2023-11-14T19:04:14.143Z,1699988654.143 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2023-11-14T19:04:18.806Z,1699988658.806 [SBIT](IMPORTANT): git: 2023-11-13_A 2023-11-14T19:04:18.807Z,1699988658.807 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2023-11-14T19:04:19.030Z,1699988659.030 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/underIce/DefaultWithUndock.tx 2023-11-14T19:04:19.713Z,1699988659.713 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2023-11-14T19:04:23.186Z,1699988663.186 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207 2023-11-14T19:04:51.181Z,1699988691.181 [DAT](FAULT): failed to enter command mode 2023-11-14T19:06:06.214Z,1699988766.214 [SBIT](IMPORTANT): Beginning Startup BIT 2023-11-14T19:06:06.218Z,1699988766.218 [CBIT](IMPORTANT): Beginning ground fault scan 2023-11-14T19:06:17.198Z,1699988777.198 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.934725 CHAN A1 (24V): 0.836883 CHAN A2 (12V): 0.952345 CHAN A3 (5V): 0.784565 CHAN B0 (3.3V): 0.509033 CHAN B1 (3.15aV): 0.779781 CHAN B2 (3.15bV): 0.777894 CHAN B3 (GND): -0.000475 OPEN: 0.024055 Full Scale: +/- 1 mA 2023-11-14T19:06:19.627Z,1699988779.627 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.688442 2023-11-14T19:06:46.255Z,1699988806.255 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.623185 2023-11-14T19:06:46.255Z,1699988806.255 [SBIT](FAULT): Control surface position failure. 2023-11-14T19:07:00.474Z,1699988820.474 [SBIT](CRITICAL): SBIT FAILED 2023-11-14T19:07:00.474Z,1699988820.474 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2023-11-14T19:07:00.475Z,1699988820.475 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2023-11-14T19:07:00.475Z,1699988820.475 [SBIT](IMPORTANT): DAT.missionCritical=1 bool; 2023-11-14T19:07:00.475Z,1699988820.475 [SBIT](IMPORTANT): DAT.verbosity=1 count; 2023-11-14T19:07:00.475Z,1699988820.475 [SBIT](IMPORTANT): DockingStepper.slideValue=9000 count; 2023-11-14T19:07:00.475Z,1699988820.475 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2023-11-14T19:07:00.475Z,1699988820.475 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute; 2023-11-14T19:07:00.475Z,1699988820.475 [SBIT](IMPORTANT): Express linearApproximation CurrentEstimator.current_direction_navigation_frame 10.000000 degree; 2023-11-14T19:07:00.476Z,1699988820.476 [SBIT](IMPORTANT): Express linearApproximation CurrentEstimator.current_speed_navigation_frame 0.250000 meter_per_second; 2023-11-14T19:07:00.476Z,1699988820.476 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2023-11-14T19:07:00.476Z,1699988820.476 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter; 2023-11-14T19:07:00.476Z,1699988820.476 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2023-11-14T19:07:00.476Z,1699988820.476 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=10 minute; 2023-11-14T19:07:00.476Z,1699988820.476 [SBIT](IMPORTANT): LineCapture.searchTimeout=15 minute; 2023-11-14T19:07:00.476Z,1699988820.476 [SBIT](IMPORTANT): LineCapture.shortFinalRange=10 meter; 2023-11-14T19:07:00.476Z,1699988820.476 [SBIT](IMPORTANT): RudderServo.offsetAngle=2.5 degree; 2023-11-14T19:07:00.477Z,1699988820.477 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=378.572158 cubic_centimeter; 2023-11-14T19:07:00.477Z,1699988820.477 [SBIT](IMPORTANT): VerticalControl.massDefault=21.750844 millimeter; 2023-11-14T19:07:00.478Z,1699988820.478 [CommandExec](FAULT): Scheduling is paused 2023-11-14T19:07:00.746Z,1699988820.746 [MissionManager](IMPORTANT): Started mission Startup 2023-11-14T19:07:59.368Z,1699988879.368 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2023-11-14T19:09:18.393Z,1699988958.393 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2023-11-14T19:11:04.891Z,1699989064.891 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191010 2023-11-14T19:11:16.250Z,1699989076.250 [CommandExec](IMPORTANT): got command failComponent hardware DAT 2023-11-14T19:11:16.254Z,1699989076.254 [CommandExec](IMPORTANT): DAT failureMode is Hardware Fault 2023-11-14T19:11:16.255Z,1699989076.255 [CommandExec](IMPORTANT): got command failComponent none DAT 2023-11-14T19:11:16.256Z,1699989076.256 [CommandExec](IMPORTANT): DAT failureMode is No Fault 2023-11-14T19:14:53.814Z,1699989293.814 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.900440 min 2023-11-14T19:16:56.915Z,1699989416.915 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191602 2023-11-14T19:17:07.962Z,1699989427.962 [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.WaitOnDockTimeout 90 min" 3wdif 1 6.000000 2023-11-14T19:17:07.963Z,1699989427.963 [CommandExec](IMPORTANT): Scheduling command #1 of 6 with id=3wdif 2023-11-14T19:17:07.964Z,1699989427.964 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 6 with id='3wdif'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 90 min", ASAP 2023-11-14T19:17:08.915Z,1699989428.915 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191614 2023-11-14T19:17:20.494Z,1699989440.494 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min;set lineCaptureHoming.SlideCloseDuration 5 min" 3wdif 2 6.000000 2023-11-14T19:17:20.494Z,1699989440.494 [CommandExec](IMPORTANT): Scheduling command #2 of 6 with id=3wdif 2023-11-14T19:17:20.495Z,1699989440.495 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 6 with id='3wdif'): "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min;set lineCaptureHoming.SlideCloseDuration 5 min", ASAP 2023-11-14T19:17:21.439Z,1699989441.439 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191626 2023-11-14T19:17:29.157Z,1699989449.157 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.SlideDriveDuration 10 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TryWhirl 0 bool" 3wdif 3 6.000000 2023-11-14T19:17:29.158Z,1699989449.158 [CommandExec](IMPORTANT): Scheduling command #3 of 6 with id=3wdif 2023-11-14T19:17:29.159Z,1699989449.159 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 6 with id='3wdif'): "set lineCaptureHoming.SlideDriveDuration 10 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TryWhirl 0 bool", ASAP 2023-11-14T19:17:30.063Z,1699989450.063 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191635 2023-11-14T19:17:38.009Z,1699989458.009 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 s;set lineCaptureHoming.NumPingsUSBL 200 count;set lineCaptureHoming.DockingAltitude 7.4 m" 3wdif 4 6.000000 2023-11-14T19:17:38.009Z,1699989458.009 [CommandExec](IMPORTANT): Scheduling command #4 of 6 with id=3wdif 2023-11-14T19:17:38.010Z,1699989458.010 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 6 with id='3wdif'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 s;set lineCaptureHoming.NumPingsUSBL 200 count;set lineCaptureHoming.DockingAltitude 7.4 m", ASAP 2023-11-14T19:17:38.948Z,1699989458.948 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191644 2023-11-14T19:17:46.765Z,1699989466.765 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min" 3wdif 5 6.000000 2023-11-14T19:17:46.766Z,1699989466.766 [CommandExec](IMPORTANT): Scheduling command #5 of 6 with id=3wdif 2023-11-14T19:17:46.767Z,1699989466.767 [CommandExec](IMPORTANT): Scheduled #5 (#5 of 6 with id='3wdif'): "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min", ASAP 2023-11-14T19:17:47.671Z,1699989467.671 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191652 2023-11-14T19:17:55.508Z,1699989475.508 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 3wdif 6 6.000000 2023-11-14T19:17:55.508Z,1699989475.508 [CommandExec](IMPORTANT): Scheduling command #6 of 6 with id=3wdif 2023-11-14T19:17:55.509Z,1699989475.509 [CommandExec](IMPORTANT): Scheduled #6 (#6 of 6 with id='3wdif'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP 2023-11-14T19:17:55.651Z,1699989475.651 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl 2023-11-14T19:17:55.652Z,1699989475.652 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx 2023-11-14T19:17:56.311Z,1699989476.311 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/Science.tx 2023-11-14T19:17:56.411Z,1699989476.411 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191701 2023-11-14T19:17:57.898Z,1699989477.898 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-11-14T19:17:58.133Z,1699989478.133 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx 2023-11-14T19:17:58.359Z,1699989478.359 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx 2023-11-14T19:17:58.470Z,1699989478.470 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx 2023-11-14T19:17:59.186Z,1699989479.186 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-11-14T19:18:00.424Z,1699989480.424 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx 2023-11-14T19:18:01.084Z,1699989481.084 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl 2023-11-14T19:18:11.239Z,1699989491.239 [DataOverHttps](IMPORTANT): SBD MTMSN=20231114T191716 2023-11-14T19:18:23.979Z,1699989503.979 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 4 hour 2023-11-14T19:18:23.980Z,1699989503.980 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 4 hour 2023-11-14T19:18:23.981Z,1699989503.981 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 9 hour 2023-11-14T19:18:23.982Z,1699989503.982 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 90 minute 2023-11-14T19:18:23.987Z,1699989503.987 [CommandExec](IMPORTANT): got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 2 h;run" 2023-11-14T19:18:23.987Z,1699989503.987 [CommandExec](IMPORTANT): Scheduled #7: "load Engineering/OnDock.tl;set OnDock.DockedTime 2 h;run", AFTER MISSION 2023-11-14T19:18:23.988Z,1699989503.988 [CommandExec](FAULT): Scheduling was paused by an error at 2023-11-14T19:07:00Z 2023-11-14T19:18:23.990Z,1699989503.990 [CommandExec](IMPORTANT): got command schedule resume 2023-11-14T19:18:23.990Z,1699989503.990 [CommandExec](IMPORTANT): Scheduling is resumed 2023-11-14T19:18:39.478Z,1699989519.478 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool 2023-11-14T19:18:39.478Z,1699989519.478 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool 2023-11-14T19:18:39.479Z,1699989519.479 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 4 count 2023-11-14T19:18:39.480Z,1699989519.480 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideSinkDuration 1 minute 2023-11-14T19:18:39.480Z,1699989519.480 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 5 minute 2023-11-14T19:18:59.895Z,1699989539.895 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideDriveDuration 10 minute 2023-11-14T19:18:59.895Z,1699989539.895 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryWiggle 0 bool 2023-11-14T19:18:59.896Z,1699989539.896 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryJog 1 bool 2023-11-14T19:18:59.897Z,1699989539.897 [CommandExec](IMPORTANT): got command set lineCaptureHoming.JogLength 10 second 2023-11-14T19:18:59.898Z,1699989539.898 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryWhirl 0 bool 2023-11-14T19:19:34.588Z,1699989574.588 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second 2023-11-14T19:19:34.589Z,1699989574.589 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 second 2023-11-14T19:19:34.590Z,1699989574.590 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 200 count 2023-11-14T19:19:34.591Z,1699989574.591 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.4 meter 2023-11-14T19:19:55.400Z,1699989595.400 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute 2023-11-14T19:19:55.401Z,1699989595.401 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 72 meter 2023-11-14T19:19:55.402Z,1699989595.402 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter 2023-11-14T19:19:55.403Z,1699989595.403 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 75 meter 2023-11-14T19:19:55.404Z,1699989595.404 [CommandExec](IMPORTANT): got command set lineCaptureHoming.ApproachDepthTimeout 10 minute 2023-11-14T19:20:00.275Z,1699989600.275 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none 2023-11-14T19:20:00.275Z,1699989600.275 [CommandExec](IMPORTANT): got command run 2023-11-14T19:20:00.282Z,1699989600.282 [CommandExec](IMPORTANT): Running 2023-11-14T19:20:00.542Z,1699989600.542 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2023-11-14T19:20:57.181Z,1699989657.181 [lineCaptureHoming:Y](IMPORTANT): Restarting logs