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OKq = =Data Faulta E iaIa)}GI- IV-7^A)fA1=z<=&=9Efy9 M>yQQQUCYe<%m>ɹyYyyy 1tIy 57Byi} ;};y II II!]@Data Fault in component: NAL9602IeU>J@E R>R@E Y> [ RouAzWd@zU@z><{'>9{.H x" "? Ȱ uڿ ` |ֽ? ` T
? l?{.U@i{.:c;{.RCYbʽyb"yĝfPowering down*e code=06BC elementURI="NAL9602.component_voltage" type=00
*a code=08C7 owner=0025 element=06BC universal=3FFF unitName="volt" type=07 size=0002 fl=05
:F~ *e code=06BD elementURI="NAL9602.component_avgVoltage" type=00
*a code=08C8 owner=0025 element=06BD universal=3FFF unitName="volt" type=07 size=0002 fl=05
BF rA% zA% )~GI
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? ?{.U@i{.;/c;{.RCYR̮yRVi\I\)U}G]Powering down
F] F] *F] 2F] IY
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EF=9e9 >yQC:%>ɹYy 1tI 59Bi:9: I I II)IE==m got command run ./Missions/Maintenance/line_capture_homing_lab.xml $u Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xmlJ@E V>R@E V> 7[ ZouAz sYd@z ٽU@z &P;<{ >9{.H " $? `p kwڿ T ֽ? `i j ? ?{.ٽU@i{.>c;{.QCYNyNY9)
s}GLCB fault: LCB Watchdog Reset. Invalid Command. Current Limiter Activated. Hardware Fault - I -7^AAfAAM-<MS=9MZ
M>yQQQUCQ]%e>ɹaYaya 1utIa 5u:Baie:e:aaIi iiiII!%LHardware Fault in component: PowerOnlyI-=a}Ay $tDefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 haA $lDefineArg lineCaptureHomingLab.Repeat = 1.000000 countaA $rDefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdegaA $vDefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdegaA $hDefineArg lineCaptureHomingLab.StartLat = nan arcdegaA $hDefineArg lineCaptureHomingLab.StartLon = nan arcdega A $vDefineArg lineCaptureHomingLab.TerminalRange = 650.000000 ma
A $pDefineArg lineCaptureHomingLab.CameraRange = 50.000000 ma
B $
jDefineArg lineCaptureHomingLab.DockRange = 2.000000 maB $ bDefineArg lineCaptureHomingLab.UpdateNav = 0 boola-*B) $-DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 mina =:B9 $EpDefineArg lineCaptureHomingLab.DockTimeout = 60.000000 sa!MJBI $UzDefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 ma%ZB $rDefineArg lineCaptureHomingLab.RolloutTime = 5.000000 mina)jB $pDefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 ma--zB) $-DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 mina1}By $}jDefineArg lineCaptureHomingLab.InitDepth = 5.000000 ma5B $~DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 mina95B1 $=~DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 counta=EBA $MDefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 saAB $zDefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 countaEB $fDefineArg lineCaptureHomingLab.Speed = 1.000000 m/saIB $
rDefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 maMu By $ nDefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/aaQ
C $ nDefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/saU
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~DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdegaY]
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$
nDefineArg lineCaptureHomingLab.MinAltitude = 5.000000 ma]
:C
$
lDefineArg lineCaptureHomingLab.MaxDepth = 205.000000 maa JC $ pDefineArg lineCaptureHomingLab.MinOffshore = 2.000000 kmae RC $ nDefineOutput lineCaptureHomingLab.HomingActive = 1 boolai bC $ bDefineOutput lineCaptureHomingLab.Docked = 0 boolam rC $ vDefineOutput lineCaptureHomingLab.DiveMode = 0.000000 countaq
C $ zDefineOutput lineCaptureHomingLab.DoingComms = 0.000000 countau= C9 $E |DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 countayM CI va [ souA@4<@z
^d@zpU@z ;<{偸>9{2H `+! `)? {ڿ o ӽ? c ? ?{2pU@i{2.c;{2UCY^y^S@b=@d@f4=@f< $jDefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 countilInC)E~G@MnA@I
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I!-5555=*a code=08C9 owner=0063 element=06AD universal=3FFF unitName="none" type=00 size=0018 fl=05
=*a code=08CA owner=0063 element=06AE universal=3FFF unitName="none" type=00 size=0018 fl=05
E*a code=08CB owner=0063 element=06AF universal=3FFF unitName="meter" type=00 size=0018 fl=05
E*a code=08CC owner=0063 element=06B0 universal=3FFF unitName="meter" type=00 size=0018 fl=05
E!ZClearing failed state for component PowerOnly I=
2Construct.4%&Construct Waypoint.a5a=a=
8Construct.! ! 1
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A5&Construct Waypoint.B Construct Wait.
$%U
Home to transponder while maintaining altitude. The mission sequence:
(*) Start (1) Midcourse guidance: nav to target WP while querying
transponder (2) Terminal guidance: home to target using DUSBL tracking
data, fire up SCPI when in range (4) Dock: final approach using fixed
heading (5) Rollout: break off from dock, then nav back to start wp or move away
from the target at the last commanded heading (*) repeat Note: since there's a
possibility that no altitude reading will be available form the surface
(e.g., when the bottom is out of DVL range), the vehicle first descends
from the surface to a commanded depth and then starts following the
commanded altitude.
Maximum length of mission
4
Number of times the vehicle should try to cycle through the homing
sequence.
1
Latitude of docking station waypoint.
36.7436
Longitude of docking station waypoint.
-121.8800
Latitude of docking sequance start waypoint. The vehicle navigates back
to this waypoint at the end of each homing attempt. If set to NaN, the
vehicle moves away from the target at the last commanded heading until
*RolloutTime* has passed.
NaN
Longitude of docking sequance start waypoint. The vehicle navigates back
to this waypoint at the end of each homing attempt. If set to NaN, the
vehicle moves away from the target at the last commanded heading until
*RolloutTime* has passed.
NaN
Range at which the vehicle should switch from navigating to the dock wp
and start homing to the target using DUSBL tracking data. Max is ??
meters due to DUSBL ???.
650.0
Range to activate the camera payload.
50.0
Minimum range to continue to update heading being driven.
2.0
When true, the mission updates the vehicle's position to DockLat/Lon
when it comes within *DockRange* from the transponder.
Maximum time duration for running in terminal guidance mode.
30
Maximum time duration for running in Dock mode.
60
Distance to move away from the target (rollout) in response to
missing the target.
150
Drive on your last heading for this long after detaching from the dock.
This argument is *ignored* if start Lat/Lon are specified.
5
Desired vehicle altitude to maintain.
7
The mission will abort if no valid altitude readings are received within
this specified time duration. Set this variable to NaN to disable this
timeout functionality.
15
Initial depth. The vehicle will dive to this depth when leaving the
surface. Necessary if no altitude reading is available form the surface
(e.g., when the bottom is out of DVL range).
5
Maximum time duration for the vehicle to reach the initial depth. The
vehicle will switch over to altitude following after the timeout is
expired.
30
Transponder Address.
2
How long to wait between acoustic queries.
2
Number of pings requested each time.
1
Thruster speed for the entier mission.
1
Vertical drift from the specified depth that's allowed during altitude
keeping (alt. is projected to depth).
0.01
Heading proportional gain to use during Terminal Homing.
0.8
Heading Integral gain to use during Terminal Homing.
0.002
Degree of rounding in rudder command output values to
use during Terminal Homing.
0.05
Minimum height above the sea floor for the entire mission.
5
Maximum depth for the entire mission.
205
Minimum offshore distance for the entire mission.
2
Mission variable (don't change). The mission sets this to true when the
vehicle is homing.
Mission variable (don't change). The mission sets this to true when docked.
Mission variable (don't change). The mission sets this variable to switch
between dive modes.
0
Mission variable (don't change). The mission will run in this to mode when
running surface comms.
0
Mission variable (don't change). The mission will run in this mode when
surface comms are done to dive the vehicle to DVL bottom range.
1
Mission variable (don't change). The mission will run in this mode to
dive the vehicle at a commanded altitude.
2
Mission variable (don't change). The mission will run in this mode to
drift away from the dock after is unlatches.
3
Initiating homing sequence.
Navigate toward the dock waypoint while querying the dock
transponder. Continue until you approach within *TerminalRange*,
then move on to the next aggregate.
Move toward the target using DUSBL tracking data and update the
commanded heading with each cycle, activate SCPI when in range.
Continue until you're within *DockRange*, then move on to the
next aggregate.
Terminal guidance at range: .
Timed out while trying to dock at range: .
Breaking off. Range: .
Navigate back to the start waypoint or move away from the target
at the last commanded heading until *RolloutTime* has passed.
Rollout to start WP at range: .
Rollout at range: .
=-
tRunning ./Missions/Maintenance/line_capture_homing_lab.xml H#[ ōouAzgd@zU@z":<{ >9{2H 2 @1? Jڿ ʽ? 1D @? ?{2U@i{29c;{2RCYByBZb)~{GPowering up
- I
V-7^AfAamI=9 >yQCY:%>ɹYy 1tI 5:Bi;5;q= (=>Aggregate::uninitialize Default= )=DUninitialize GoToSurfaceComponent.1=
*ENAggregate::uninitialize Default:CheckInqE =$EHStarted mission lineCaptureHomingLabAqE 0ETAggregate::initialize lineCaptureHomingLabE
1EvAggregate::initialize lineCaptureHomingLab:TrackTransponderE 1MDInitializing TrackAcousticContact.1M
2MInitialize.qM 2M\Aggregate::initialize lineCaptureHomingLab:LapM =3U6Initiating homing sequence.U 1 Dk; I IIAI:@E @AB@A 8u)[ TouAz [d@z놿U@z`<<{b>9{.H ! `/&? #° xڿ @ӽ? I
? @?{.U@i{.f2c;{,YNyN5iXI\)-{G=- I=-7^AifAiu7=uO=9}9 }>yyyQ}CyЅu%>ɹYy 1tI 5;Bi
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4Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidanceq 4:Initialize WaypointComponent.DI III= Z0[ -|ouAj@r@zJed@zU@zȒ<<{>9{.H @ `{/? @ð 0ڿ @ ɽ? 6 ? ?{.U@i{.uc;{.TCYRuyR-@VA@T@T@T)e~GIm@m=@i
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