tethys Path

trajectory

20220302T174312 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20220302T174312 [SBIT]:DataOverHttps.period=15 second;#

20220302T174312 [SBIT]:DataOverHttps.timeout=90 second;#

20220302T174312 [SBIT]:DockingServo.pidW=800 count;#

20220302T174312 [SBIT]:DockingServo.pidX=300 count;#

20220302T174312 [SBIT]:DockingServo.pidY=100 count;#

20220302T174312 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5 meter;#

20220302T174312 [SBIT]:IBIT.batteryCapacityThreshold=20 ampere_hour;#

20220302T174312 [SBIT]:IBIT.batteryVoltageThreshold=12 volt;#

20220302T174312 [SBIT]:InternalEnvSim.loadAtStartup=0 bool;#

20220302T174312 [SBIT]:LineCapture.kiHeadingFinalApproach=0.002 reciprocal_second;#

20220302T174312 [SBIT]:LineCapture.kpHeadingFinalApproach=0.8 ratio;#

20220302T174312 [SBIT]:LineCapture.navigationGain=3 none;#

20220302T174312 [SBIT]:LineCapture.terminalRange=450 meter;#

20220302T174312 [SBIT]:LineCapture.verbose=1 bool;#

20220302T174312 [SBIT]:VerticalControl.buoyancyNeutral=205.938788 cubic_centimeter;#

20220302T174312 [SBIT]:VerticalControl.massDefault=-22.542372 millimeter;#

20220302T174312 [MissionManager]:Started mission Startup

20220302T174415 [MissionManager]:Started mission DefaultWithUndock

20220302T174427 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220302T174457 [DAT]:No response from remote modem.

20220302T174503 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).

20220302T174507 [DAT]:No response from remote modem.

20220302T174518 [DAT]:No response from remote modem.

20220302T174519 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220302T175047 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 6.520592 min

20220302T175111 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220302T175450 [CommandExec]:got command get platform_pitch_angle degree

20220302T175450 [CommandExec]:platform_pitch_angle -1.963203 arcdeg

20220302T175455 [CommandExec]:got command get platform_pitch_angle degree

20220302T175455 [CommandExec]:platform_pitch_angle -3.487886 arcdeg

20220302T175509 [CommandExec]:got command maintain control VerticalControl.massPositionAction 0 centimeter

20220302T175518 [CommandExec]:got command get platform_pitch_angle degree

20220302T175518 [CommandExec]:platform_pitch_angle -4.549602 arcdeg

20220302T175602 [CommandExec]:got command failComponent hardware DAT

20220302T175602 [DAT]:Hardware Fault

20220302T175602 [CommandExec]:DAT failureMode is Hardware Fault

20220302T175602 [CBIT]:Hardware Fault in component: DAT

20220302T175615 [CommandExec]:got command failComponent hardware DAT

20220302T175615 [DAT]:Hardware Fault

20220302T175615 [CommandExec]:DAT failureMode is Hardware Fault

20220302T175615 [CBIT]:Hardware Fault in component: DAT

20220302T175616 [CommandExec]:got command failComponent hardware DAT

20220302T175616 [CommandExec]:DAT failureMode is Hardware Fault

20220302T175617 [DAT]:Hardware Fault

20220302T175617 [CBIT]:Hardware Fault in component: DAT

20220302T175720 [DAT]:failed to initialize; deviceResponse_ loaded: es enabled 16=001 S17=001 S18=050 S19=000 S20=000 ##, available: user:3>

20220302T175720 [DAT]:Communications Fault

20220302T175720 [CBIT]:Communications Fault in component: DAT

20220302T175750 [CommandExec]:got command maintain clear

20220302T175824 [DAT]:failed to initialize, no bytes available on serial interface

20220302T175824 [DAT]:Communications Fault

20220302T175824 [CBIT]:Communications Fault in component: DAT

20220302T175900 [DAT]:failed to set time

20220302T180410 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220302T180413 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220302T180417 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220302T180424 [CommandExec]:got command maintain control VerticalControl.massPositionAction 0 centimeter

20220302T180527 [CommandExec]:got command maintain clear

20220302T180542 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 21.453436 min

20220302T180551 [CommandExec]:got command failComponent hardware RDI_Pathfinder

20220302T180551 [RDI_Pathfinder]:Hardware Fault

20220302T180551 [CommandExec]:RDI_Pathfinder failureMode is Hardware Fault

20220302T180552 [CBIT]:Hardware Fault in component: RDI_Pathfinder

20220302T180626 [RDI_Pathfinder]:No DVL communication! Re-initializing

20220302T180626 [RDI_Pathfinder]:Communications Fault

20220302T180626 [CBIT]:Communications Fault in component: RDI_Pathfinder

20220302T180644 [CommandExec]:got command maintain clear

20220302T180908 [CommandExec]:got command show variable lineCapture

20220302T180908 [CommandExec]:LineCapture.midcourseSpeed (meter_per_second)

20220302T180908 [CommandExec]:LineCapture.midcourseDepth (meter)

20220302T180908 [CommandExec]:LineCapture.midcourseTimeout (hour)

20220302T180908 [CommandExec]:LineCapture.terminalRange (meter)

20220302T180908 [CommandExec]:LineCapture.acousticTimeout (minute)

20220302T180908 [CommandExec]:LineCapture.armRange (meter)

20220302T180908 [CommandExec]:LineCapture.armSpeed (meter_per_second)

20220302T180908 [CommandExec]:LineCapture.lockoutRange (meter)

20220302T180908 [CommandExec]:LineCapture.interceptTimeout (second)

20220302T180908 [CommandExec]:LineCapture.latchDelayTimeout (second)

20220302T180908 [CommandExec]:LineCapture.rolloutDistance (meter)

20220302T180908 [CommandExec]:LineCapture.rolloutSpeed (meter_per_second)

20220302T180908 [CommandExec]:LineCapture.rolloutTimeout (minute)

20220302T180908 [CommandExec]:LineCapture.kpHeadingTerminalGuidance (ratio)

20220302T180908 [CommandExec]:LineCapture.kiHeadingTerminalGuidance (reciprocal_second)

20220302T180908 [CommandExec]:LineCapture.kpHeadingFinalApproach (ratio)

20220302T180908 [CommandExec]:LineCapture.kiHeadingFinalApproach (reciprocal_second)

20220302T180908 [CommandExec]:LineCapture.navigationGain (none)

20220302T180908 [CommandExec]:LineCapture.verbose (bool)

20220302T180908 [CommandExec]:LineCapture.searchTimeout (hour)

20220302T180908 [CommandExec]:LineCapture.searchCircleRadius (meter)

20220302T181117 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 27.036208 min

20220302T181209 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220302T181227 [CommandExec]:got command configSet LineCapture.kiHeadingFinalApproach 0.001 reciprocal_second persist

20220302T181227 [CommandExec]:got command configSet LineCapture.kpHeadingFinalApproach 0.4 ratio persist

20220302T181235 [CommandExec]:got command configSet LineCapture.kiHeadingTerminalGuidance 0.001 reciprocal_second persist

20220302T181235 [CommandExec]:got command configSet LineCapture.kpHeadingTerminalGuidance 0.4 ratio persist

20220302T181330 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 75 min;set lineCaptureHoming.NeedCommsTime 75 min;set lineCaptureHoming.MicromodemCommsInterval 75 min;set lineCaptureHoming.WaitOnDockTimeout 1 min" 2rjy8 1 3.000000

20220302T181330 [CommandExec]:Scheduling command #1 of 3 with id=2rjy8

20220302T181330 [CommandExec]:Scheduled #1 (#1 of 3 with id='2rjy8'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 75 min;set lineCaptureHoming.NeedCommsTime 75 min;set lineCaptureHoming.MicromodemCommsInterval 75 min;set lineCaptureHoming.WaitOnDockTimeout 1 min", ASAP

20220302T181339 [CommandExec]:got command schedule asap "set lineCaptureHoming.NumPingsUSBL 1 count;set lineCaptureHoming.DockingAltitude 7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m" 2rjy8 2 3.000000

20220302T181339 [CommandExec]:Scheduling command #2 of 3 with id=2rjy8

20220302T181339 [CommandExec]:Scheduled #2 (#2 of 3 with id='2rjy8'): "set lineCaptureHoming.NumPingsUSBL 1 count;set lineCaptureHoming.DockingAltitude 7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 70 m", ASAP

20220302T181348 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 n/a;run" 2rjy8 3 3.000000

20220302T181348 [CommandExec]:Scheduling command #3 of 3 with id=2rjy8

20220302T181348 [CommandExec]:Scheduled #3 (#3 of 3 with id='2rjy8'): "set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 n/a;run", ASAP

20220302T181348 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20220302T181352 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20220302T181422 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 75 minute

20220302T181422 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 75 minute

20220302T181422 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 75 minute

20220302T181422 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 1 minute

20220302T181451 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 1 count

20220302T181451 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7 meter

20220302T181451 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20220302T181451 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 69 meter

20220302T181451 [CommandExec]:got command set lineCaptureHoming.MaxDepth 70 meter

20220302T181459 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.1 none

20220302T181459 [CommandExec]:got command run

20220302T181459 [CommandExec]:Running

20220302T181459 [MissionManager]:Started mission lineCaptureHoming

20220302T183025 [RDI_Pathfinder]:only read 3 of 4 data items

20220302T185141 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220302T185203 [RDI_Pathfinder]:only read 2 of 4 data items

20220302T185513 filter is initialized with decay: 0.00.

20220302T185619 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 4.047800 deg.

20220302T185732 REINIT: LOS rate is 15.782914 deg/s. Setting heading cmd to target acoustic bearing of 11.202811 deg.

20220302T185744 REINIT: LOS rate is 30.498215 deg/s. Setting heading cmd to target acoustic bearing of 27.049712 deg.

20220302T190245 REINIT: LOS rate is 13.054234 deg/s. Setting heading cmd to target acoustic bearing of 34.065643 deg.

20220302T190253 approach. Armed for intercept at range: 37.10 m.

20220302T190300 REINIT: LOS rate is -12.598044 deg/s. Setting heading cmd to target acoustic bearing of 25.529131 deg.

20220302T190330 REINIT: LOS rate is -13.031957 deg/s. Setting heading cmd to target acoustic bearing of 12.998617 deg.

20220302T190333 REINIT: LOS rate is -12.009734 deg/s. Setting heading cmd to target acoustic bearing of 12.998617 deg.

20220302T190353 missed at range: 11.30 m. Rolling out.

20220302T191147 [RDI_Pathfinder]:only read 2 of 4 data items

20220302T191157 [RDI_Pathfinder]:DVL uart error: serial timeout

20220302T191157 [RDI_Pathfinder]:Communications Fault

20220302T191157 [CBIT]:Communications Fault in component: RDI_Pathfinder

20220302T191412 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220302T191853 rollout at range: 31.90 m. Resuming terminal guidance.

20220302T193000 [MissionManager]:Started mission DefaultWithUndock

20220302T193104 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.