tethys Path

trajectory

20221118T232752 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221118T232818 [MissionManager]:Started mission DefaultWithUndock

20221118T232900 [DAT]:No response from remote modem.

20221118T232910 [DAT]:No response from remote modem.

20221118T232921 [DAT]:No response from remote modem.

20221118T232926 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221118T232953 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221118T233008 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20221118T233008 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20221118T233009 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl

20221118T233031 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20221118T233031 [CommandExec]:got command set keepstation.Latitude 36.771 degree

20221118T233031 [CommandExec]:got command set keepstation.Longitude -121.860 degree

20221118T233031 [CommandExec]:got command set keepstation.Speed 1 meter_per_second

20221118T233031 [CommandExec]:got command run

20221118T233031 [CommandExec]:Running

20221118T233031 [MissionManager]:Started mission keepstation

20221118T233232 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20221118T234659 [RDI_Pathfinder]:only read 1 of 4 data items

20221119T000440 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221119T000634 [RDI_Pathfinder]:only read 2 of 4 data items

20221119T000855 [RDI_Pathfinder]:only read 0 of 4 data items

20221119T002301 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.771000,-121.860001

20221119T002944 [BuoyancyServo]:Overload Error

20221119T002944 [BuoyancyServo]:Hardware Fault

20221119T002944 [CBIT]:Hardware Fault in component: BuoyancyServo

20221119T004022 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20221119T005206 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221119T010156 [CommandExec]:got command stop

20221119T010156 [CommandExec]:Scheduling is paused

20221119T010157 [MissionManager]:Started mission DefaultWithUndock

20221119T010305 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221119T010314 [DAT]:#Rx 1: Read range message, but no direction.

20221119T010957 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 8.007240 min

20221119T011554 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 13.945582 min

20221119T011631 [CommandExec]:got command schedule asap "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" rvaz 1 4.000000

20221119T011631 [CommandExec]:Scheduling command #1 of 4 with id=rvaz

20221119T011631 [CommandExec]:Scheduled #1 (#1 of 4 with id='rvaz'): "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", ASAP

20221119T011743 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8.3 m" rvaz 2 4.000000

20221119T011743 [CommandExec]:Scheduling command #2 of 4 with id=rvaz

20221119T011743 [CommandExec]:Scheduled #2 (#2 of 4 with id='rvaz'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8.3 m", ASAP

20221119T011821 [CommandExec]:got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m" rvaz 3 4.000000

20221119T011821 [CommandExec]:Scheduling command #3 of 4 with id=rvaz

20221119T011821 [CommandExec]:Scheduled #3 (#3 of 4 with id='rvaz'): "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m", ASAP

20221119T011839 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" rvaz 4 4.000000

20221119T011839 [CommandExec]:Scheduled #4 (#4 of 4 with id='rvaz'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20221119T011839 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20221119T011843 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20221119T011857 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 1 hour

20221119T011857 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 0.9 hour

20221119T011857 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20221119T011857 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 3 minute

20221119T011912 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20221119T011912 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20221119T011912 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 1 meter

20221119T011912 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 8.3 meter

20221119T011925 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20221119T011925 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20221119T011925 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20221119T011925 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20221119T011934 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20221119T011934 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20221119T011934 [CommandExec]:got command run

20221119T011934 [CommandExec]:Running

20221119T011934 [MissionManager]:Started mission lineCaptureHoming

20221119T012435 [BuoyancyServo]:Overload Error

20221119T012435 [BuoyancyServo]:Hardware Fault

20221119T012435 [CBIT]:Hardware Fault in component: BuoyancyServo

20221119T012455 [BuoyancyServo]:Overload Error

20221119T012455 [BuoyancyServo]:Hardware Fault

20221119T012455 [CBIT]:Hardware Fault in component: BuoyancyServo

20221119T012804 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221119T014120 filter is initialized with decay: 0.30.

20221119T014133 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 312.455862 deg.

20221119T014140 new target pos. Approach rate out of bounds.# range: 89.900002 m,# bearing: nan deg,# deltaT: 3.787869 s,# deltaX: -30.900002 m,# approachRate: -8.157621 m/s,# posRepo size: 3

20221119T014241 approach. Armed for intercept at range: 45.90 m.

20221119T014244 [DAT]:Requesting device enable set for address 50.

20221119T014252 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221119T014317 [DAT]:#Rx 1: Read range message, but no direction.

20221119T014321 [DAT]:#Rx 1: Read range message, but no direction.

20221119T014418 longer in short final. Rolling out. Range: 16.30 m.

20221119T014605 [DAT]:Requesting device enable clr for address 50.

20221119T014706 rollout at range: 175.80 m. Resuming terminal guidance.

20221119T014706 to midcourse guidance. Received last range of 175.800003 m 0.004543 min ago.

20221119T014737 filter is initialized with decay: 0.30.

20221119T014744 new target pos. Approach rate out of bounds.# range: 157.199997 m,# bearing: nan deg,# deltaT: 4.031885 s,# deltaX: 29.399994 m,# approachRate: 7.291873 m/s,# posRepo size: 2

20221119T014745 to midcourse guidance. Received last range of 157.199997 m 0.002671 min ago.

20221119T014807 filter is initialized with decay: 0.30.

20221119T014936 approach. Armed for intercept at range: 43.30 m.

20221119T015046 sequence complete at range 1.20 m. Cable present.

20221119T015120 [DockingStepper]:Initialization uart error serial timeout

20221119T015120 [DockingStepper]:Failed to initialize

20221119T015250 [RDI_Pathfinder]:DVL uart error: serial timeout

20221119T015250 [RDI_Pathfinder]:Communications Fault

20221119T015250 [CBIT]:Communications Fault in component: RDI_Pathfinder

20221119T015252 [RDI_Pathfinder]:Expecting PD13 message format

20221119T015353 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.000000 m .

20221119T020925 [VerticalControl]:Failure to ascend, stopping mission after 840.349121 seconds, depthRate=0.001177 m/s, pitch=-0.946921 deg.

20221119T020925 [CommandExec]:Scheduling is paused

20221119T020926 [MissionManager]:Started mission DefaultWithUndock

20221119T022357 [VerticalControl]:Failure to ascend, stopping mission after 840.331238 seconds, depthRate=-0.002261 m/s, pitch=-0.690778 deg.

20221119T022857 [VerticalControl]:Failure to ascend, dropping drop weight after 300.180634 seconds, depthRate=-0.002693 m/s, pitch=-1.198161 deg.

20221119T022955 [DropWeight]:DROP WEIGHT MISSING.#

20221119T022955 [DropWeight]:Hardware Fault

20221119T022955 [CBIT]:Hardware Fault in component: DropWeight

20221119T023956 [DefaultWithUndock:LeaveDock:A_Timeout:A]:Timed out while trying to detach from dock at current depth of 69.620087 m .

20221119T024057 [DefaultWithUndock:SurfaceDefault:A.GoToSurface]:Pitch down timeout. Pitch: -4.29

20221119T024057 [ElevatorOffsetCalculator]:Completed estimation for commanded vars: speed 0.50 m/s, pitch 0.00 deg, mass-position 5.07 mm. Average elevator angle=0.017951 +/- 0.007216 deg (conf. level 99.90%, sigma: 0.016563 deg).

20221119T024457 [DropWeight]:DROP WEIGHT MISSING.#

20221119T024457 [DropWeight]:Hardware Fault

20221119T024457 [CBIT]:Hardware Fault in component: DropWeight

20221119T025418 [VerticalControl]:Failure to ascend, stopping mission after 840.355835 seconds, depthRate=-0.000269 m/s, pitch=-4.079347 deg.

20221119T025518 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20221119T025637 [DefaultWithUndock:SurfaceDefault:A.GoToSurface]:Surfacing timeout. Returning calc satisfied.

20221119T025918 [VerticalControl]:Failure to ascend, dropping drop weight after 300.167938 seconds, depthRate=-0.002056 m/s, pitch=-3.979183 deg.

20221119T025958 [DropWeight]:DROP WEIGHT MISSING.#

20221119T025958 [DropWeight]:Hardware Fault

20221119T025958 [CBIT]:Hardware Fault in component: DropWeight

20221119T030141 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20221119T031849 [VerticalControl]:Failure to ascend, stopping mission after 840.099915 seconds, depthRate=-0.009111 m/s, pitch=-4.307805 deg.

20221119T041005 [CommandExec]:got command DockingServo

20221119T041005 [CommandExec]:Incomplete syntax. Try: help DockingServo

20221119T041021 [DAT]:failed to set remote address

20221119T041021 [DAT]:Failure setting remote address to 50

20221119T041036 [DAT]:failed to set remote address

20221119T041036 [DAT]:Failure setting remote address to 50

20221119T041037 [CommandExec]:got command DockingServo arm

20221119T041037 [CommandExec]:Switching docking moudle to ARM.

20221119T041051 [DAT]:failed to set remote address

20221119T041051 [DAT]:Failure setting remote address to 50

20221119T041246 [CommandExec]:got command restart application