2022-01-19T21:52:24.399Z,1642629144.399 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2022-01-19T21:52:27.805Z,1642629147.805 [SBIT](IMPORTANT): git: 2021-12-16A-150-g8bf596bd7 2022-01-19T21:52:27.806Z,1642629147.806 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2022-01-19T21:52:29.613Z,1642629149.613 [DockingServo](FAULT): Failed to initialize 2022-01-19T21:54:11.659Z,1642629251.659 [SBIT](IMPORTANT): Beginning Startup BIT 2022-01-19T21:54:11.665Z,1642629251.665 [CBIT](IMPORTANT): Beginning ground fault scan 2022-01-19T21:54:22.610Z,1642629262.610 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.005342 CHAN A1 (24V): -0.026756 CHAN A2 (12V): -0.004592 CHAN A3 (5V): -0.002484 CHAN B0 (3.3V): -0.001052 CHAN B1 (3.15aV): -0.001555 CHAN B2 (3.15bV): -0.000946 CHAN B3 (GND): -0.000359 OPEN: 0.005745 Full Scale: +/- 1 mA 2022-01-19T21:55:05.736Z,1642629305.736 [SBIT](IMPORTANT): SBIT PASSED 2022-01-19T21:55:05.736Z,1642629305.736 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2022-01-19T21:55:05.737Z,1642629305.737 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2022-01-19T21:55:05.737Z,1642629305.737 [SBIT](IMPORTANT): DAT.baud=115200 bit_per_second; 2022-01-19T21:55:05.737Z,1642629305.737 [SBIT](IMPORTANT): DAT.verbosity=0 count; 2022-01-19T21:55:05.737Z,1642629305.737 [SBIT](IMPORTANT): Dock.transponderCode=1 count; 2022-01-19T21:55:05.737Z,1642629305.737 [SBIT](IMPORTANT): DockingServo.closedAngle=-17.5 degree; 2022-01-19T21:55:05.737Z,1642629305.737 [SBIT](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): DockingServo.openAngle=14 degree; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): LineCapture.armSpeed=0.8 meter_per_second; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=0.8 meter_per_second; 2022-01-19T21:55:05.738Z,1642629305.738 [SBIT](IMPORTANT): LineCapture.rolloutDistance=65 meter; 2022-01-19T21:55:05.739Z,1642629305.739 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2022-01-19T21:55:05.739Z,1642629305.739 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=45 minute; 2022-01-19T21:55:05.739Z,1642629305.739 [SBIT](IMPORTANT): LineCapture.terminalRange=850 meter; 2022-01-19T21:55:05.739Z,1642629305.739 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2022-01-19T21:55:05.739Z,1642629305.739 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=256.522440 cubic_centimeter; 2022-01-19T21:55:05.739Z,1642629305.739 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.001 degree; 2022-01-19T21:55:05.739Z,1642629305.739 [SBIT](IMPORTANT): VerticalControl.massDefault=-20.829792 millimeter; 2022-01-19T21:55:06.176Z,1642629306.176 [MissionManager](IMPORTANT): Started mission Startup 2022-01-19T21:57:07.097Z,1642629427.097 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-01-19T21:58:11.175Z,1642629491.175 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2022-01-19T21:58:12.009Z,1642629492.009 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-01-19T22:03:09.428Z,1642629789.428 [NAL9602](FAULT): GPS failed to acquire within timeout. 2022-01-19T22:09:06.771Z,1642630146.771 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 11.988979 min 2022-01-19T22:13:54.102Z,1642630434.102 [NAL9602](FAULT): GPS failed to acquire within timeout. 2022-01-19T22:19:42.186Z,1642630782.186 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 22.577734 min 2022-01-19T22:25:20.329Z,1642631120.329 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 28.214532 min 2022-01-19T22:27:47.362Z,1642631267.362 [CommandExec](IMPORTANT): got command show variable speedCmd 2022-01-19T22:27:47.523Z,1642631267.523 [CommandExec](IMPORTANT): SpeedControl.speedCmd (meter_per_second) 2022-01-19T22:27:53.760Z,1642631273.760 [CommandExec](IMPORTANT): got command report mod SpeedControl.speedCmd 2022-01-19T22:27:54.758Z,1642631274.758 [CommandExec](IMPORTANT): got command failComponent 2022-01-19T22:27:54.758Z,1642631274.758 [CommandExec](IMPORTANT): Failed components: 2022-01-19T22:27:54.758Z,1642631274.758 [CommandExec](IMPORTANT): No failed Components. 2022-01-19T22:27:59.080Z,1642631279.080 [CommandExec](IMPORTANT): got command get latitude 2022-01-19T22:27:59.080Z,1642631279.080 [CommandExec](IMPORTANT): latitude 36.802753 arcdeg 2022-01-19T22:28:50.467Z,1642631330.467 [DataOverHttps](IMPORTANT): SBD MTMSN=20220119T222805 2022-01-19T22:29:01.694Z,1642631341.694 [CommandExec](IMPORTANT): got command load ./Missions/Demo/DockingTankLineCaptureTest.xml 2022-01-19T22:29:05.486Z,1642631345.486 [CommandExec](IMPORTANT): Loaded ./Missions/Demo/DockingTankLineCaptureTest.xml 2022-01-19T22:29:17.905Z,1642631357.905 [CommandExec](IMPORTANT): got command set DockingTankLineCaptureTest.TrackingUpdatePeriodMidcourse 10 siemens 2022-01-19T22:29:17.907Z,1642631357.907 [CommandExec](IMPORTANT): got command set DockingTankLineCaptureTest.RangeUSBL 4 meter 2022-01-19T22:29:17.908Z,1642631357.908 [CommandExec](IMPORTANT): got command run 2022-01-19T22:29:17.961Z,1642631357.961 [CommandExec](IMPORTANT): Running 2022-01-19T22:29:18.221Z,1642631358.221 [MissionManager](IMPORTANT): Started mission DockingTankLineCaptureTest 2022-01-19T22:30:17.282Z,1642631417.282 [CommandExec](IMPORTANT): got command show stack 2022-01-19T22:30:17.282Z,1642631417.282 [CommandExec](IMPORTANT): Behavior Stack: 2022-01-19T22:30:17.284Z,1642631417.284 [DockingTankLineCaptureTest:LineCapture:StandardEnvelopes](IMPORTANT): Priority 0: DockingTankLineCaptureTest:LineCapture:StandardEnvelopes:A.AltitudeEnvelope 2022-01-19T22:30:17.285Z,1642631417.285 [DockingTankLineCaptureTest:LineCapture:StandardEnvelopes](IMPORTANT): Priority 1: DockingTankLineCaptureTest:LineCapture:StandardEnvelopes:B.DepthEnvelope 2022-01-19T22:30:17.285Z,1642631417.285 [DockingTankLineCaptureTest:LineCapture:StandardEnvelopes](IMPORTANT): Priority 2: DockingTankLineCaptureTest:LineCapture:StandardEnvelopes:C.OffshoreEnvelope 2022-01-19T22:30:17.285Z,1642631417.285 [DockingTankLineCaptureTest:LineCapture](IMPORTANT): Priority 3: DockingTankLineCaptureTest:LineCapture:G 2022-01-19T22:30:17.285Z,1642631417.285 [DockingTankLineCaptureTest:LineCapture](IMPORTANT): Priority 4: DockingTankLineCaptureTest:LineCapture:H 2022-01-19T22:30:17.286Z,1642631417.286 [DockingTankLineCaptureTest:LineCapture:HoldMassAndBuoyancy](IMPORTANT): Priority 5: DockingTankLineCaptureTest:LineCapture:HoldMassAndBuoyancy:A 2022-01-19T22:30:17.286Z,1642631417.286 [DockingTankLineCaptureTest:LineCapture:HoldMassAndBuoyancy](IMPORTANT): Priority 6: DockingTankLineCaptureTest:LineCapture:HoldMassAndBuoyancy:B.Mass 2022-01-19T22:30:17.286Z,1642631417.286 [DockingTankLineCaptureTest:LineCapture:HoldMassAndBuoyancy](IMPORTANT): Priority 7: DockingTankLineCaptureTest:LineCapture:HoldMassAndBuoyancy:C.Buoyancy 2022-01-19T22:30:17.287Z,1642631417.287 [DockingTankLineCaptureTest:LineCapture:HomingSequence:MidcourseGuidance:guide](IMPORTANT): Priority 8: DockingTankLineCaptureTest:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed 2022-01-19T22:30:17.287Z,1642631417.287 [DockingTankLineCaptureTest:LineCapture:HomingSequence:MidcourseGuidance:guide](IMPORTANT): Priority 9: DockingTankLineCaptureTest:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch 2022-01-19T22:30:17.288Z,1642631417.288 [DockingTankLineCaptureTest:LineCapture:HomingSequence:MidcourseGuidance:guide](IMPORTANT): Priority 10: DockingTankLineCaptureTest:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint 2022-01-19T22:30:17.288Z,1642631417.288 [DockingTankLineCaptureTest](IMPORTANT): Priority 11: DockingTankLineCaptureTest:TrackAC. 2022-01-19T22:30:17.288Z,1642631417.288 [DockingTankLineCaptureTest](IMPORTANT): Priority 12: DockingTankLineCaptureTest:K.Pitch 2022-01-19T22:30:17.288Z,1642631417.288 [DockingTankLineCaptureTest](IMPORTANT): Priority 13: DockingTankLineCaptureTest:L.Point 2022-01-19T22:30:30.098Z,1642631430.098 [CommandExec](IMPORTANT): got command show variable range 2022-01-19T22:30:30.099Z,1642631430.099 [CommandExec](IMPORTANT): acoustic_contact_range (unknown) 2022-01-19T22:30:30.227Z,1642631430.227 [CommandExec](IMPORTANT): BR_Ping1D.minRange (meter) 2022-01-19T22:30:30.228Z,1642631430.228 [CommandExec](IMPORTANT): BR_Ping1D.maxRange (meter) 2022-01-19T22:30:30.247Z,1642631430.247 [CommandExec](IMPORTANT): Micromodem.rangeTxSeqCode (none) 2022-01-19T22:30:30.248Z,1642631430.248 [CommandExec](IMPORTANT): Micromodem.rangeTxFreq (hertz) 2022-01-19T22:30:30.248Z,1642631430.248 [CommandExec](IMPORTANT): Micromodem.rangeTxTime (millisecond) 2022-01-19T22:30:30.248Z,1642631430.248 [CommandExec](IMPORTANT): Micromodem.rangeRxTime (millisecond) 2022-01-19T22:30:30.256Z,1642631430.256 [CommandExec](IMPORTANT): Micromodem.rangeTAT (millisecond) 2022-01-19T22:30:30.327Z,1642631430.327 [CommandExec](IMPORTANT): Docked.dockRange (meter) 2022-01-19T22:30:30.327Z,1642631430.327 [CommandExec](IMPORTANT): LineCapture.terminalRange (meter) 2022-01-19T22:30:30.328Z,1642631430.328 [CommandExec](IMPORTANT): LineCapture.armRange (meter) 2022-01-19T22:30:30.328Z,1642631430.328 [CommandExec](IMPORTANT): LineCapture.lockoutRange (meter) 2022-01-19T22:30:30.342Z,1642631430.342 [CommandExec](IMPORTANT): SetNav.dockRange (meter) 2022-01-19T22:30:30.342Z,1642631430.342 [CommandExec](IMPORTANT): SetNav.rangeTimeout (minute) 2022-01-19T22:30:30.343Z,1642631430.343 [CommandExec](IMPORTANT): Undock.undockRange (meter) 2022-01-19T22:30:30.506Z,1642631430.506 [CommandExec](IMPORTANT): RDI_Pathfinder.range_to_water_mass_center (meter) 2022-01-19T22:30:30.508Z,1642631430.508 [CommandExec](IMPORTANT): RDI_Pathfinder.Beam1Range (meter) 2022-01-19T22:30:30.508Z,1642631430.508 [CommandExec](IMPORTANT): RDI_Pathfinder.Beam2Range (meter) 2022-01-19T22:30:30.508Z,1642631430.508 [CommandExec](IMPORTANT): RDI_Pathfinder.Beam3Range (meter) 2022-01-19T22:30:30.525Z,1642631430.525 [CommandExec](IMPORTANT): RDI_Pathfinder.Beam4Range (meter) 2022-01-19T22:30:30.526Z,1642631430.526 [CommandExec](IMPORTANT): DAT.acoustic_contact_range (meter) 2022-01-19T22:30:30.527Z,1642631430.527 [CommandExec](IMPORTANT): DAT.range_request (count) 2022-01-19T22:30:30.582Z,1642631430.582 [CommandExec](IMPORTANT): TrackAcousticContact.range_to_contact (meter) 2022-01-19T22:30:30.584Z,1642631430.584 [CommandExec](IMPORTANT): DockingTankLineCaptureTest.RangeUSBL (meter) 2022-01-19T22:30:30.589Z,1642631430.589 [CommandExec](IMPORTANT): DockingTankLineCaptureTest:LineCapture.TerminalRange (meter) 2022-01-19T22:30:30.591Z,1642631430.591 [CommandExec](IMPORTANT): DockingTankLineCaptureTest:LineCapture.ElapsedRange (minute) 2022-01-19T22:30:30.592Z,1642631430.592 [CommandExec](IMPORTANT): DockingTankLineCaptureTest:LineCapture.Range (meter) 2022-01-19T22:30:30.597Z,1642631430.597 [CommandExec](IMPORTANT): DockingTankLineCaptureTest:SetNavAcoustic.DockRange (meter) 2022-01-19T22:30:30.597Z,1642631430.597 [CommandExec](IMPORTANT): DockingTankLineCaptureTest:SetNavAcoustic.RangeTimeout (minute) 2022-01-19T22:30:46.264Z,1642631446.264 [CommandExec](IMPORTANT): got command show variable range_to_contact 2022-01-19T22:30:46.876Z,1642631446.876 [CommandExec](IMPORTANT): TrackAcousticContact.range_to_contact (meter) 2022-01-19T22:30:53.324Z,1642631453.324 [CommandExec](IMPORTANT): got command show variable acoustic_contact_range 2022-01-19T22:30:53.327Z,1642631453.327 [CommandExec](IMPORTANT): acoustic_contact_range (unknown) 2022-01-19T22:30:54.177Z,1642631454.177 [CommandExec](IMPORTANT): DAT.acoustic_contact_range (meter) 2022-01-19T22:31:07.827Z,1642631467.827 [CommandExec](IMPORTANT): got command report touch DAT.acoustic_contact_range 2022-01-19T22:32:24.890Z,1642631544.890 [CommandExec](IMPORTANT): got command stop 2022-01-19T22:32:24.890Z,1642631544.890 [CommandExec](IMPORTANT): Scheduling is paused 2022-01-19T22:32:25.380Z,1642631545.380 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-01-19T22:33:30.018Z,1642631610.018 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-01-19T22:33:38.210Z,1642631618.210 [CommandExec](IMPORTANT): got command stop 2022-01-19T22:33:43.631Z,1642631623.631 [CommandExec](IMPORTANT): got command show variable transponder 2022-01-19T22:33:43.764Z,1642631623.764 [CommandExec](IMPORTANT): AcousticModem_Benthos_ATM900.transponderAddress (enum) 2022-01-19T22:33:43.777Z,1642631623.777 [CommandExec](IMPORTANT): DAT.transponderAddress (enum) 2022-01-19T22:33:43.779Z,1642631623.779 [CommandExec](IMPORTANT): DUSBL_Hydroid.transponderCode (enum) 2022-01-19T22:33:43.830Z,1642631623.830 [CommandExec](IMPORTANT): LBLNavigation.maxSpeedWrtTransponder (meter_per_second) 2022-01-19T22:33:43.853Z,1642631623.853 [CommandExec](IMPORTANT): Dock.transponderCode (count) 2022-01-19T22:33:44.004Z,1642631624.004 [CommandExec](IMPORTANT): DefaultWithUndock.TransponderCode (count) 2022-01-19T22:33:53.912Z,1642631633.912 [CommandExec](IMPORTANT): got command get DAT.transponderAddress 2022-01-19T22:33:53.913Z,1642631633.913 [CommandExec](IMPORTANT): DAT.transponderAddress 0 enum 2022-01-19T22:35:19.090Z,1642631719.090 [DataOverHttps](IMPORTANT): SBD MTMSN=20220119T223434 2022-01-19T22:35:26.843Z,1642631726.843 [CommandExec](IMPORTANT): got command restart application