2022-03-06T15:39:17.213Z,1646581157.213 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2022-03-06T15:39:20.864Z,1646581160.864 [SBIT](IMPORTANT): git: 2022-03-01-17-g63c82b109 2022-03-06T15:39:20.865Z,1646581160.865 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2022-03-06T15:39:22.713Z,1646581162.713 [DockingServo](FAULT): Failed to initialize 2022-03-06T15:41:14.369Z,1646581274.369 [SBIT](IMPORTANT): Beginning Startup BIT 2022-03-06T15:41:14.373Z,1646581274.373 [CBIT](IMPORTANT): Beginning ground fault scan 2022-03-06T15:41:25.297Z,1646581285.297 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.004742 CHAN A1 (24V): -0.026223 CHAN A2 (12V): -0.004717 CHAN A3 (5V): -0.002875 CHAN B0 (3.3V): -0.001120 CHAN B1 (3.15aV): -0.001164 CHAN B2 (3.15bV): -0.000967 CHAN B3 (GND): -0.000551 OPEN: 0.006110 Full Scale: +/- 1 mA 2022-03-06T15:42:08.471Z,1646581328.471 [SBIT](IMPORTANT): SBIT PASSED 2022-03-06T15:42:08.471Z,1646581328.471 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2022-03-06T15:42:08.488Z,1646581328.488 [SBIT](IMPORTANT): DataOverHttps.period=15 second; 2022-03-06T15:42:08.488Z,1646581328.488 [SBIT](IMPORTANT): DataOverHttps.timeout=90 second; 2022-03-06T15:42:08.488Z,1646581328.488 [SBIT](IMPORTANT): DockingServo.pidW=800 count; 2022-03-06T15:42:08.488Z,1646581328.488 [SBIT](IMPORTANT): DockingServo.pidX=300 count; 2022-03-06T15:42:08.488Z,1646581328.488 [SBIT](IMPORTANT): DockingServo.pidY=100 count; 2022-03-06T15:42:08.488Z,1646581328.488 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5 meter; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 1 kilogram_per_cubic_meter; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=0 bool; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=0.5 day; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): LineCapture.kiHeadingFinalApproach=0.001 reciprocal_second; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): LineCapture.kiHeadingTerminalGuidance=0.001 reciprocal_second; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): LineCapture.kpHeadingFinalApproach=0.4 ratio; 2022-03-06T15:42:08.489Z,1646581328.489 [SBIT](IMPORTANT): LineCapture.kpHeadingTerminalGuidance=0.4 ratio; 2022-03-06T15:42:08.490Z,1646581328.490 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none; 2022-03-06T15:42:08.490Z,1646581328.490 [SBIT](IMPORTANT): LineCapture.rolloutDistance=110 meter; 2022-03-06T15:42:08.490Z,1646581328.490 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=3 minute; 2022-03-06T15:42:08.490Z,1646581328.490 [SBIT](IMPORTANT): LineCapture.terminalRange=100 meter; 2022-03-06T15:42:08.490Z,1646581328.490 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2022-03-06T15:42:08.490Z,1646581328.490 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex1=36.79 degree; 2022-03-06T15:42:08.490Z,1646581328.490 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex2=36.79 degree; 2022-03-06T15:42:08.490Z,1646581328.490 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex3=36.71 degree; 2022-03-06T15:42:08.492Z,1646581328.492 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex4=36.71 degree; 2022-03-06T15:42:08.492Z,1646581328.492 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=0 bool; 2022-03-06T15:42:08.492Z,1646581328.492 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex1=-121.91 degree; 2022-03-06T15:42:08.492Z,1646581328.492 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex2=-121.83 degree; 2022-03-06T15:42:08.492Z,1646581328.492 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex3=-121.83 degree; 2022-03-06T15:42:08.492Z,1646581328.492 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex4=-121.91 degree; 2022-03-06T15:42:08.492Z,1646581328.492 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.verbosity=1 count; 2022-03-06T15:42:08.500Z,1646581328.500 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=231.499991 cubic_centimeter; 2022-03-06T15:42:08.501Z,1646581328.501 [SBIT](IMPORTANT): VerticalControl.massDefault=-23.330620 millimeter; 2022-03-06T15:42:08.889Z,1646581328.889 [MissionManager](IMPORTANT): Started mission Startup 2022-03-06T15:44:09.889Z,1646581449.889 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-03-06T15:45:13.802Z,1646581513.802 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-03-06T15:47:18.791Z,1646581638.791 [DataOverHttps](IMPORTANT): SBD MTMSN=20220306T154716 2022-03-06T15:47:26.614Z,1646581646.614 [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.WaitOnDockTimeout 1 min" 2yrug 1 4.000000 2022-03-06T15:47:26.615Z,1646581646.615 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=2yrug 2022-03-06T15:47:26.616Z,1646581646.616 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 4 with id='2yrug'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 60 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.WaitOnDockTimeout 1 min", ASAP 2022-03-06T15:47:27.506Z,1646581647.506 [DataOverHttps](IMPORTANT): SBD MTMSN=20220306T154725 2022-03-06T15:47:35.256Z,1646581655.256 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 120 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.NumPingsUSBL 40 count;set lineCaptureHoming.RangeUSBL 60 m" 2yrug 2 4.000000 2022-03-06T15:47:35.257Z,1646581655.257 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=2yrug 2022-03-06T15:47:35.258Z,1646581655.258 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 4 with id='2yrug'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 120 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.NumPingsUSBL 40 count;set lineCaptureHoming.RangeUSBL 60 m", ASAP 2022-03-06T15:47:36.234Z,1646581656.234 [DataOverHttps](IMPORTANT): SBD MTMSN=20220306T154734 2022-03-06T15:47:43.921Z,1646581663.921 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.DockingAltitude 7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m" 2yrug 3 4.000000 2022-03-06T15:47:43.921Z,1646581663.921 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=2yrug 2022-03-06T15:47:43.922Z,1646581663.922 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 4 with id='2yrug'): "set lineCaptureHoming.DockingAltitude 7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m", ASAP 2022-03-06T15:47:44.838Z,1646581664.838 [DataOverHttps](IMPORTANT): SBD MTMSN=20220306T154742 2022-03-06T15:47:52.779Z,1646581672.779 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 n/a;run" 2yrug 4 4.000000 2022-03-06T15:47:52.779Z,1646581672.779 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=2yrug 2022-03-06T15:47:52.780Z,1646581672.780 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 4 with id='2yrug'): "set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 n/a;run", ASAP 2022-03-06T15:47:52.928Z,1646581672.928 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml 2022-03-06T15:47:56.846Z,1646581676.846 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml 2022-03-06T15:48:26.683Z,1646581706.683 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 60 minute 2022-03-06T15:48:26.696Z,1646581706.696 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 60 minute 2022-03-06T15:48:26.697Z,1646581706.697 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 60 minute 2022-03-06T15:48:26.697Z,1646581706.697 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1 minute 2022-03-06T15:48:53.542Z,1646581733.542 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 120 second 2022-03-06T15:48:53.542Z,1646581733.542 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count 2022-03-06T15:48:53.543Z,1646581733.543 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 40 count 2022-03-06T15:48:53.544Z,1646581733.544 [CommandExec](IMPORTANT): got command set lineCaptureHoming.RangeUSBL 60 meter 2022-03-06T15:49:09.605Z,1646581749.605 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7 meter 2022-03-06T15:49:09.606Z,1646581749.606 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute 2022-03-06T15:49:09.606Z,1646581749.606 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter 2022-03-06T15:49:09.607Z,1646581749.607 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter 2022-03-06T15:49:15.449Z,1646581755.449 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 none 2022-03-06T15:49:15.465Z,1646581755.465 [CommandExec](IMPORTANT): got command run 2022-03-06T15:49:15.472Z,1646581755.472 [CommandExec](IMPORTANT): Running 2022-03-06T15:49:15.476Z,1646581755.476 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2022-03-06T15:50:56.258Z,1646581856.258 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2022-03-06T16:20:24.780Z,1646583624.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2022-03-06T16:21:39.685Z,1646583699.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 36.80 m. 2022-03-06T16:22:39.211Z,1646583759.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 15.20 m. Rolling out. 2022-03-06T16:25:39.265Z,1646583939.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 15.90 m. Resuming terminal guidance. 2022-03-06T16:25:46.151Z,1646583946.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:25:46.614Z,1646583946.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:25:47.136Z,1646583947.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:25:47.631Z,1646583947.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:25:48.057Z,1646583948.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:25:48.057Z,1646583948.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Reached target pos rejection count limit. Clearing pos repo. 2022-03-06T16:28:10.898Z,1646584090.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 16.40 m. 2022-03-06T16:28:44.042Z,1646584124.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 9.50 m. Rolling out. 2022-03-06T16:31:44.662Z,1646584304.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 16.50 m. Resuming terminal guidance. 2022-03-06T16:31:52.086Z,1646584312.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:31:52.527Z,1646584312.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:31:52.987Z,1646584312.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:31:53.503Z,1646584313.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:31:53.892Z,1646584313.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:31:53.892Z,1646584313.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Reached target pos rejection count limit. Clearing pos repo. 2022-03-06T16:34:09.207Z,1646584449.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:34:16.261Z,1646584456.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 7.20 m. 2022-03-06T16:34:23.751Z,1646584463.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Intercept lockout. Range: 1.80 m. 2022-03-06T16:35:29.126Z,1646584529.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 57.60 m. Rolling out. 2022-03-06T16:37:34.500Z,1646584654.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 219.60 m. Resuming terminal guidance. 2022-03-06T16:41:58.482Z,1646584918.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 20.10 m. 2022-03-06T16:42:27.951Z,1646584947.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Intercept lockout. Range: 1.70 m. 2022-03-06T16:42:35.465Z,1646584955.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 4.50 m. Rolling out. 2022-03-06T16:45:35.510Z,1646585135.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 12.30 m. Resuming terminal guidance. 2022-03-06T16:45:44.117Z,1646585144.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:45:44.563Z,1646585144.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:45:44.947Z,1646585144.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:45:45.351Z,1646585145.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:45:45.779Z,1646585145.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:45:45.779Z,1646585145.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Reached target pos rejection count limit. Clearing pos repo. 2022-03-06T16:46:02.551Z,1646585162.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:46:02.902Z,1646585162.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. 2022-03-06T16:48:30.841Z,1646585310.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 39.30 m. 2022-03-06T16:49:16.011Z,1646585356.011 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-03-06T16:50:15.402Z,1646585415.402 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-03-06T16:53:14.387Z,1646585594.387 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=9612, MT Status=1, MTMSN=391