2023-11-14T04:08:52.999Z,1699934932.999 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2023-11-14T04:08:56.444Z,1699934936.444 [SBIT](IMPORTANT): git: 2023-11-13_A 2023-11-14T04:08:56.445Z,1699934936.445 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2023-11-14T04:08:56.647Z,1699934936.647 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/underIce/DefaultWithUndock.tx 2023-11-14T04:08:57.302Z,1699934937.302 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2023-11-14T04:09:00.794Z,1699934940.794 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207 2023-11-14T04:10:44.201Z,1699935044.201 [SBIT](IMPORTANT): Beginning Startup BIT 2023-11-14T04:10:44.226Z,1699935044.226 [CBIT](IMPORTANT): Beginning ground fault scan 2023-11-14T04:10:55.241Z,1699935055.241 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.939447 CHAN A1 (24V): 0.841749 CHAN A2 (12V): 0.957659 CHAN A3 (5V): 0.787475 CHAN B0 (3.3V): 0.513634 CHAN B1 (3.15aV): 0.789993 CHAN B2 (3.15bV): 0.786472 CHAN B3 (GND): -0.000713 OPEN: 0.024331 Full Scale: +/- 1 mA 2023-11-14T04:10:57.316Z,1699935057.316 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.690641 2023-11-14T04:11:23.903Z,1699935083.903 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.625384 2023-11-14T04:11:23.903Z,1699935083.903 [SBIT](FAULT): Control surface position failure. 2023-11-14T04:11:37.931Z,1699935097.931 [SBIT](CRITICAL): SBIT FAILED 2023-11-14T04:11:37.931Z,1699935097.931 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2023-11-14T04:11:37.932Z,1699935097.932 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2023-11-14T04:11:37.932Z,1699935097.932 [SBIT](IMPORTANT): DAT.missionCritical=1 bool; 2023-11-14T04:11:37.932Z,1699935097.932 [SBIT](IMPORTANT): DAT.verbosity=1 count; 2023-11-14T04:11:37.932Z,1699935097.932 [SBIT](IMPORTANT): DockingStepper.slideValue=9000 count; 2023-11-14T04:11:37.933Z,1699935097.933 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2023-11-14T04:11:37.933Z,1699935097.933 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute; 2023-11-14T04:11:37.933Z,1699935097.933 [SBIT](IMPORTANT): Express linearApproximation CurrentEstimator.current_direction_navigation_frame 10.000000 degree; 2023-11-14T04:11:37.933Z,1699935097.933 [SBIT](IMPORTANT): Express linearApproximation CurrentEstimator.current_speed_navigation_frame 0.250000 meter_per_second; 2023-11-14T04:11:37.933Z,1699935097.933 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2023-11-14T04:11:37.933Z,1699935097.933 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter; 2023-11-14T04:11:37.933Z,1699935097.933 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2023-11-14T04:11:37.934Z,1699935097.934 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=10 minute; 2023-11-14T04:11:37.934Z,1699935097.934 [SBIT](IMPORTANT): LineCapture.searchTimeout=15 minute; 2023-11-14T04:11:37.934Z,1699935097.934 [SBIT](IMPORTANT): LineCapture.shortFinalRange=10 meter; 2023-11-14T04:11:37.934Z,1699935097.934 [SBIT](IMPORTANT): RudderServo.offsetAngle=2.5 degree; 2023-11-14T04:11:37.934Z,1699935097.934 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=378.572158 cubic_centimeter; 2023-11-14T04:11:37.934Z,1699935097.934 [SBIT](IMPORTANT): VerticalControl.massDefault=21.750844 millimeter; 2023-11-14T04:11:37.936Z,1699935097.936 [CommandExec](FAULT): Scheduling is paused 2023-11-14T04:11:38.350Z,1699935098.350 [MissionManager](IMPORTANT): Started mission Startup 2023-11-14T04:13:39.051Z,1699935219.051 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2023-11-14T04:14:58.548Z,1699935298.548 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2023-11-14T04:17:14.628Z,1699935434.628 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T041626 2023-11-14T04:17:22.373Z,1699935442.373 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 2 count" 3v7uy 1 6.000000 2023-11-14T04:17:22.374Z,1699935442.374 [CommandExec](IMPORTANT): Scheduling command #1 of 6 with id=3v7uy 2023-11-14T04:17:22.375Z,1699935442.375 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 6 with id='3v7uy'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 2 count", ASAP 2023-11-14T04:17:23.359Z,1699935443.359 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T041635 2023-11-14T04:17:31.341Z,1699935451.341 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 90 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min" 3v7uy 2 6.000000 2023-11-14T04:17:31.342Z,1699935451.342 [CommandExec](IMPORTANT): Scheduling command #2 of 6 with id=3v7uy 2023-11-14T04:17:31.343Z,1699935451.343 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 6 with id='3v7uy'): "set lineCaptureHoming.WaitOnDockTimeout 90 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min", ASAP 2023-11-14T04:17:32.299Z,1699935452.299 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T041644 2023-11-14T04:17:40.313Z,1699935460.313 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.SlideCloseDuration 5 min;set lineCaptureHoming.SlideDriveDuration 10 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s" 3v7uy 3 6.000000 2023-11-14T04:17:40.313Z,1699935460.313 [CommandExec](IMPORTANT): Scheduling command #3 of 6 with id=3v7uy 2023-11-14T04:17:40.314Z,1699935460.314 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 6 with id='3v7uy'): "set lineCaptureHoming.SlideCloseDuration 5 min;set lineCaptureHoming.SlideDriveDuration 10 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s", ASAP 2023-11-14T04:17:41.243Z,1699935461.243 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T041653 2023-11-14T04:17:49.369Z,1699935469.369 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 s;set lineCaptureHoming.DockingAltitude 7.4 m" 3v7uy 4 6.000000 2023-11-14T04:17:49.370Z,1699935469.370 [CommandExec](IMPORTANT): Scheduling command #4 of 6 with id=3v7uy 2023-11-14T04:17:49.371Z,1699935469.371 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 6 with id='3v7uy'): "set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 s;set lineCaptureHoming.DockingAltitude 7.4 m", ASAP 2023-11-14T04:17:50.364Z,1699935470.364 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T041702 2023-11-14T04:17:58.110Z,1699935478.110 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min" 3v7uy 5 6.000000 2023-11-14T04:17:58.110Z,1699935478.110 [CommandExec](IMPORTANT): Scheduling command #5 of 6 with id=3v7uy 2023-11-14T04:17:58.111Z,1699935478.111 [CommandExec](IMPORTANT): Scheduled #5 (#5 of 6 with id='3v7uy'): "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min", ASAP 2023-11-14T04:17:59.062Z,1699935479.062 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T041711 2023-11-14T04:18:06.652Z,1699935486.652 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 3v7uy 6 6.000000 2023-11-14T04:18:06.652Z,1699935486.652 [CommandExec](IMPORTANT): Scheduling command #6 of 6 with id=3v7uy 2023-11-14T04:18:06.653Z,1699935486.653 [CommandExec](IMPORTANT): Scheduled #6 (#6 of 6 with id='3v7uy'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP 2023-11-14T04:18:06.779Z,1699935486.779 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl 2023-11-14T04:18:06.780Z,1699935486.780 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx 2023-11-14T04:18:07.502Z,1699935487.502 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/Science.tx 2023-11-14T04:18:09.101Z,1699935489.101 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-11-14T04:18:09.246Z,1699935489.246 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx 2023-11-14T04:18:09.506Z,1699935489.506 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx 2023-11-14T04:18:09.558Z,1699935489.558 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx 2023-11-14T04:18:10.408Z,1699935490.408 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-11-14T04:18:11.228Z,1699935491.228 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx 2023-11-14T04:18:11.664Z,1699935491.664 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl 2023-11-14T04:18:27.195Z,1699935507.195 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 2 hour 2023-11-14T04:18:27.196Z,1699935507.196 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 4 hour 2023-11-14T04:18:27.196Z,1699935507.196 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 9 hour 2023-11-14T04:18:27.197Z,1699935507.197 [CommandExec](IMPORTANT): got command set lineCaptureHoming.Repeat 2 count 2023-11-14T04:18:46.945Z,1699935526.945 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 90 minute 2023-11-14T04:18:46.945Z,1699935526.945 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool 2023-11-14T04:18:46.946Z,1699935526.946 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool 2023-11-14T04:18:46.947Z,1699935526.947 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 4 count 2023-11-14T04:18:46.947Z,1699935526.947 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 1 minute 2023-11-14T04:19:22.445Z,1699935562.445 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 5 minute 2023-11-14T04:19:22.445Z,1699935562.445 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideDriveDuration 10 minute 2023-11-14T04:19:22.446Z,1699935562.446 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryWiggle 0 bool 2023-11-14T04:19:22.447Z,1699935562.447 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryJog 1 bool 2023-11-14T04:19:22.447Z,1699935562.447 [CommandExec](IMPORTANT): got command set lineCaptureHoming.JogLength 10 second 2023-11-14T04:19:44.609Z,1699935584.609 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryWhirl 0 bool 2023-11-14T04:19:44.610Z,1699935584.610 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second 2023-11-14T04:19:44.611Z,1699935584.611 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 second 2023-11-14T04:19:44.611Z,1699935584.611 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.4 meter 2023-11-14T04:20:02.284Z,1699935602.284 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute 2023-11-14T04:20:02.285Z,1699935602.285 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 72 meter 2023-11-14T04:20:02.286Z,1699935602.286 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter 2023-11-14T04:20:02.286Z,1699935602.286 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 75 meter 2023-11-14T04:20:02.287Z,1699935602.287 [CommandExec](IMPORTANT): got command set lineCaptureHoming.ApproachDepthTimeout 10 minute 2023-11-14T04:20:11.344Z,1699935611.344 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none 2023-11-14T04:20:11.349Z,1699935611.349 [CommandExec](IMPORTANT): got command run 2023-11-14T04:20:11.358Z,1699935611.358 [CommandExec](IMPORTANT): Running 2023-11-14T04:20:11.541Z,1699935611.541 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2023-11-14T04:21:15.682Z,1699935675.682 [lineCaptureHoming:Y](IMPORTANT): Restarting logs