2022-03-04T17:31:42.458Z,1646415102.458 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-03-04T17:31:46.127Z,1646415106.127 [SBIT](IMPORTANT): git: 2022-03-01-3-geb88d4bff
2022-03-04T17:31:46.128Z,1646415106.128 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-03-04T17:31:47.925Z,1646415107.925 [DockingServo](FAULT): Failed to initialize
2022-03-04T17:33:39.558Z,1646415219.558 [SBIT](IMPORTANT): Beginning Startup BIT
2022-03-04T17:33:39.562Z,1646415219.562 [CBIT](IMPORTANT): Beginning ground fault scan
2022-03-04T17:33:50.506Z,1646415230.506 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006029
CHAN A1 (24V): -0.026785
CHAN A2 (12V): -0.004504
CHAN A3 (5V): -0.002778
CHAN B0 (3.3V): -0.001322
CHAN B1 (3.15aV): -0.001194
CHAN B2 (3.15bV): -0.001122
CHAN B3 (GND): -0.000568
OPEN: 0.005967
Full Scale: +/- 1 mA
2022-03-04T17:34:33.681Z,1646415273.681 [SBIT](IMPORTANT): SBIT PASSED
2022-03-04T17:34:33.682Z,1646415273.682 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-03-04T17:34:33.683Z,1646415273.683 [SBIT](IMPORTANT): DataOverHttps.period=15 second;

2022-03-04T17:34:33.683Z,1646415273.683 [SBIT](IMPORTANT): DataOverHttps.timeout=90 second;

2022-03-04T17:34:33.683Z,1646415273.683 [SBIT](IMPORTANT): DockingServo.pidW=800 count;

2022-03-04T17:34:33.683Z,1646415273.683 [SBIT](IMPORTANT): DockingServo.pidX=300 count;

2022-03-04T17:34:33.683Z,1646415273.683 [SBIT](IMPORTANT): DockingServo.pidY=100 count;

2022-03-04T17:34:33.683Z,1646415273.683 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5 meter;

2022-03-04T17:34:33.684Z,1646415273.684 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 1 kilogram_per_cubic_meter;

2022-03-04T17:34:33.684Z,1646415273.684 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour;

2022-03-04T17:34:33.696Z,1646415273.696 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt;

2022-03-04T17:34:33.696Z,1646415273.696 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=1 bool;

2022-03-04T17:34:33.696Z,1646415273.696 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=2.5 day;

2022-03-04T17:34:33.696Z,1646415273.696 [SBIT](IMPORTANT): LineCapture.kiHeadingFinalApproach=0.001 reciprocal_second;

2022-03-04T17:34:33.696Z,1646415273.696 [SBIT](IMPORTANT): LineCapture.kiHeadingTerminalGuidance=0.001 reciprocal_second;

2022-03-04T17:34:33.697Z,1646415273.697 [SBIT](IMPORTANT): LineCapture.kpHeadingFinalApproach=0.4 ratio;

2022-03-04T17:34:33.697Z,1646415273.697 [SBIT](IMPORTANT): LineCapture.kpHeadingTerminalGuidance=0.4 ratio;

2022-03-04T17:34:33.697Z,1646415273.697 [SBIT](IMPORTANT): LineCapture.navigationGain=nan none;

2022-03-04T17:34:33.697Z,1646415273.697 [SBIT](IMPORTANT): LineCapture.rolloutDistance=110 meter;

2022-03-04T17:34:33.697Z,1646415273.697 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=7.5 minute;

2022-03-04T17:34:33.697Z,1646415273.697 [SBIT](IMPORTANT): LineCapture.terminalRange=100 meter;

2022-03-04T17:34:33.697Z,1646415273.697 [SBIT](IMPORTANT): LineCapture.verbose=1 bool;

2022-03-04T17:34:33.697Z,1646415273.697 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex1=36.79 degree;

2022-03-04T17:34:33.698Z,1646415273.698 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex2=36.79 degree;

2022-03-04T17:34:33.698Z,1646415273.698 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex3=36.71 degree;

2022-03-04T17:34:33.698Z,1646415273.698 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex4=36.71 degree;

2022-03-04T17:34:33.698Z,1646415273.698 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=0 bool;

2022-03-04T17:34:33.698Z,1646415273.698 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex1=-121.91 degree;

2022-03-04T17:34:33.698Z,1646415273.698 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex2=-121.83 degree;

2022-03-04T17:34:33.698Z,1646415273.698 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex3=-121.83 degree;

2022-03-04T17:34:33.698Z,1646415273.698 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex4=-121.91 degree;

2022-03-04T17:34:33.699Z,1646415273.699 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.verbosity=1 count;

2022-03-04T17:34:33.699Z,1646415273.699 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=231.499991 cubic_centimeter;

2022-03-04T17:34:33.699Z,1646415273.699 [SBIT](IMPORTANT): VerticalControl.massDefault=-23.330620 millimeter;

2022-03-04T17:34:34.101Z,1646415274.101 [MissionManager](IMPORTANT): Started mission Startup
2022-03-04T17:36:34.785Z,1646415394.785 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-03-04T17:37:38.898Z,1646415458.898 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-03-04T17:41:28.215Z,1646415688.215 [DataOverHttps](IMPORTANT): SBD MTMSN=20220304T174126
2022-03-04T17:41:37.009Z,1646415697.009 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 75 min;set lineCaptureHoming.NeedCommsTime 75 min;set lineCaptureHoming.MicromodemCommsInterval 75 min;set lineCaptureHoming.WaitOnDockTimeout 1 min" 2v7ss 1 3.000000
2022-03-04T17:41:37.009Z,1646415697.009 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=2v7ss
2022-03-04T17:41:37.010Z,1646415697.010 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 3 with id='2v7ss'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 75 min;set lineCaptureHoming.NeedCommsTime 75 min;set lineCaptureHoming.MicromodemCommsInterval 75 min;set lineCaptureHoming.WaitOnDockTimeout 1 min", ASAP
2022-03-04T17:41:37.930Z,1646415697.930 [DataOverHttps](IMPORTANT): SBD MTMSN=20220304T174136
2022-03-04T17:41:45.662Z,1646415705.662 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 20 s;set lineCaptureHoming.NumPingsUSBL 15 count;set lineCaptureHoming.RangeUSBL 60 m;set lineCaptureHoming.DockingAltitude 7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min" 2v7ss 2 3.000000
2022-03-04T17:41:45.663Z,1646415705.663 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=2v7ss
2022-03-04T17:41:45.663Z,1646415705.663 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 3 with id='2v7ss'): "set lineCaptureHoming.TrackingUpdatePeriodTerminal 20 s;set lineCaptureHoming.NumPingsUSBL 15 count;set lineCaptureHoming.RangeUSBL 60 m;set lineCaptureHoming.DockingAltitude 7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min", ASAP
2022-03-04T17:41:46.598Z,1646415706.598 [DataOverHttps](IMPORTANT): SBD MTMSN=20220304T174145
2022-03-04T17:41:54.516Z,1646415714.516 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 n/a;run" 2v7ss 3 3.000000
2022-03-04T17:41:54.517Z,1646415714.517 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=2v7ss
2022-03-04T17:41:54.518Z,1646415714.518 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 3 with id='2v7ss'): "set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 n/a;run", ASAP
2022-03-04T17:41:54.660Z,1646415714.660 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2022-03-04T17:41:58.794Z,1646415718.794 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2022-03-04T17:42:36.002Z,1646415756.002 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 75 minute
2022-03-04T17:42:36.002Z,1646415756.002 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 75 minute
2022-03-04T17:42:36.003Z,1646415756.003 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 75 minute
2022-03-04T17:42:36.004Z,1646415756.004 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1 minute
2022-03-04T17:42:58.730Z,1646415778.730 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 20 second
2022-03-04T17:42:58.731Z,1646415778.731 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 15 count
2022-03-04T17:42:58.731Z,1646415778.731 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RangeUSBL 60 meter
2022-03-04T17:42:58.732Z,1646415778.732 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7 meter
2022-03-04T17:42:58.733Z,1646415778.733 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute
2022-03-04T17:43:13.194Z,1646415793.194 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter
2022-03-04T17:43:13.195Z,1646415793.195 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter
2022-03-04T17:43:13.195Z,1646415793.195 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 none
2022-03-04T17:43:13.196Z,1646415793.196 [CommandExec](IMPORTANT): got command run
2022-03-04T17:43:13.201Z,1646415793.201 [CommandExec](IMPORTANT): Running 
2022-03-04T17:43:13.530Z,1646415793.530 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2022-03-04T17:45:22.632Z,1646415922.632 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2022-03-04T18:08:25.666Z,1646417305.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance.
2022-03-04T18:08:25.666Z,1646417305.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2022-03-04T18:09:07.167Z,1646417347.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 37.50 m.
2022-03-04T18:10:10.775Z,1646417410.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 15.80 m. Rolling out.
2022-03-04T18:17:41.038Z,1646417861.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 24.50 m. Resuming terminal guidance.
2022-03-04T18:17:50.016Z,1646417870.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds.

2022-03-04T18:17:50.351Z,1646417870.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds.

2022-03-04T18:17:51.179Z,1646417871.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds.

2022-03-04T18:17:51.606Z,1646417871.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds.

2022-03-04T18:27:11.417Z,1646418431.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 37.80 m.
2022-03-04T18:28:09.135Z,1646418489.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Intercept lockout. Range: 1.80 m.
2022-03-04T18:28:33.028Z,1646418513.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 5.00 m. Rolling out.
2022-03-04T18:36:03.411Z,1646418963.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 6.20 m. Resuming terminal guidance.
2022-03-04T18:46:34.566Z,1646419594.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 39.00 m.
2022-03-04T18:47:18.958Z,1646419638.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Intercept lockout. Range: 2.00 m.
2022-03-04T18:47:24.605Z,1646419644.605 [DockingServo](FAULT): Overload Error
2022-03-04T18:47:34.921Z,1646419654.921 [DockingServo](FAULT): Overload Error
2022-03-04T18:48:17.112Z,1646419697.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 17.40 m. Rolling out.
2022-03-04T18:51:14.353Z,1646419874.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 162.20 m. Resuming terminal guidance.
2022-03-04T18:53:57.447Z,1646420037.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 34.10 m.
2022-03-04T18:54:34.849Z,1646420074.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Intercept lockout. Range: 1.10 m.
2022-03-04T18:54:37.285Z,1646420077.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 3.30 m. Rolling out.
2022-03-04T18:58:14.501Z,1646420294.501 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-03-04T18:59:30.013Z,1646420370.013 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-03-04T19:02:46.774Z,1646420566.774 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=9221, MT Status=1, MTMSN=379