2025-05-12T22:30:40.831Z,1747089040.831 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2025-05-12T22:30:45.800Z,1747089045.800 [SBIT](IMPORTANT): git: 2025-05-12_B 2025-05-12T22:30:45.801Z,1747089045.801 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-05-12T22:30:45.971Z,1747089045.971 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-05-12T22:30:50.219Z,1747089050.219 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213 2025-05-12T22:31:06.402Z,1747089066.402 [SBIT](IMPORTANT): Beginning Startup BIT 2025-05-12T22:31:06.412Z,1747089066.412 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-05-12T22:31:10.924Z,1747089070.924 [GFScanner](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): -0.002548 CHAN A1 (24V): 0.003417 CHAN A2 (12V): -0.006108 CHAN A3 (5V): -0.020494 CHAN B0 (3.3V): -0.003059 CHAN B1 (3.15aV): -0.002003 CHAN B2 (3.15bV): -0.001546 CHAN B3 (GND): -0.003865 OPEN: 0.012159 Full Scale: +/- 1 mA 2025-05-12T22:32:00.572Z,1747089120.572 [SBIT](IMPORTANT): SBIT PASSED 2025-05-12T22:32:00.573Z,1747089120.573 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2025-05-12T22:32:00.573Z,1747089120.573 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=5 count; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=1 bool; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): ThrusterHE.bestEffortMode=0 bool; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=100 cubic_centimeter; 2025-05-12T22:32:00.574Z,1747089120.574 [SBIT](IMPORTANT): VerticalControl.massDefault=0 centimeter; 2025-05-12T22:32:00.984Z,1747089120.984 [MissionManager](IMPORTANT): Started mission Startup 2025-05-12T22:33:43.396Z,1747089223.396 [DataOverHttps](IMPORTANT): SBD MOMSN=24856422, MTMSN=20250512T223342 2025-05-12T22:33:50.943Z,1747089230.943 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.tl 2025-05-12T22:34:07.956Z,1747089247.956 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.tl id=ballast_and_trim 2025-05-12T22:34:08.318Z,1747089248.318 [MissionManager](IMPORTANT): Started mission Default 2025-05-12T22:34:27.328Z,1747089267.328 [CommandExec](IMPORTANT): got command set ballast_and_trim.ApproachDepthTimeout 10 minute 2025-05-12T22:34:27.329Z,1747089267.329 [CommandExec](IMPORTANT): got command set ballast_and_trim:StandardEnvelopes.MaxDepthIgnore 45 meter 2025-05-12T22:34:27.330Z,1747089267.330 [CommandExec](IMPORTANT): got command run 2025-05-12T22:34:27.335Z,1747089267.335 [CommandExec](IMPORTANT): Running 2025-05-12T22:34:27.650Z,1747089267.650 [MissionManager](IMPORTANT): Started mission ballast_and_trim 2025-05-12T22:40:30.678Z,1747089630.678 [CommandExec](IMPORTANT): got command show stack 2025-05-12T22:40:30.678Z,1747089630.678 [CommandExec](IMPORTANT): Behavior Stack: 2025-05-12T22:40:30.680Z,1747089630.680 [ballast_and_trim:Science](IMPORTANT): Priority 0: ballast_and_trim:Science:B 2025-05-12T22:40:30.681Z,1747089630.681 [ballast_and_trim:Science](IMPORTANT): Priority 1: ballast_and_trim:Science:C 2025-05-12T22:40:30.681Z,1747089630.681 [ballast_and_trim:Science](IMPORTANT): Priority 2: ballast_and_trim:Science:E 2025-05-12T22:40:30.681Z,1747089630.681 [ballast_and_trim:Science:OceanCurrent](IMPORTANT): Priority 3: ballast_and_trim:Science:OceanCurrent:A. 2025-05-12T22:40:30.682Z,1747089630.682 [ballast_and_trim:StandardEnvelopes](IMPORTANT): Priority 4: ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope 2025-05-12T22:40:30.682Z,1747089630.682 [ballast_and_trim:StandardEnvelopes](IMPORTANT): Priority 5: ballast_and_trim:StandardEnvelopes:B.DepthEnvelope 2025-05-12T22:40:30.682Z,1747089630.682 [ballast_and_trim:StandardEnvelopes](IMPORTANT): Priority 6: ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope 2025-05-12T22:40:30.682Z,1747089630.682 [ballast_and_trim:BackseatDriver](IMPORTANT): Priority 7: ballast_and_trim:BackseatDriver:A.BackseatDriver 2025-05-12T22:40:30.683Z,1747089630.683 [ballast_and_trim:PowerOnly](IMPORTANT): Priority 8: ballast_and_trim:PowerOnly:E.Wait 2025-05-12T22:40:30.689Z,1747089630.689 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](IMPORTANT): Priority 9: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A 2025-05-12T22:40:30.689Z,1747089630.689 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](IMPORTANT): Priority 10: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B 2025-05-12T22:40:30.689Z,1747089630.689 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](IMPORTANT): Priority 11: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C 2025-05-12T22:40:30.690Z,1747089630.690 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](IMPORTANT): Priority 12: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D 2025-05-12T22:40:30.690Z,1747089630.690 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](IMPORTANT): Priority 13: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E 2025-05-12T22:40:30.690Z,1747089630.690 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](IMPORTANT): Priority 14: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A 2025-05-12T22:40:30.690Z,1747089630.690 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](IMPORTANT): Priority 15: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point 2025-05-12T22:40:30.691Z,1747089630.691 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](IMPORTANT): Priority 16: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy 2025-05-12T22:40:30.691Z,1747089630.691 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](IMPORTANT): Priority 17: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch 2025-05-12T22:40:30.691Z,1747089630.691 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](IMPORTANT): Priority 18: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed 2025-05-12T22:40:30.691Z,1747089630.691 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](IMPORTANT): Priority 19: ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch 2025-05-12T22:40:39.256Z,1747089639.256 [CommandExec](IMPORTANT): got command get SpeedControl.speedCmd 2025-05-12T22:40:39.257Z,1747089639.257 [CommandExec](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s 2025-05-12T22:41:36.801Z,1747089696.801 [CommandExec](IMPORTANT): got command get platform_buoyancy_position 2025-05-12T22:41:36.802Z,1747089696.802 [CommandExec](IMPORTANT): platform_buoyancy_position 107.698509 cc 2025-05-12T22:41:47.353Z,1747089707.353 [CommandExec](IMPORTANT): got command get platform_pitch_angle degree 2025-05-12T22:41:47.353Z,1747089707.353 [CommandExec](IMPORTANT): platform_pitch_angle 5.503699 arcdeg 2025-05-12T22:41:58.208Z,1747089718.208 [CommandExec](IMPORTANT): got command get platform_elevator_angle degree 2025-05-12T22:41:58.212Z,1747089718.212 [CommandExec](IMPORTANT): platform_elevator_angle 15.045625 arcdeg 2025-05-12T22:42:14.833Z,1747089734.833 [CommandExec](IMPORTANT): got command get ThrusterHE.component_avgCurrent 2025-05-12T22:42:14.834Z,1747089734.834 [CommandExec](IMPORTANT): ThrusterHE.component_avgCurrent 1042.280029 mA 2025-05-12T22:42:44.920Z,1747089764.920 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 0.5 centimeter persist 2025-05-12T22:42:55.224Z,1747089775.224 [CommandExec](IMPORTANT): got command get platform_mass_position centimeter 2025-05-12T22:42:55.225Z,1747089775.225 [CommandExec](IMPORTANT): platform_mass_position 0.500146 cm 2025-05-12T22:42:58.539Z,1747089778.539 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T224257 2025-05-12T22:43:03.746Z,1747089783.746 [CommandExec](IMPORTANT): got command failComponent hardware ElevatorServo 2025-05-12T22:43:03.748Z,1747089783.748 [CommandExec](IMPORTANT): ElevatorServo failureMode is Hardware Fault 2025-05-12T22:43:07.398Z,1747089787.398 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 0.5 centimeter persist 2025-05-12T22:44:11.336Z,1747089851.336 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 0.75 centimeter persist 2025-05-12T22:44:33.664Z,1747089873.664 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 1.25 centimeter persist 2025-05-12T22:45:48.480Z,1747089948.480 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A](IMPORTANT): Timed out trying to reach the target depth. Stopping mission at current depth of 7.030892 m 2025-05-12T22:45:48.886Z,1747089948.886 [CommandExec](IMPORTANT): got command stop 2025-05-12T22:45:48.886Z,1747089948.886 [CommandExec](IMPORTANT): Scheduling is paused 2025-05-12T22:45:49.287Z,1747089949.287 [MissionManager](IMPORTANT): Started mission Default 2025-05-12T22:50:30.043Z,1747090230.043 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T225029 2025-05-12T22:50:37.981Z,1747090237.981 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.tl 2025-05-12T22:50:50.707Z,1747090250.707 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.tl id=ballast_and_trim 2025-05-12T22:51:03.756Z,1747090263.756 [CommandExec](IMPORTANT): got command set ballast_and_trim.ApproachDepthTimeout 10 minute 2025-05-12T22:51:03.756Z,1747090263.756 [CommandExec](IMPORTANT): got command set ballast_and_trim:StandardEnvelopes.MaxDepthIgnore 45 meter 2025-05-12T22:51:03.757Z,1747090263.757 [CommandExec](IMPORTANT): got command run 2025-05-12T22:51:03.759Z,1747090263.759 [CommandExec](IMPORTANT): Running 2025-05-12T22:51:04.121Z,1747090264.121 [MissionManager](IMPORTANT): Started mission ballast_and_trim 2025-05-12T22:57:41.395Z,1747090661.395 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T225740 2025-05-12T22:57:49.863Z,1747090669.863 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 1.5 centimeter persist 2025-05-12T23:02:03.133Z,1747090923.133 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A](IMPORTANT): Timed out trying to reach the target depth. Stopping mission at current depth of 22.736961 m 2025-05-12T23:02:03.534Z,1747090923.534 [CommandExec](IMPORTANT): got command stop 2025-05-12T23:02:04.310Z,1747090924.310 [MissionManager](IMPORTANT): Started mission Default 2025-05-12T23:08:21.318Z,1747091301.318 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T230820 2025-05-12T23:08:28.878Z,1747091308.878 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.tl 2025-05-12T23:08:43.554Z,1747091323.554 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.tl 2025-05-12T23:08:43.721Z,1747091323.721 [MissionManager](IMPORTANT): Started mission ballast_and_trim 2025-05-12T23:14:45.769Z,1747091685.769 [ElevatorServo](FAULT): Overload Error 2025-05-12T23:16:28.385Z,1747091788.385 [ElevatorServo](FAULT): Overload Error 2025-05-12T23:17:09.986Z,1747091829.986 [ElevatorServo](FAULT): Overload Error 2025-05-12T23:17:10.773Z,1747091830.773 [ElevatorServo](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated. 2025-05-12T23:17:56.056Z,1747091876.056 [ElevatorServo](FAULT): Overload Error 2025-05-12T23:18:39.681Z,1747091919.681 [ElevatorServo](FAULT): Overload Error 2025-05-12T23:28:43.273Z,1747092523.273 [CommandExec](IMPORTANT): got command gfscan 2025-05-12T23:28:43.647Z,1747092523.647 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-05-12T23:28:48.078Z,1747092528.078 [GFScanner](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): -0.002928 CHAN A1 (24V): 0.003100 CHAN A2 (12V): -0.008021 CHAN A3 (5V): -0.045862 CHAN B0 (3.3V): -0.004204 CHAN B1 (3.15aV): -0.002394 CHAN B2 (3.15bV): -0.002067 CHAN B3 (GND): -0.011924 OPEN: 0.012015 Full Scale: +/- 1 mA 2025-05-12T23:38:44.374Z,1747093124.374 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): BallastAndTrim completed. Estimation time: 10.01 minutes. 2025-05-12T23:38:44.375Z,1747093124.375 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated buoyancyNeutral: 245.826411 +/- 10.572442 cc (conf. level 98.00%, sigma: 56.282713 cc). 2025-05-12T23:38:44.375Z,1747093124.375 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated massDefault: 36.203649 +/- 0.113222 mm (conf. level 98.00%, sigma: 0.602742 mm). 2025-05-12T23:38:44.376Z,1747093124.376 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Changing persisted config values to: 245.826411 cc buoyancy neutral and 36.203649 mm mass default 2025-05-12T23:38:44.386Z,1747093124.386 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2025-05-12T23:38:44.387Z,1747093124.387 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): BPC1.batteryMissingStickThreshold=5 count; 2025-05-12T23:38:44.387Z,1747093124.387 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): CBIT.runNavErrorCritical=1 bool; 2025-05-12T23:38:44.388Z,1747093124.388 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): DVL_micro.loadAtStartup=0 bool; 2025-05-12T23:38:44.389Z,1747093124.389 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): ESPComponent.sampleTimeout=5 minute; 2025-05-12T23:38:44.390Z,1747093124.390 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter; 2025-05-12T23:38:44.390Z,1747093124.390 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): GFScanner.loadAtStartup=1 bool; 2025-05-12T23:38:44.391Z,1747093124.391 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): GFScanner.simulateHardware=0 bool; 2025-05-12T23:38:44.392Z,1747093124.392 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): ThrusterHE.bestEffortMode=0 bool; 2025-05-12T23:38:44.392Z,1747093124.392 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.buoyancyNeutral=245.826411 cubic_centimeter; 2025-05-12T23:38:44.393Z,1747093124.393 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.massDefault=36.203649 millimeter; 2025-05-12T23:43:19.496Z,1747093399.496 [MissionManager](IMPORTANT): Started mission Default 2025-05-12T23:46:11.334Z,1747093571.334 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T234610