tethys Path

trajectory

20231017T173522 [SBIT]:Beginning Startup BIT

20231017T173522 [CBIT]:Beginning ground fault scan

20231017T173601 [SBIT]:Control surface position failure.

20231017T173616 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231017T173616 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231017T173616 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231017T173616 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231017T173616 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231017T173616 [SBIT]:Sonardyne_Nano.loadAtStartup=1 bool;#

20231017T173616 [SBIT]:VerticalControl.buoyancyNeutral=290.651577 cubic_centimeter;#

20231017T173616 [SBIT]:VerticalControl.massDefault=21.667588 millimeter;#

20231017T173616 [CommandExec]:Scheduling is paused

20231017T173616 [MissionManager]:Started mission Startup

20231017T173700 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231017T173718 [MissionManager]:Started mission DefaultWithUndock

20231017T173731 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231017T173801 [DAT]:No response from remote modem.

20231017T173811 [DAT]:No response from remote modem.

20231017T173821 [DAT]:No response from remote modem.

20231017T173839 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231017T173900 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231017T173907 [CommandExec]:got command failComponent

20231017T173907 [CommandExec]:Failed components:

20231017T173907 [CommandExec]:No failed Components.

20231017T173912 [CommandExec]:got command ibit

20231017T173912 [IBIT]:Beginning Initiated BIT

20231017T173912 [IBIT]:Beginning control surface checks.

20231017T173912 [CBIT]:Beginning ground fault scan

20231017T173951 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231017T173958 [IBIT]:Communications Status:#Fix Status: 1#Iridium Signal Strength: 2#Latitude: 36.768719 Longitude: -121.853279

20231017T173959 [IBIT]:Warning: Battery Data not active. Expected only when running primaries. Threshold checking not active.

20231017T173959 [IBIT]:bitPressureThreshold: 0.750000 psi

20231017T174004 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231017T174017 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231017T174135 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 1.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 4 count" 2gegg 1 4.000000

20231017T174135 [CommandExec]:Scheduling command #1 of 4 with id=2gegg

20231017T174135 [CommandExec]:Scheduled #1 (#1 of 4 with id='2gegg'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 1.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 4 count", ASAP

20231017T174144 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.001 m" 2gegg 2 4.000000

20231017T174144 [CommandExec]:Scheduling command #2 of 4 with id=2gegg

20231017T174144 [CommandExec]:Scheduled #2 (#2 of 4 with id='2gegg'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.001 m", ASAP

20231017T174152 [CommandExec]:got command schedule asap "set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m" 2gegg 3 4.000000

20231017T174152 [CommandExec]:Scheduling command #3 of 4 with id=2gegg

20231017T174152 [CommandExec]:Scheduled #3 (#3 of 4 with id='2gegg'): "set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m", ASAP

20231017T174201 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 2gegg 4 4.000000

20231017T174201 [CommandExec]:Scheduled #4 (#4 of 4 with id='2gegg'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP

20231017T174202 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231017T174202 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231017T174203 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231017T174205 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231017T174206 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231017T174206 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231017T174206 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231017T174207 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231017T174209 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231017T174210 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231017T174242 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, , -1,A#

20231017T174243 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231017T174243 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 1.9 hour

20231017T174243 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231017T174243 [CommandExec]:got command set lineCaptureHoming.Repeat 4 count

20231017T174304 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231017T174304 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 second

20231017T174304 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20231017T174304 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.001 meter

20231017T174322 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231017T174322 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231017T174322 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231017T174322 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231017T174322 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231017T174327 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231017T174327 [CommandExec]:got command run

20231017T174327 [CommandExec]:Running

20231017T174327 [MissionManager]:Started mission lineCaptureHoming

20231017T174934 [DAT]:#Rx 1: Read range message, but no direction.

20231017T174934 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20231017T175210 [DAT]:#Rx 1: Read range message, but no direction.

20231017T175318 [DAT]:#Rx 1: Read range message, but no direction.

20231017T180448 filter is initialized with decay: 0.30.

20231017T180453 [DockingStepper]:Initialization uart error serial timeout

20231017T180453 [DockingStepper]:Failed to initialize

20231017T180513 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 303.762146 deg.

20231017T181441 new target range. Approach rate out of bounds.# range: 272.299988 m,# deltaT: 5.039953 s,# deltaX: 31.699982 m,# approachRate: 6.289738 m/s,# rangeRepo size: 4

20231017T181930 [DAT]:Requesting device enable set for address 50.

20231017T181931 approach. Armed for intercept at range: 46.20 m.

20231017T182131 REINIT: LOS rate is -11.622696 deg/s. Setting heading cmd to target acoustic bearing of 294.488731 deg.

20231017T182149 longer in short final. Rolling out. Range: 10.50 m.

20231017T182248 [DAT]:Requesting device enable clr for address 50.

20231017T182402 rollout at range: 192.90 m. Resuming terminal guidance.

20231017T182411 new target range. Approach rate out of bounds.# range: 200.000000 m,# deltaT: 4.031316 s,# deltaX: 30.699997 m,# approachRate: 7.615378 m/s,# rangeRepo size: 1

20231017T182741 [DAT]:Requesting device enable set for address 50.

20231017T182742 approach. Armed for intercept at range: 47.50 m.

20231017T182950 missed at range: 5.90 m. Rolling out.

20231017T183109 rollout at range: 152.70 m. Resuming terminal guidance.

20231017T183112 [DAT]:Requesting device enable clr for address 50.

20231017T183203 [DAT]:Requesting device enable set for address 50.

20231017T183214 approach. Armed for intercept at range: 36.20 m.

20231017T183322 missed at range: 15.50 m. Rolling out.

20231017T183412 [DAT]:Requesting device enable clr for address 50.

20231017T183546 rollout at range: 160.50 m. Resuming terminal guidance.

20231017T183930 REINIT: LOS rate is 56.442386 deg/s. Setting heading cmd to target acoustic bearing of 259.099032 deg.

20231017T183930 REINIT: LOS rate is 34.945932 deg/s. Setting heading cmd to target acoustic bearing of 259.099032 deg.

20231017T183931 REINIT: LOS rate is 19.577137 deg/s. Setting heading cmd to target acoustic bearing of 259.099032 deg.

20231017T183950 missed at range: 10.00 m. Rolling out.

20231017T184415 [DockingStepper]:uart error: serial timeout

20231017T184415 [DockingStepper]:Communications Fault

20231017T184415 [CBIT]:Communications Fault in component: DockingStepper

20231017T185015 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231017T185353 new target range. Approach rate out of bounds.# range: 111.000000 m,# deltaT: 4.035600 s,# deltaX: -31.500000 m,# approachRate: -7.805531 m/s,# rangeRepo size: 1

20231017T190048 new target range. Approach rate out of bounds.# range: 136.500000 m,# deltaT: 4.032259 s,# deltaX: -26.699997 m,# approachRate: -6.621598 m/s,# rangeRepo size: 1

20231017T190201 new target range. Approach rate out of bounds.# range: 5285636.500000 m,# deltaT: 6.048264 s,# deltaX: 5285532.500000 m,# approachRate: 873892.500000 m/s,# rangeRepo size: 4

20231017T190201 to midcourse guidance. Received last range of 5285636.500000 m 0.002754 min ago.

20231017T190207 filter is initialized with decay: 0.30.

20231017T191156 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 76.79, 75.09#

20231017T191305 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231017T191433 [DockingStepper]:uart error: serial timeout

20231017T191433 [DockingStepper]:Communications Fault

20231017T191433 [CBIT]:Communications Fault in component: DockingStepper

20231017T192115 longer in short final. Rolling out. Range: 10.90 m.

20231017T192424 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -64.41, +4360.14, , 3.00, 0.00#

20231017T193004 [DockingStepper]:uart error: serial timeout

20231017T193004 [DockingStepper]:Communications Fault

20231017T193004 [CBIT]:Communications Fault in component: DockingStepper

20231017T193039 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range. Device response is::WD, -66.77, +4633.59,#

20231017T193300 [RDI_Pathfinder]:DVL uart error: serial timeout

20231017T193300 [RDI_Pathfinder]:Communications Fault

20231017T193300 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231017T193304 [RDI_Pathfinder]:Expecting PD13 message format

20231017T193429 new target range. Approach rate out of bounds.# range: 177.000000 m,# deltaT: 4.031717 s,# deltaX: -24.000000 m,# approachRate: -5.952799 m/s,# rangeRepo size: 1

20231017T194328 [MissionManager]:Started mission DefaultWithUndock