tethys Path

trajectory

20221129T000036 [DAT]:No response from remote modem.

20221129T000046 [DAT]:No response from remote modem.

20221129T000056 [DAT]:No response from remote modem.

20221129T000102 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221129T000323 [CommandExec]:got command configSet VerticalControl.massDefault 5 millimeter persist

20221129T000323 [CommandExec]:got command configSet VerticalControl.buoyancyNeutral 260 cubic_centimeter persist

20221129T000356 [CommandExec]:got command show variable LineCapture

20221129T000356 [CommandExec]:LineCapture.midcourseSpeed (meter_per_second)

20221129T000356 [CommandExec]:LineCapture.midcourseDepth (meter)

20221129T000356 [CommandExec]:LineCapture.midcourseTimeout (hour)

20221129T000356 [CommandExec]:LineCapture.terminalRange (meter)

20221129T000356 [CommandExec]:LineCapture.acousticTimeout (minute)

20221129T000356 [CommandExec]:LineCapture.armRange (meter)

20221129T000356 [CommandExec]:LineCapture.armSpeed (meter_per_second)

20221129T000356 [CommandExec]:LineCapture.lockoutRange (meter)

20221129T000356 [CommandExec]:LineCapture.shortFinalRange (meter)

20221129T000356 [CommandExec]:LineCapture.interceptTimeout (second)

20221129T000356 [CommandExec]:LineCapture.latchDelayTimeout (second)

20221129T000356 [CommandExec]:LineCapture.rolloutDistance (meter)

20221129T000356 [CommandExec]:LineCapture.rolloutSpeed (meter_per_second)

20221129T000356 [CommandExec]:LineCapture.rolloutTimeout (minute)

20221129T000356 [CommandExec]:LineCapture.kpHeadingTerminalGuidance (ratio)

20221129T000356 [CommandExec]:LineCapture.kiHeadingTerminalGuidance (reciprocal_second)

20221129T000356 [CommandExec]:LineCapture.kpHeadingFinalApproach (ratio)

20221129T000356 [CommandExec]:LineCapture.kiHeadingFinalApproach (reciprocal_second)

20221129T000356 [CommandExec]:LineCapture.navigationGain (none)

20221129T000356 [CommandExec]:LineCapture.verbose (bool)

20221129T000356 [CommandExec]:LineCapture.searchTimeout (hour)

20221129T000356 [CommandExec]:LineCapture.searchCircleRadius (meter)

20221129T000408 [CommandExec]:got command get LineCapture.midcourseSpeed

20221129T000408 [CommandExec]:LineCapture.midcourseSpeed 0.800000 m/s

20221129T000422 [BPC1]:Battery stick #43 (s/n: 018F) reported TERMINATE_CHARGE_ALARM. Status code: 0x40A0.

20221129T000426 [CommandExec]:got command get LineCapture.midcourseDepth

20221129T000426 [CommandExec]:LineCapture.midcourseDepth 50.000000 m

20221129T000442 [CommandExec]:got command get LineCapture.shortFinalRange

20221129T000442 [CommandExec]:LineCapture.shortFinalRange 15.000000 m

20221129T000520 [CommandExec]:got command get LineCapture.armSpeed

20221129T000520 [CommandExec]:LineCapture.armSpeed 0.800000 m/s

20221129T000558 [CommandExec]:got command get platform_mass_position millimeter

20221129T000558 [CommandExec]:platform_mass_position 4.999720 mm

20221129T000609 [CommandExec]:got command get VerticalControl.buoyancyNeutral

20221129T000609 [CommandExec]:VerticalControl.buoyancyNeutral 260.000000 cc

20221129T000612 [CommandExec]:got command configSet list

20221129T000612 [CommandExec]:Listing configuration overrides from Data/persisted.cfg

20221129T000612 [CommandExec]:DAT.ignoreElevationAngle=0 bool;#

20221129T000612 [CommandExec]:DAT.surfaceThreshold=-1 meter;#

20221129T000612 [CommandExec]:DAT.verbosity=3 count;#

20221129T000612 [CommandExec]:Express linearApproximation DAT.acoustic_contact_range 5 meter;#

20221129T000612 [CommandExec]:InternalEnvSim.loadAtStartup=0 bool;#

20221129T000612 [CommandExec]:LineCapture.acousticTimeout=10 minute;#

20221129T000612 [CommandExec]:RudderServo.offsetAngle=2 degree;#

20221129T000612 [CommandExec]:VerticalControl.buoyancyNeutral=260 cubic_centimeter;#

20221129T000612 [CommandExec]:VerticalControl.elevDeadband=0.05 degree;#

20221129T000612 [CommandExec]:VerticalControl.massDefault=5 millimeter;#

20221129T000612 [CommandExec]:WetLabsSeaOWL_UV_A.loadAtStartup=0 bool;#

20221129T000655 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.012357 min

20221129T000701 [CommandExec]:got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.771 degree;set transit.Longitude -121.86 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m" 1aaz7 1 2.000000

20221129T000701 [CommandExec]:Scheduling command #1 of 2 with id=1aaz7

20221129T000701 [CommandExec]:Scheduled #1 (#1 of 2 with id='1aaz7'): "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.771 degree;set transit.Longitude -121.86 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m", ASAP

20221129T000708 [CommandExec]:got command schedule asap "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1aaz7 2 2.000000

20221129T000708 [CommandExec]:Scheduling command #2 of 2 with id=1aaz7

20221129T000708 [CommandExec]:Scheduled #2 (#2 of 2 with id='1aaz7'): "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run", ASAP

20221129T000708 [CommandExec]:got command load ./Missions/Transport/transit.tl

20221129T000708 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20221129T000709 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20221129T000722 [CommandExec]:got command set transit.MissionTimeout 60 minute

20221129T000722 [CommandExec]:got command set transit.NeedCommsTime 30 minute

20221129T000722 [CommandExec]:got command set transit.Latitude 36.771 degree

20221129T000722 [CommandExec]:got command set transit.Longitude -121.86 degree

20221129T000722 [CommandExec]:got command set transit.Depth 10 meter

20221129T000722 [CommandExec]:got command set transit.MaxDepth 20 meter

20221129T000722 [CommandExec]:got command schedule "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.NeedCommsTime 0.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 3 min" 1aazu 1 4.000000

20221129T000722 [CommandExec]:Scheduling command #1 of 4 with id=1aazu

20221129T000722 [CommandExec]:Scheduled #3 (#1 of 4 with id='1aazu'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.NeedCommsTime 0.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 3 min", AFTER MISSION

20221129T000726 [CommandExec]:got command set transit.MinOffshore 1 kilometer

20221129T000726 [CommandExec]:got command set transit.MinAltitude 7 meter

20221129T000726 [CommandExec]:got command run

20221129T000726 [CommandExec]:Running

20221129T000726 [MissionManager]:Started mission transit

20221129T000728 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20221129T000731 [CommandExec]:got command schedule "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8.3 m" 1aazu 2 4.000000

20221129T000731 [CommandExec]:Scheduling command #2 of 4 with id=1aazu

20221129T000731 [CommandExec]:Scheduled #4 (#2 of 4 with id='1aazu'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8.3 m", AFTER MISSION

20221129T000740 [CommandExec]:got command schedule "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a" 1aazu 3 4.000000

20221129T000740 [CommandExec]:Scheduling command #3 of 4 with id=1aazu

20221129T000740 [CommandExec]:Scheduled #5 (#3 of 4 with id='1aazu'): "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a", AFTER MISSION

20221129T000749 [CommandExec]:got command schedule "set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 1aazu 4 4.000000

20221129T000749 [CommandExec]:Scheduled #6 (#4 of 4 with id='1aazu'): "set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", AFTER MISSION

20221129T000758 [CommandExec]:got command schedule resume

20221129T001710 [RDI_Pathfinder]:only read 2 of 4 data items

20221129T001730 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221129T001740 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221129T002328 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221129T003656 [RDI_Pathfinder]:only read 3 of 4 data items

20221129T003706 [RDI_Pathfinder]:only read 3 of 4 data items

20221129T003751 [CommandExec]:got command schedule resume

20221129T003811 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221129T003912 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221129T003937 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221129T010315 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20221129T010319 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20221129T010320 [MissionManager]:Started mission DefaultWithUndock

20221129T010334 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 1 hour

20221129T010334 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 0.9 hour

20221129T010334 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20221129T010334 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 3 minute

20221129T010348 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20221129T010348 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20221129T010348 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 1 meter

20221129T010348 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 8.3 meter

20221129T010409 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20221129T010409 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20221129T010409 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20221129T010409 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20221129T010409 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20221129T010415 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20221129T010415 [CommandExec]:got command run

20221129T010415 [CommandExec]:Running

20221129T010415 [MissionManager]:Started mission lineCaptureHoming

20221129T010553 [PowerOnly]:loadControl LCB fault: Hardware Overcurrent Shutdown.

20221129T010553 [PowerOnly]:Hardware Fault

20221129T010553 [CBIT]:Hardware Fault in component: PowerOnly

20221129T010606 [BuoyancyServo]:Overload Error

20221129T010606 [BuoyancyServo]:Hardware Fault

20221129T010607 [CBIT]:Hardware Fault in component: BuoyancyServo

20221129T010627 [BuoyancyServo]:Overload Error

20221129T010627 [BuoyancyServo]:Hardware Fault

20221129T010627 [CBIT]:Hardware Fault in component: BuoyancyServo

20221129T010647 [BuoyancyServo]:Overload Error

20221129T010647 [BuoyancyServo]:Hardware Fault

20221129T010647 [CBIT]:Hardware Fault in component: BuoyancyServo

20221129T010931 [DAT]:#Rx 1: Read range message, but no direction.

20221129T011545 filter is initialized with decay: 0.30.

20221129T011549 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 302.621897 deg.

20221129T011601 new target pos. Approach rate out of bounds.# range: 178.800003 m,# bearing: nan deg,# deltaT: 4.032216 s,# deltaX: 42.300003 m,# approachRate: 10.490510 m/s,# posRepo size: 4

20221129T011601 to midcourse guidance. Received last range of 178.800003 m 0.006419 min ago.

20221129T011610 filter is initialized with decay: 0.30.

20221129T011708 [DAT]:#Rx 1: Read range message, but no direction.

20221129T011749 approach. Armed for intercept at range: 38.90 m.

20221129T011811 [DAT]:#Rx 1: Read range message, but no direction.

20221129T011835 [DAT]:Requesting device enable set for address 50.

20221129T011918 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221129T011928 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221129T011945 longer in short final. Rolling out. Range: 17.70 m.

20221129T011948 [NanoDVR]:Ack message checksum did not match.

20221129T012018 [RDI_Pathfinder]:DVL uart error: serial timeout

20221129T012018 [RDI_Pathfinder]:Communications Fault

20221129T012019 [CBIT]:Communications Fault in component: RDI_Pathfinder

20221129T012020 [RDI_Pathfinder]:Expecting PD13 message format

20221129T012121 rollout at range: 164.20 m. Resuming terminal guidance.

20221129T012122 to midcourse guidance. Received last range of 164.199997 m 0.006433 min ago.

20221129T012122 [DAT]:Requesting device enable clr for address 50.

20221129T012132 filter is initialized with decay: 0.30.

20221129T012325 approach. Armed for intercept at range: 44.40 m.

20221129T012712 sequence complete at range 0.60 m. Reached intercept timeout.

20221129T012757 [DockingStepper]:Initialization uart error serial timeout

20221129T012757 [DockingStepper]:Failed to initialize

20221129T012759 [DockingStepper]:Initialization uart error serial timeout

20221129T012759 [DockingStepper]:Failed to initialize

20221129T012813 [RDI_Pathfinder]:No DVL communication! Re-initializing

20221129T012813 [RDI_Pathfinder]:Communications Fault

20221129T012814 [CBIT]:Communications Fault in component: RDI_Pathfinder

20221129T012815 [RDI_Pathfinder]:Expecting PD13 message format

20221129T012828 [DockingStepper]:Initialization uart error serial timeout

20221129T012828 [DockingStepper]:Failed to initialize

20221129T013020 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 0.400000 m .

20221129T013302 [MissionManager]:Started mission DefaultWithUndock

20221129T013337 [DockingStepper]:uart error: serial timeout

20221129T013337 [DockingStepper]:Communications Fault

20221129T013337 [CBIT]:Communications Fault in component: DockingStepper

20221129T013416 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221129T013720 [CommandExec]:got command restart logs