tethys Path

trajectory

20221129T165632 [MissionManager]:Started mission DefaultWithUndock

20221129T165714 [DAT]:No response from remote modem.

20221129T165724 [DAT]:No response from remote modem.

20221129T165735 [DAT]:No response from remote modem.

20221129T165740 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221129T165905 [PowerOnly]:loadControl LCB fault: LCB Watchdog Reset. Invalid Command.

20221129T165905 [PowerOnly]:Hardware Fault

20221129T165905 [CBIT]:Hardware Fault in component: PowerOnly

20221129T165906 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221129T170412 [CommandExec]:got command configSet LineCapture.midcourseDepth 60 meter persist

20221129T170412 [CommandExec]:got command schedule resume

20221129T170540 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 9.117818 min

20221129T170600 [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" 1bm5j 1 2.000000

20221129T170600 [CommandExec]:Scheduling command #1 of 2 with id=1bm5j

20221129T170600 [CommandExec]:Scheduled #1 (#1 of 2 with id='1bm5j'): "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

20221129T170611 [CommandExec]:got command schedule asap "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1bm5j 2 2.000000

20221129T170611 [CommandExec]:Scheduling command #2 of 2 with id=1bm5j

20221129T170611 [CommandExec]:Scheduled #2 (#2 of 2 with id='1bm5j'): "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run", ASAP

20221129T170611 [CommandExec]:got command load ./Missions/Transport/transit.tl

20221129T170611 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20221129T170613 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20221129T170638 [CommandExec]:got command set transit.MissionTimeout 60 minute

20221129T170638 [CommandExec]:got command set transit.NeedCommsTime 30 minute

20221129T170638 [CommandExec]:got command set transit.Latitude 36.771 degree

20221129T170638 [CommandExec]:got command set transit.Longitude -121.86 degree

20221129T170638 [CommandExec]:got command set transit.Depth 10 meter

20221129T170638 [CommandExec]:got command set transit.MaxDepth 20 meter

20221129T170638 [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" 1bm5s 1 4.000000

20221129T170638 [CommandExec]:Scheduling command #1 of 4 with id=1bm5s

20221129T170638 [CommandExec]:Scheduled #3 (#1 of 4 with id='1bm5s'): "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

20221129T170644 [CommandExec]:got command set transit.MinOffshore 1 kilometer

20221129T170644 [CommandExec]:got command set transit.MinAltitude 7 meter

20221129T170644 [CommandExec]:got command run

20221129T170644 [CommandExec]:Running

20221129T170644 [MissionManager]:Started mission transit

20221129T170645 [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" 1bm5s 2 4.000000

20221129T170645 [CommandExec]:Scheduling command #2 of 4 with id=1bm5s

20221129T170645 [CommandExec]:Scheduled #4 (#2 of 4 with id='1bm5s'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8.3 m", AFTER MISSION

20221129T170646 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20221129T170654 [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.Lat1 36.771 degree" 1bm5s 3 4.000000

20221129T170654 [CommandExec]:Scheduling command #3 of 4 with id=1bm5s

20221129T170654 [CommandExec]:Scheduled #5 (#3 of 4 with id='1bm5s'): "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.Lat1 36.771 degree", AFTER MISSION

20221129T170703 [CommandExec]:got command schedule "set lineCaptureHoming.Lon1 -121.86 degree;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 1bm5s 4 4.000000

20221129T170703 [CommandExec]:Scheduled #6 (#4 of 4 with id='1bm5s'): "set lineCaptureHoming.Lon1 -121.86 degree;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", AFTER MISSION

20221129T171142 [RDI_Pathfinder]:only read 3 of 4 data items

20221129T174301 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20221129T174305 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20221129T174305 [MissionManager]:Started mission DefaultWithUndock

20221129T174320 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 1 hour

20221129T174320 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 0.9 hour

20221129T174320 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20221129T174320 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 3 minute

20221129T174334 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20221129T174334 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20221129T174334 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 1 meter

20221129T174334 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 8.3 meter

20221129T174351 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20221129T174351 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20221129T174351 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20221129T174351 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20221129T174351 [CommandExec]:got command set lineCaptureHoming.Lat1 36.771 degree

20221129T174405 [CommandExec]:got command set lineCaptureHoming.Lon1 -121.86 degree

20221129T174405 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20221129T174405 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20221129T174405 [CommandExec]:got command run

20221129T174405 [CommandExec]:Running

20221129T174405 [MissionManager]:Started mission lineCaptureHoming

20221129T174413 [DAT]:#Rx 1: Read range message, but no direction.

20221129T174602 [BuoyancyServo]:Overload Error

20221129T174602 [BuoyancyServo]:Hardware Fault

20221129T174602 [CBIT]:Hardware Fault in component: BuoyancyServo

20221129T174622 [BuoyancyServo]:Overload Error

20221129T174622 [BuoyancyServo]:Hardware Fault

20221129T174622 [CBIT]:Hardware Fault in component: BuoyancyServo

20221129T174641 [BuoyancyServo]:Overload Error

20221129T174641 [BuoyancyServo]:Hardware Fault

20221129T174641 [CBIT]:Hardware Fault in component: BuoyancyServo

20221129T174852 [DAT]:#Rx 1: Read range message, but no direction.

20221129T174903 [DAT]:#Rx 1: Read range message, but no direction.

20221129T175332 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221129T175352 [RDI_Pathfinder]:only read 2 of 4 data items

20221129T175448 filter is initialized with decay: 0.30.

20221129T175452 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 290.458764 deg.

20221129T175610 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221129T175650 approach. Armed for intercept at range: 40.20 m.

20221129T175746 REINIT: LOS rate is 15.859855 deg/s. Setting heading cmd to target acoustic bearing of 283.111540 deg.

20221129T175746 REINIT: LOS rate is 442.759637 deg/s. Setting heading cmd to target acoustic bearing of 283.111540 deg.

20221129T175812 longer in short final. Rolling out. Range: 15.70 m.

20221129T175815 [DAT]:Requesting device enable set for address 50.

20221129T180009 rollout at range: 169.60 m. Resuming terminal guidance.

20221129T180010 to midcourse guidance. Received last range of 169.600006 m 0.008665 min ago.

20221129T180010 [DAT]:Requesting device enable clr for address 50.

20221129T180025 filter is initialized with decay: 0.30.

20221129T180206 approach. Armed for intercept at range: 43.50 m.

20221129T180223 [DockingStepper]:getADC uart error serial timeout

20221129T180223 [DockingStepper]:uart error - getPosition..serial timeout

20221129T180223 [DockingStepper]:Communications Fault

20221129T180224 [CBIT]:Communications Fault in component: DockingStepper

20221129T180226 [DockingStepper]:Initialization uart error serial timeout

20221129T180226 [DockingStepper]:Failed to initialize

20221129T180340 missed at range: 13.60 m. Rolling out.

20221129T180348 [DAT]:Requesting device enable set for address 50.

20221129T180425 [DAT]:Requesting device enable clr for address 50.

20221129T180506 rollout at range: 161.20 m. Resuming terminal guidance.

20221129T180507 to midcourse guidance. Received last range of 161.199997 m 0.003873 min ago.

20221129T180526 filter is initialized with decay: 0.30.

20221129T180649 approach. Armed for intercept at range: 36.70 m.

20221129T180738 REINIT: LOS rate is -17.153379 deg/s. Setting heading cmd to target acoustic bearing of 43.523724 deg.

20221129T180738 REINIT: LOS rate is -37.881568 deg/s. Setting heading cmd to target acoustic bearing of 43.523724 deg.

20221129T180739 REINIT: LOS rate is -92.706659 deg/s. Setting heading cmd to target acoustic bearing of 43.523724 deg.

20221129T180804 longer in short final. Rolling out. Range: 16.90 m.

20221129T180808 [DAT]:Requesting device enable set for address 50.

20221129T180930 [DAT]:Requesting device enable clr for address 50.

20221129T181031 rollout at range: 174.60 m. Resuming terminal guidance.

20221129T181032 to midcourse guidance. Received last range of 174.600006 m 0.005193 min ago.

20221129T181338 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221129T181348 [RDI_Pathfinder]:only read 2 of 4 data items

20221129T181448 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221129T182001 longer in short final. Rolling out. Range: 17.90 m.

20221129T182353 [DockingStepper]:uart error: serial timeout

20221129T182353 [DockingStepper]:Communications Fault

20221129T182353 [CBIT]:Communications Fault in component: DockingStepper

20221129T182757 missed at range: 159.30 m. Rolling out.

20221129T182836 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221129T183020 REINIT: LOS rate is 30.057057 deg/s. Setting heading cmd to target acoustic bearing of 350.159450 deg.

20221129T183412 new target pos. Approach rate out of bounds.# range: 164.699997 m,# bearing: nan deg,# deltaT: 4.031762 s,# deltaX: 25.899994 m,# approachRate: 6.423989 m/s,# posRepo size: 4

20221129T183820 sequence complete at range 2.80 m. Reached intercept timeout.

20221129T184128 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 2.700000 m .

20221129T184406 [MissionManager]:Started mission DefaultWithUndock

20221129T184535 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221129T184806 [CommandExec]:got command stop

20221129T184806 [CommandExec]:Scheduling is paused

20221129T184832 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221129T185430 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221129T185644 [CommandExec]:got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.7819 degree;set transit.Longitude -121.85438 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m" 1br7p 1 2.000000

20221129T185644 [CommandExec]:Scheduling command #1 of 2 with id=1br7p

20221129T185644 [CommandExec]:Scheduled #7 (#1 of 2 with id='1br7p'): "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.7819 degree;set transit.Longitude -121.85438 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m", ASAP

20221129T185714 [CommandExec]:got command schedule asap "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1br7p 2 2.000000

20221129T185714 [CommandExec]:Scheduling command #2 of 2 with id=1br7p

20221129T185714 [CommandExec]:Scheduled #8 (#2 of 2 with id='1br7p'): "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run", ASAP

20221129T185715 [CommandExec]:got command load ./Missions/Transport/transit.tl

20221129T185715 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20221129T185715 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20221129T185726 [CommandExec]:got command set transit.MissionTimeout 60 minute

20221129T185726 [CommandExec]:got command set transit.NeedCommsTime 30 minute

20221129T185726 [CommandExec]:got command set transit.Latitude 36.7819 degree

20221129T185726 [CommandExec]:got command set transit.Longitude -121.85438 degree

20221129T185726 [CommandExec]:got command set transit.Depth 10 meter

20221129T185726 [CommandExec]:got command set transit.MaxDepth 20 meter

20221129T185729 [CommandExec]:got command set transit.MinOffshore 1 kilometer

20221129T185729 [CommandExec]:got command set transit.MinAltitude 7 meter

20221129T185729 [CommandExec]:got command run

20221129T185729 [CommandExec]:Running

20221129T185730 [MissionManager]:Started mission transit

20221129T185731 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.781898,-121.854378