2022-03-09T20:07:34.311Z,1646856454.311 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2022-03-09T20:07:38.105Z,1646856458.105 [SBIT](IMPORTANT): git: 2022-03-07_B-3-g2c57dcde7 2022-03-09T20:07:38.106Z,1646856458.106 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2022-03-09T20:07:39.913Z,1646856459.913 [DockingServo](FAULT): Failed to initialize 2022-03-09T20:08:15.697Z,1646856495.697 [MassServo](FAULT): Invalid EZ Servo response:"\r" 2022-03-09T20:09:29.546Z,1646856569.546 [SBIT](IMPORTANT): Beginning Startup BIT 2022-03-09T20:09:29.550Z,1646856569.550 [CBIT](IMPORTANT): Beginning ground fault scan 2022-03-09T20:09:40.849Z,1646856580.849 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.005651 CHAN A1 (24V): -0.026176 CHAN A2 (12V): -0.004313 CHAN A3 (5V): -0.002563 CHAN B0 (3.3V): -0.001149 CHAN B1 (3.15aV): -0.001235 CHAN B2 (3.15bV): -0.001114 CHAN B3 (GND): -0.000674 OPEN: 0.005944 Full Scale: +/- 1 mA 2022-03-09T20:10:23.687Z,1646856623.687 [SBIT](IMPORTANT): SBIT PASSED 2022-03-09T20:10:23.688Z,1646856623.688 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2022-03-09T20:10:23.688Z,1646856623.688 [SBIT](IMPORTANT): DockingServo.pidW=800 count; 2022-03-09T20:10:23.689Z,1646856623.689 [SBIT](IMPORTANT): DockingServo.pidX=300 count; 2022-03-09T20:10:23.689Z,1646856623.689 [SBIT](IMPORTANT): DockingServo.pidY=100 count; 2022-03-09T20:10:23.689Z,1646856623.689 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5 meter; 2022-03-09T20:10:23.689Z,1646856623.689 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 1 kilogram_per_cubic_meter; 2022-03-09T20:10:23.689Z,1646856623.689 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2022-03-09T20:10:23.689Z,1646856623.689 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=1 bool; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=2 day; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): LineCapture.armSpeed=0.8 meter_per_second; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): LineCapture.kiHeadingFinalApproach=0.0025 reciprocal_second; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): LineCapture.kiHeadingTerminalGuidance=0.0025 reciprocal_second; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): LineCapture.kpHeadingFinalApproach=1 ratio; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): LineCapture.kpHeadingTerminalGuidance=1 ratio; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): LineCapture.midcourseSpeed=0.8 meter_per_second; 2022-03-09T20:10:23.690Z,1646856623.690 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none; 2022-03-09T20:10:23.691Z,1646856623.691 [SBIT](IMPORTANT): LineCapture.rolloutDistance=110 meter; 2022-03-09T20:10:23.691Z,1646856623.691 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=3 minute; 2022-03-09T20:10:23.691Z,1646856623.691 [SBIT](IMPORTANT): LineCapture.terminalRange=150 meter; 2022-03-09T20:10:23.691Z,1646856623.691 [SBIT](IMPORTANT): LineCapture.verbose=1 bool; 2022-03-09T20:10:23.691Z,1646856623.691 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex1=36.775 degree; 2022-03-09T20:10:23.691Z,1646856623.691 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex2=36.775 degree; 2022-03-09T20:10:23.691Z,1646856623.691 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex3=36.755 degree; 2022-03-09T20:10:23.691Z,1646856623.691 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex4=36.755 degree; 2022-03-09T20:10:23.692Z,1646856623.692 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=1 bool; 2022-03-09T20:10:23.692Z,1646856623.692 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex1=-121.855 degree; 2022-03-09T20:10:23.692Z,1646856623.692 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex2=-121.835 degree; 2022-03-09T20:10:23.692Z,1646856623.692 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex3=-121.835 degree; 2022-03-09T20:10:23.692Z,1646856623.692 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex4=-121.855 degree; 2022-03-09T20:10:23.692Z,1646856623.692 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=151.306 cubic_centimeter; 2022-03-09T20:10:23.692Z,1646856623.692 [SBIT](IMPORTANT): VerticalControl.massDefault=-22.9625 millimeter; 2022-03-09T20:10:24.079Z,1646856624.079 [MissionManager](IMPORTANT): Started mission Startup 2022-03-09T20:11:26.855Z,1646856686.855 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-03-09T20:12:31.411Z,1646856751.411 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-03-09T20:13:28.887Z,1646856808.887 [DataOverHttps](IMPORTANT): SBD MTMSN=20220309T201242 2022-03-09T20:13:37.471Z,1646856817.471 [CommandExec](IMPORTANT): got command configSet LineCapture.kpHeadingFinalApproach 0.9 ratio persist 2022-03-09T20:13:37.475Z,1646856817.475 [CommandExec](IMPORTANT): got command configSet LineCapture.kpHeadingTerminalGuidance 0.9 ratio persist 2022-03-09T20:14:08.866Z,1646856848.866 [DataOverHttps](IMPORTANT): SBD MTMSN=20220309T201322 2022-03-09T20:14:17.536Z,1646856857.536 [CommandExec](IMPORTANT): got command configSet LineCapture.kiHeadingFinalApproach 0.003 reciprocal_second persist 2022-03-09T20:14:17.539Z,1646856857.539 [CommandExec](IMPORTANT): got command configSet LineCapture.kiHeadingTerminalGuidance 0.003 reciprocal_second persist 2022-03-09T20:15:18.463Z,1646856918.463 [DataOverHttps](IMPORTANT): SBD MTMSN=20220309T201432 2022-03-09T20:15:26.392Z,1646856926.392 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 30 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.Repeat 4 count" 34o80 1 4.000000 2022-03-09T20:15:26.394Z,1646856926.394 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=34o80 2022-03-09T20:15:26.396Z,1646856926.396 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 4 with id='34o80'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 30 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.Repeat 4 count", ASAP 2022-03-09T20:15:27.303Z,1646856927.303 [DataOverHttps](IMPORTANT): SBD MTMSN=20220309T201441 2022-03-09T20:15:35.261Z,1646856935.261 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 1 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 50 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count" 34o80 2 4.000000 2022-03-09T20:15:35.262Z,1646856935.262 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=34o80 2022-03-09T20:15:35.263Z,1646856935.263 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 4 with id='34o80'): "set lineCaptureHoming.WaitOnDockTimeout 1 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 50 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count", ASAP 2022-03-09T20:15:36.215Z,1646856936.215 [DataOverHttps](IMPORTANT): SBD MTMSN=20220309T201449 2022-03-09T20:15:44.246Z,1646856944.246 [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" 34o80 3 4.000000 2022-03-09T20:15:44.246Z,1646856944.246 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=34o80 2022-03-09T20:15:44.247Z,1646856944.247 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 4 with id='34o80'): "set lineCaptureHoming.DockingAltitude 7.7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m", ASAP 2022-03-09T20:15:45.146Z,1646856945.146 [DataOverHttps](IMPORTANT): SBD MTMSN=20220309T201458 2022-03-09T20:15:52.912Z,1646856952.912 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 34o80 4 4.000000 2022-03-09T20:15:52.913Z,1646856952.913 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=34o80 2022-03-09T20:15:52.914Z,1646856952.914 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 4 with id='34o80'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP 2022-03-09T20:15:53.099Z,1646856953.099 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml 2022-03-09T20:15:57.687Z,1646856957.687 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml 2022-03-09T20:16:11.106Z,1646856971.106 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 30 minute 2022-03-09T20:16:11.108Z,1646856971.108 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 60 minute 2022-03-09T20:16:11.108Z,1646856971.108 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 60 minute 2022-03-09T20:16:11.109Z,1646856971.109 [CommandExec](IMPORTANT): got command set lineCaptureHoming.Repeat 4 count 2022-03-09T20:16:30.346Z,1646856990.346 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1 minute 2022-03-09T20:16:30.348Z,1646856990.348 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count 2022-03-09T20:16:30.350Z,1646856990.350 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 50 count 2022-03-09T20:16:30.352Z,1646856990.352 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count 2022-03-09T20:16:42.936Z,1646857002.936 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.7 meter 2022-03-09T20:16:42.937Z,1646857002.937 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute 2022-03-09T20:16:42.937Z,1646857002.937 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter 2022-03-09T20:16:42.938Z,1646857002.938 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter 2022-03-09T20:17:06.249Z,1646857026.249 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none 2022-03-09T20:17:06.250Z,1646857026.250 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none 2022-03-09T20:17:06.251Z,1646857026.251 [CommandExec](IMPORTANT): got command run 2022-03-09T20:17:06.255Z,1646857026.255 [CommandExec](IMPORTANT): Running 2022-03-09T20:17:06.468Z,1646857026.468 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2022-03-09T20:22:01.581Z,1646857321.581 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2022-03-09T20:35:14.934Z,1646858114.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.30. 2022-03-09T20:35:22.389Z,1646858122.389 [DockingServo](FAULT): Could not parse cable state. Received:ÿ/0`1 2022-03-09T20:35:41.655Z,1646858141.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Rejecting new target pos. Approach rate out of bounds. range: 118.400002 m, bearing: nan deg, deltaT: 3.782618 s, deltaX: -24.299995 m, approachRate: -6.424121 m/s, posRepo size: 4 2022-03-09T20:37:08.475Z,1646858228.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 42.30 m. 2022-03-09T20:38:21.609Z,1646858301.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 17.00 m. Rolling out. 2022-03-09T20:39:09.439Z,1646858349.439 [PowerOnly](FAULT): loadControl LCB fault: Hardware Overcurrent Shutdown. Current Limiter Activated. 2022-03-09T20:41:21.702Z,1646858481.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 42.60 m. Resuming terminal guidance. 2022-03-09T20:43:02.127Z,1646858582.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 39.00 m. 2022-03-09T20:44:13.648Z,1646858653.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Target missed at range: 15.60 m. Rolling out. 2022-03-09T20:46:18.910Z,1646858778.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Completed rollout at range: 179.10 m. Resuming terminal guidance. 2022-03-09T20:47:06.943Z,1646858826.943 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2022-03-09T20:48:12.146Z,1646858892.146 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2022-03-09T20:58:37.027Z,1646859517.027 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 11.495146 min 2022-03-09T21:04:16.350Z,1646859856.350 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 17.149851 min 2022-03-09T21:09:54.225Z,1646860194.225 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 22.780847 min 2022-03-09T21:10:02.472Z,1646860202.472 [DataOverHttps](IMPORTANT): SBD MOMSN=16544172, MTMSN=20220309T210916