2021-12-02T17:46:40.325Z,1638467200.325 [CommandExec](IMPORTANT): got command restart logs 2021-12-02T17:47:41.369Z,1638467261.369 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 24.091095 min 2021-12-02T17:47:42.869Z,1638467262.869 [DataOverHttps](IMPORTANT): SBD MTMSN=20211202T174741 2021-12-02T17:47:52.155Z,1638467272.155 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 45 min;set ballast_and_trim.Depth1 20 m;set ballast_and_trim.EstimationTimeout 25 min;set ballast_and_trim.MassEstimationErrorBound 0.5 mm" 3a1f7 1 2.000000 2021-12-02T17:47:52.156Z,1638467272.156 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3a1f7 2021-12-02T17:47:52.157Z,1638467272.157 [CommandExec](IMPORTANT): Scheduled #55 (#1 of 2 with id='3a1f7'): "load Maintenance/ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 45 min;set ballast_and_trim.Depth1 20 m;set ballast_and_trim.EstimationTimeout 25 min;set ballast_and_trim.MassEstimationErrorBound 0.5 mm", ASAP 2021-12-02T17:47:53.345Z,1638467273.345 [DataOverHttps](IMPORTANT): SBD MOMSN=16322868, MTMSN=20211202T174752 2021-12-02T17:48:01.860Z,1638467281.860 [CommandExec](IMPORTANT): got command schedule asap "set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 98 %;set ballast_and_trim.MaxDepth 30 m;set ballast_and_trim.MinOffshore 1 km;run" 3a1f7 2 2.000000 2021-12-02T17:48:01.861Z,1638467281.861 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3a1f7 2021-12-02T17:48:01.862Z,1638467281.862 [CommandExec](IMPORTANT): Scheduled #56 (#2 of 2 with id='3a1f7'): "set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 98 %;set ballast_and_trim.MaxDepth 30 m;set ballast_and_trim.MinOffshore 1 km;run", ASAP 2021-12-02T17:48:02.034Z,1638467282.034 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml 2021-12-02T17:48:07.849Z,1638467287.849 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml 2021-12-02T17:48:49.317Z,1638467329.317 [CommandExec](IMPORTANT): got command set ballast_and_trim.MissionTimeout 45.000000 minute 2021-12-02T17:48:49.318Z,1638467329.318 [CommandExec](IMPORTANT): got command set ballast_and_trim.Depth1 20.000000 meter 2021-12-02T17:48:49.351Z,1638467329.351 [CommandExec](IMPORTANT): got command set ballast_and_trim.EstimationTimeout 25.000000 minute 2021-12-02T17:48:49.352Z,1638467329.352 [CommandExec](IMPORTANT): got command set ballast_and_trim.MassEstimationErrorBound 0.500000 millimeter 2021-12-02T17:49:14.225Z,1638467354.225 [CommandExec](IMPORTANT): got command set ballast_and_trim.BuoyEstimationErrorBound 25.000000 cubic_centimeter 2021-12-02T17:49:14.226Z,1638467354.226 [CommandExec](IMPORTANT): got command set ballast_and_trim.EstimationConfidence 98.000000 percent 2021-12-02T17:49:14.240Z,1638467354.240 [CommandExec](IMPORTANT): got command set ballast_and_trim.MaxDepth 30.000000 meter 2021-12-02T17:49:14.241Z,1638467354.241 [CommandExec](IMPORTANT): got command set ballast_and_trim.MinOffshore 1.000000 kilometer 2021-12-02T17:49:14.241Z,1638467354.241 [CommandExec](IMPORTANT): got command run 2021-12-02T17:49:14.243Z,1638467354.243 [CommandExec](IMPORTANT): Running 2021-12-02T17:49:14.515Z,1638467354.515 [MissionManager](IMPORTANT): Started mission ballast_and_trim 2021-12-02T18:17:12.286Z,1638469032.286 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): BallastAndTrim completed. Estimation time: 10.01 minutes. 2021-12-02T18:17:12.287Z,1638469032.287 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): Estimated buoyancyNeutral: 175.670891 +/- 5.538852 cc (conf. level 98.00%, sigma: 29.161923 cc). 2021-12-02T18:17:12.288Z,1638469032.288 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): Estimated massDefault: -1.324180 +/- 0.048093 mm (conf. level 98.00%, sigma: 0.253210 mm). 2021-12-02T18:17:12.289Z,1638469032.289 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): Changing persisted config values to: 175.670891 cc buoyancy neutral and -1.324180 mm mass default 2021-12-02T18:17:12.298Z,1638469032.298 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2021-12-02T18:17:12.298Z,1638469032.298 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2021-12-02T18:17:12.299Z,1638469032.299 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): DAT.baud=115200 bit_per_second; 2021-12-02T18:17:12.299Z,1638469032.299 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): DAT.verbosity=3 count; 2021-12-02T18:17:12.299Z,1638469032.299 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): DockingServo.closedAngle=-17.5 degree; 2021-12-02T18:17:12.299Z,1638469032.299 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2021-12-02T18:17:12.299Z,1638469032.299 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): DockingServo.openAngle=14 degree; 2021-12-02T18:17:12.337Z,1638469032.337 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2021-12-02T18:17:12.337Z,1638469032.337 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree; 2021-12-02T18:17:12.337Z,1638469032.337 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2021-12-02T18:17:12.338Z,1638469032.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2021-12-02T18:17:12.338Z,1638469032.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): LineCapture.armSpeed=0.8 meter_per_second; 2021-12-02T18:17:12.338Z,1638469032.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): LineCapture.midcourseSpeed=0.8 meter_per_second; 2021-12-02T18:17:12.338Z,1638469032.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): LineCapture.rolloutSpeed=1 meter_per_second; 2021-12-02T18:17:12.338Z,1638469032.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): LineCapture.verbose=1 bool; 2021-12-02T18:17:12.338Z,1638469032.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): VerticalControl.buoyancyNeutral=175.670891 cubic_centimeter; 2021-12-02T18:17:12.338Z,1638469032.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): VerticalControl.elevDeadband=0.001 degree; 2021-12-02T18:17:12.338Z,1638469032.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): VerticalControl.massDefault=-1.324180 millimeter; 2021-12-02T18:17:12.339Z,1638469032.339 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](IMPORTANT): VerticalControl.surfaceThreshold=1.5 meter; 2021-12-02T18:22:45.355Z,1638469365.355 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-12-02T18:23:49.725Z,1638469429.725 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-12-02T18:29:36.627Z,1638469776.627 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.846720 min