tethys Path

trajectory

20240113T164423 [SBIT]:Beginning Startup BIT

20240113T164423 [CBIT]:Beginning ground fault scan

20240113T164517 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20240113T164517 [SBIT]:BuoyancyServo.deviationVolume=4 cubic_centimeter;#

20240113T164517 [SBIT]:DAT.verbosity=1 count;#

20240113T164517 [SBIT]:Docked.rangeTimeout=3600 second;#

20240113T164517 [SBIT]:DockingStepper.slideValue=10500 count;#

20240113T164517 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20240113T164517 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20240113T164517 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20240113T164517 [SBIT]:LineCapture.kiHeadingFinalApproach=0.02 reciprocal_second;#

20240113T164517 [SBIT]:LineCapture.kiHeadingTerminalGuidance=0.02 reciprocal_second;#

20240113T164517 [SBIT]:LineCapture.navigationGain=nan none;#

20240113T164517 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20240113T164517 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20240113T164517 [SBIT]:LineCapture.searchTimeout=10 minute;#

20240113T164517 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20240113T164517 [SBIT]:RudderServo.offsetAngle=2 degree;#

20240113T164517 [SBIT]:VerticalControl.buoyancyNeutral=457.361168 cubic_centimeter;#

20240113T164517 [SBIT]:VerticalControl.massDeadband=1 millimeter;#

20240113T164517 [SBIT]:VerticalControl.massDefault=16.451253 millimeter;#

20240113T164518 [MissionManager]:Started mission DefaultWithUndock

20240113T164600 [DAT]:No response from remote modem.

20240113T164610 [DAT]:No response from remote modem.

20240113T164620 [DAT]:No response from remote modem.

20240113T164637 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20240113T164706 [CommandExec]:got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.DepthDeadband 10 m" 1u3y3 1 2.000000

20240113T164706 [CommandExec]:Scheduling command #1 of 2 with id=1u3y3

20240113T164706 [CommandExec]:Scheduled #1 (#1 of 2 with id='1u3y3'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.DepthDeadband 10 m", ASAP

20240113T164715 [CommandExec]:got command schedule asap "set keepstation.Speed 0.8 m/s;set keepstation.MaxDepth 55 m;run" 1u3y3 2 2.000000

20240113T164715 [CommandExec]:Scheduling command #2 of 2 with id=1u3y3

20240113T164715 [CommandExec]:Scheduled #2 (#2 of 2 with id='1u3y3'): "set keepstation.Speed 0.8 m/s;set keepstation.MaxDepth 55 m;run", ASAP

20240113T164715 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20240113T164715 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20240113T164715 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20240113T164716 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20240113T164716 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20240113T164716 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20240113T164732 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20240113T164732 [CommandExec]:got command set keepstation.NeedCommsTime 20 minute

20240113T164732 [CommandExec]:got command set keepstation.Latitude 36.771 degree

20240113T164732 [CommandExec]:got command set keepstation.Longitude -121.860001 degree

20240113T164732 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20240113T164737 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20240113T164737 [CommandExec]:got command set keepstation.MaxDepth 55 meter

20240113T164737 [CommandExec]:got command run

20240113T164737 [CommandExec]:Running

20240113T164737 [MissionManager]:Started mission keepstation

20240113T164902 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20240113T164953 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20240113T165032 [ThrusterHE]:Status lock Detected.

20240113T165034 [ThrusterHE]:Status lock Detected.

20240113T165042 [ThrusterHE]:Status lock Detected.

20240113T165043 [ThrusterHE]:Lock Detect. Motor stopped spinning or could not start spinning.

20240113T165043 [ThrusterHE]:Hardware Fault

20240113T165043 [CBIT]:Hardware Fault in component: ThrusterHE

20240113T165050 [ThrusterHE]:Zero Speed Commanded.

20240113T165110 [ThrusterHE]:Lock Detect. Motor stopped spinning or could not start spinning.

20240113T165110 [ThrusterHE]:Hardware Fault

20240113T165110 [CBIT]:Hardware Fault in component: ThrusterHE

20240113T165158 [ThrusterHE]:Zero Speed Commanded.

20240113T165219 [ThrusterHE]:Lock Detect. Motor stopped spinning or could not start spinning.

20240113T165219 [ThrusterHE]:Hardware Fault

20240113T165219 [CBIT]:Hardware Fault in component: ThrusterHE

20240113T165226 [ThrusterHE]:Zero Speed Commanded.

20240113T165515 [CommandExec]:Scheduling is paused

20240113T165516 [MissionManager]:Started mission DefaultWithUndock

20240113T165636 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20240113T165852 [RDI_Pathfinder]:only read 2 of 4 data items for water velocity. Device response is::WS, -125, -30 +38.07, +4.75, 3.00, 0.00#

20240113T170220 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.048978 min

20240113T170411 [RDI_Pathfinder]:DVL uart error: serial timeout

20240113T170411 [RDI_Pathfinder]:Communications Fault

20240113T170411 [CBIT]:Communications Fault in component: RDI_Pathfinder

20240113T170413 [RDI_Pathfinder]:Expecting PD13 message format

20240113T170558 [CommandExec]:got command failComponent

20240113T170558 [CommandExec]:Failed components:

20240113T170558 [CommandExec]:No failed Components.

20240113T170653 [CommandExec]:got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.DepthDeadband 10 m" 1u4ux 1 2.000000

20240113T170653 [CommandExec]:Scheduling command #1 of 2 with id=1u4ux

20240113T170653 [CommandExec]:Scheduled #3 (#1 of 2 with id='1u4ux'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.DepthDeadband 10 m", ASAP

20240113T170702 [CommandExec]:got command schedule asap "set keepstation.Speed 1 m/s;set keepstation.MaxDepth 55 m;run" 1u4ux 2 2.000000

20240113T170702 [CommandExec]:Scheduling command #2 of 2 with id=1u4ux

20240113T170702 [CommandExec]:Scheduled #4 (#2 of 2 with id='1u4ux'): "set keepstation.Speed 1 m/s;set keepstation.MaxDepth 55 m;run", ASAP

20240113T170702 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20240113T170702 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20240113T170702 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20240113T170702 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20240113T170703 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20240113T170703 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20240113T170713 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20240113T170713 [CommandExec]:got command set keepstation.NeedCommsTime 20 minute

20240113T170713 [CommandExec]:got command set keepstation.Latitude 36.771 degree

20240113T170713 [CommandExec]:got command set keepstation.Longitude -121.860001 degree

20240113T170713 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20240113T170716 [CommandExec]:got command set keepstation.Speed 1 meter_per_second

20240113T170716 [CommandExec]:got command set keepstation.MaxDepth 55 meter

20240113T170716 [CommandExec]:got command run

20240113T170716 [CommandExec]:Running

20240113T170716 [MissionManager]:Started mission keepstation

20240113T170814 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20240113T170819 [ThrusterHE]:Could not get status:serial timeout

20240113T170819 [ThrusterHE]:getSpeed error serial timeout

20240113T170819 [ThrusterHE]:Thruster uart error: serial timeout

20240113T170819 [ThrusterHE]:Communications Fault

20240113T170819 [CBIT]:Communications Fault in component: ThrusterHE

20240113T170828 [ThrusterHE]:Could not get status:serial timeout

20240113T170828 [ThrusterHE]:getSpeed error serial timeout

20240113T170828 [ThrusterHE]:Thruster uart error: serial timeout

20240113T170828 [ThrusterHE]:Communications Fault

20240113T170828 [CBIT]:Communications Fault in component: ThrusterHE

20240113T170837 [ThrusterHE]:Could not get status:serial timeout

20240113T170837 [ThrusterHE]:getSpeed error serial timeout

20240113T170837 [ThrusterHE]:Thruster uart error: serial timeout

20240113T170837 [ThrusterHE]:Communications Fault

20240113T170837 [CBIT]:Communications Fault in component: ThrusterHE

20240113T170838 [ThrusterHE]:LCB fault: Current Limiter Activated.

20240113T170844 [CommandExec]:got command show variable ThrusterHE

20240113T170844 [CommandExec]:ThrusterHE.loadAtStartup (bool)

20240113T170844 [CommandExec]:ThrusterHE.simulateHardware (bool)

20240113T170844 [CommandExec]:ThrusterHE.deviation (count)

20240113T170844 [CommandExec]:ThrusterHE.allowableBadVelocity (count)

20240113T170844 [CommandExec]:ThrusterHE.ratedSpeed (count)

20240113T170844 [CommandExec]:ThrusterHE.powerOnTimeout (second)

20240113T170844 [CommandExec]:ThrusterHE.loadControl (none)

20240113T170844 [CommandExec]:ThrusterHE.uart (none)

20240113T170844 [CommandExec]:ThrusterHE.baud (bit_per_second)

20240113T170844 [CommandExec]:ThrusterHE.enableBroadcast (bool)

20240113T170844 [CommandExec]:ThrusterHE.component_voltage (volt)

20240113T170844 [CommandExec]:ThrusterHE.component_avgVoltage (volt)

20240113T170844 [CommandExec]:ThrusterHE.component_current (milliampere)

20240113T170844 [CommandExec]:ThrusterHE.component_avgCurrent (milliampere)

20240113T170844 [CommandExec]:ThrusterHE.platform_propeller_rotation_rate (radian_per_second)

20240113T170855 [ThrusterHE]:LCB fault: Current Limiter Activated.

20240113T170855 [MissionManager]:Started mission DefaultWithUndock

20240113T170934 [CommandExec]:got command failComponent

20240113T170934 [CommandExec]:Failed components:

20240113T170934 [CommandExec]:ThrusterHE: Hardware Fault

20240113T170934 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,000501.8, 0#

20240113T170939 [CommandExec]:got command failComponent none ThrusterHE

20240113T170939 [CommandExec]:ThrusterHE failureMode is No Fault

20240113T170943 [CommandExec]:got command failComponent

20240113T170943 [CommandExec]:Failed components:

20240113T170943 [CommandExec]:No failed Components.

20240113T171008 [DockingStepper]:uart error: serial timeout moving from: 6144 to: 14900 response: #

20240113T171008 [DockingStepper]:Communications Fault

20240113T171008 [CBIT]:Communications Fault in component: DockingStepper

20240113T171020 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20240113T171026 [ThrusterHE]:LCB fault: Current Limiter Activated.

20240113T171127 [VerticalControl]:Excessive depth excursion=11.495446 m, failToGoUpDepth_=1.430997 m, depthRate=0.231142 m/s, pitch=57.502121 deg.

20240113T171146 [ThrusterHE]:Thruster failed to initialize

20240113T171206 [VerticalControl]:Dropping drop weight at excessive depth excursion=21.206190, failToGoUpDepth_=1.430997, depthRate=0.240039 m/s, pitch=58.973309 deg.

20240113T171244 [DropWeight]:DROP WEIGHT MISSING.#

20240113T171244 [DropWeight]:Hardware Fault

20240113T171244 [CBIT]:Hardware Fault in component: DropWeight

20240113T171302 [RDI_Pathfinder]:only read 0 of 4 data items for bottom velocity. Device response is::BS, :BE, -216, +516, +96,A#

20240113T172037 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 11.687948 min

20240113T172333 [CommandExec]:got command configSet DropWeight.loadAtStartup 0 bool persist

20240113T172333 [CommandExec]:configSet DropWeight.loadAtStartup requires a restart to take effect.

20240113T172339 [CommandExec]:got command show variable limitLo

20240113T172339 [CommandExec]:BuoyancyServo.limitLo (count)

20240113T172339 [CommandExec]:DockingServo.limitLo (count)

20240113T172339 [CommandExec]:ElevatorServo.limitLo (count)

20240113T172339 [CommandExec]:MassServo.limitLo (count)

20240113T172339 [CommandExec]:RudderServo.limitLo (count)

20240113T172339 [CommandExec]:VerticalControl.buoyancyLimitLoCC (cubic_centimeter)

20240113T172416 [CommandExec]:got command get BuoyancyServo.limitLo

20240113T172417 [CommandExec]:BuoyancyServo.limitLo 475 count

20240113T172614 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 17.298958 min

20240113T172639 [CommandExec]:got command configSet DropWeight.loadAtStartup 0 bool persist

20240113T172639 [CommandExec]:configSet DropWeight.loadAtStartup requires a restart to take effect.

20240113T172639 [CommandExec]:got command configSet VerticalControl.buoyancyNeutral 100 cubic_centimeter persist

20240113T172639 [CommandExec]:got command configSet VerticalControl.massDefault 0 centimeter persist

20240113T172639 [CommandExec]:got command restart application