2019-07-17T14:13:37.871Z,1563372817.871 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2019-07-17T14:13:42.504Z,1563372822.504 [SBIT](IMPORTANT): git: 2019-07-16A 2019-07-17T14:13:42.504Z,1563372822.504 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2019-07-17T14:13:43.992Z,1563372823.992 [RudderServo](FAULT): Rudder failed to initialize 2019-07-17T14:14:11.289Z,1563372851.289 [SBIT](IMPORTANT): Beginning Startup BIT 2019-07-17T14:14:11.297Z,1563372851.297 [CBIT](IMPORTANT): Beginning ground fault scan 2019-07-17T14:14:22.340Z,1563372862.340 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.901415 CHAN A1 (24V): 0.825827 CHAN A2 (12V): 0.935311 CHAN A3 (5V): 0.620264 CHAN B0 (3.3V): 0.402946 CHAN B1 (3.15aV): 0.517115 CHAN B2 (3.15bV): 0.561431 CHAN B3 (GND): 0.008649 OPEN: 0.023331 Full Scale Calc: 4.765 mA, -1.589 mA 2019-07-17T14:15:04.880Z,1563372904.880 [SBIT](IMPORTANT): SBIT PASSED 2019-07-17T14:15:04.900Z,1563372904.900 [CommandLine](IMPORTANT): got command configSet list 2019-07-17T14:15:04.900Z,1563372904.900 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2019-07-17T14:15:04.901Z,1563372904.901 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=50 count; 2019-07-17T14:15:04.901Z,1563372904.901 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 2.000000 meter; 2019-07-17T14:15:04.901Z,1563372904.901 [CommandLine](IMPORTANT): Micromodem.surfaceThreshold=2 meter; 2019-07-17T14:15:04.902Z,1563372904.902 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool; 2019-07-17T14:15:05.262Z,1563372905.262 [MissionManager](IMPORTANT): Started mission Startup 2019-07-17T14:16:34.543Z,1563372994.543 [MissionManager](IMPORTANT): Started mission Default 2019-07-17T14:19:55.794Z,1563373195.794 [DataOverHttps](IMPORTANT): SBD MTMSN=20190717T141954 2019-07-17T14:20:01.421Z,1563373201.421 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.MissionTimeout 1 hour;set lineCaptureHoming.Repeat 2 count;set lineCaptureHoming.DockLat 36.80785 degree;set lineCaptureHoming.DockLon -121.82497 degree" 4v6g7 1 4.000000 2019-07-17T14:20:01.421Z,1563373201.421 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=4v6g7 2019-07-17T14:20:01.422Z,1563373201.422 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 4 with id='4v6g7'): "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.MissionTimeout 1 hour;set lineCaptureHoming.Repeat 2 count;set lineCaptureHoming.DockLat 36.80785 degree;set lineCaptureHoming.DockLon -121.82497 degree" ASAP 2019-07-17T14:20:02.154Z,1563373202.154 [DataOverHttps](IMPORTANT): SBD MTMSN=20190717T142001 2019-07-17T14:20:07.429Z,1563373207.429 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.StartLat 36.812322 degree;set lineCaptureHoming.StartLon -121.825088 degree;set lineCaptureHoming.CameraRange 50.0 meter;set lineCaptureHoming.DockRange 4 meter;set lineCaptureHoming.UpdateNav 0 bool" 4v6g7 2 4.000000 2019-07-17T14:20:07.429Z,1563373207.429 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=4v6g7 2019-07-17T14:20:07.430Z,1563373207.430 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 4 with id='4v6g7'): "set lineCaptureHoming.StartLat 36.812322 degree;set lineCaptureHoming.StartLon -121.825088 degree;set lineCaptureHoming.CameraRange 50.0 meter;set lineCaptureHoming.DockRange 4 meter;set lineCaptureHoming.UpdateNav 0 bool" ASAP 2019-07-17T14:20:08.185Z,1563373208.185 [DataOverHttps](IMPORTANT): SBD MTMSN=20190717T142007 2019-07-17T14:20:13.666Z,1563373213.666 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutTimeout 5 minute;set lineCaptureHoming.HoldAltitude 6 meter;set lineCaptureHoming.InvalidAltitudeTimeout 15 minute;set lineCaptureHoming.InitDepth 20 meter" 4v6g7 3 4.000000 2019-07-17T14:20:13.666Z,1563373213.666 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=4v6g7 2019-07-17T14:20:13.667Z,1563373213.667 [CommandLine](IMPORTANT): Scheduled #3 (#3 of 4 with id='4v6g7'): "set lineCaptureHoming.RolloutTimeout 5 minute;set lineCaptureHoming.HoldAltitude 6 meter;set lineCaptureHoming.InvalidAltitudeTimeout 15 minute;set lineCaptureHoming.InitDepth 20 meter" ASAP 2019-07-17T14:20:14.393Z,1563373214.393 [DataOverHttps](IMPORTANT): SBD MTMSN=20190717T142013 2019-07-17T14:20:19.669Z,1563373219.669 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.MinAltitude 4 meter;set lineCaptureHoming.MaxDepth 50 meter;run " 4v6g7 4 4.000000 2019-07-17T14:20:19.670Z,1563373219.670 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=4v6g7 2019-07-17T14:20:19.671Z,1563373219.671 [CommandLine](IMPORTANT): Scheduled #4 (#4 of 4 with id='4v6g7'): "set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.MinAltitude 4 meter;set lineCaptureHoming.MaxDepth 50 meter;run " ASAP 2019-07-17T14:20:19.805Z,1563373219.805 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHomingUpdate.xml 2019-07-17T14:20:21.361Z,1563373221.361 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHomingUpdate.xml 2019-07-17T14:20:31.251Z,1563373231.251 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 1.000000 hour 2019-07-17T14:20:31.252Z,1563373231.252 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 2.000000 count 2019-07-17T14:20:31.253Z,1563373231.253 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.807850 degree 2019-07-17T14:20:31.254Z,1563373231.254 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.824966 degree 2019-07-17T14:20:42.534Z,1563373242.534 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLat 36.812321 degree 2019-07-17T14:20:42.534Z,1563373242.534 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLon -121.825089 degree 2019-07-17T14:20:42.535Z,1563373242.535 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 50.000000 meter 2019-07-17T14:20:42.536Z,1563373242.536 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 4.000000 meter 2019-07-17T14:20:42.537Z,1563373242.537 [CommandLine](IMPORTANT): got command set lineCaptureHoming.UpdateNav 0.000000 bool 2019-07-17T14:20:55.382Z,1563373255.382 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 5.000000 minute 2019-07-17T14:20:55.383Z,1563373255.383 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 6.000000 meter 2019-07-17T14:20:55.388Z,1563373255.388 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 15.000000 minute 2019-07-17T14:20:55.389Z,1563373255.389 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 20.000000 meter 2019-07-17T14:21:04.487Z,1563373264.487 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 4.000000 second 2019-07-17T14:21:04.488Z,1563373264.488 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4.000000 meter 2019-07-17T14:21:04.489Z,1563373264.489 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 50.000000 meter 2019-07-17T14:21:04.489Z,1563373264.489 [CommandLine](IMPORTANT): got command run 2019-07-17T14:21:04.493Z,1563373264.493 [CommandLine](IMPORTANT): Running 2019-07-17T14:21:04.643Z,1563373264.643 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2019-07-17T14:21:46.492Z,1563373306.492 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence. 2019-07-17T14:21:47.544Z,1563373307.544 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2019-07-17T14:23:10.074Z,1563373390.074 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Terminal guidance at range: 257.639984 m . 2019-07-17T14:27:55.292Z,1563373675.292 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 48.419998 m . 2019-07-17T14:36:32.824Z,1563374192.824 [lineCaptureHoming:Lap:Dock:A](IMPORTANT): Final approach. Range: 3.119999 m . 2019-07-17T14:49:11.528Z,1563374951.528 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](IMPORTANT): Reached Waypoint: 36.812322,-121.825085 2019-07-17T14:49:12.342Z,1563374952.342 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence. 2019-07-17T14:49:13.956Z,1563374953.956 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 41.099998 m . 2019-07-17T14:49:13.957Z,1563374953.957 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Terminal guidance at range: 41.099998 m . 2019-07-17T15:18:31.754Z,1563376711.754 [lineCaptureHoming:Lap:Dock:A](IMPORTANT): Final approach. Range: 3.779998 m . 2019-07-17T15:21:05.283Z,1563376865.283 [MissionManager](IMPORTANT): Started mission Default 2019-07-17T15:27:56.428Z,1563377276.428 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=8190, MT Status=1, MTMSN=321 2019-07-17T15:27:57.519Z,1563377277.519 [CommandLine](IMPORTANT): got command configSet HorizontalControl.rudDeadband 0.050000 degree persist 2019-07-17T15:27:57.521Z,1563377277.521 [CommandLine](IMPORTANT): got command configSet HorizontalControl.kpHeading 0.800000 none persist 2019-07-17T15:33:19.689Z,1563377599.689 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 12.234168 min 2019-07-17T15:33:37.540Z,1563377617.540 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=8191, MT Status=1, MTMSN=322 2019-07-17T15:33:38.063Z,1563377618.063 [CommandLine](IMPORTANT): got command restart application