2023-11-09T21:10:07.045Z,1699564207.045 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2023-11-09T21:10:11.548Z,1699564211.548 [SBIT](IMPORTANT): git: 2023-11-01
2023-11-09T21:10:11.548Z,1699564211.548 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-11-09T21:10:11.774Z,1699564211.774 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/underIce/DefaultWithUndock.tx
2023-11-09T21:10:12.559Z,1699564212.559 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2023-11-09T21:10:15.932Z,1699564215.932 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207
2023-11-09T21:11:59.024Z,1699564319.024 [SBIT](IMPORTANT): Beginning Startup BIT
2023-11-09T21:11:59.028Z,1699564319.028 [CBIT](IMPORTANT): Beginning ground fault scan
2023-11-09T21:12:09.994Z,1699564329.994 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.919202
CHAN A1 (24V): 0.832406
CHAN A2 (12V): 0.947969
CHAN A3 (5V): 0.777626
CHAN B0 (3.3V): 0.504989
CHAN B1 (3.15aV): 0.771153
CHAN B2 (3.15bV): 0.771087
CHAN B3 (GND): -0.000713
OPEN: 0.026187
Full Scale: +/- 1 mA
2023-11-09T21:12:12.488Z,1699564332.488 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.758823
2023-11-09T21:12:53.155Z,1699564373.155 [SBIT](CRITICAL): SBIT FAILED
2023-11-09T21:12:53.155Z,1699564373.155 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2023-11-09T21:12:53.156Z,1699564373.156 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count;

2023-11-09T21:12:53.156Z,1699564373.156 [SBIT](IMPORTANT): DAT.missionCritical=1 bool;

2023-11-09T21:12:53.156Z,1699564373.156 [SBIT](IMPORTANT): DAT.verbosity=1 count;

2023-11-09T21:12:53.156Z,1699564373.156 [SBIT](IMPORTANT): DockingStepper.slideValue=11710 count;

2023-11-09T21:12:53.157Z,1699564373.157 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2023-11-09T21:12:53.157Z,1699564373.157 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;

2023-11-09T21:12:53.157Z,1699564373.157 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2023-11-09T21:12:53.157Z,1699564373.157 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2023-11-09T21:12:53.157Z,1699564373.157 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=10 minute;

2023-11-09T21:12:53.157Z,1699564373.157 [SBIT](IMPORTANT): LineCapture.searchTimeout=15 minute;

2023-11-09T21:12:53.157Z,1699564373.157 [SBIT](IMPORTANT): LineCapture.shortFinalRange=10 meter;

2023-11-09T21:12:53.157Z,1699564373.157 [SBIT](IMPORTANT): RudderServo.offsetAngle=2.5 degree;

2023-11-09T21:12:53.158Z,1699564373.158 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=346.601558 cubic_centimeter;

2023-11-09T21:12:53.158Z,1699564373.158 [SBIT](IMPORTANT): VerticalControl.massDefault=21.981445 millimeter;

2023-11-09T21:12:53.159Z,1699564373.159 [CommandExec](FAULT): Scheduling is paused
2023-11-09T21:12:53.565Z,1699564373.565 [MissionManager](IMPORTANT): Started mission Startup
2023-11-09T21:13:56.414Z,1699564436.414 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2023-11-09T21:14:29.279Z,1699564469.279 [DockingStepper](FAULT): Failed to initialize
2023-11-09T21:14:32.087Z,1699564472.087 [DockingStepper](FAULT): Failed to initialize
2023-11-09T21:14:37.627Z,1699564477.627 [DockingStepper](FAULT): uart error: serial timeout
2023-11-09T21:15:15.931Z,1699564515.931 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2023-11-09T21:15:32.477Z,1699564532.477 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=25635, MT Status=1, MTMSN=1223
2023-11-09T21:15:33.195Z,1699564533.195 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2023-11-09T21:15:33.195Z,1699564533.195 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/transit.tx
2023-11-09T21:15:33.483Z,1699564533.483 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx
2023-11-09T21:15:33.762Z,1699564533.762 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx
2023-11-09T21:15:33.901Z,1699564533.901 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx
2023-11-09T21:15:34.025Z,1699564534.025 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl
2023-11-09T21:15:41.549Z,1699564541.549 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 45 minute
2023-11-09T21:15:41.550Z,1699564541.550 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 45 minute
2023-11-09T21:15:41.551Z,1699564541.551 [CommandExec](IMPORTANT): got command set transit.Latitude 36.771 degree
2023-11-09T21:15:41.552Z,1699564541.552 [CommandExec](IMPORTANT): got command set transit.Longitude -121.860001 degree
2023-11-09T21:15:41.552Z,1699564541.552 [CommandExec](IMPORTANT): got command run
2023-11-09T21:15:41.554Z,1699564541.554 [CommandExec](IMPORTANT): Running 
2023-11-09T21:15:41.791Z,1699564541.791 [MissionManager](IMPORTANT): Started mission transit
2023-11-09T21:15:43.406Z,1699564543.406 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.771000,-121.860001
2023-11-09T21:34:21.490Z,1699565661.490 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.771000,-121.860001
2023-11-09T21:37:45.788Z,1699565865.788 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2023-11-09T21:39:04.939Z,1699565944.939 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2023-11-09T21:40:31.593Z,1699566031.593 [DataOverHttps](IMPORTANT): SBD MTMSN=20231109T214014
2023-11-09T21:40:43.015Z,1699566043.015 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 3 h;set lineCaptureHoming.WaitOnDockTimeout 60 min;set lineCaptureHoming.StayOnDock 0 bool" 3nau8 1 5.000000
2023-11-09T21:40:43.015Z,1699566043.015 [CommandExec](IMPORTANT): Scheduling command #1 of 5 with id=3nau8
2023-11-09T21:40:43.016Z,1699566043.016 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 5 with id='3nau8'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 3 h;set lineCaptureHoming.WaitOnDockTimeout 60 min;set lineCaptureHoming.StayOnDock 0 bool", ASAP
2023-11-09T21:40:43.965Z,1699566043.965 [DataOverHttps](IMPORTANT): SBD MTMSN=20231109T214026
2023-11-09T21:40:51.895Z,1699566051.895 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 3 count;set lineCaptureHoming.SlideSinkDuration 1 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool" 3nau8 2 5.000000
2023-11-09T21:40:51.895Z,1699566051.895 [CommandExec](IMPORTANT): Scheduling command #2 of 5 with id=3nau8
2023-11-09T21:40:51.896Z,1699566051.896 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 5 with id='3nau8'): "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 3 count;set lineCaptureHoming.SlideSinkDuration 1 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool", ASAP
2023-11-09T21:40:52.872Z,1699566052.872 [DataOverHttps](IMPORTANT): SBD MTMSN=20231109T214035
2023-11-09T21:41:00.587Z,1699566060.587 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.RangeUSBL .00001 m" 3nau8 3 5.000000
2023-11-09T21:41:00.588Z,1699566060.588 [CommandExec](IMPORTANT): Scheduling command #3 of 5 with id=3nau8
2023-11-09T21:41:00.588Z,1699566060.588 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 5 with id='3nau8'): "set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.RangeUSBL .00001 m", ASAP
2023-11-09T21:41:01.557Z,1699566061.557 [DataOverHttps](IMPORTANT): SBD MTMSN=20231109T214044
2023-11-09T21:41:09.551Z,1699566069.551 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m" 3nau8 4 5.000000
2023-11-09T21:41:09.552Z,1699566069.552 [CommandExec](IMPORTANT): Scheduling command #4 of 5 with id=3nau8
2023-11-09T21:41:09.554Z,1699566069.554 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 5 with id='3nau8'): "set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m", ASAP
2023-11-09T21:41:10.528Z,1699566070.528 [DataOverHttps](IMPORTANT): SBD MTMSN=20231109T214053
2023-11-09T21:41:18.206Z,1699566078.206 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 3nau8 5 5.000000
2023-11-09T21:41:18.207Z,1699566078.207 [CommandExec](IMPORTANT): Scheduling command #5 of 5 with id=3nau8
2023-11-09T21:41:18.208Z,1699566078.208 [CommandExec](IMPORTANT): Scheduled #5 (#5 of 5 with id='3nau8'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP
2023-11-09T21:41:18.340Z,1699566078.340 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2023-11-09T21:41:18.341Z,1699566078.341 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx
2023-11-09T21:41:19.079Z,1699566079.079 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/Science.tx
2023-11-09T21:41:20.714Z,1699566080.714 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx
2023-11-09T21:41:20.923Z,1699566080.923 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx
2023-11-09T21:41:21.135Z,1699566081.135 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx
2023-11-09T21:41:21.187Z,1699566081.187 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx
2023-11-09T21:41:21.898Z,1699566081.898 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx
2023-11-09T21:41:22.962Z,1699566082.962 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx
2023-11-09T21:41:23.441Z,1699566083.441 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl
2023-11-09T21:41:38.016Z,1699566098.016 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour
2023-11-09T21:41:38.017Z,1699566098.017 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 3 hour
2023-11-09T21:41:38.018Z,1699566098.018 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 60 minute
2023-11-09T21:41:38.019Z,1699566098.019 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 0 bool
2023-11-09T21:41:56.332Z,1699566116.332 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2023-11-09T21:41:56.333Z,1699566116.333 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 3 count
2023-11-09T21:41:56.334Z,1699566116.334 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 1 minute
2023-11-09T21:41:56.335Z,1699566116.335 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryWiggle 0 bool
2023-11-09T21:41:56.335Z,1699566116.335 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryJog 0 bool
2023-11-09T21:42:11.518Z,1699566131.518 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryWhirl 0 bool
2023-11-09T21:42:11.519Z,1699566131.519 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second
2023-11-09T21:42:11.519Z,1699566131.519 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count
2023-11-09T21:42:11.520Z,1699566131.520 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RangeUSBL .00001 meter
2023-11-09T21:42:44.072Z,1699566164.072 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.4 meter
2023-11-09T21:42:44.074Z,1699566164.074 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute
2023-11-09T21:42:44.075Z,1699566164.075 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 72 meter
2023-11-09T21:42:44.076Z,1699566164.076 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter
2023-11-09T21:42:44.077Z,1699566164.077 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 75 meter
2023-11-09T21:42:59.087Z,1699566179.087 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none
2023-11-09T21:42:59.088Z,1699566179.088 [CommandExec](IMPORTANT): got command run
2023-11-09T21:42:59.091Z,1699566179.091 [CommandExec](IMPORTANT): Running 
2023-11-09T21:42:59.303Z,1699566179.303 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2023-11-09T21:47:56.326Z,1699566476.326 [lineCaptureHoming:Y](IMPORTANT): Restarting logs