2022-03-09T21:42:31.240Z,1646862151.240 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2022-03-09T21:42:34.672Z,1646862154.672 [SBIT](IMPORTANT): git: 2022-03-07_B-3-g2c57dcde7 2022-03-09T21:42:34.673Z,1646862154.673 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2022-03-09T21:42:36.485Z,1646862156.485 [DockingServo](FAULT): Failed to initialize 2022-03-09T21:44:26.081Z,1646862266.081 [SBIT](IMPORTANT): Beginning Startup BIT 2022-03-09T21:44:26.085Z,1646862266.085 [CBIT](IMPORTANT): Beginning ground fault scan 2022-03-09T21:44:37.015Z,1646862277.015 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.004311 CHAN A1 (24V): -0.026550 CHAN A2 (12V): -0.004555 CHAN A3 (5V): -0.002698 CHAN B0 (3.3V): -0.001414 CHAN B1 (3.15aV): -0.001396 CHAN B2 (3.15bV): -0.001381 CHAN B3 (GND): -0.000475 OPEN: 0.005956 Full Scale: +/- 1 mA 2022-03-09T21:45:20.271Z,1646862320.271 [SBIT](IMPORTANT): SBIT PASSED 2022-03-09T21:45:20.272Z,1646862320.272 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2022-03-09T21:45:20.273Z,1646862320.273 [SBIT](IMPORTANT): DockingServo.pidW=800 count; 2022-03-09T21:45:20.273Z,1646862320.273 [SBIT](IMPORTANT): DockingServo.pidX=300 count; 2022-03-09T21:45:20.273Z,1646862320.273 [SBIT](IMPORTANT): DockingServo.pidY=100 count; 2022-03-09T21:45:20.273Z,1646862320.273 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5 meter; 2022-03-09T21:45:20.273Z,1646862320.273 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 1 kilogram_per_cubic_meter; 2022-03-09T21:45:20.273Z,1646862320.273 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2022-03-09T21:45:20.273Z,1646862320.273 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2022-03-09T21:45:20.273Z,1646862320.273 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=0 bool; 2022-03-09T21:45:20.274Z,1646862320.274 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=2 day; 2022-03-09T21:45:20.274Z,1646862320.274 [SBIT](IMPORTANT): LineCapture.armSpeed=0.8 meter_per_second; 2022-03-09T21:45:20.274Z,1646862320.274 [SBIT](IMPORTANT): LineCapture.kiHeadingFinalApproach=0.003 reciprocal_second; 2022-03-09T21:45:20.274Z,1646862320.274 [SBIT](IMPORTANT): LineCapture.kiHeadingTerminalGuidance=0.003 reciprocal_second; 2022-03-09T21:45:20.274Z,1646862320.274 [SBIT](IMPORTANT): LineCapture.kpHeadingFinalApproach=0.9 ratio; 2022-03-09T21:45:20.274Z,1646862320.274 [SBIT](IMPORTANT): LineCapture.kpHeadingTerminalGuidance=0.9 ratio; 2022-03-09T21:45:20.274Z,1646862320.274 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=0.8 meter_per_second; 2022-03-09T21:45:20.274Z,1646862320.274 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): LineCapture.rolloutDistance=110 meter; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=3 minute; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): LineCapture.terminalRange=150 meter; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex1=36.775 degree; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex2=36.775 degree; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex3=36.755 degree; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex4=36.755 degree; 2022-03-09T21:45:20.275Z,1646862320.275 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=0 bool; 2022-03-09T21:45:20.276Z,1646862320.276 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex1=-121.855 degree; 2022-03-09T21:45:20.276Z,1646862320.276 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex2=-121.835 degree; 2022-03-09T21:45:20.276Z,1646862320.276 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex3=-121.835 degree; 2022-03-09T21:45:20.276Z,1646862320.276 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex4=-121.855 degree; 2022-03-09T21:45:20.276Z,1646862320.276 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=151.306 cubic_centimeter; 2022-03-09T21:45:20.276Z,1646862320.276 [SBIT](IMPORTANT): VerticalControl.massDefault=-22.9625 millimeter; 2022-03-09T21:45:20.609Z,1646862320.609 [MissionManager](IMPORTANT): Started mission Startup 2022-03-09T21:47:21.508Z,1646862441.508 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-03-09T21:48:25.697Z,1646862505.697 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-03-09T21:54:43.631Z,1646862883.631 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.362200 min 2022-03-09T21:57:38.452Z,1646863058.452 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=10445, MT Status=1, MTMSN=434 2022-03-09T21:57:39.314Z,1646863059.314 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 60 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.Repeat 4 count" 34sus 1 4.000000 2022-03-09T21:57:39.314Z,1646863059.314 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=34sus 2022-03-09T21:57:39.315Z,1646863059.315 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 4 with id='34sus'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 60 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.Repeat 4 count", ASAP 2022-03-09T21:58:13.420Z,1646863093.420 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=10446, MT Status=1, MTMSN=435 2022-03-09T21:58:14.194Z,1646863094.194 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 1 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 49 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count" 34sus 2 4.000000 2022-03-09T21:58:14.194Z,1646863094.194 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=34sus 2022-03-09T21:58:14.195Z,1646863094.195 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 4 with id='34sus'): "set lineCaptureHoming.WaitOnDockTimeout 1 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 49 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count", ASAP 2022-03-09T21:58:31.811Z,1646863111.811 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=10447, MT Status=1, MTMSN=436 2022-03-09T21:58:32.578Z,1646863112.578 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.DockingAltitude 7.7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m" 34sus 3 4.000000 2022-03-09T21:58:32.578Z,1646863112.578 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=34sus 2022-03-09T21:58:32.579Z,1646863112.579 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 4 with id='34sus'): "set lineCaptureHoming.DockingAltitude 7.7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m", ASAP 2022-03-09T21:59:06.024Z,1646863146.024 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=10449, MT Status=1, MTMSN=437 2022-03-09T21:59:06.744Z,1646863146.744 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 34sus 4 4.000000 2022-03-09T21:59:06.745Z,1646863146.745 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=34sus 2022-03-09T21:59:06.746Z,1646863146.746 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 4 with id='34sus'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP 2022-03-09T21:59:06.982Z,1646863146.982 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml 2022-03-09T21:59:11.495Z,1646863151.495 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml 2022-03-09T21:59:25.335Z,1646863165.335 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 60 minute 2022-03-09T21:59:25.335Z,1646863165.335 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 60 minute 2022-03-09T21:59:25.336Z,1646863165.336 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 60 minute 2022-03-09T21:59:25.337Z,1646863165.337 [CommandExec](IMPORTANT): got command set lineCaptureHoming.Repeat 4 count 2022-03-09T21:59:41.238Z,1646863181.238 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1 minute 2022-03-09T21:59:41.239Z,1646863181.239 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count 2022-03-09T21:59:41.239Z,1646863181.239 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 49 count 2022-03-09T21:59:41.240Z,1646863181.240 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count 2022-03-09T21:59:54.068Z,1646863194.068 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.7 meter 2022-03-09T21:59:54.069Z,1646863194.069 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute 2022-03-09T21:59:54.070Z,1646863194.070 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter 2022-03-09T21:59:54.071Z,1646863194.071 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter 2022-03-09T22:00:03.750Z,1646863203.750 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none 2022-03-09T22:00:03.751Z,1646863203.751 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none 2022-03-09T22:00:03.751Z,1646863203.751 [CommandExec](IMPORTANT): got command run 2022-03-09T22:00:03.755Z,1646863203.755 [CommandExec](IMPORTANT): Running 2022-03-09T22:00:03.942Z,1646863203.942 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2022-03-09T22:09:38.667Z,1646863778.667 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2022-03-09T22:32:15.311Z,1646865135.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.30. 2022-03-09T22:34:32.546Z,1646865272.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 41.30 m. 2022-03-09T22:36:38.849Z,1646865398.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 13.50 m. Rolling out. 2022-03-09T22:39:39.094Z,1646865579.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 40.60 m. Resuming terminal guidance. 2022-03-09T22:43:19.528Z,1646865799.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 45.50 m. 2022-03-09T22:44:34.515Z,1646865874.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Intercept lockout. Range: 1.50 m. 2022-03-09T22:46:13.588Z,1646865973.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 50.90 m. Rolling out. 2022-03-09T22:49:13.745Z,1646866153.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 50.90 m. Resuming terminal guidance. 2022-03-09T22:52:27.095Z,1646866347.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 39.10 m. 2022-03-09T22:53:15.185Z,1646866395.185 [DockingServo](FAULT): Overload Error 2022-03-09T22:53:24.165Z,1646866404.165 [DockingServo](FAULT): Overload Error 2022-03-09T22:53:28.465Z,1646866408.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Intercept lockout. Range: 1.50 m. 2022-03-09T22:53:30.918Z,1646866410.918 [DockingServo](FAULT): Overload Error 2022-03-09T22:53:31.722Z,1646866411.722 [DockingServo](FAULT): LCB fault: LCB Watchdog Reset. 2022-03-09T22:53:37.489Z,1646866417.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.80 m. Cable present. 2022-03-09T22:54:20.053Z,1646866460.053 [DockingServo](FAULT): Overload Error 2022-03-09T22:54:44.976Z,1646866484.976 [lineCaptureHoming:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.500000 m . 2022-03-09T22:56:16.653Z,1646866576.653 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete. 2022-03-09T22:56:54.095Z,1646866614.095 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2022-03-09T22:56:56.133Z,1646866616.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.30. 2022-03-09T22:57:19.424Z,1646866639.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 21.80 m. 2022-03-09T22:58:30.555Z,1646866710.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 11.60 m. Rolling out. 2022-03-09T23:00:04.583Z,1646866804.583 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-03-09T23:01:09.639Z,1646866869.639 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-03-09T23:12:31.113Z,1646867551.113 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 12.435326 min 2022-03-09T23:18:14.290Z,1646867894.290 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 18.154830 min 2022-03-09T23:19:02.551Z,1646867942.551 [DataOverHttps](IMPORTANT): SBD MTMSN=20220309T231816 2022-03-09T23:19:10.103Z,1646867950.103 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=10470, MT Status=1, MTMSN=438