2021-11-19T00:13:43.011Z,1637280823.011 [CommandExec](IMPORTANT): got command restart logs
2021-11-19T00:15:16.373Z,1637280916.373 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 44.793978 min 
2021-11-19T00:18:49.040Z,1637281129.040 [DataOverHttps](IMPORTANT): SBD MTMSN=20211119T001820
2021-11-19T00:18:56.828Z,1637281136.828 [CommandExec](IMPORTANT): got command configSet list
2021-11-19T00:18:56.828Z,1637281136.828 [CommandExec](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-11-19T00:18:56.829Z,1637281136.829 [CommandExec](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count;

2021-11-19T00:18:56.829Z,1637281136.829 [CommandExec](IMPORTANT): BackseatComponent.loadAtStartup=1 bool;

2021-11-19T00:18:56.829Z,1637281136.829 [CommandExec](IMPORTANT): BackseatComponent.simulateHardware=0 bool;

2021-11-19T00:18:56.829Z,1637281136.829 [CommandExec](IMPORTANT): DAT.baud=115200 bit_per_second;

2021-11-19T00:18:56.829Z,1637281136.829 [CommandExec](IMPORTANT): DAT.verbosity=3 count;

2021-11-19T00:18:56.829Z,1637281136.829 [CommandExec](IMPORTANT): Dock.depth=23.7 meter;

2021-11-19T00:18:56.835Z,1637281136.835 [CommandExec](IMPORTANT): Dock.lat=36.81228 angular_degree;

2021-11-19T00:18:56.835Z,1637281136.835 [CommandExec](IMPORTANT): Dock.lon=-121.81564 angular_degree;

2021-11-19T00:18:56.835Z,1637281136.835 [CommandExec](IMPORTANT): Dock.transponderCode=50 count;

2021-11-19T00:18:56.835Z,1637281136.835 [CommandExec](IMPORTANT): Docked.detachTimeout=30 second;

2021-11-19T00:18:56.835Z,1637281136.835 [CommandExec](IMPORTANT): Docked.dockingDepthOffset=-1.315 meter;

2021-11-19T00:18:56.835Z,1637281136.835 [CommandExec](IMPORTANT): DockingServo.closedAngle=-17.5 degree;

2021-11-19T00:18:56.836Z,1637281136.836 [CommandExec](IMPORTANT): DockingServo.deviationAngle=0.5 degree;

2021-11-19T00:18:56.836Z,1637281136.836 [CommandExec](IMPORTANT): DockingServo.openAngle=14 degree;

2021-11-19T00:18:56.836Z,1637281136.836 [CommandExec](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;

2021-11-19T00:18:56.836Z,1637281136.836 [CommandExec](IMPORTANT): HorizontalControl.rudDeadband=0.001 degree;

2021-11-19T00:18:56.836Z,1637281136.836 [CommandExec](IMPORTANT): LineCapture.armRange=80 meter;

2021-11-19T00:18:56.836Z,1637281136.836 [CommandExec](IMPORTANT): LineCapture.latchDelayTimeout=30 second;

2021-11-19T00:18:56.836Z,1637281136.836 [CommandExec](IMPORTANT): LineCapture.navigationGain=nan none;

2021-11-19T00:18:56.836Z,1637281136.836 [CommandExec](IMPORTANT): LineCapture.rolloutDistance=300 meter;

2021-11-19T00:18:56.837Z,1637281136.837 [CommandExec](IMPORTANT): LineCapture.rolloutSpeed=1 meter_per_second;

2021-11-19T00:18:56.837Z,1637281136.837 [CommandExec](IMPORTANT): LineCapture.rolloutTimeout=15 minute;

2021-11-19T00:18:56.837Z,1637281136.837 [CommandExec](IMPORTANT): LineCapture.terminalRange=750 meter;

2021-11-19T00:18:56.837Z,1637281136.837 [CommandExec](IMPORTANT): LineCapture.verbose=1 bool;

2021-11-19T00:18:56.837Z,1637281136.837 [CommandExec](IMPORTANT): PowerOnly.sampleTime=90 second;

2021-11-19T00:18:56.837Z,1637281136.837 [CommandExec](IMPORTANT): VerticalControl.buoyancyNeutral=95.386640 cubic_centimeter;

2021-11-19T00:18:56.837Z,1637281136.837 [CommandExec](IMPORTANT): VerticalControl.elevDeadband=0.001 degree;

2021-11-19T00:18:56.838Z,1637281136.838 [CommandExec](IMPORTANT): VerticalControl.massDefault=0.262981 millimeter;

2021-11-19T00:18:56.838Z,1637281136.838 [CommandExec](IMPORTANT): VerticalControl.surfaceThreshold=1.5 meter;

2021-11-19T00:19:40.686Z,1637281180.686 [CommandExec](IMPORTANT): got command configSet LineCapture.latchDelayTimeout 45.000000 second persist
2021-11-19T00:19:52.432Z,1637281192.432 [CommandExec](IMPORTANT): got command show variable LineCaptrure
2021-11-19T00:20:07.724Z,1637281207.724 [CommandExec](IMPORTANT): got command show variable LineCapture
2021-11-19T00:20:07.806Z,1637281207.806 [CommandExec](IMPORTANT): LineCapture.midcourseSpeed (meter_per_second)
2021-11-19T00:20:07.806Z,1637281207.806 [CommandExec](IMPORTANT): LineCapture.midcourseDepth (meter)
2021-11-19T00:20:07.807Z,1637281207.807 [CommandExec](IMPORTANT): LineCapture.midcourseTimeout (hour)
2021-11-19T00:20:07.807Z,1637281207.807 [CommandExec](IMPORTANT): LineCapture.terminalRange (meter)
2021-11-19T00:20:07.808Z,1637281207.808 [CommandExec](IMPORTANT): LineCapture.acousticTimeout (minute)
2021-11-19T00:20:07.808Z,1637281207.808 [CommandExec](IMPORTANT): LineCapture.armRange (meter)
2021-11-19T00:20:07.808Z,1637281207.808 [CommandExec](IMPORTANT): LineCapture.armSpeed (meter_per_second)
2021-11-19T00:20:07.809Z,1637281207.809 [CommandExec](IMPORTANT): LineCapture.lockoutRange (meter)
2021-11-19T00:20:07.809Z,1637281207.809 [CommandExec](IMPORTANT): LineCapture.interceptTimeout (second)
2021-11-19T00:20:07.809Z,1637281207.809 [CommandExec](IMPORTANT): LineCapture.latchDelayTimeout (second)
2021-11-19T00:20:07.810Z,1637281207.810 [CommandExec](IMPORTANT): LineCapture.rolloutDistance (meter)
2021-11-19T00:20:07.880Z,1637281207.880 [CommandExec](IMPORTANT): LineCapture.rolloutSpeed (meter_per_second)
2021-11-19T00:20:07.880Z,1637281207.880 [CommandExec](IMPORTANT): LineCapture.rolloutTimeout (minute)
2021-11-19T00:20:07.880Z,1637281207.880 [CommandExec](IMPORTANT): LineCapture.kpHeadingTerminalGuidance (ratio)
2021-11-19T00:20:07.881Z,1637281207.881 [CommandExec](IMPORTANT): LineCapture.kiHeadingTerminalGuidance (reciprocal_second)
2021-11-19T00:20:07.881Z,1637281207.881 [CommandExec](IMPORTANT): LineCapture.kpHeadingFinalApproach (ratio)
2021-11-19T00:20:07.882Z,1637281207.882 [CommandExec](IMPORTANT): LineCapture.kiHeadingFinalApproach (reciprocal_second)
2021-11-19T00:20:07.882Z,1637281207.882 [CommandExec](IMPORTANT): LineCapture.navigationGain (none)
2021-11-19T00:20:07.891Z,1637281207.891 [CommandExec](IMPORTANT): LineCapture.verbose (bool)
2021-11-19T00:20:07.892Z,1637281207.892 [CommandExec](IMPORTANT): LineCapture.searchTimeout (hour)
2021-11-19T00:20:07.892Z,1637281207.892 [CommandExec](IMPORTANT): LineCapture.searchCircleRadius (meter)
2021-11-19T00:20:23.571Z,1637281223.571 [CommandExec](IMPORTANT): got command get LineCapture.armSpeed
2021-11-19T00:20:23.572Z,1637281223.572 [CommandExec](IMPORTANT): LineCapture.armSpeed 1.000000 m/s
2021-11-19T00:20:38.136Z,1637281238.136 [CommandExec](IMPORTANT): got command configSet LineCapture.armSpeed 0.800000 meter_per_second persist
2021-11-19T00:21:04.578Z,1637281264.578 [CommandExec](IMPORTANT): got command get LineCapture.midcourseSpeed
2021-11-19T00:21:04.579Z,1637281264.579 [CommandExec](IMPORTANT): LineCapture.midcourseSpeed 1.000000 m/s
2021-11-19T00:21:20.023Z,1637281280.023 [CommandExec](IMPORTANT): got command configSet LineCapture.midcourseSpeed 0.800000 meter_per_second persist
2021-11-19T00:21:26.727Z,1637281286.727 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 50.966252 min 
2021-11-19T00:26:35.345Z,1637281595.345 [DataOverHttps](IMPORTANT): SBD MTMSN=20211119T002607
2021-11-19T00:26:46.573Z,1637281606.573 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 1.5 s" 2kmj5 1 2.000000
2021-11-19T00:26:46.573Z,1637281606.573 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2kmj5
2021-11-19T00:26:46.574Z,1637281606.574 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='2kmj5'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 1.5 s", ASAP
2021-11-19T00:26:47.541Z,1637281607.541 [DataOverHttps](IMPORTANT): SBD MTMSN=20211119T002619
2021-11-19T00:26:57.646Z,1637281617.646 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run" 2kmj5 2 2.000000
2021-11-19T00:26:57.646Z,1637281617.646 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2kmj5
2021-11-19T00:26:57.647Z,1637281617.647 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='2kmj5'): "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run", ASAP
2021-11-19T00:26:57.741Z,1637281617.741 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-11-19T00:27:00.341Z,1637281620.341 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-11-19T00:27:13.754Z,1637281633.754 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 56.749919 min 
2021-11-19T00:27:14.368Z,1637281634.368 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 45.000000 minute
2021-11-19T00:27:14.369Z,1637281634.369 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 120.000000 minute
2021-11-19T00:27:14.370Z,1637281634.370 [CommandExec](IMPORTANT): got command set lineCaptureDepth.WaitOnDockTimeout 1.000000 minute
2021-11-19T00:27:14.370Z,1637281634.370 [CommandExec](IMPORTANT): got command set lineCaptureDepth.TrackingUpdatePeriod 1.500000 second
2021-11-19T00:27:22.050Z,1637281642.050 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MaxDepth 28.000000 meter
2021-11-19T00:27:22.055Z,1637281642.055 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.750000 kilometer
2021-11-19T00:27:22.055Z,1637281642.055 [CommandExec](IMPORTANT): got command run
2021-11-19T00:27:22.083Z,1637281642.083 [CommandExec](IMPORTANT): Running 
2021-11-19T00:27:22.300Z,1637281642.300 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-11-19T00:27:56.950Z,1637281676.950 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-11-19T00:27:58.961Z,1637281678.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance.
2021-11-19T00:36:17.624Z,1637282177.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 63.30 m.
2021-11-19T00:37:42.190Z,1637282262.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Intercept lockout. Range: 1.80 m.
2021-11-19T00:38:00.987Z,1637282280.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Target missed at range: 9.60 m. Rolling out.
2021-11-19T00:38:30.699Z,1637282310.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 55.099998 m, bearing: 162.948697 deg, deltaT: 3.798072 s, approachRate: 7.372161 m/s, posRepo size: 4
2021-11-19T00:41:08.092Z,1637282468.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 197.600006 m, bearing: 179.039271 deg, deltaT: 3.821207 s, approachRate: 6.804133 m/s, posRepo size: 4
2021-11-19T00:41:51.038Z,1637282511.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 229.000000 m, bearing: 188.104489 deg, deltaT: 4.141737 s, approachRate: 5.287635 m/s, posRepo size: 4
2021-11-19T00:43:29.903Z,1637282609.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Completed rollout at range: 317.50 m. Resuming terminal guidance.
2021-11-19T00:47:12.154Z,1637282832.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 205.500000 m, bearing: 201.361435 deg, deltaT: 3.724521 s, approachRate: -5.369818 m/s, posRepo size: 4
2021-11-19T00:50:12.166Z,1637283012.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 51.200001 m, bearing: 178.455358 deg, deltaT: 3.715447 s, approachRate: -5.033042 m/s, posRepo size: 4
2021-11-19T00:50:16.041Z,1637283016.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 66.50 m.
2021-11-19T00:50:20.067Z,1637283020.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 46.200001 m, bearing: 176.403487 deg, deltaT: 4.006642 s, approachRate: -5.066587 m/s, posRepo size: 4
2021-11-19T00:50:27.776Z,1637283027.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 41.099998 m, bearing: 177.843182 deg, deltaT: 3.772087 s, approachRate: -5.699762 m/s, posRepo size: 4
2021-11-19T01:10:05.485Z,1637284205.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 380.299988 m, bearing: 42.262414 deg, deltaT: 9.413810 s, approachRate: 39.803223 m/s, posRepo size: 4
2021-11-19T01:10:05.906Z,1637284205.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 380.399994 m, bearing: 47.193715 deg, deltaT: 9.781355 s, approachRate: 38.317799 m/s, posRepo size: 4
2021-11-19T01:10:06.605Z,1637284206.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 380.299988 m, bearing: 260.653952 deg, deltaT: 10.237542 s, approachRate: 36.600582 m/s, posRepo size: 4
2021-11-19T01:10:07.020Z,1637284207.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 380.100006 m, bearing: 267.336500 deg, deltaT: 10.901026 s, approachRate: 34.354565 m/s, posRepo size: 4
2021-11-19T01:11:39.842Z,1637284299.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 20.600000 m, bearing: 346.900472 deg, deltaT: 0.764079 s, approachRate: 18.846220 m/s, posRepo size: 4
2021-11-19T01:12:23.197Z,1637284343.197 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-11-19T01:14:13.764Z,1637284453.764 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-11-19T01:20:38.848Z,1637284838.848 [DataOverHttps](IMPORTANT): SBD MTMSN=20211119T012010