whoidhs Path

trajectory

20191203T210025 [MissionManager]:Started mission Default

20191203T210034 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20191203T210407 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20191203T210514 [CommandLine]:got command show variable ddm

20191203T210514 [CommandLine]:DDM.loadControl (none)

20191203T210514 [CommandLine]:DDM.uart (none)

20191203T210514 [CommandLine]:DDM.baud (bit_per_second)

20191203T210514 [CommandLine]:DDM.loadAtStartup (bool)

20191203T210514 [CommandLine]:DDM.simulateHardware (bool)

20191203T210514 [CommandLine]:DDM.currentLimit (count)

20191203T210514 [CommandLine]:DDM.PWMLimit (count)

20191203T210514 [CommandLine]:DDM.verbosity (count)

20191203T210515 [CommandLine]:DDM.whiskerState (count)

20191203T210515 [CommandLine]:DDM.latchState (count)

20191203T210515 [CommandLine]:DDM.cablePresent (bool)

20191203T210515 [CommandLine]:DDM.DDMMode (enum)

20191203T210734 [CommandLine]:got command schedule asap "configSet Express linearApproximation DDM.whiskerState 1 count persist;configSet Express linearApproximation DDM.latchState 1 count persist;configSet Express linearApproximation DDM.cablePresent 1 count persist" 1qqnx 1 2.000000

20191203T210734 [CommandLine]:Scheduling command #1 of 2 with id=1qqnx

20191203T210734 [CommandLine]:Scheduled #1 (#1 of 2 with id='1qqnx'): "configSet Express linearApproximation DDM.whiskerState 1 count persist;configSet Express linearApproximation DDM.latchState 1 count persist;configSet Express linearApproximation DDM.cablePresent 1 count persist" ASAP

20191203T210743 [CommandLine]:got command schedule asap "configSet Express linearApproximation DDM.DDMMode 1 count persist" 1qqnx 2 2.000000

20191203T210743 [CommandLine]:Scheduling command #2 of 2 with id=1qqnx

20191203T210743 [CommandLine]:Scheduled #2 (#2 of 2 with id='1qqnx'): "configSet Express linearApproximation DDM.DDMMode 1 count persist" ASAP

20191203T210745 [CommandLine]:got command configSet Express linearApproximation DDM.whiskerState 1.000000 count persist

20191203T210745 [CommandLine]:got command configSet Express linearApproximation DDM.latchState 1.000000 count persist

20191203T210745 [CommandLine]:got command configSet Express linearApproximation DDM.cablePresent 1.000000 count persist

20191203T210746 [CommandLine]:got command configSet Express linearApproximation DDM.DDMMode 1.000000 count persist

20191203T210801 [Default:CheckIn:E]:Default mission has been running for 7.582302 min

20191203T211109 [CommandLine]:got command schedule asap "load Maintenance/ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 45 minute;set ballast_and_trim.Depth1 30 meter;set ballast_and_trim.SettleTime 5 minute;set ballast_and_trim.EstimationTimeout 25 minute" 1qqtl 1 3.000000

20191203T211109 [CommandLine]:Scheduling command #1 of 3 with id=1qqtl

20191203T211109 [CommandLine]:Scheduled #3 (#1 of 3 with id='1qqtl'): "load Maintenance/ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 45 minute;set ballast_and_trim.Depth1 30 meter;set ballast_and_trim.SettleTime 5 minute;set ballast_and_trim.EstimationTimeout 25 minute" ASAP

20191203T211119 [CommandLine]:got command schedule asap "set ballast_and_trim.MassEstimationErrorBound 1 millimeter;set ballast_and_trim.BuoyEstimationErrorBound 30 cubic_centimeter;set ballast_and_trim.EstimationConfidence 95 percent;set ballast_and_trim.MaxDepth 40 meter" 1qqtl 2 3.000000

20191203T211119 [CommandLine]:Scheduling command #2 of 3 with id=1qqtl

20191203T211119 [CommandLine]:Scheduled #4 (#2 of 3 with id='1qqtl'): "set ballast_and_trim.MassEstimationErrorBound 1 millimeter;set ballast_and_trim.BuoyEstimationErrorBound 30 cubic_centimeter;set ballast_and_trim.EstimationConfidence 95 percent;set ballast_and_trim.MaxDepth 40 meter" ASAP

20191203T211129 [CommandLine]:got command schedule asap "set ballast_and_trim.MinOffshore 1 kilometer;run " 1qqtl 3 3.000000

20191203T211129 [CommandLine]:Scheduling command #3 of 3 with id=1qqtl

20191203T211129 [CommandLine]:Scheduled #5 (#3 of 3 with id='1qqtl'): "set ballast_and_trim.MinOffshore 1 kilometer;run " ASAP

20191203T211129 [CommandLine]:got command load ./Missions/Maintenance/ballast_and_trim.xml

20191203T211132 [CommandLine]:Loaded ./Missions/Maintenance/ballast_and_trim.xml

20191203T211141 [CommandLine]:got command set ballast_and_trim.MissionTimeout 45.000000 minute

20191203T211141 [CommandLine]:got command set ballast_and_trim.Depth1 30.000000 meter

20191203T211141 [CommandLine]:got command set ballast_and_trim.SettleTime 5.000000 minute

20191203T211141 [CommandLine]:got command set ballast_and_trim.EstimationTimeout 25.000000 minute

20191203T211150 [CommandLine]:got command set ballast_and_trim.MassEstimationErrorBound 1.000000 millimeter

20191203T211150 [CommandLine]:got command set ballast_and_trim.BuoyEstimationErrorBound 30.000000 cubic_centimeter

20191203T211150 [CommandLine]:got command set ballast_and_trim.EstimationConfidence 95.000000 percent

20191203T211150 [CommandLine]:got command set ballast_and_trim.MaxDepth 40.000000 meter

20191203T211152 [CommandLine]:got command set ballast_and_trim.MinOffshore 1.000000 kilometer

20191203T211152 [CommandLine]:got command run

20191203T211152 [CommandLine]:Running

20191203T211152 [MissionManager]:Started mission ballast_and_trim

20191203T211154 [CTD_NeilBrown]:Salinity reading out of range: -0.181800 psu

20191203T211154 [CTD_NeilBrown]:Salinity reading out of range: -0.175300 psu

20191203T211154 [CTD_NeilBrown]:Salinity reading out of range: -0.177900 psu

20191203T211203 [CTD_NeilBrown]:Failed to match checksum. Expected: 58 got: 36

20191203T211255 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20191203T211257 [RDI_Pathfinder]:only read 2 of 4 data items

20191203T211314 [Micromodem]:Response from modem failed NMEA checksum: $CAREV,211#$CAREV,211315,AUV,2.0.32731*1E## expected 6D

20191203T211358 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20191203T211400 [RDI_Pathfinder]:only read 1 of 4 data items

20191203T211530 [CTD_NeilBrown]:Failed to match checksum. Expected: 55 got: 47

20191203T211600 [ThrusterServo]:Invalid EZ Servo response:"/0@5242#"

20191203T211600 [ThrusterServo]:Communications Fault

20191203T211600 [CBIT]:Communications Fault in component: ThrusterServo

20191203T211634 [RDI_Pathfinder]:only read 2 of 4 data items

20191203T211752 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20191203T212050 [BuoyancyServo]:Reading outside of valid range:0.000000#

20191203T212050 [BuoyancyServo]:Buoyancy engine reporting null position

20191203T212050 [BuoyancyServo]:Hardware Fault

20191203T212050 [CBIT]:Hardware Fault in component: BuoyancyServo

20191203T212134 [RDI_Pathfinder]:Failed to parse:#:BS, -8, -41,A#

20191203T212415 [RDI_Pathfinder]:Failed to parse:#:BS, 24, -20,A#

20191203T212424 [BuoyancyServo]:Reading outside of valid range:0.000000#

20191203T212424 [BuoyancyServo]:Buoyancy engine reporting null position

20191203T212424 [BuoyancyServo]:Hardware Fault

20191203T212424 [CBIT]:Hardware Fault in component: BuoyancyServo

20191203T212528 [RDI_Pathfinder]:Failed to parse:#:BS, -26, -44A#

20191203T213104 [CTD_NeilBrown]:Failed to match checksum. Expected: 34 got: 56

20191203T213104 [CTD_NeilBrown]:Bad response: 8

20191203T213138 [RDI_Pathfinder]:DVL uart error: serial timeout

20191203T213138 [RDI_Pathfinder]:Communications Fault

20191203T213138 [RDI_Pathfinder]:Failed to parse:

20191203T213138 [CBIT]:Communications Fault in component: RDI_Pathfinder

20191203T213152 [RDI_Pathfinder]:Failed to parse:Pathfinder#

20191203T213220 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20191203T213347 completed. Estimation time: 10.00 minutes.

20191203T214031 [MissionManager]:Started mission Default

20191203T214640 [Default:CheckIn:E]:Default mission has been running for 6.134177 min

20191203T215212 [Default:CheckIn:E]:Default mission has been running for 11.670842 min

20191203T215616 [CommandLine]:got command configSet VerticalControl.massDefault 4.350000 millimeter persist

20191203T215616 [CommandLine]:got command configSet VerticalControl.buoyancyNeutral 220.000000 cubic_centimeter persist

20191203T215737 [CommandLine]:got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 90 minute;set lineCaptureHoming.NeedCommsTime 90 minute;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockLat 36.80854 degree" 1qszc 1 5.000000

20191203T215737 [CommandLine]:Scheduling command #1 of 5 with id=1qszc

20191203T215737 [CommandLine]:Scheduled #6 (#1 of 5 with id='1qszc'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 90 minute;set lineCaptureHoming.NeedCommsTime 90 minute;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockLat 36.80854 degree" ASAP

20191203T215747 [CommandLine]:got command schedule asap "set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.WaitOnDockTimeout 5 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qszc 2 5.000000

20191203T215747 [CommandLine]:Scheduling command #2 of 5 with id=1qszc

20191203T215747 [CommandLine]:Scheduled #7 (#2 of 5 with id='1qszc'): "set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.WaitOnDockTimeout 5 minute;set lineCaptureHoming.BreakOffRange 6 meter" ASAP

20191203T215759 [CommandLine]:got command schedule asap "set lineCaptureHoming.RolloutDistance 450 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 4.8 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" 1qszc 3 5.000000

20191203T215759 [CommandLine]:Scheduling command #3 of 5 with id=1qszc

20191203T215759 [CommandLine]:Scheduled #8 (#3 of 5 with id='1qszc'): "set lineCaptureHoming.RolloutDistance 450 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 4.8 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" ASAP

20191203T215811 [CommandLine]:got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriod 2.8 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" 1qszc 4 5.000000

20191203T215811 [CommandLine]:Scheduled #9 (#4 of 5 with id='1qszc'): "set lineCaptureHoming.TrackingUpdatePeriod 2.8 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" ASAP

20191203T215821 [CommandLine]:got command schedule asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qszc 5 5.000000

20191203T215821 [CommandLine]:Scheduled #10 (#5 of 5 with id='1qszc'): "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " ASAP

20191203T215821 [CommandLine]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20191203T215823 [CommandLine]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20191203T215832 [NAL9602]:Failed to initiate SBD session. Error code: 2

20191203T215839 [CommandLine]:got command set lineCaptureHoming.MissionTimeout 90.000000 minute

20191203T215839 [CommandLine]:got command set lineCaptureHoming.NeedCommsTime 90.000000 minute

20191203T215839 [CommandLine]:got command set lineCaptureHoming.Repeat 3.000000 count

20191203T215839 [CommandLine]:got command set lineCaptureHoming.DockLat 36.808540 degree

20191203T215849 [NAL9602]:Failed to initiate SBD session. Error code: 2

20191203T215854 [CommandLine]:got command set lineCaptureHoming.DockLon -121.823853 degree

20191203T215854 [CommandLine]:got command set lineCaptureHoming.TerminalRange 500.000000 meter

20191203T215854 [CommandLine]:got command set lineCaptureHoming.DockRange 2.000000 meter

20191203T215854 [CommandLine]:got command set lineCaptureHoming.WaitOnDockTimeout 5.000000 minute

20191203T215854 [CommandLine]:got command set lineCaptureHoming.BreakOffRange 6.000000 meter

20191203T215911 [CommandLine]:got command set lineCaptureHoming.RolloutDistance 450.000000 meter

20191203T215911 [CommandLine]:got command set lineCaptureHoming.RolloutTime 7.000000 minute

20191203T215911 [CommandLine]:got command set lineCaptureHoming.HoldAltitude 4.800000 meter

20191203T215911 [CommandLine]:got command set lineCaptureHoming.InvalidAltitudeTimeout 25.000000 minute

20191203T215911 [CommandLine]:got command set lineCaptureHoming.InitDepth 25.000000 meter

20191203T215926 [CommandLine]:got command set lineCaptureHoming.TrackingUpdatePeriod 2.800000 second

20191203T215926 [CommandLine]:got command set lineCaptureHoming.Speed 0.800000 meter_per_second

20191203T215926 [CommandLine]:got command set lineCaptureHoming.KpHeadingFinal 1.800000 none

20191203T215926 [CommandLine]:got command set lineCaptureHoming.KiHeadingFinal 0.006000 reciprocal_second

20191203T215936 [CommandLine]:got command set lineCaptureHoming.MinAltitude 3.500000 meter

20191203T215936 [CommandLine]:got command set lineCaptureHoming.MaxDepth 45.000000 meter

20191203T215936 [CommandLine]:got command set lineCaptureHoming.MinOffshore 1.000000 kilometer

20191203T215936 [CommandLine]:got command run

20191203T215936 [CommandLine]:Running

20191203T215937 [MissionManager]:Started mission lineCaptureHoming

20191203T215941 [BuoyancyServo]:Reading outside of valid range:0.000000#

20191203T215941 [BuoyancyServo]:Buoyancy engine reporting null position

20191203T215941 [BuoyancyServo]:Hardware Fault

20191203T215941 [CBIT]:Hardware Fault in component: BuoyancyServo

20191203T215944 [DUSBL_Hydroid]:No response from remote modem.

20191203T220100 [lineCaptureHoming:Lap:B]:Initiating homing sequence.

20191203T220101 [lineCaptureHoming:Lap:TerminalGuidance:C]:Terminal guidance at range: 383.639984 m .

20191203T220444 [DUSBL_Hydroid]:No response from remote modem.

20191203T220515 [DUSBL_Hydroid]:No response from remote modem.

20191203T220907 [RDI_Pathfinder]:Failed to parse:#:BS, +33 +12,A#

20191203T221122 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture]:Final approach. Armed for intercept at range: 27.36 m.

20191203T221227 [lineCaptureHoming:Lap:TerminalGuidance:Dock:B]:Holding depth at: 38.094990 m .

20191203T221612 [RDI_Pathfinder]:Failed to parse:#:BS, -71, #

20191203T221710 [RDI_Pathfinder]:Failed to parse:#:BS, -80, -8,A#

20191203T221731 [DDM]:Could not parse latch state

20191203T221731 [DDM]:Communications Fault

20191203T221731 [CBIT]:Communications Fault in component: DDM

20191203T222111 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A]:Rollout at range: 6.119999 m .

20191203T222812 [lineCaptureHoming:Lap:B]:Initiating homing sequence.

20191203T222813 [lineCaptureHoming:Lap:TerminalGuidance:C]:Terminal guidance at range: 6.119999 m .

20191203T223152 missed at range: 11.58 m. Rolling out.

20191203T223449 [RDI_Pathfinder]:Failed to parse:#:BS, +67, -8,A#

20191203T224114 rollout at range: 375.24 m. Resuming terminal guidance.

20191203T224218 [Micromodem]:Response from modem failed NMEA checksum: expected 52

20191203T224218 [Micromodem]:Response from modem unexpected: $CATXP,280*48##

20191203T224218 [Micromodem]:Response from modem unexpected: $CATXF,280*5E##

20191203T224218 [Micromodem]:Got error from modem: $CAERR,224219,NI ,29,Busy completing a previous request*75##

20191203T224219 [Micromodem]:Response from modem unexpected: $SNTTA,,,,,224218.93*5B##

20191203T224348 [RDI_Pathfinder]:Failed to parse:#:TS#

20191203T225132 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture]:Final approach. Armed for intercept at range: 27.00 m.

20191203T225348 [lineCaptureHoming:Lap:TerminalGuidance:Dock:B]:Holding depth at: 37.247654 m .

20191203T225933 [BuoyancyServo]:getPosition uart error serial timeout

20191203T225933 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20191203T225933 [BuoyancyServo]:Communications Fault

20191203T225934 [CBIT]:Communications Fault in component: BuoyancyServo

20191203T230019 [DDM]:Could not parse latch state

20191203T230019 [DDM]:Communications Fault

20191203T230019 [CBIT]:Communications Fault in component: DDM

20191203T230020 [DDM]:LCB fault: Software Overcurrent.

20191203T230020 [DDM]:Hardware Fault

20191203T230024 [PowerOnly]:LCB fault: Invalid Command. Current Limiter Activated.

20191203T230024 [PowerOnly]:Hardware Fault

20191203T230024 [CBIT]:Hardware Fault in component: PowerOnly

20191203T230243 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A]:Rollout at range: 6.119999 m .

20191203T230405 [RDI_Pathfinder]:Failed to parse:#:TS37, +17,A#

20191203T230944 [lineCaptureHoming:Lap:B]:Initiating homing sequence.

20191203T230945 [lineCaptureHoming:Lap:TerminalGuidance:C]:Terminal guidance at range: 6.119999 m .

20191203T231627 missed at range: 11.10 m. Rolling out.

20191203T231941 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20191203T232412 [RDI_Pathfinder]:Failed to parse:#:TS0#

20191203T232518 [RDI_Pathfinder]:DVL uart error: serial timeout

20191203T232518 [RDI_Pathfinder]:Communications Fault

20191203T232518 [RDI_Pathfinder]:Failed to parse:

20191203T232518 [CBIT]:Communications Fault in component: RDI_Pathfinder

20191203T232533 [RDI_Pathfinder]:Failed to parse:Pathfinder#

20191203T232550 rollout at range: 376.62 m. Resuming terminal guidance.

20191203T232729 [RDI_Pathfinder]:DVL uart error: serial timeout

20191203T232729 [RDI_Pathfinder]:Communications Fault

20191203T232729 [RDI_Pathfinder]:Failed to parse:

20191203T232729 [CBIT]:Communications Fault in component: RDI_Pathfinder

20191203T232743 [RDI_Pathfinder]:Failed to parse:Pathfinder#

20191203T232937 [MissionManager]:Started mission Default

20191203T234202 [CommandLine]:got command configSet Express all DDM.cablePresent persist