2022-06-06T21:08:14.128Z,1654549694.128 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2022-06-06T21:08:17.529Z,1654549697.529 [SBIT](IMPORTANT): git: 2022-06-02 2022-06-06T21:08:17.530Z,1654549697.530 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2022-06-06T21:08:18.432Z,1654549698.432 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2022-06-06T21:08:19.391Z,1654549699.391 [RudderServo](FAULT): Rudder failed to initialize 2022-06-06T21:10:23.980Z,1654549823.980 [SBIT](IMPORTANT): Beginning Startup BIT 2022-06-06T21:10:23.988Z,1654549823.988 [CBIT](IMPORTANT): Beginning ground fault scan 2022-06-06T21:10:35.269Z,1654549835.269 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.004878 CHAN A1 (24V): -0.026905 CHAN A2 (12V): -0.004295 CHAN A3 (5V): -0.002621 CHAN B0 (3.3V): -0.000757 CHAN B1 (3.15aV): -0.001428 CHAN B2 (3.15bV): -0.001250 CHAN B3 (GND): -0.000712 OPEN: 0.006151 Full Scale: +/- 1 mA 2022-06-06T21:11:18.093Z,1654549878.093 [SBIT](IMPORTANT): SBIT PASSED 2022-06-06T21:11:18.093Z,1654549878.093 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2022-06-06T21:11:18.094Z,1654549878.094 [SBIT](IMPORTANT): DAT.ignoreElevationAngle=0 bool; 2022-06-06T21:11:18.094Z,1654549878.094 [SBIT](IMPORTANT): DAT.surfaceThreshold=2 meter; 2022-06-06T21:11:18.094Z,1654549878.094 [SBIT](IMPORTANT): DAT.verbosity=3 count; 2022-06-06T21:11:18.094Z,1654549878.094 [SBIT](IMPORTANT): Dock.depth=68.5 meter; 2022-06-06T21:11:18.094Z,1654549878.094 [SBIT](IMPORTANT): Dock.lat=36.7729 angular_degree; 2022-06-06T21:11:18.094Z,1654549878.094 [SBIT](IMPORTANT): Dock.lon=-121.863 angular_degree; 2022-06-06T21:11:18.095Z,1654549878.095 [SBIT](IMPORTANT): Docked.dockingDepthOffset=1.7 meter; 2022-06-06T21:11:18.095Z,1654549878.095 [SBIT](IMPORTANT): DockingServo.closedAngle=-13 degree; 2022-06-06T21:11:18.095Z,1654549878.095 [SBIT](IMPORTANT): DockingServo.deviationAngle=0.5 degree; 2022-06-06T21:11:18.095Z,1654549878.095 [SBIT](IMPORTANT): DockingServo.loadAtStartup=0 bool; 2022-06-06T21:11:18.095Z,1654549878.095 [SBIT](IMPORTANT): DockingServo.openAngle=16 degree; 2022-06-06T21:11:18.095Z,1654549878.095 [SBIT](IMPORTANT): DockingServo.pidW=800 count; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): DockingServo.pidX=300 count; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): DockingServo.pidY=100 count; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5 meter; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): Express none WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=0 bool; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=2 day; 2022-06-06T21:11:18.096Z,1654549878.096 [SBIT](IMPORTANT): LineCapture.acousticTimeout=10 minute; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): LineCapture.armSpeed=1 meter_per_second; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=1 meter_per_second; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=1 meter_per_second; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): LineCapture.shortFinalRange=9 meter; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex1=36.8 degree; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex2=36.8 degree; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex3=36.68 degree; 2022-06-06T21:11:18.097Z,1654549878.097 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex4=36.68 degree; 2022-06-06T21:11:18.098Z,1654549878.098 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=1 bool; 2022-06-06T21:11:18.098Z,1654549878.098 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex1=-122.19 degree; 2022-06-06T21:11:18.098Z,1654549878.098 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex2=-121.87 degree; 2022-06-06T21:11:18.098Z,1654549878.098 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex3=-121.87 degree; 2022-06-06T21:11:18.098Z,1654549878.098 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex4=-122.19 degree; 2022-06-06T21:11:18.098Z,1654549878.098 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.verbosity=0 count; 2022-06-06T21:11:18.098Z,1654549878.098 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=153.918756 cubic_centimeter; 2022-06-06T21:11:18.098Z,1654549878.098 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.05 degree; 2022-06-06T21:11:18.099Z,1654549878.099 [SBIT](IMPORTANT): VerticalControl.massDefault=-26.713250 millimeter; 2022-06-06T21:11:18.099Z,1654549878.099 [SBIT](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup=0 bool; 2022-06-06T21:11:18.469Z,1654549878.469 [MissionManager](IMPORTANT): Started mission Startup 2022-06-06T21:13:19.579Z,1654549999.579 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-06-06T21:14:12.923Z,1654550052.923 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-06-06T21:22:50.972Z,1654550570.972 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.516367 min 2022-06-06T21:23:24.207Z,1654550604.207 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=17372, MT Status=1, MTMSN=723 2022-06-06T21:23:25.041Z,1654550605.041 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.NeedCommsTime 1.5 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 15 min" 2kdzp 1 5.000000 2022-06-06T21:23:25.042Z,1654550605.042 [CommandExec](IMPORTANT): Scheduling command #1 of 5 with id=2kdzp 2022-06-06T21:23:25.043Z,1654550605.043 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 5 with id='2kdzp'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.NeedCommsTime 1.5 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 15 min", ASAP 2022-06-06T21:23:43.705Z,1654550623.705 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=17373, MT Status=1, MTMSN=724 2022-06-06T21:23:44.441Z,1654550624.441 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.5 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 60 count;set lineCaptureHoming.RangeUSBL 25 m" 2kdzp 2 5.000000 2022-06-06T21:23:44.441Z,1654550624.441 [CommandExec](IMPORTANT): Scheduling command #2 of 5 with id=2kdzp 2022-06-06T21:23:44.442Z,1654550624.442 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 5 with id='2kdzp'): "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.5 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 60 count;set lineCaptureHoming.RangeUSBL 25 m", ASAP 2022-06-06T21:23:59.078Z,1654550639.078 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=17374, MT Status=1, MTMSN=725 2022-06-06T21:23:59.900Z,1654550639.900 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m" 2kdzp 3 5.000000 2022-06-06T21:23:59.901Z,1654550639.901 [CommandExec](IMPORTANT): Scheduling command #3 of 5 with id=2kdzp 2022-06-06T21:23:59.902Z,1654550639.902 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 5 with id='2kdzp'): "set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m", ASAP 2022-06-06T21:24:30.596Z,1654550670.596 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=17375, MT Status=1, MTMSN=726 2022-06-06T21:24:31.392Z,1654550671.392 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinAltitude 5 m;set lineCaptureHoming.MaxDepth 70 m;set lineCaptureHoming.Lat1 36.7793 degree;set lineCaptureHoming.Lon1 -121.86319 degree;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a" 2kdzp 4 5.000000 2022-06-06T21:24:31.393Z,1654550671.393 [CommandExec](IMPORTANT): Scheduling command #4 of 5 with id=2kdzp 2022-06-06T21:24:31.394Z,1654550671.394 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 5 with id='2kdzp'): "set lineCaptureHoming.MinAltitude 5 m;set lineCaptureHoming.MaxDepth 70 m;set lineCaptureHoming.Lat1 36.7793 degree;set lineCaptureHoming.Lon1 -121.86319 degree;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a", ASAP 2022-06-06T21:29:22.334Z,1654550962.334 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 16.039698 min 2022-06-06T21:29:47.811Z,1654550987.811 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=17376, MT Status=1, MTMSN=727 2022-06-06T21:29:48.442Z,1654550988.442 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 2kdzp 5 5.000000 2022-06-06T21:29:48.444Z,1654550988.444 [CommandExec](IMPORTANT): Scheduling command #5 of 5 with id=2kdzp 2022-06-06T21:29:48.445Z,1654550988.445 [CommandExec](IMPORTANT): Scheduled #5 (#5 of 5 with id='2kdzp'): "set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP 2022-06-06T21:29:48.692Z,1654550988.692 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml 2022-06-06T21:29:54.495Z,1654550994.495 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml 2022-06-06T21:30:27.372Z,1654551027.372 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 1 hour 2022-06-06T21:30:27.373Z,1654551027.373 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 1.5 hour 2022-06-06T21:30:27.374Z,1654551027.374 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 5 hour 2022-06-06T21:30:27.375Z,1654551027.375 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 15 minute 2022-06-06T21:30:52.070Z,1654551052.070 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.5 second 2022-06-06T21:30:52.071Z,1654551052.071 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count 2022-06-06T21:30:52.071Z,1654551052.071 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 60 count 2022-06-06T21:30:52.074Z,1654551052.074 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RangeUSBL 25 meter 2022-06-06T21:31:07.050Z,1654551067.050 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count 2022-06-06T21:31:07.051Z,1654551067.051 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.3 meter 2022-06-06T21:31:07.052Z,1654551067.052 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute 2022-06-06T21:31:07.053Z,1654551067.053 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter 2022-06-06T21:31:25.130Z,1654551085.130 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 5 meter 2022-06-06T21:31:25.131Z,1654551085.131 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter 2022-06-06T21:31:25.134Z,1654551085.134 [CommandExec](IMPORTANT): got command set lineCaptureHoming.Lat1 36.7793 degree 2022-06-06T21:31:25.160Z,1654551085.160 [CommandExec](IMPORTANT): got command set lineCaptureHoming.Lon1 -121.86319 degree 2022-06-06T21:31:25.161Z,1654551085.161 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none 2022-06-06T21:31:30.171Z,1654551090.171 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none 2022-06-06T21:31:30.171Z,1654551090.171 [CommandExec](IMPORTANT): got command run 2022-06-06T21:31:30.175Z,1654551090.175 [CommandExec](IMPORTANT): Running 2022-06-06T21:31:30.371Z,1654551090.371 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2022-06-06T21:35:26.061Z,1654551326.061 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2022-06-06T21:57:40.867Z,1654552660.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.30. 2022-06-06T21:59:48.952Z,1654552788.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 47.00 m. 2022-06-06T22:00:29.903Z,1654552829.903 [DAT](IMPORTANT): Requesting device enable set for address 50. 2022-06-06T22:01:24.431Z,1654552884.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 16.80 m. Rolling out. 2022-06-06T22:03:27.583Z,1654553007.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 178.80 m. Resuming terminal guidance. 2022-06-06T22:03:28.108Z,1654553008.108 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2022-06-06T22:05:51.404Z,1654553151.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 48.00 m. 2022-06-06T22:06:35.957Z,1654553195.957 [DAT](IMPORTANT): Requesting device enable set for address 50. 2022-06-06T22:07:33.022Z,1654553253.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 24.60 m. Rolling out. 2022-06-06T22:08:07.948Z,1654553287.948 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2022-06-06T22:09:38.262Z,1654553378.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 185.90 m. Resuming terminal guidance. 2022-06-06T22:12:20.685Z,1654553540.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 46.30 m. 2022-06-06T22:13:01.770Z,1654553581.770 [DAT](IMPORTANT): Requesting device enable set for address 50. 2022-06-06T22:13:56.549Z,1654553636.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 20.40 m. Rolling out. 2022-06-06T22:14:35.078Z,1654553675.078 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2022-06-06T22:16:01.913Z,1654553761.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 188.20 m. Resuming terminal guidance. 2022-06-06T22:18:40.479Z,1654553920.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 46.70 m. 2022-06-06T22:19:21.506Z,1654553961.506 [DAT](IMPORTANT): Requesting device enable set for address 50. 2022-06-06T22:20:51.936Z,1654554051.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 20.40 m. Rolling out. 2022-06-06T22:21:56.584Z,1654554116.584 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2022-06-06T22:23:51.944Z,1654554231.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 50.40 m. Resuming terminal guidance. 2022-06-06T22:24:00.835Z,1654554240.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 156.600006 m, bearing: nan deg, deltaT: 4.052052 s, deltaX: -48.099991 m, approachRate: -11.870526 m/s, posRepo size: 1 2022-06-06T22:27:12.976Z,1654554432.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 47.40 m. 2022-06-06T22:27:53.654Z,1654554473.654 [DAT](IMPORTANT): Requesting device enable set for address 50. 2022-06-06T22:29:58.762Z,1654554598.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 21.50 m. Rolling out. 2022-06-06T22:31:30.684Z,1654554690.684 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2022-06-06T22:31:30.859Z,1654554690.859 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-06-06T22:32:34.699Z,1654554754.699 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-06-06T22:39:06.444Z,1654555146.444 [DataOverHttps](IMPORTANT): SBD MTMSN=20220606T223905