2025-06-10T19:28:09.286Z,1749583689.286 [CommandExec](IMPORTANT): got command restart logs 2025-06-10T19:28:37.912Z,1749583717.912 [IBIT](FAULT): Error acquiring IBIT communications status. Timeout expired. 2025-06-10T19:28:38.294Z,1749583718.294 [IBIT](IMPORTANT): Battery Status: Battery Charge (AH): 0.000000 Voltage: 15.303000 2025-06-10T19:28:38.294Z,1749583718.294 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah 2025-06-10T19:28:38.295Z,1749583718.295 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V 2025-06-10T19:28:38.751Z,1749583718.751 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 % 2025-06-10T19:28:38.751Z,1749583718.751 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi 2025-06-10T19:28:38.752Z,1749583718.752 [IBIT](IMPORTANT): Pressure:10.112754 PSI 2025-06-10T19:28:38.752Z,1749583718.752 [IBIT](IMPORTANT): Humidity:14.998169 % 2025-06-10T19:28:39.142Z,1749583719.142 [IBIT](IMPORTANT): Vehicle Pitch:0.430628 degrees 2025-06-10T19:28:39.142Z,1749583719.142 [IBIT](IMPORTANT): Vehicle Roll:14.929858 degrees 2025-06-10T19:28:39.143Z,1749583719.143 [IBIT](IMPORTANT): Vehicle Heading:292.486328 degrees 2025-06-10T19:28:39.538Z,1749583719.538 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m 2025-06-10T19:28:39.539Z,1749583719.539 [IBIT](IMPORTANT): buoyancyNeutral: 402.547424 cc 2025-06-10T19:28:39.539Z,1749583719.539 [IBIT](IMPORTANT): massDefault: 1.902017 cm 2025-06-10T19:28:39.539Z,1749583719.539 [IBIT](IMPORTANT): stopDepth: 215.000000 m 2025-06-10T19:28:39.539Z,1749583719.539 [IBIT](IMPORTANT): abortDepth: 255.000000 m 2025-06-10T19:28:39.539Z,1749583719.539 [IBIT](IMPORTANT): IBIT FAILED 2025-06-10T19:28:57.957Z,1749583737.957 [CommandExec](IMPORTANT): got command ibit 2025-06-10T19:28:58.152Z,1749583738.152 [IBIT](IMPORTANT): Beginning Initiated BIT 2025-06-10T19:28:58.152Z,1749583738.152 [IBIT](IMPORTANT): Beginning control surface checks. 2025-06-10T19:28:58.156Z,1749583738.156 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-06-10T19:29:02.923Z,1749583742.923 [GFScanner](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.018147 CHAN A1 (24V): 0.015354 CHAN A2 (12V): 0.013588 CHAN A3 (5V): 0.004958 CHAN B0 (3.3V): 0.005292 CHAN B1 (3.15aV): 0.004275 CHAN B2 (3.15bV): 0.004816 CHAN B3 (GND): 0.000641 OPEN: 0.007404 Full Scale: +/- 1 mA 2025-06-10T19:30:49.264Z,1749583849.264 [IBIT](FAULT): Error acquiring IBIT communications status. Timeout expired. 2025-06-10T19:30:49.703Z,1749583849.703 [IBIT](IMPORTANT): Battery Status: Battery Charge (AH): 0.000000 Voltage: 15.263000 2025-06-10T19:30:49.708Z,1749583849.708 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah 2025-06-10T19:30:49.708Z,1749583849.708 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V 2025-06-10T19:30:50.122Z,1749583850.122 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 % 2025-06-10T19:30:50.122Z,1749583850.122 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi 2025-06-10T19:30:50.122Z,1749583850.122 [IBIT](IMPORTANT): Pressure:10.083999 PSI 2025-06-10T19:30:50.123Z,1749583850.123 [IBIT](IMPORTANT): Humidity:15.010376 % 2025-06-10T19:30:50.502Z,1749583850.502 [IBIT](IMPORTANT): Vehicle Pitch:0.142045 degrees 2025-06-10T19:30:50.503Z,1749583850.503 [IBIT](IMPORTANT): Vehicle Roll:16.471577 degrees 2025-06-10T19:30:50.503Z,1749583850.503 [IBIT](IMPORTANT): Vehicle Heading:289.111633 degrees 2025-06-10T19:30:50.916Z,1749583850.916 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m 2025-06-10T19:30:50.916Z,1749583850.916 [IBIT](IMPORTANT): buoyancyNeutral: 402.547424 cc 2025-06-10T19:30:50.916Z,1749583850.916 [IBIT](IMPORTANT): massDefault: 1.902017 cm 2025-06-10T19:30:50.916Z,1749583850.916 [IBIT](IMPORTANT): stopDepth: 215.000000 m 2025-06-10T19:30:50.918Z,1749583850.918 [IBIT](IMPORTANT): abortDepth: 255.000000 m 2025-06-10T19:30:50.918Z,1749583850.918 [IBIT](IMPORTANT): IBIT FAILED 2025-06-10T19:31:05.890Z,1749583865.890 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T193111 2025-06-10T19:31:13.579Z,1749583873.579 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2025-06-10T19:31:15.730Z,1749583875.730 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2025-06-10T19:31:34.399Z,1749583894.399 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 3 hour 2025-06-10T19:31:34.411Z,1749583894.411 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 45 minute 2025-06-10T19:31:34.412Z,1749583894.412 [CommandExec](IMPORTANT): got command set transit.Latitude 36.903 degree 2025-06-10T19:31:34.413Z,1749583894.413 [CommandExec](IMPORTANT): got command set transit.Longitude -122.11055 degree 2025-06-10T19:31:34.414Z,1749583894.414 [CommandExec](IMPORTANT): got command set transit.Speed 1.1 meter_per_second 2025-06-10T19:31:34.414Z,1749583894.414 [CommandExec](IMPORTANT): got command run 2025-06-10T19:31:34.422Z,1749583894.422 [CommandExec](IMPORTANT): Running 2025-06-10T19:31:34.542Z,1749583894.542 [MissionManager](IMPORTANT): Started mission transit 2025-06-10T19:31:36.130Z,1749583896.130 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903000,-122.110550 2025-06-10T20:05:45.453Z,1749585945.453 [BPC1](FAULT): Failed to receive data from 2 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 46. 2025-06-10T20:21:24.062Z,1749586884.062 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=48235, MT Status=1, MTMSN=2696 2025-06-10T20:21:24.601Z,1749586884.601 [CommandExec](IMPORTANT): got command stop 2025-06-10T20:21:24.931Z,1749586884.931 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-06-10T20:22:17.150Z,1749586937.150 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-06-10T20:22:26.766Z,1749586946.766 [DataOverHttps](IMPORTANT): SBD MOMSN=25180011, MTMSN=20250610T202232 2025-06-10T20:22:34.734Z,1749586954.734 [CommandExec](IMPORTANT): got command resume 2025-06-10T20:22:37.031Z,1749586957.031 [MissionManager](IMPORTANT): Resuming from info in Logs/20250610T192809/Transport_transit_tl.state 2025-06-10T20:22:37.086Z,1749586957.086 [CommandExec](IMPORTANT): Resuming mission and schedule 2025-06-10T20:22:37.086Z,1749586957.086 [CommandExec](IMPORTANT): Scheduling is resumed 2025-06-10T20:22:37.087Z,1749586957.087 [CommandExec](IMPORTANT): Scheduled #2 (#1 of 2 with id='2in07'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m", AFTER MISSION 2025-06-10T20:22:37.092Z,1749586957.092 [CommandExec](IMPORTANT): Scheduled #3 (#2 of 2 with id='2in07'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", AFTER MISSION 2025-06-10T20:22:37.093Z,1749586957.093 [CommandExec](IMPORTANT): Scheduled #4: "load Engineering/OnDock.tl;set OnDock.DockedTime 4 h;run", AFTER MISSION 2025-06-10T20:22:37.093Z,1749586957.093 [CommandExec](IMPORTANT): Scheduled #6: "load Science/profile_station.tl;set profile_station.MissionTimeout 3 h;set profile_station.Lat 36.91 degree;set profile_station.Lon -122.11 degree;set profile_station.YoYoMaxDepth 50 m;run", AFTER MISSION 2025-06-10T20:22:37.093Z,1749586957.093 [CommandExec](IMPORTANT): got command schedule resume 2025-06-10T20:22:37.126Z,1749586957.126 [MissionManager](IMPORTANT): Started mission transit 2025-06-10T20:22:37.151Z,1749586957.151 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903000,-122.110545 2025-06-10T20:27:22.393Z,1749587242.393 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-06-10T20:37:49.552Z,1749587869.552 [ThrusterServo](FAULT): getVelocity uart error serial timeout 2025-06-10T20:37:49.554Z,1749587869.554 [ThrusterServo](FAULT): Thruster uart error: serial timeout 2025-06-10T20:46:47.593Z,1749588407.593 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 40, 46. 2025-06-10T21:13:03.346Z,1749589983.346 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-06-10T21:22:39.294Z,1749590559.294 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-06-10T21:27:49.581Z,1749590869.581 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 40, 45, 46. 2025-06-10T22:08:20.234Z,1749593300.234 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-06-10T22:08:51.357Z,1749593331.357 [BPC1](FAULT): Battery stick #43 (s/n: 027A) reported OVER_TEMP_ALARM. Status code: 0x1717. 2025-06-10T22:08:51.370Z,1749593331.370 [BPC1](FAULT): Failed to receive data from 3 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 45, 46. 2025-06-10T22:27:59.484Z,1749594479.484 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-06-10T22:28:04.006Z,1749594484.006 [GFScanner](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.011488 CHAN A1 (24V): 0.005578 CHAN A2 (12V): 0.008108 CHAN A3 (5V): 0.002710 CHAN B0 (3.3V): 0.003397 CHAN B1 (3.15aV): 0.002603 CHAN B2 (3.15bV): 0.003594 CHAN B3 (GND): 0.002142 OPEN: 0.006335 Full Scale: +/- 1 mA 2025-06-10T22:49:53.262Z,1749595793.262 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 43, 45, 46. 2025-06-10T22:58:21.041Z,1749596301.041 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T225827 2025-06-10T22:58:28.971Z,1749596308.971 [CommandExec](IMPORTANT): got command schedule remove 6 2025-06-10T22:58:28.971Z,1749596308.971 [CommandExec](IMPORTANT): got command schedule list 2025-06-10T22:58:28.990Z,1749596308.990 [CommandExec](IMPORTANT): Scheduled #2 (#1 of 2 with id='2in07'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m", AFTER MISSION 2025-06-10T22:58:28.991Z,1749596308.991 [CommandExec](IMPORTANT): Scheduled #3 (#2 of 2 with id='2in07'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", AFTER MISSION 2025-06-10T22:58:28.992Z,1749596308.992 [CommandExec](IMPORTANT): Scheduled #4: "load Engineering/OnDock.tl;set OnDock.DockedTime 4 h;run", AFTER MISSION 2025-06-10T22:58:29.959Z,1749596309.959 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T225836 2025-06-10T22:58:37.884Z,1749596317.884 [CommandExec](IMPORTANT): got command schedule 20250611T041500 "load Engineering/undock.tl;set undock.TransitLat 36.91 degree;set undock.TransitLon -122.11 degree;run" 2025-06-10T22:58:37.885Z,1749596317.885 [CommandExec](IMPORTANT): Scheduled #8: "load Engineering/undock.tl;set undock.TransitLat 36.91 degree;set undock.TransitLon -122.11 degree;run", AT TIME: 2025-06-11T04:15:00Z 2025-06-10T22:58:38.861Z,1749596318.861 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T225844 2025-06-10T22:58:47.283Z,1749596327.283 [CommandExec](IMPORTANT): got command schedule 20250611T042000 "ubat on" 2025-06-10T22:58:47.284Z,1749596327.284 [CommandExec](IMPORTANT): Scheduled #9: "ubat on", AT TIME: 2025-06-11T04:20:00Z 2025-06-10T22:58:48.266Z,1749596328.266 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T225854 2025-06-10T22:58:56.241Z,1749596336.241 [CommandExec](IMPORTANT): got command schedule "load Science/profile_station.tl;set profile_station.MissionTimeout 11 h;set profile_station.Lat 37.02 degree;set profile_station.Lon -122.27 degree;set profile_station.YoYoMaxDepth 50 m;run" 2025-06-10T22:58:56.242Z,1749596336.242 [CommandExec](IMPORTANT): Scheduled #10: "load Science/profile_station.tl;set profile_station.MissionTimeout 11 h;set profile_station.Lat 37.02 degree;set profile_station.Lon -122.27 degree;set profile_station.YoYoMaxDepth 50 m;run", AFTER MISSION 2025-06-10T22:58:57.173Z,1749596337.173 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T225903 2025-06-10T22:59:04.926Z,1749596344.926 [CommandExec](IMPORTANT): got command schedule list 2025-06-10T22:59:04.927Z,1749596344.927 [CommandExec](IMPORTANT): Scheduled #2 (#1 of 2 with id='2in07'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m", AFTER MISSION 2025-06-10T22:59:04.928Z,1749596344.928 [CommandExec](IMPORTANT): Scheduled #3 (#2 of 2 with id='2in07'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", AFTER MISSION 2025-06-10T22:59:04.928Z,1749596344.928 [CommandExec](IMPORTANT): Scheduled #4: "load Engineering/OnDock.tl;set OnDock.DockedTime 4 h;run", AFTER MISSION 2025-06-10T22:59:04.929Z,1749596344.929 [CommandExec](IMPORTANT): Scheduled #8: "load Engineering/undock.tl;set undock.TransitLat 36.91 degree;set undock.TransitLon -122.11 degree;run", AT TIME: 2025-06-11T04:15:00Z 2025-06-10T22:59:04.930Z,1749596344.930 [CommandExec](IMPORTANT): Scheduled #9: "ubat on", AT TIME: 2025-06-11T04:20:00Z 2025-06-10T22:59:04.930Z,1749596344.930 [CommandExec](IMPORTANT): Scheduled #10: "load Science/profile_station.tl;set profile_station.MissionTimeout 11 h;set profile_station.Lat 37.02 degree;set profile_station.Lon -122.27 degree;set profile_station.YoYoMaxDepth 50 m;run", AFTER MISSION 2025-06-10T22:59:05.918Z,1749596345.918 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T225912 2025-06-10T22:59:13.996Z,1749596353.996 [CommandExec](IMPORTANT): got command stop 2025-06-10T22:59:13.997Z,1749596353.997 [CommandExec](IMPORTANT): Scheduling is paused for 6 commands 2025-06-10T22:59:14.678Z,1749596354.678 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-06-10T22:59:37.253Z,1749596377.253 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-06-10T23:00:06.800Z,1749596406.800 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-06-10T23:02:37.942Z,1749596557.942 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T230244 2025-06-10T23:02:45.569Z,1749596565.569 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl 2025-06-10T23:02:47.331Z,1749596567.331 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit 2025-06-10T23:03:10.958Z,1749596590.958 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 4 hour 2025-06-10T23:03:10.959Z,1749596590.959 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 45 minute 2025-06-10T23:03:10.962Z,1749596590.962 [CommandExec](IMPORTANT): got command set transit.Latitude 36.903 degree 2025-06-10T23:03:10.963Z,1749596590.963 [CommandExec](IMPORTANT): got command set transit.Longitude -122.11055 degree 2025-06-10T23:03:10.963Z,1749596590.963 [CommandExec](IMPORTANT): got command set transit.Speed 1.1 meter_per_second 2025-06-10T23:03:10.964Z,1749596590.964 [CommandExec](IMPORTANT): got command run 2025-06-10T23:03:10.966Z,1749596590.966 [CommandExec](IMPORTANT): Running 2025-06-10T23:03:11.279Z,1749596591.279 [MissionManager](IMPORTANT): Started mission transit 2025-06-10T23:03:12.962Z,1749596592.962 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903000,-122.110550 2025-06-10T23:03:31.397Z,1749596611.397 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T230337 2025-06-10T23:04:12.823Z,1749596652.823 [ThrusterServo](FAULT): getVelocity uart error serial timeout 2025-06-10T23:04:12.824Z,1749596652.824 [ThrusterServo](FAULT): Thruster uart error: serial timeout 2025-06-10T23:30:55.269Z,1749598255.269 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 43, 45, 46. 2025-06-10T23:44:58.480Z,1749599098.480 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:5.850000m. At depth:10.608569m. 2025-06-10T23:49:37.178Z,1749599377.178 [CommandExec](IMPORTANT): got command schedule resume 2025-06-10T23:49:37.178Z,1749599377.178 [CommandExec](IMPORTANT): Scheduling is resumed 2025-06-10T23:49:38.133Z,1749599378.133 [DataOverHttps](IMPORTANT): SBD MTMSN=20250610T234944 2025-06-10T23:49:46.038Z,1749599386.038 [CommandExec](IMPORTANT): got command schedule resume 2025-06-10T23:50:49.325Z,1749599449.325 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-06-10T23:56:44.479Z,1749599804.479 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-06-11T00:11:57.343Z,1749600717.343 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 43, 45, 46. 2025-06-11T00:13:07.972Z,1749600787.972 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout 2025-06-11T00:37:16.243Z,1749602236.243 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.903000,-122.110550 2025-06-11T00:42:27.371Z,1749602547.371 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2025-06-11T00:43:09.222Z,1749602589.222 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl 2025-06-11T00:43:37.117Z,1749602617.117 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming 2025-06-11T00:43:37.457Z,1749602617.457 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-06-11T00:44:18.634Z,1749602658.634 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool 2025-06-11T00:44:18.635Z,1749602658.635 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.75 meter 2025-06-11T00:44:18.640Z,1749602658.640 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 68 meter 2025-06-11T00:44:18.641Z,1749602658.641 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter 2025-06-11T00:44:29.624Z,1749602669.624 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-06-11T00:44:37.770Z,1749602677.770 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool 2025-06-11T00:44:37.771Z,1749602677.771 [CommandExec](IMPORTANT): got command run 2025-06-11T00:44:37.823Z,1749602677.823 [CommandExec](IMPORTANT): Running 2025-06-11T00:44:38.101Z,1749602678.101 [MissionManager](IMPORTANT): Started mission lineCaptureHoming