2022-01-19T22:35:38.611Z,1642631738.611 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2022-01-19T22:35:41.865Z,1642631741.865 [SBIT](IMPORTANT): git: 2021-12-16A-150-g8bf596bd7 2022-01-19T22:35:41.865Z,1642631741.865 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2022-01-19T22:37:25.595Z,1642631845.595 [SBIT](IMPORTANT): Beginning Startup BIT 2022-01-19T22:37:25.599Z,1642631845.599 [CBIT](IMPORTANT): Beginning ground fault scan 2022-01-19T22:37:36.883Z,1642631856.883 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.004882 CHAN A1 (24V): -0.026827 CHAN A2 (12V): -0.004914 CHAN A3 (5V): -0.002878 CHAN B0 (3.3V): -0.001370 CHAN B1 (3.15aV): -0.000981 CHAN B2 (3.15bV): -0.000431 CHAN B3 (GND): -0.000348 OPEN: 0.005626 Full Scale: +/- 1 mA 2022-01-19T22:38:19.703Z,1642631899.703 [SBIT](IMPORTANT): SBIT PASSED 2022-01-19T22:38:19.703Z,1642631899.703 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2022-01-19T22:38:19.705Z,1642631899.705 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2022-01-19T22:38:19.705Z,1642631899.705 [SBIT](IMPORTANT): DAT.baud=115200 bit_per_second; 2022-01-19T22:38:19.705Z,1642631899.705 [SBIT](IMPORTANT): DAT.verbosity=1 count; 2022-01-19T22:38:19.705Z,1642631899.705 [SBIT](IMPORTANT): DockingServo.closedAngle=-17.5 degree; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): DockingServo.openAngle=14 degree; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): LineCapture.armSpeed=0.8 meter_per_second; 2022-01-19T22:38:19.706Z,1642631899.706 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=0.8 meter_per_second; 2022-01-19T22:38:19.707Z,1642631899.707 [SBIT](IMPORTANT): LineCapture.rolloutDistance=65 meter; 2022-01-19T22:38:19.707Z,1642631899.707 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2022-01-19T22:38:19.707Z,1642631899.707 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=45 minute; 2022-01-19T22:38:19.707Z,1642631899.707 [SBIT](IMPORTANT): LineCapture.terminalRange=850 meter; 2022-01-19T22:38:19.707Z,1642631899.707 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2022-01-19T22:38:19.707Z,1642631899.707 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=256.522440 cubic_centimeter; 2022-01-19T22:38:19.707Z,1642631899.707 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.001 degree; 2022-01-19T22:38:19.707Z,1642631899.707 [SBIT](IMPORTANT): VerticalControl.massDefault=-20.829792 millimeter; 2022-01-19T22:38:20.127Z,1642631900.127 [MissionManager](IMPORTANT): Started mission Startup 2022-01-19T22:40:21.052Z,1642632021.052 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-01-19T22:41:25.681Z,1642632085.681 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-01-19T22:47:05.338Z,1642632425.338 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.731592 min 2022-01-19T22:47:34.629Z,1642632454.629 [CommandExec](IMPORTANT): got command report mod SpeedControl.speedCmd 2022-01-19T22:47:53.086Z,1642632473.086 [DataOverHttps](IMPORTANT): SBD MTMSN=20220119T224708 2022-01-19T22:48:01.196Z,1642632481.196 [CommandExec](IMPORTANT): got command load ./Missions/Demo/DockingTankLineCaptureTest.xml 2022-01-19T22:48:03.677Z,1642632483.677 [CommandExec](IMPORTANT): Loaded ./Missions/Demo/DockingTankLineCaptureTest.xml 2022-01-19T22:48:10.756Z,1642632490.756 [CommandExec](IMPORTANT): got command set DockingTankLineCaptureTest.TrackingUpdatePeriodMidcourse 10 siemens 2022-01-19T22:48:10.817Z,1642632490.817 [CommandExec](IMPORTANT): got command set DockingTankLineCaptureTest.RangeUSBL 4 meter 2022-01-19T22:48:10.818Z,1642632490.818 [CommandExec](IMPORTANT): got command run 2022-01-19T22:48:10.820Z,1642632490.820 [CommandExec](IMPORTANT): Running 2022-01-19T22:48:10.833Z,1642632490.833 [MissionManager](IMPORTANT): Started mission DockingTankLineCaptureTest 2022-01-19T22:49:16.325Z,1642632556.325 [DockingTankLineCaptureTest:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2022-01-19T22:49:46.177Z,1642632586.177 [DockingTankLineCaptureTest:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 8.30 m. 2022-01-19T22:50:44.422Z,1642632644.422 [DockingTankLineCaptureTest:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 8.60 m. Reached intercept timeout. 2022-01-19T22:51:22.090Z,1642632682.090 [DockingTankLineCaptureTest:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK. 2022-01-19T22:51:22.509Z,1642632682.509 [DockingTankLineCaptureTest:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 3.900000 m . 2022-01-19T22:52:09.997Z,1642632729.997 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2022-01-19T22:55:11.379Z,1642632911.379 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-01-19T22:59:29.729Z,1642633169.729 [CommandExec](IMPORTANT): got command stop 2022-01-19T22:59:29.730Z,1642633169.730 [CommandExec](IMPORTANT): Scheduling is paused 2022-01-19T22:59:38.379Z,1642633178.379 [CommandExec](IMPORTANT): got command get platform_buoyancy_position 2022-01-19T22:59:38.379Z,1642633178.379 [CommandExec](IMPORTANT): platform_buoyancy_position 88.493614 cc 2022-01-19T23:00:41.954Z,1642633241.954 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-01-19T23:00:51.543Z,1642633251.543 [CommandExec](IMPORTANT): got command failComponent hardware DockingServo 2022-01-19T23:00:51.544Z,1642633251.544 [CommandExec](IMPORTANT): DockingServo failureMode is Hardware Fault 2022-01-19T23:02:39.650Z,1642633359.650 [DataOverHttps](IMPORTANT): SBD MTMSN=20220119T230155 2022-01-19T23:02:48.612Z,1642633368.612 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=5986, MT Status=1, MTMSN=187 2022-01-19T23:02:49.143Z,1642633369.143 [CommandExec](IMPORTANT): got command stop 2022-01-19T23:02:49.351Z,1642633369.351 [CommandExec](IMPORTANT): got command load ./Missions/Demo/DockingTankLineCaptureTest.xml 2022-01-19T23:02:52.350Z,1642633372.350 [CommandExec](IMPORTANT): Loaded ./Missions/Demo/DockingTankLineCaptureTest.xml 2022-01-19T23:03:04.070Z,1642633384.070 [CommandExec](IMPORTANT): got command set DockingTankLineCaptureTest.TrackingUpdatePeriodMidcourse 10 siemens 2022-01-19T23:03:04.071Z,1642633384.071 [CommandExec](IMPORTANT): got command set DockingTankLineCaptureTest.RangeUSBL 4 meter 2022-01-19T23:03:04.071Z,1642633384.071 [CommandExec](IMPORTANT): got command run 2022-01-19T23:03:04.077Z,1642633384.077 [CommandExec](IMPORTANT): Running 2022-01-19T23:03:04.242Z,1642633384.242 [MissionManager](IMPORTANT): Started mission DockingTankLineCaptureTest 2022-01-19T23:03:18.717Z,1642633398.717 [DockingTankLineCaptureTest:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2022-01-19T23:04:03.241Z,1642633443.241 [DockingTankLineCaptureTest:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 12.80 m. 2022-01-19T23:05:03.094Z,1642633503.094 [CommandExec](IMPORTANT): got command show variable cablestatus 2022-01-19T23:05:07.046Z,1642633507.046 [CommandExec](IMPORTANT): got command show variable cable 2022-01-19T23:05:07.522Z,1642633507.522 [CommandExec](IMPORTANT): Dock.dock_cable_present (bool) 2022-01-19T23:05:07.523Z,1642633507.523 [CommandExec](IMPORTANT): DockingServo.cableValue (count) 2022-01-19T23:05:18.163Z,1642633518.163 [CommandExec](IMPORTANT): got command show variable cable 2022-01-19T23:05:18.693Z,1642633518.693 [CommandExec](IMPORTANT): Dock.dock_cable_present (bool) 2022-01-19T23:05:18.693Z,1642633518.693 [CommandExec](IMPORTANT): DockingServo.cableValue (count) 2022-01-19T23:05:22.590Z,1642633522.590 [DockingServo](FAULT): Overload Error 2022-01-19T23:05:30.660Z,1642633530.660 [DockingServo](FAULT): Overload Error 2022-01-19T23:05:35.286Z,1642633535.286 [CommandExec](IMPORTANT): got command report mod Dock.dock_cable_present 2022-01-19T23:05:38.730Z,1642633538.730 [DockingServo](FAULT): Overload Error 2022-01-19T23:05:45.343Z,1642633545.343 [DockingServo](FAULT): Overload Error 2022-01-19T23:05:55.271Z,1642633555.271 [DockingTankLineCaptureTest:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 6.90 m. Reached intercept timeout. 2022-01-19T23:05:56.423Z,1642633556.423 [CommandExec](IMPORTANT): got command stop 2022-01-19T23:05:56.898Z,1642633556.898 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-01-19T23:07:48.575Z,1642633668.575 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-01-19T23:15:03.164Z,1642634103.164 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.