2023-11-13T20:35:14.023Z,1699907714.023 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2023-11-13T20:35:18.460Z,1699907718.460 [SBIT](IMPORTANT): git: 2023-11-13 2023-11-13T20:35:18.461Z,1699907718.461 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2023-11-13T20:35:18.683Z,1699907718.683 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/underIce/DefaultWithUndock.tx 2023-11-13T20:35:19.339Z,1699907719.339 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2023-11-13T20:35:22.827Z,1699907722.827 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207 2023-11-13T20:37:05.861Z,1699907825.861 [SBIT](IMPORTANT): Beginning Startup BIT 2023-11-13T20:37:05.866Z,1699907825.866 [CBIT](IMPORTANT): Beginning ground fault scan 2023-11-13T20:37:16.838Z,1699907836.838 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.929480 CHAN A1 (24V): 0.833923 CHAN A2 (12V): 0.949419 CHAN A3 (5V): 0.784338 CHAN B0 (3.3V): 0.510951 CHAN B1 (3.15aV): 0.782935 CHAN B2 (3.15bV): 0.781281 CHAN B3 (GND): 0.000009 OPEN: 0.024605 Full Scale: +/- 1 mA 2023-11-13T20:37:19.268Z,1699907839.268 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.655451 2023-11-13T20:37:45.937Z,1699907865.937 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.693566 2023-11-13T20:37:45.937Z,1699907865.937 [SBIT](FAULT): Control surface position failure. 2023-11-13T20:37:59.987Z,1699907879.987 [SBIT](CRITICAL): SBIT FAILED 2023-11-13T20:37:59.987Z,1699907879.987 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2023-11-13T20:37:59.988Z,1699907879.988 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2023-11-13T20:37:59.988Z,1699907879.988 [SBIT](IMPORTANT): DAT.missionCritical=1 bool; 2023-11-13T20:37:59.988Z,1699907879.988 [SBIT](IMPORTANT): DAT.verbosity=1 count; 2023-11-13T20:37:59.988Z,1699907879.988 [SBIT](IMPORTANT): DockingStepper.slideValue=9000 count; 2023-11-13T20:37:59.988Z,1699907879.988 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute; 2023-11-13T20:37:59.988Z,1699907879.988 [SBIT](IMPORTANT): Express linearApproximation CurrentEstimator.current_direction_navigation_frame 10.000000 degree; 2023-11-13T20:37:59.988Z,1699907879.988 [SBIT](IMPORTANT): Express linearApproximation CurrentEstimator.current_speed_navigation_frame 0.250000 meter_per_second; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0.8 meter_per_second; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=10 minute; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): LineCapture.searchTimeout=15 minute; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): LineCapture.shortFinalRange=10 meter; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): RudderServo.offsetAngle=2.5 degree; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=346.601558 cubic_centimeter; 2023-11-13T20:37:59.989Z,1699907879.989 [SBIT](IMPORTANT): VerticalControl.massDefault=21.981445 millimeter; 2023-11-13T20:37:59.991Z,1699907879.991 [CommandExec](FAULT): Scheduling is paused 2023-11-13T20:38:00.393Z,1699907880.393 [MissionManager](IMPORTANT): Started mission Startup 2023-11-13T20:39:03.246Z,1699907943.246 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2023-11-13T20:40:22.218Z,1699908022.218 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2023-11-13T20:45:10.129Z,1699908310.129 [DataOverHttps](IMPORTANT): SBD MTMSN=20231113T204422 2023-11-13T20:45:17.795Z,1699908317.795 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 2 count" 3umxb 1 6.000000 2023-11-13T20:45:17.796Z,1699908317.796 [CommandExec](IMPORTANT): Scheduling command #1 of 6 with id=3umxb 2023-11-13T20:45:17.797Z,1699908317.797 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 6 with id='3umxb'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 2 count", ASAP 2023-11-13T20:45:18.705Z,1699908318.705 [DataOverHttps](IMPORTANT): SBD MTMSN=20231113T204431 2023-11-13T20:45:26.771Z,1699908326.771 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 90 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min" 3umxb 2 6.000000 2023-11-13T20:45:26.772Z,1699908326.772 [CommandExec](IMPORTANT): Scheduling command #2 of 6 with id=3umxb 2023-11-13T20:45:26.773Z,1699908326.773 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 6 with id='3umxb'): "set lineCaptureHoming.WaitOnDockTimeout 90 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min", ASAP 2023-11-13T20:45:27.769Z,1699908327.769 [DataOverHttps](IMPORTANT): SBD MTMSN=20231113T204440 2023-11-13T20:45:35.548Z,1699908335.548 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.SlideCloseDuration 5 min;set lineCaptureHoming.SlideDriveDuration 10 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s" 3umxb 3 6.000000 2023-11-13T20:45:35.548Z,1699908335.548 [CommandExec](IMPORTANT): Scheduling command #3 of 6 with id=3umxb 2023-11-13T20:45:35.549Z,1699908335.549 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 6 with id='3umxb'): "set lineCaptureHoming.SlideCloseDuration 5 min;set lineCaptureHoming.SlideDriveDuration 10 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s", ASAP 2023-11-13T20:45:36.501Z,1699908336.501 [DataOverHttps](IMPORTANT): SBD MTMSN=20231113T204449 2023-11-13T20:45:44.303Z,1699908344.303 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 1 s;set lineCaptureHoming.NumPingsUSBL 120 count" 3umxb 4 6.000000 2023-11-13T20:45:44.303Z,1699908344.303 [CommandExec](IMPORTANT): Scheduling command #4 of 6 with id=3umxb 2023-11-13T20:45:44.304Z,1699908344.304 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 6 with id='3umxb'): "set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 1 s;set lineCaptureHoming.NumPingsUSBL 120 count", ASAP 2023-11-13T20:45:45.205Z,1699908345.205 [DataOverHttps](IMPORTANT): SBD MTMSN=20231113T204457 2023-11-13T20:45:52.844Z,1699908352.844 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m" 3umxb 5 6.000000 2023-11-13T20:45:52.845Z,1699908352.845 [CommandExec](IMPORTANT): Scheduling command #5 of 6 with id=3umxb 2023-11-13T20:45:52.846Z,1699908352.846 [CommandExec](IMPORTANT): Scheduled #5 (#5 of 6 with id='3umxb'): "set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m", ASAP 2023-11-13T20:45:53.837Z,1699908353.837 [DataOverHttps](IMPORTANT): SBD MTMSN=20231113T204506 2023-11-13T20:45:56.383Z,1699908356.383 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.878861 min 2023-11-13T20:46:01.663Z,1699908361.663 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.ApproachDepthTimeout 10 min;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 3umxb 6 6.000000 2023-11-13T20:46:01.663Z,1699908361.663 [CommandExec](IMPORTANT): Scheduling command #6 of 6 with id=3umxb 2023-11-13T20:46:01.664Z,1699908361.664 [CommandExec](IMPORTANT): Scheduled #6 (#6 of 6 with id='3umxb'): "set lineCaptureHoming.ApproachDepthTimeout 10 min;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP 2023-11-13T20:46:01.794Z,1699908361.794 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl 2023-11-13T20:46:01.794Z,1699908361.794 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx 2023-11-13T20:46:02.620Z,1699908362.620 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/Science.tx 2023-11-13T20:46:04.615Z,1699908364.615 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-11-13T20:46:04.805Z,1699908364.805 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx 2023-11-13T20:46:05.200Z,1699908365.200 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx 2023-11-13T20:46:05.303Z,1699908365.303 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx 2023-11-13T20:46:06.413Z,1699908366.413 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-11-13T20:46:07.726Z,1699908367.726 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx 2023-11-13T20:46:08.431Z,1699908368.431 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl 2023-11-13T20:46:29.790Z,1699908389.790 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 4 hour 2023-11-13T20:46:29.799Z,1699908389.799 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 4 hour 2023-11-13T20:46:29.800Z,1699908389.800 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 9 hour 2023-11-13T20:46:29.800Z,1699908389.800 [CommandExec](IMPORTANT): got command set lineCaptureHoming.Repeat 2 count 2023-11-13T20:46:58.103Z,1699908418.103 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 90 minute 2023-11-13T20:46:58.104Z,1699908418.104 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool 2023-11-13T20:46:58.104Z,1699908418.104 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool 2023-11-13T20:46:58.105Z,1699908418.105 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 4 count 2023-11-13T20:46:58.111Z,1699908418.111 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 1 minute 2023-11-13T20:47:34.307Z,1699908454.307 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 5 minute 2023-11-13T20:47:34.307Z,1699908454.307 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideDriveDuration 10 minute 2023-11-13T20:47:34.308Z,1699908454.308 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryWiggle 0 bool 2023-11-13T20:47:34.309Z,1699908454.309 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryJog 1 bool 2023-11-13T20:47:34.309Z,1699908454.309 [CommandExec](IMPORTANT): got command set lineCaptureHoming.JogLength 10 second 2023-11-13T20:47:57.037Z,1699908477.037 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryWhirl 0 bool 2023-11-13T20:47:57.042Z,1699908477.042 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second 2023-11-13T20:47:57.043Z,1699908477.043 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 1 second 2023-11-13T20:47:57.044Z,1699908477.044 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 120 count 2023-11-13T20:48:22.104Z,1699908502.104 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.4 meter 2023-11-13T20:48:22.105Z,1699908502.105 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute 2023-11-13T20:48:22.122Z,1699908502.122 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 72 meter 2023-11-13T20:48:22.123Z,1699908502.123 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter 2023-11-13T20:48:22.124Z,1699908502.124 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 75 meter 2023-11-13T20:48:30.844Z,1699908510.844 [CommandExec](IMPORTANT): got command set lineCaptureHoming.ApproachDepthTimeout 10 minute 2023-11-13T20:48:30.845Z,1699908510.845 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none 2023-11-13T20:48:30.846Z,1699908510.846 [CommandExec](IMPORTANT): got command run 2023-11-13T20:48:30.853Z,1699908510.853 [CommandExec](IMPORTANT): Running 2023-11-13T20:48:30.981Z,1699908510.981 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2023-11-13T20:49:16.087Z,1699908556.087 [lineCaptureHoming:Y](IMPORTANT): Restarting logs