tethys Path

trajectory

20231017T221417 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 9.372563 min

20231017T221606 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.NeedCommsTime 1 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 4 count" 2gr6a 1 4.000000

20231017T221606 [CommandExec]:Scheduling command #1 of 4 with id=2gr6a

20231017T221606 [CommandExec]:Scheduled #1 (#1 of 4 with id='2gr6a'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.NeedCommsTime 1 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 4 count", ASAP

20231017T221618 [CommandExec]:got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 2 min;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count" 2gr6a 2 4.000000

20231017T221618 [CommandExec]:Scheduling command #2 of 4 with id=2gr6a

20231017T221618 [CommandExec]:Scheduled #2 (#2 of 4 with id='2gr6a'): "set lineCaptureHoming.WaitOnDockTimeout 2 min;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count", ASAP

20231017T221628 [CommandExec]:got command schedule asap "set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m" 2gr6a 3 4.000000

20231017T221628 [CommandExec]:Scheduling command #3 of 4 with id=2gr6a

20231017T221628 [CommandExec]:Scheduled #3 (#3 of 4 with id='2gr6a'): "set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m", ASAP

20231017T221637 [CommandExec]:got command schedule asap "set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 2gr6a 4 4.000000

20231017T221637 [CommandExec]:Scheduled #4 (#4 of 4 with id='2gr6a'): "set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP

20231017T221637 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231017T221637 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231017T221638 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231017T221640 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231017T221640 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231017T221640 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231017T221640 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231017T221641 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231017T221642 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231017T221642 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231017T221656 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 1 hour

20231017T221656 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 1 hour

20231017T221656 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231017T221656 [CommandExec]:got command set lineCaptureHoming.Repeat 4 count

20231017T221717 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 2 minute

20231017T221717 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231017T221717 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 second

20231017T221717 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20231017T221733 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.001 meter

20231017T221733 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231017T221733 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231017T221733 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231017T221733 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231017T221745 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231017T221745 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231017T221745 [CommandExec]:got command run

20231017T221745 [CommandExec]:Running

20231017T221745 [MissionManager]:Started mission lineCaptureHoming

20231017T221825 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231017T221906 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231017T221923 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231017T221954 [DAT]:No response from remote modem.

20231017T222055 [DAT]:No response from remote modem.

20231017T222155 [DAT]:No response from remote modem.

20231017T222751 [DockingStepper]:uart error: serial timeout

20231017T222751 [DockingStepper]:Communications Fault

20231017T222752 [CBIT]:Communications Fault in component: DockingStepper

20231017T223115 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231017T223422 [DAT]:#Rx 2: Read range message, but no direction.

20231017T224117 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231017T224117 [RDI_Pathfinder]:Communications Fault

20231017T224117 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231017T224118 [RDI_Pathfinder]:Expecting PD13 message format

20231017T224317 filter is initialized with decay: 0.30.

20231017T224322 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 271.257178 deg.

20231017T225044 new target range. Approach rate out of bounds.# range: 30868538.000000 m,# deltaT: 5.544588 s,# deltaX: 30868354.000000 m,# approachRate: 5567294.500000 m/s,# rangeRepo size: 4

20231017T225045 to midcourse guidance. Received last range of 30868538.000000 m 0.006825 min ago.

20231017T225050 filter is initialized with decay: 0.30.

20231017T225100 [DAT]:#Rx 2: Read range message, but no direction.

20231017T225103 new target range. Approach rate out of bounds.# range: 1137.400024 m,# deltaT: 6.300093 s,# deltaX: 970.300049 m,# approachRate: 154.013611 m/s,# rangeRepo size: 2

20231017T225300 [DAT]:Requesting device enable set for address 50.

20231017T225311 approach. Armed for intercept at range: 34.20 m.

20231017T225355 [DAT]:#Rx 1: Read range message, but no direction.

20231017T225357 REINIT: LOS rate is -11.724773 deg/s. Setting heading cmd to target acoustic bearing of 228.145309 deg.

20231017T225417 missed at range: 9.30 m. Rolling out.

20231017T225642 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231017T225642 [RDI_Pathfinder]:Communications Fault

20231017T225643 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231017T225644 [RDI_Pathfinder]:Expecting PD13 message format

20231017T230012 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231017T230012 [RDI_Pathfinder]:Communications Fault

20231017T230012 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231017T230013 [RDI_Pathfinder]:Expecting PD13 message format

20231017T230047 [DAT]:Requesting device enable clr for address 50.

20231017T230417 rollout at range: 91.50 m. Resuming terminal guidance.

20231017T230558 [DAT]:Requesting device enable set for address 50.

20231017T230604 approach. Armed for intercept at range: 44.50 m.

20231017T230654 new target range. Approach rate out of bounds.# range: 998.000000 m,# deltaT: 6.048397 s,# deltaX: 977.900024 m,# approachRate: 161.679199 m/s,# rangeRepo size: 4

20231017T230655 to midcourse guidance. Received last range of 998.000000 m 0.006439 min ago.

20231017T230658 [DAT]:Requesting device enable clr for address 50.

20231017T230659 [DAT]:Requesting device enable set for address 50.

20231017T230700 filter is initialized with decay: 0.30.

20231017T230700 approach. Armed for intercept at range: 15.40 m.

20231017T230743 REINIT: LOS rate is 26.006286 deg/s. Setting heading cmd to target acoustic bearing of 127.951973 deg.

20231017T230744 REINIT: LOS rate is 18.973143 deg/s. Setting heading cmd to target acoustic bearing of 127.951973 deg.

20231017T230744 REINIT: LOS rate is 16.619072 deg/s. Setting heading cmd to target acoustic bearing of 127.951973 deg.

20231017T230808 missed at range: 10.90 m. Rolling out.

20231017T231202 [DAT]:Requesting device enable clr for address 50.

20231017T231748 [MissionManager]:Started mission DefaultWithUndock

20231017T231903 [DockingStepper]:uart error: serial timeout

20231017T231903 [DockingStepper]:Communications Fault

20231017T231903 [CBIT]:Communications Fault in component: DockingStepper

20231017T231914 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.