2023-12-12T20:45:54.056Z,1702413954.056 [CommandExec](IMPORTANT): got command restart logs 2023-12-12T20:50:26.925Z,1702414226.925 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2023-12-12T20:50:28.159Z,1702414228.159 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.771000,-121.863300 2023-12-12T20:50:28.951Z,1702414228.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2023-12-12T20:50:28.952Z,1702414228.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2023-12-12T20:52:31.105Z,1702414351.105 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T20:58:39.640Z,1702414719.640 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T21:10:59.172Z,1702415459.172 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T21:27:37.256Z,1702416457.256 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T21:30:05.518Z,1702416605.518 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T21:32:06.784Z,1702416726.784 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T21:44:55.826Z,1702417495.826 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T22:00:15.274Z,1702418415.274 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T22:02:36.758Z,1702418556.758 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T22:04:24.624Z,1702418664.624 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T22:09:27.397Z,1702418967.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 137.399994 m 5.001836 min ago. 2023-12-12T22:09:28.356Z,1702418968.356 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.771000,-121.863300 2023-12-12T22:09:28.452Z,1702418968.452 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T22:09:29.180Z,1702418969.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2023-12-12T22:09:29.180Z,1702418969.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2023-12-12T22:11:05.040Z,1702419065.040 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T22:13:09.094Z,1702419189.094 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T22:23:13.140Z,1702419793.140 [DockingStepper](FAULT): Docking arm not reporting position 2023-12-12T22:23:16.047Z,1702419796.047 [DockingStepper](FAULT): Failed to initialize 2023-12-12T22:27:09.501Z,1702420029.501 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T22:29:40.798Z,1702420180.798 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T22:41:39.737Z,1702420899.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 28.000000 m 5.000234 min ago. 2023-12-12T22:41:41.078Z,1702420901.078 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.771000,-121.863300 2023-12-12T22:41:41.849Z,1702420901.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance. 2023-12-12T22:41:41.849Z,1702420901.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00. 2023-12-12T22:42:04.798Z,1702420924.798 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T22:44:06.029Z,1702421046.029 [DAT](IMPORTANT): Requesting device enable set for address 50. 2023-12-12T22:44:58.716Z,1702421098.716 [DAT](IMPORTANT): Requesting device enable clr for address 50. 2023-12-12T22:44:58.966Z,1702421098.966 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2023-12-12T22:46:08.334Z,1702421168.334 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2023-12-12T22:49:44.817Z,1702421384.817 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=27624, MT Status=1, MTMSN=1371 2023-12-12T22:49:45.836Z,1702421385.836 [CommandExec](IMPORTANT): got command configSet LineCapture.acousticTimeout 30 minute persist 2023-12-12T23:02:41.837Z,1702422161.837 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2023-12-12T23:09:37.143Z,1702422577.143 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 24.629407 min 2023-12-12T23:10:01.032Z,1702422601.032 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=27645, MT Status=1, MTMSN=1372 2023-12-12T23:10:01.980Z,1702422601.980 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 45 min" 7c8o 1 5.000000 2023-12-12T23:10:01.980Z,1702422601.980 [CommandExec](IMPORTANT): Scheduling command #1 of 5 with id=7c8o 2023-12-12T23:10:01.982Z,1702422601.982 [CommandExec](IMPORTANT): Scheduled #16 (#1 of 5 with id='7c8o'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 45 min", ASAP 2023-12-12T23:10:28.766Z,1702422628.766 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=27646, MT Status=1, MTMSN=1373 2023-12-12T23:10:29.644Z,1702422629.644 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideDriveDuration 1 min;set lineCaptureHoming.TryJog 1 bool" 7c8o 2 5.000000 2023-12-12T23:10:29.644Z,1702422629.644 [CommandExec](IMPORTANT): Scheduling command #2 of 5 with id=7c8o 2023-12-12T23:10:29.645Z,1702422629.645 [CommandExec](IMPORTANT): Scheduled #17 (#2 of 5 with id='7c8o'): "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideDriveDuration 1 min;set lineCaptureHoming.TryJog 1 bool", ASAP 2023-12-12T23:10:48.182Z,1702422648.182 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=27647, MT Status=1, MTMSN=1374 2023-12-12T23:10:49.118Z,1702422649.118 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.JogLength 7 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min" 7c8o 3 5.000000 2023-12-12T23:10:49.118Z,1702422649.118 [CommandExec](IMPORTANT): Scheduling command #3 of 5 with id=7c8o 2023-12-12T23:10:49.120Z,1702422649.120 [CommandExec](IMPORTANT): Scheduled #18 (#3 of 5 with id='7c8o'): "set lineCaptureHoming.JogLength 7 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min", ASAP 2023-12-12T23:11:01.256Z,1702422661.256 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=27648, MT Status=1, MTMSN=1375 2023-12-12T23:11:02.040Z,1702422662.040 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a" 7c8o 4 5.000000 2023-12-12T23:11:02.040Z,1702422662.040 [CommandExec](IMPORTANT): Scheduling command #4 of 5 with id=7c8o 2023-12-12T23:11:02.041Z,1702422662.041 [CommandExec](IMPORTANT): Scheduled #19 (#4 of 5 with id='7c8o'): "set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a", ASAP 2023-12-12T23:11:09.346Z,1702422669.346 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=27649, MT Status=1, MTMSN=1376 2023-12-12T23:11:10.049Z,1702422670.049 [CommandExec](IMPORTANT): got command schedule asap "run" 7c8o 5 5.000000 2023-12-12T23:11:10.049Z,1702422670.049 [CommandExec](IMPORTANT): Scheduling command #5 of 5 with id=7c8o 2023-12-12T23:11:10.050Z,1702422670.050 [CommandExec](IMPORTANT): Scheduled #20 (#5 of 5 with id='7c8o'): "run", ASAP 2023-12-12T23:11:10.208Z,1702422670.208 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl 2023-12-12T23:11:10.210Z,1702422670.210 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx 2023-12-12T23:11:10.846Z,1702422670.846 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/Science.tx 2023-12-12T23:11:12.355Z,1702422672.355 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-12-12T23:11:12.512Z,1702422672.512 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx 2023-12-12T23:11:12.754Z,1702422672.754 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx 2023-12-12T23:11:12.804Z,1702422672.804 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx 2023-12-12T23:11:13.418Z,1702422673.418 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-12-12T23:11:13.985Z,1702422673.985 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx 2023-12-12T23:11:14.275Z,1702422674.275 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming 2023-12-12T23:11:28.921Z,1702422688.921 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour 2023-12-12T23:11:28.922Z,1702422688.922 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 4 hour 2023-12-12T23:11:28.922Z,1702422688.922 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MicromodemCommsInterval 9 hour 2023-12-12T23:11:28.923Z,1702422688.923 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 45 minute 2023-12-12T23:11:43.834Z,1702422703.834 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool 2023-12-12T23:11:43.834Z,1702422703.834 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool 2023-12-12T23:11:43.835Z,1702422703.835 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 4 count 2023-12-12T23:11:43.836Z,1702422703.836 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideDriveDuration 1 minute 2023-12-12T23:11:43.837Z,1702422703.837 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TryJog 1 bool 2023-12-12T23:12:01.500Z,1702422721.500 [CommandExec](IMPORTANT): got command set lineCaptureHoming.JogLength 7 second 2023-12-12T23:12:01.501Z,1702422721.501 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second 2023-12-12T23:12:01.502Z,1702422721.502 [CommandExec](IMPORTANT): got command set lineCaptureHoming.NumPingsUSBL 120 count 2023-12-12T23:12:01.502Z,1702422721.502 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.4 meter 2023-12-12T23:12:01.504Z,1702422721.504 [CommandExec](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute 2023-12-12T23:12:19.959Z,1702422739.959 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 72 meter 2023-12-12T23:12:19.961Z,1702422739.961 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MinAltitude 4 meter 2023-12-12T23:12:19.961Z,1702422739.961 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 75 meter 2023-12-12T23:12:19.962Z,1702422739.962 [CommandExec](IMPORTANT): got command set lineCaptureHoming.ApproachDepthTimeout 10 minute 2023-12-12T23:12:19.963Z,1702422739.963 [CommandExec](IMPORTANT): got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 none 2023-12-12T23:12:19.964Z,1702422739.964 [CommandExec](IMPORTANT): got command run 2023-12-12T23:12:19.966Z,1702422739.966 [CommandExec](IMPORTANT): Running 2023-12-12T23:12:20.249Z,1702422740.249 [MissionManager](IMPORTANT): Started mission lineCaptureHoming 2023-12-12T23:13:44.417Z,1702422824.417 [lineCaptureHoming:Y](IMPORTANT): Restarting logs