2021-12-02T18:36:09.715Z,1638470169.715 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2021-12-02T18:36:14.205Z,1638470174.205 [SBIT](IMPORTANT): git: 2021-11-29_Tethys-10-g51ac7f049 2021-12-02T18:36:14.205Z,1638470174.205 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2021-12-02T18:36:16.090Z,1638470176.090 [DockingServo](FAULT): Failed to initialize 2021-12-02T18:36:39.762Z,1638470199.762 [SBIT](IMPORTANT): Beginning Startup BIT 2021-12-02T18:36:39.775Z,1638470199.775 [CBIT](IMPORTANT): Beginning ground fault scan 2021-12-02T18:36:47.381Z,1638470207.381 [DAT](FAULT): failed to enter command mode 2021-12-02T18:36:51.120Z,1638470211.120 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.005326 CHAN A1 (24V): -0.026956 CHAN A2 (12V): -0.004948 CHAN A3 (5V): -0.002883 CHAN B0 (3.3V): -0.001104 CHAN B1 (3.15aV): -0.000746 CHAN B2 (3.15bV): -0.000850 CHAN B3 (GND): -0.000330 OPEN: 0.005717 Full Scale: +/- 1 mA 2021-12-02T18:37:33.451Z,1638470253.451 [SBIT](IMPORTANT): SBIT PASSED 2021-12-02T18:37:33.452Z,1638470253.452 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2021-12-02T18:37:33.452Z,1638470253.452 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2021-12-02T18:37:33.453Z,1638470253.453 [SBIT](IMPORTANT): DAT.baud=115200 bit_per_second; 2021-12-02T18:37:33.453Z,1638470253.453 [SBIT](IMPORTANT): DAT.verbosity=3 count; 2021-12-02T18:37:33.453Z,1638470253.453 [SBIT](IMPORTANT): DockingServo.closedAngle=-17.5 degree; 2021-12-02T18:37:33.453Z,1638470253.453 [SBIT](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2021-12-02T18:37:33.453Z,1638470253.453 [SBIT](IMPORTANT): DockingServo.openAngle=14 degree; 2021-12-02T18:37:33.453Z,1638470253.453 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2021-12-02T18:37:33.453Z,1638470253.453 [SBIT](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree; 2021-12-02T18:37:33.453Z,1638470253.453 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2021-12-02T18:37:33.454Z,1638470253.454 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2021-12-02T18:37:33.454Z,1638470253.454 [SBIT](IMPORTANT): LineCapture.armSpeed=0.8 meter_per_second; 2021-12-02T18:37:33.454Z,1638470253.454 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=0.8 meter_per_second; 2021-12-02T18:37:33.454Z,1638470253.454 [SBIT](IMPORTANT): LineCapture.rolloutDistance=65 meter; 2021-12-02T18:37:33.454Z,1638470253.454 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2021-12-02T18:37:33.454Z,1638470253.454 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=45 minute; 2021-12-02T18:37:33.454Z,1638470253.454 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2021-12-02T18:37:33.455Z,1638470253.455 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=175.670891 cubic_centimeter; 2021-12-02T18:37:33.455Z,1638470253.455 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.001 degree; 2021-12-02T18:37:33.455Z,1638470253.455 [SBIT](IMPORTANT): VerticalControl.massDefault=-1.324180 millimeter; 2021-12-02T18:37:33.455Z,1638470253.455 [SBIT](IMPORTANT): VerticalControl.surfaceThreshold=1.5 meter; 2021-12-02T18:37:33.872Z,1638470253.872 [MissionManager](IMPORTANT): Started mission Startup 2021-12-02T18:39:34.868Z,1638470374.868 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-12-02T18:40:39.392Z,1638470439.392 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-12-02T18:44:20.911Z,1638470660.911 [CommandExec](IMPORTANT): got command failComponent 2021-12-02T18:44:20.911Z,1638470660.911 [CommandExec](IMPORTANT): Failed components: 2021-12-02T18:44:20.911Z,1638470660.911 [CommandExec](IMPORTANT): No failed Components. 2021-12-02T18:46:16.184Z,1638470776.184 [DataOverHttps](IMPORTANT): SBD MTMSN=20211202T184553 2021-12-02T18:46:23.876Z,1638470783.876 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 1.5 h;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.MaxDepth 28 m" 3a43v 1 2.000000 2021-12-02T18:46:23.876Z,1638470783.876 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3a43v 2021-12-02T18:46:23.877Z,1638470783.877 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='3a43v'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 1.5 h;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.MaxDepth 28 m", ASAP 2021-12-02T18:46:24.856Z,1638470784.856 [DataOverHttps](IMPORTANT): SBD MTMSN=20211202T184602 2021-12-02T18:46:35.806Z,1638470795.806 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureDepth.MinOffshore 0.75 km;run" 3a43v 2 2.000000 2021-12-02T18:46:35.806Z,1638470795.806 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3a43v 2021-12-02T18:46:35.807Z,1638470795.807 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='3a43v'): "set lineCaptureDepth.MinOffshore 0.75 km;run", ASAP 2021-12-02T18:46:36.022Z,1638470796.022 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml 2021-12-02T18:46:42.213Z,1638470802.213 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml 2021-12-02T18:46:55.841Z,1638470815.841 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.342628 min 2021-12-02T18:47:07.754Z,1638470827.754 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 1.500000 hour 2021-12-02T18:47:07.759Z,1638470827.759 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 120.000000 minute 2021-12-02T18:47:07.760Z,1638470827.760 [CommandExec](IMPORTANT): got command set lineCaptureDepth.WaitOnDockTimeout 1.000000 minute 2021-12-02T18:47:07.760Z,1638470827.760 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MaxDepth 28.000000 meter 2021-12-02T18:47:11.476Z,1638470831.476 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.750000 kilometer 2021-12-02T18:47:11.477Z,1638470831.477 [CommandExec](IMPORTANT): got command run 2021-12-02T18:47:11.481Z,1638470831.481 [CommandExec](IMPORTANT): Running 2021-12-02T18:47:11.583Z,1638470831.583 [MissionManager](IMPORTANT): Started mission lineCaptureDepth 2021-12-02T18:47:51.318Z,1638470871.318 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-12-02T18:49:24.869Z,1638470964.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2021-12-02T18:54:25.082Z,1638471265.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A](IMPORTANT): Acoustic timeout! Received last range of 605.099976 m 5.018874 min ago. 2021-12-02T18:55:59.963Z,1638471359.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2021-12-02T19:00:59.614Z,1638471659.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A](IMPORTANT): Acoustic timeout! Received last range of 630.400024 m 5.004899 min ago. 2021-12-02T19:01:06.359Z,1638471666.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2021-12-02T19:07:30.134Z,1638472050.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 29.30 m. 2021-12-02T19:08:44.863Z,1638472124.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 16.40 m. Rolling out. 2021-12-02T19:19:35.016Z,1638472775.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 59.400002 m, bearing: 140.146562 deg, deltaT: 3.780269 s, deltaX: 21.600002 m, approachRate: 5.713880 m/s, posRepo size: 4 2021-12-02T19:31:04.754Z,1638473464.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Completed rollout at range: 77.70 m. Resuming terminal guidance. 2021-12-02T19:33:01.050Z,1638473581.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 29.30 m. 2021-12-02T19:34:02.908Z,1638473642.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 9.00 m. Rolling out. 2021-12-02T19:49:18.685Z,1638474558.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 56.900002 m, bearing: 242.626160 deg, deltaT: 4.004171 s, deltaX: 24.100002 m, approachRate: 6.018724 m/s, posRepo size: 4 2021-12-02T19:51:16.429Z,1638474676.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 58.400002 m, bearing: 240.860037 deg, deltaT: 3.921581 s, deltaX: 22.100002 m, approachRate: 5.635483 m/s, posRepo size: 4 2021-12-02T19:51:44.567Z,1638474704.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 58.400002 m, bearing: 254.689585 deg, deltaT: 4.058143 s, deltaX: 22.000000 m, approachRate: 5.421199 m/s, posRepo size: 4 2021-12-02T19:53:03.298Z,1638474783.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 59.599998 m, bearing: 251.926282 deg, deltaT: 3.906921 s, deltaX: 20.799999 m, approachRate: 5.323885 m/s, posRepo size: 4 2021-12-02T20:02:28.121Z,1638475348.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Completed rollout at range: 74.70 m. Resuming terminal guidance. 2021-12-02T20:04:14.750Z,1638475454.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 36.000000 m, bearing: 229.009782 deg, deltaT: 3.958314 s, deltaX: -23.500000 m, approachRate: -5.936871 m/s, posRepo size: 4 2021-12-02T20:04:21.812Z,1638475461.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 31.50 m. 2021-12-02T20:05:25.655Z,1638475525.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 8.60 m. Rolling out. 2021-12-02T20:17:13.101Z,1638476233.101 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-12-02T20:18:19.173Z,1638476299.173 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-12-02T20:19:55.333Z,1638476395.333 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=5404, MT Status=1, MTMSN=183