tethys Path

trajectory

20211119T001343 [CommandExec]:got command restart logs

20211119T001516 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 44.793978 min

20211119T001856 [CommandExec]:got command configSet list

20211119T001856 [CommandExec]:Listing configuration overrides from Data/persisted.cfg

20211119T001856 [CommandExec]:BPC1.batteryMissingStickThreshold=6 count;#

20211119T001856 [CommandExec]:BackseatComponent.loadAtStartup=1 bool;#

20211119T001856 [CommandExec]:BackseatComponent.simulateHardware=0 bool;#

20211119T001856 [CommandExec]:DAT.baud=115200 bit_per_second;#

20211119T001856 [CommandExec]:DAT.verbosity=3 count;#

20211119T001856 [CommandExec]:Dock.depth=23.7 meter;#

20211119T001856 [CommandExec]:Dock.lat=36.81228 angular_degree;#

20211119T001856 [CommandExec]:Dock.lon=-121.81564 angular_degree;#

20211119T001856 [CommandExec]:Dock.transponderCode=50 count;#

20211119T001856 [CommandExec]:Docked.detachTimeout=30 second;#

20211119T001856 [CommandExec]:Docked.dockingDepthOffset=-1.315 meter;#

20211119T001856 [CommandExec]:DockingServo.closedAngle=-17.5 degree;#

20211119T001856 [CommandExec]:DockingServo.deviationAngle=0.5 degree;#

20211119T001856 [CommandExec]:DockingServo.openAngle=14 degree;#

20211119T001856 [CommandExec]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20211119T001856 [CommandExec]:HorizontalControl.rudDeadband=0.001 degree;#

20211119T001856 [CommandExec]:LineCapture.armRange=80 meter;#

20211119T001856 [CommandExec]:LineCapture.latchDelayTimeout=30 second;#

20211119T001856 [CommandExec]:LineCapture.navigationGain=nan none;#

20211119T001856 [CommandExec]:LineCapture.rolloutDistance=300 meter;#

20211119T001856 [CommandExec]:LineCapture.rolloutSpeed=1 meter_per_second;#

20211119T001856 [CommandExec]:LineCapture.rolloutTimeout=15 minute;#

20211119T001856 [CommandExec]:LineCapture.terminalRange=750 meter;#

20211119T001856 [CommandExec]:LineCapture.verbose=1 bool;#

20211119T001856 [CommandExec]:PowerOnly.sampleTime=90 second;#

20211119T001856 [CommandExec]:VerticalControl.buoyancyNeutral=95.386640 cubic_centimeter;#

20211119T001856 [CommandExec]:VerticalControl.elevDeadband=0.001 degree;#

20211119T001856 [CommandExec]:VerticalControl.massDefault=0.262981 millimeter;#

20211119T001856 [CommandExec]:VerticalControl.surfaceThreshold=1.5 meter;#

20211119T001940 [CommandExec]:got command configSet LineCapture.latchDelayTimeout 45.000000 second persist

20211119T001952 [CommandExec]:got command show variable LineCaptrure

20211119T002007 [CommandExec]:got command show variable LineCapture

20211119T002007 [CommandExec]:LineCapture.midcourseSpeed (meter_per_second)

20211119T002007 [CommandExec]:LineCapture.midcourseDepth (meter)

20211119T002007 [CommandExec]:LineCapture.midcourseTimeout (hour)

20211119T002007 [CommandExec]:LineCapture.terminalRange (meter)

20211119T002007 [CommandExec]:LineCapture.acousticTimeout (minute)

20211119T002007 [CommandExec]:LineCapture.armRange (meter)

20211119T002007 [CommandExec]:LineCapture.armSpeed (meter_per_second)

20211119T002007 [CommandExec]:LineCapture.lockoutRange (meter)

20211119T002007 [CommandExec]:LineCapture.interceptTimeout (second)

20211119T002007 [CommandExec]:LineCapture.latchDelayTimeout (second)

20211119T002007 [CommandExec]:LineCapture.rolloutDistance (meter)

20211119T002007 [CommandExec]:LineCapture.rolloutSpeed (meter_per_second)

20211119T002007 [CommandExec]:LineCapture.rolloutTimeout (minute)

20211119T002007 [CommandExec]:LineCapture.kpHeadingTerminalGuidance (ratio)

20211119T002007 [CommandExec]:LineCapture.kiHeadingTerminalGuidance (reciprocal_second)

20211119T002007 [CommandExec]:LineCapture.kpHeadingFinalApproach (ratio)

20211119T002007 [CommandExec]:LineCapture.kiHeadingFinalApproach (reciprocal_second)

20211119T002007 [CommandExec]:LineCapture.navigationGain (none)

20211119T002007 [CommandExec]:LineCapture.verbose (bool)

20211119T002007 [CommandExec]:LineCapture.searchTimeout (hour)

20211119T002007 [CommandExec]:LineCapture.searchCircleRadius (meter)

20211119T002023 [CommandExec]:got command get LineCapture.armSpeed

20211119T002023 [CommandExec]:LineCapture.armSpeed 1.000000 m/s

20211119T002038 [CommandExec]:got command configSet LineCapture.armSpeed 0.800000 meter_per_second persist

20211119T002104 [CommandExec]:got command get LineCapture.midcourseSpeed

20211119T002104 [CommandExec]:LineCapture.midcourseSpeed 1.000000 m/s

20211119T002120 [CommandExec]:got command configSet LineCapture.midcourseSpeed 0.800000 meter_per_second persist

20211119T002126 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 50.966252 min

20211119T002646 [CommandExec]:got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 1.5 s" 2kmj5 1 2.000000

20211119T002646 [CommandExec]:Scheduling command #1 of 2 with id=2kmj5

20211119T002646 [CommandExec]:Scheduled #5 (#1 of 2 with id='2kmj5'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 min;set lineCaptureDepth.MicromodemCommsInterval 120 min;set lineCaptureDepth.WaitOnDockTimeout 1 min;set lineCaptureDepth.TrackingUpdatePeriod 1.5 s", ASAP

20211119T002657 [CommandExec]:got command schedule asap "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run" 2kmj5 2 2.000000

20211119T002657 [CommandExec]:Scheduling command #2 of 2 with id=2kmj5

20211119T002657 [CommandExec]:Scheduled #6 (#2 of 2 with id='2kmj5'): "set lineCaptureDepth.MaxDepth 28 m;set lineCaptureDepth.MinOffshore 0.75 km;run", ASAP

20211119T002657 [CommandExec]:got command load ./Missions/Engineering/lineCaptureDepth.xml

20211119T002700 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureDepth.xml

20211119T002713 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 56.749919 min

20211119T002714 [CommandExec]:got command set lineCaptureDepth.MissionTimeout 45.000000 minute

20211119T002714 [CommandExec]:got command set lineCaptureDepth.MicromodemCommsInterval 120.000000 minute

20211119T002714 [CommandExec]:got command set lineCaptureDepth.WaitOnDockTimeout 1.000000 minute

20211119T002714 [CommandExec]:got command set lineCaptureDepth.TrackingUpdatePeriod 1.500000 second

20211119T002722 [CommandExec]:got command set lineCaptureDepth.MaxDepth 28.000000 meter

20211119T002722 [CommandExec]:got command set lineCaptureDepth.MinOffshore 0.750000 kilometer

20211119T002722 [CommandExec]:got command run

20211119T002722 [CommandExec]:Running

20211119T002722 [MissionManager]:Started mission lineCaptureDepth

20211119T002733 [DAT]:No response from remote modem.

20211119T002739 [DAT]:#Rx 1: Read range message, but no direction.

20211119T002752 [DAT]:No response from remote modem.

20211119T002758 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20211119T002759 REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 305.724021deg and heading rate command to 0 deg/s.

20211119T002807 [DAT]:No response from remote modem.

20211119T002813 [DAT]:#Rx 1: Read range message, but no direction.

20211119T002813 REINIT: LOS rate is -0.372222 deg/s. Setting heading cmd to target bearing of 300.218397deg and heading rate command to 0 deg/s.

20211119T002859 [DAT]:#Rx 1: Read range message, but no direction.

20211119T003607 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20211119T003617 approach. Armed for intercept at range: 63.30 m.

20211119T003722 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20211119T003742 REINIT: LOS rate is 15.305901 deg/s. Setting heading cmd to target bearing of 18.255625deg and heading rate command to 0 deg/s.

20211119T003800 missed at range: 9.60 m. Rolling out.

20211119T003830 new target pos. Approach rate out of bounds. range: 55.099998 m, bearing: 162.948697 deg, deltaT: 3.798072 s, approachRate: 7.372161 m/s, posRepo size: 4

20211119T003842 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20211119T004108 new target pos. Approach rate out of bounds. range: 197.600006 m, bearing: 179.039271 deg, deltaT: 3.821207 s, approachRate: 6.804133 m/s, posRepo size: 4

20211119T004151 new target pos. Approach rate out of bounds. range: 229.000000 m, bearing: 188.104489 deg, deltaT: 4.141737 s, approachRate: 5.287635 m/s, posRepo size: 4

20211119T004329 rollout at range: 317.50 m. Resuming terminal guidance.

20211119T004355 REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 199.339959deg and heading rate command to 0 deg/s.

20211119T004542 [RDI_Pathfinder]:only read 1 of 4 data items

20211119T004712 new target pos. Approach rate out of bounds. range: 205.500000 m, bearing: 201.361435 deg, deltaT: 3.724521 s, approachRate: -5.369818 m/s, posRepo size: 4

20211119T004807 [RDI_Pathfinder]:only read 2 of 4 data items

20211119T005012 new target pos. Approach rate out of bounds. range: 51.200001 m, bearing: 178.455358 deg, deltaT: 3.715447 s, approachRate: -5.033042 m/s, posRepo size: 4

20211119T005016 approach. Armed for intercept at range: 66.50 m.

20211119T005020 new target pos. Approach rate out of bounds. range: 46.200001 m, bearing: 176.403487 deg, deltaT: 4.006642 s, approachRate: -5.066587 m/s, posRepo size: 4

20211119T005136 REINIT: LOS rate is -21.327250 deg/s. Setting heading cmd to target bearing of 51.806695deg and heading rate command to 0 deg/s.

20211119T005137 REINIT: LOS rate is 36.490504 deg/s. Setting heading cmd to target bearing of 74.289953deg and heading rate command to 0 deg/s.

20211119T005142 [RDI_Pathfinder]:only read 3 of 4 data items

20211119T005147 REINIT: LOS rate is -55.699066 deg/s. Setting heading cmd to target bearing of 91.317519deg and heading rate command to 0 deg/s.

20211119T005148 REINIT: LOS rate is 26.403491 deg/s. Setting heading cmd to target bearing of 114.000071deg and heading rate command to 0 deg/s.

20211119T005239 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20211119T010027 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20211119T010440 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20211119T011223 [MissionManager]:Started mission DefaultWithUndock

20211119T011413 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20211119T011523 [NAL9602]:Failed to initiate SBD session. Error code: 2

20211119T011551 [NAL9602]:Failed to initiate SBD session. Error code: 2

20211119T011618 [NAL9602]:Failed to initiate SBD session. Error code: 2