2019-11-14T17:05:26.647Z,1573751126.647 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2019-11-14T17:05:31.082Z,1573751131.082 [SBIT](IMPORTANT): git: 2019-11-13-1-gb1f3d2a 2019-11-14T17:05:31.083Z,1573751131.083 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2019-11-14T17:05:32.611Z,1573751132.611 [RudderServo](FAULT): Rudder failed to initialize 2019-11-14T17:06:05.522Z,1573751165.522 [SBIT](IMPORTANT): Beginning Startup BIT 2019-11-14T17:06:05.529Z,1573751165.529 [CBIT](IMPORTANT): Beginning ground fault scan 2019-11-14T17:06:16.767Z,1573751176.767 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.017195 CHAN A1 (24V): -0.023738 CHAN A2 (12V): -0.005488 CHAN A3 (5V): -0.002033 CHAN B0 (3.3V): 0.000155 CHAN B1 (3.15aV): 0.000161 CHAN B2 (3.15bV): 0.000155 CHAN B3 (GND): 0.001753 OPEN: 0.006436 Full Scale Calc: 4.765 mA, -1.589 mA 2019-11-14T17:06:58.918Z,1573751218.918 [SBIT](IMPORTANT): SBIT PASSED 2019-11-14T17:06:58.964Z,1573751218.964 [CommandLine](IMPORTANT): got command configSet list 2019-11-14T17:06:58.964Z,1573751218.964 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2019-11-14T17:06:58.965Z,1573751218.965 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool; 2019-11-14T17:06:58.965Z,1573751218.965 [CommandLine](IMPORTANT): DDM.verbosity=3 count; 2019-11-14T17:06:58.965Z,1573751218.965 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=80 count; 2019-11-14T17:06:58.965Z,1573751218.965 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond; 2019-11-14T17:06:58.965Z,1573751218.965 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter; 2019-11-14T17:06:58.965Z,1573751218.965 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 degree; 2019-11-14T17:06:58.965Z,1573751218.965 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 2.000000 meter; 2019-11-14T17:06:58.966Z,1573751218.966 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second; 2019-11-14T17:06:58.966Z,1573751218.966 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none; 2019-11-14T17:06:58.966Z,1573751218.966 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree; 2019-11-14T17:06:58.966Z,1573751218.966 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second; 2019-11-14T17:06:58.966Z,1573751218.966 [CommandLine](IMPORTANT): RDI_Pathfinder.loadAtStartup=1 bool; 2019-11-14T17:06:58.966Z,1573751218.966 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=250 cubic_centimeter; 2019-11-14T17:06:58.966Z,1573751218.966 [CommandLine](IMPORTANT): VerticalControl.massDefault=3.6 millimeter; 2019-11-14T17:06:59.319Z,1573751219.319 [MissionManager](IMPORTANT): Started mission Startup 2019-11-14T17:08:37.485Z,1573751317.485 [MissionManager](IMPORTANT): Started mission Default 2019-11-14T17:11:43.382Z,1573751503.382 [DataOverHttps](IMPORTANT): SBD MOMSN=11999709, MTMSN=20191114T171140 2019-11-14T17:11:51.187Z,1573751511.187 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 1 hour;set lineCaptureHoming.DockLat 36.80858 degree;set lineCaptureHoming.DockLon -121.82379 degree;set lineCaptureHoming.TerminalRange 500 meter" r938 1 3.000000 2019-11-14T17:11:51.188Z,1573751511.188 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=r938 2019-11-14T17:11:51.189Z,1573751511.189 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 3 with id='r938'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 1 hour;set lineCaptureHoming.DockLat 36.80858 degree;set lineCaptureHoming.DockLon -121.82379 degree;set lineCaptureHoming.TerminalRange 500 meter" ASAP 2019-11-14T17:11:53.169Z,1573751513.169 [DataOverHttps](IMPORTANT): SBD MTMSN=20191114T171150 2019-11-14T17:12:01.208Z,1573751521.208 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.CameraRange 30 meter;set lineCaptureHoming.HoldAltitude 6.5 meter;set lineCaptureHoming.InvalidAltitudeTimeout 30 minute;set lineCaptureHoming.InitDepth 80 meter" r938 2 3.000000 2019-11-14T17:12:01.208Z,1573751521.208 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=r938 2019-11-14T17:12:01.209Z,1573751521.209 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 3 with id='r938'): "set lineCaptureHoming.CameraRange 30 meter;set lineCaptureHoming.HoldAltitude 6.5 meter;set lineCaptureHoming.InvalidAltitudeTimeout 30 minute;set lineCaptureHoming.InitDepth 80 meter" ASAP 2019-11-14T17:12:03.184Z,1573751523.184 [DataOverHttps](IMPORTANT): SBD MTMSN=20191114T171200 2019-11-14T17:12:11.155Z,1573751531.155 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.MaxDepth 90 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " r938 3 3.000000 2019-11-14T17:12:11.156Z,1573751531.156 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=r938 2019-11-14T17:12:11.158Z,1573751531.158 [CommandLine](IMPORTANT): Scheduled #3 (#3 of 3 with id='r938'): "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.MaxDepth 90 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " ASAP 2019-11-14T17:12:11.231Z,1573751531.231 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml 2019-11-14T17:12:12.707Z,1573751532.707 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml 2019-11-14T17:12:21.358Z,1573751541.358 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 1.000000 hour 2019-11-14T17:12:21.359Z,1573751541.359 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.808578 degree 2019-11-14T17:12:21.360Z,1573751541.360 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.823792 degree 2019-11-14T17:12:21.361Z,1573751541.361 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TerminalRange 500.000000 meter 2019-11-14T17:12:29.318Z,1573751549.318 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 30.000000 meter 2019-11-14T17:12:29.319Z,1573751549.319 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 6.500000 meter 2019-11-14T17:12:29.321Z,1573751549.321 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 30.000000 minute 2019-11-14T17:12:29.322Z,1573751549.322 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 80.000000 meter 2019-11-14T17:12:35.963Z,1573751555.963 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.500000 second 2019-11-14T17:12:35.965Z,1573751555.965 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 90.000000 meter 2019-11-14T17:12:35.965Z,1573751555.965 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 1.000000 kilometer 2019-11-14T17:12:35.966Z,1573751555.966 [CommandLine](IMPORTANT): got command run 2019-11-14T17:12:35.968Z,1573751555.968 [CommandLine](IMPORTANT): Running 2019-11-14T17:12:36.105Z,1573751556.105 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2019-11-14T17:13:37.617Z,1573751617.617 [CommandLine](IMPORTANT): got command show best height_above_sea_floor 2019-11-14T17:13:37.617Z,1573751617.617 [CommandLine](IMPORTANT): height_above_sea_floor best is null 2019-11-14T17:13:45.489Z,1573751625.489 [CommandLine](IMPORTANT): got command get RDI_Pathfinder.loadAtStartup 2019-11-14T17:13:45.489Z,1573751625.489 [CommandLine](IMPORTANT): RDI_Pathfinder.loadAtStartup 1 bool 2019-11-14T17:13:51.836Z,1573751631.836 [CommandLine](IMPORTANT): got command show variable range 2019-11-14T17:13:51.838Z,1573751631.838 [CommandLine](IMPORTANT): acoustic_contact_range (meter) 2019-11-14T17:13:51.933Z,1573751631.933 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter) 2019-11-14T17:13:51.933Z,1573751631.933 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter) 2019-11-14T17:13:51.951Z,1573751631.951 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter) 2019-11-14T17:13:51.952Z,1573751631.952 [CommandLine](IMPORTANT): Micromodem.range_request (count) 2019-11-14T17:13:51.953Z,1573751631.953 [CommandLine](IMPORTANT): Micromodem.range (meter) 2019-11-14T17:13:51.956Z,1573751631.956 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter) 2019-11-14T17:13:51.956Z,1573751631.956 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter) 2019-11-14T17:13:51.956Z,1573751631.956 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter) 2019-11-14T17:13:51.957Z,1573751631.957 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter) 2019-11-14T17:13:52.063Z,1573751632.063 [CommandLine](IMPORTANT): lineCaptureHoming.TerminalRange (meter) 2019-11-14T17:13:52.097Z,1573751632.097 [CommandLine](IMPORTANT): lineCaptureHoming.CameraRange (meter) 2019-11-14T17:13:52.097Z,1573751632.097 [CommandLine](IMPORTANT): lineCaptureHoming.DockRange (meter) 2019-11-14T17:13:52.132Z,1573751632.132 [CommandLine](IMPORTANT): TrackAcousticContact.range_to_contact (meter) 2019-11-14T17:14:01.942Z,1573751641.942 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range 2019-11-14T17:15:11.720Z,1573751711.720 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence. 2019-11-14T17:15:12.926Z,1573751712.926 [lineCaptureHoming:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 378.119995 m . 2019-11-14T17:25:15.339Z,1573752315.339 [lineCaptureHoming:Lap:TerminalGuidance:F.TerminalGuidance](IMPORTANT): Armed for intercept at range: 26.04 m. 2019-11-14T17:45:11.926Z,1573753511.926 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch:A_Timeout:A](IMPORTANT): Timed out at current depth of 40.328594 m . Switching to altitude servo. 2019-11-14T17:45:12.746Z,1573753512.746 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](CRITICAL): Failed to read a valid altitude measurement within specified timeout. 2019-11-14T17:45:12.777Z,1573753512.777 [CommandLine](FAULT): Scheduling is paused 2019-11-14T17:45:13.567Z,1573753513.567 [MissionManager](IMPORTANT): Started mission Default 2019-11-14T17:45:14.247Z,1573753514.247 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2019-11-14T17:55:55.660Z,1573754155.660 [DataOverHttps](IMPORTANT): SBD MTMSN=20191114T175553