommandExec](IMPORTANT): got command set reliefVehicle.FinalApproachSpeed 0.8 meter_per_second 2022-07-13T18:56:44.642Z,1657738604.642 [CommandExec](IMPORTANT): got command set reliefVehicle.SuccessRange 20.0 meter 2022-07-13T18:56:44.642Z,1657738604.642 [CommandExec](IMPORTANT): got command set reliefVehicle.HoldDuration 3 minute 2022-07-13T18:56:44.643Z,1657738604.643 [CommandExec](IMPORTANT): got command run 2022-07-13T18:56:44.645Z,1657738604.645 [CommandExec](IMPORTANT): Running 2022-07-13T18:56:45.022Z,1657738605.022 [MissionManager](IMPORTANT): Started mission reliefVehicle 2022-07-13T18:57:37.982Z,1657738657.982 [reliefVehicle:HotBunkHomingSequence:MidcourseGuidance:guide:D.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2022-07-13T18:57:37.982Z,1657738657.982 [reliefVehicle:HotBunkHomingSequence:A](IMPORTANT): Initiating homing sequence. 2022-07-13T18:58:50.306Z,1657738730.306 [BuoyancyServo](FAULT): Overload Error 2022-07-13T19:38:55.780Z,1657741135.780 [reliefVehicle:HotBunkHomingSequence:MidcourseGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to terminal guidance at range 647.700012 m 2022-07-13T19:38:56.995Z,1657741136.995 [reliefVehicle:HotBunkHomingSequence:TerminalGuidance:A](IMPORTANT): Entering Terminal guidance. 2022-07-13T19:39:02.438Z,1657741142.438 [ThrusterHE](FAULT): Could not get status:serial timeout 2022-07-13T19:39:02.534Z,1657741142.534 [ThrusterHE](FAULT): getSpeed error serial timeout 2022-07-13T19:39:02.535Z,1657741142.535 [ThrusterHE](FAULT): Thruster uart error: serial timeout 2022-07-13T19:39:11.470Z,1657741151.470 [ThrusterHE](FAULT): Could not get status:serial timeout 2022-07-13T19:39:11.566Z,1657741151.566 [ThrusterHE](FAULT): getSpeed error serial timeout 2022-07-13T19:39:11.566Z,1657741151.566 [ThrusterHE](FAULT): Thruster uart error: serial timeout 2022-07-13T19:39:20.730Z,1657741160.730 [ThrusterHE](FAULT): Could not get status:serial timeout 2022-07-13T19:39:20.826Z,1657741160.826 [ThrusterHE](FAULT): getSpeed error serial timeout 2022-07-13T19:39:20.826Z,1657741160.826 [ThrusterHE](FAULT): Thruster uart error: serial timeout 2022-07-13T19:39:28.863Z,1657741168.863 [ThrusterHE](FAULT): Could not get status:serial timeout 2022-07-13T19:39:28.957Z,1657741168.957 [ThrusterHE](FAULT): getSpeed error serial timeout 2022-07-13T19:39:28.958Z,1657741168.958 [ThrusterHE](FAULT): Thruster uart error: serial timeout 2022-07-13T19:39:37.618Z,1657741177.618 [ThrusterHE](FAULT): Could not get status:serial timeout 2022-07-13T19:39:37.714Z,1657741177.714 [ThrusterHE](FAULT): getSpeed error serial timeout 2022-07-13T19:39:37.714Z,1657741177.714 [ThrusterHE](FAULT): Thruster uart error: serial timeout 2022-07-13T19:39:37.719Z,1657741177.719 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE 2022-07-13T19:39:38.048Z,1657741178.048 [CommandExec](FAULT): Scheduling is paused 2022-07-13T19:39:38.691Z,1657741178.691 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-07-13T19:40:44.017Z,1657741244.017 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-07-13T19:46:59.436Z,1657741619.436 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2022-07-13T19:52:22.688Z,1657741942.688 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 12.726891 min 2022-07-13T19:52:24.295Z,1657741944.295 [NAL9602](FAULT): GPS failed to acquire within timeout. 2022-07-13T19:57:50.147Z,1657742270.147 [CommandExec](IMPORTANT): got command get latitude 2022-07-13T19:57:50.147Z,1657742270.147 [CommandExec](IMPORTANT): latitude 36.793501 arcdeg 2022-07-13T19:58:10.937Z,1657742290.937 [CommandExec](IMPORTANT): got command get longitude 2022-07-13T19:58:10.937Z,1657742290.937 [CommandExec](IMPORTANT): longitude -121.847822 arcdeg 2022-07-13T20:02:51.963Z,1657742571.963 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 23.214386 min 2022-07-13T20:08:37.341Z,1657742917.341 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 28.970841 min 2022-07-13T20:09:44.532Z,1657742984.532 [DataOverHttps](IMPORTANT): SBD MTMSN=20220713T200943 2022-07-13T20:09:52.323Z,1657742992.323 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/HotBunking/relief_vehicle.xml;set reliefVehicle.MissionTimeout 0.75 h;set reliefVehicle.MaxDepth 45 m;set reliefVehicle.Lat 36.797 degree;set reliefVehicle.Lon -121.847 degree" 4gtbf 1 2.000000 2022-07-13T20:09:52.323Z,1657742992.323 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4gtbf 2022-07-13T20:09:52.324Z,1657742992.324 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='4gtbf'): "load Engineering/HotBunking/relief_vehicle.xml;set reliefVehicle.MissionTimeout 0.75 h;set reliefVehicle.MaxDepth 45 m;set reliefVehicle.Lat 36.797 degree;set reliefVehicle.Lon -121.847 degree", ASAP 2022-07-13T20:09:53.231Z,1657742993.231 [DataOverHttps](IMPORTANT): SBD MTMSN=20220713T200952 2022-07-13T20:10:00.778Z,1657743000.778 [CommandExec](IMPORTANT): got command schedule asap "set reliefVehicle.FinalApproachSpeed 0.8 m/s;set reliefVehicle.SuccessRange 20.0 m;set reliefVehicle.TrackingUpdatePeriod 5 s;set reliefVehicle.HoldDuration 3 min;run" 4gtbf 2 2.000000 2022-07-13T20:10:00.778Z,1657743000.778 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4gtbf 2022-07-13T20:10:00.779Z,1657743000.779 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='4gtbf'): "set reliefVehicle.FinalApproachSpeed 0.8 m/s;set reliefVehicle.SuccessRange 20.0 m;set reliefVehicle.TrackingUpdatePeriod 5 s;set reliefVehicle.HoldDuration 3 min;run", ASAP 2022-07-13T20:10:00.936Z,1657743000.936 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/HotBunking/relief_vehicle.xml 2022-07-13T20:10:02.905Z,1657743002.905 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/HotBunking/relief_vehicle.xml 2022-07-13T20:10:15.560Z,1657743015.560 [CommandExec](IMPORTANT): got command set reliefVehicle.MissionTimeout 0.75 hour 2022-07-13T20:10:15.561Z,1657743015.561 [CommandExec](IMPORTANT): got command set reliefVehicle.MaxDepth 45 meter 2022-07-13T20:10:15.561Z,1657743015.561 [CommandExec](IMPORTANT): got command set reliefVehicle.Lat 36.797 degree 2022-07-13T20:10:15.566Z,1657743015.566 [CommandExec](IMPORTANT): got command set reliefVehicle.Lon -121.847 degree 2022-07-13T20:10:39.604Z,1657743039.604 [CommandExec](IMPORTANT): got command set reliefVehicle.FinalApproachSpeed 0.8 meter_per_second 2022-07-13T20:10:39.605Z,1657743039.605 [CommandExec](IMPORTANT): got command set reliefVehicle.SuccessRange 20.0 meter 2022-07-13T20:10:39.606Z,1657743039.606 [CommandExec](IMPORTANT): got command set reliefVehicle.TrackingUpdatePeriod 5 second 2022-07-13T20:10:39.607Z,1657743039.607 [CommandExec](IMPORTANT): got command set reliefVehicle.HoldDuration 3 minute 2022-07-13T20:10:39.607Z,1657743039.607 [CommandExec](IMPORTANT): got command run 2022-07-13T20:10:39.610Z,1657743039.610 [CommandExec](IMPORTANT): Running 2022-07-13T20:10:39.717Z,1657743039.717 [MissionManager](IMPORTANT): Started mission reliefVehicle 2022-07-13T20:13:26.139Z,1657743206.139 [reliefVehicle:HotBunkHomingSequence:MidcourseGuidance:guide:D.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2022-07-13T20:13:26.139Z,1657743206.139 [reliefVehicle:HotBunkHomingSequence:A](IMPORTANT): Initiating homing sequence. 2022-07-13T20:14:41.322Z,1657743281.322 [BuoyancyServo](FAULT): Overload Error 2022-07-13T20:19:49.213Z,1657743589.213 [reliefVehicle:HotBunkHomingSequence:MidcourseGuidance:guide:D.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000 2022-07-13T20:23:00.785Z,1657743780.785 [reliefVehicle:HotBunkHomingSequence:MidcourseGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to terminal guidance at range 647.099976 m 2022-07-13T20:23:01.971Z,1657743781.971 [reliefVehicle:HotBunkHomingSequence:TerminalGuidance:A](IMPORTANT): Entering Terminal guidance. 2022-07-13T20:35:21.114Z,1657744521.114 [reliefVehicle:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 18.799999 m . 2022-07-13T20:35:23.126Z,1657744523.126 [reliefVehicle:HotBunkHomingSequence:TerminalGuidance:TellSamplingVehicleToGoAway:B](IMPORTANT): Telling sampling vehicle to go away. 2022-07-13T20:35:23.511Z,1657744523.511 [reliefVehicle:HotBunkHomingSequence:TerminalGuidance:TellSamplingVehicleToGoAway:D](IMPORTANT): Setting HomingActive to False. 2022-07-13T20:36:07.239Z,1657744567.239 [reliefVehicle:HotBunkHomingSequence:TerminalGuidance:TellSamplingVehicleToGoAway:RespondToAcousticMsg:A](IMPORTANT): Setting GuidanceMode to Success 2022-07-13T20:36:08.357Z,1657744568.357 [reliefVehicle:P](IMPORTANT): Transition to hold at range: 18.799999 m . 2022-07-13T20:39:09.758Z,1657744749.758 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-07-13T20:39:58.263Z,1657744798.263 [DAT](FAULT): failed to enter command mode 2022-07-13T20:40:19.518Z,1657744819.518 [BuoyancyServo](FAULT): Overload Error 2022-07-13T20:40:24.857Z,1657744824.857 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-07-13T20:49:33.396Z,1657745373.396 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.387181 min 2022-07-13T20:52:43.903Z,1657745563.903 [DataOverHttps](IMPORTANT): SBD MTMSN=20220713T205242