tethys Path

trajectory

20220325T164435 [CommandExec]:got command restart logs

20220325T164453 [CommandExec]:got command schedule asap "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run" 3y104 2 2.000000

20220325T164453 [CommandExec]:Scheduling command #2 of 2 with id=3y104

20220325T164453 [CommandExec]:Scheduled #31 (#2 of 2 with id='3y104'): "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run", ASAP

20220325T164513 [CommandExec]:got command schedule asap "load Transport/keepstation.xml;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.78 degree;set keepstation.Longitude -121.857 degree;set keepstation.Depth 45 m" 3y104 1 2.000000

20220325T164513 [CommandExec]:Scheduling command #1 of 2 with id=3y104

20220325T164513 [CommandExec]:Scheduled #31 (#2 of 2 with id='3y104'): "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run", ASAP

20220325T164513 [CommandExec]:got command load ./Missions/Transport/keepstation.xml

20220325T164513 [CommandExec]:Loaded ./Missions/Transport/keepstation.xml

20220325T164527 [CommandExec]:got command set keepstation.MissionTimeout 2 hour

20220325T164527 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20220325T164527 [CommandExec]:got command set keepstation.Latitude 36.78 degree

20220325T164527 [CommandExec]:got command set keepstation.Longitude -121.857 degree

20220325T164527 [CommandExec]:got command set keepstation.Depth 45 meter

20220325T164541 [CommandExec]:got command set keepstation.ApproachDepth 45 meter

20220325T164541 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20220325T164541 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20220325T164541 [CommandExec]:got command set keepstation.Radius 500 meter

20220325T164541 [CommandExec]:got command set keepstation.MaxDepth 60 meter

20220325T164541 [CommandExec]:got command run

20220325T164541 [CommandExec]:Running

20220325T164541 [MissionManager]:Started mission keepstation

20220325T164808 [BuoyancyServo]:getPosition uart error serial timeout

20220325T164808 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20220325T164808 [BuoyancyServo]:Communications Fault

20220325T164808 [CBIT]:Communications Fault in component: BuoyancyServo

20220325T164832 [RDI_Pathfinder]:only read 2 of 4 data items

20220325T165636 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached Waypoint: 36.779999,-121.857002

20220325T170051 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220325T170110 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220325T170128 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220325T171059 [CommandExec]:got command stop

20220325T171100 [MissionManager]:Started mission DefaultWithUndock

20220325T171142 [DAT]:No response from remote modem.

20220325T171146 [DAT]:#Rx 1: Read range message, but no direction.

20220325T171155 [DAT]:No response from remote modem.

20220325T171204 [DAT]:No response from remote modem.

20220325T171204 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220325T171825 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.416905 min

20220325T171955 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 120 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.Repeat 8 count" 3y2sm 1 4.000000

20220325T171955 [CommandExec]:Scheduling command #1 of 4 with id=3y2sm

20220325T171955 [CommandExec]:Scheduled #33 (#1 of 4 with id='3y2sm'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 120 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.Repeat 8 count", ASAP

20220325T172007 [CommandExec]:got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 10 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 49 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count" 3y2sm 2 4.000000

20220325T172007 [CommandExec]:Scheduling command #2 of 4 with id=3y2sm

20220325T172007 [CommandExec]:Scheduled #34 (#2 of 4 with id='3y2sm'): "set lineCaptureHoming.WaitOnDockTimeout 10 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 49 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count", ASAP

20220325T172020 [CommandExec]:got command schedule asap "set lineCaptureHoming.DockingAltitude 9.7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m" 3y2sm 3 4.000000

20220325T172020 [CommandExec]:Scheduling command #3 of 4 with id=3y2sm

20220325T172020 [CommandExec]:Scheduled #35 (#3 of 4 with id='3y2sm'): "set lineCaptureHoming.DockingAltitude 9.7 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m", ASAP

20220325T172029 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 3y2sm 4 4.000000

20220325T172029 [CommandExec]:Scheduled #36 (#4 of 4 with id='3y2sm'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20220325T172030 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20220325T172033 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20220325T172048 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 120 minute

20220325T172048 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 60 minute

20220325T172048 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 60 minute

20220325T172048 [CommandExec]:got command set lineCaptureHoming.Repeat 8 count

20220325T172111 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 10 minute

20220325T172111 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20220325T172111 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 49 count

20220325T172111 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count

20220325T172134 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 9.7 meter

20220325T172134 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20220325T172134 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 69 meter

20220325T172134 [CommandExec]:got command set lineCaptureHoming.MinAltitude 8.5 meter

20220325T172134 [CommandExec]:got command set lineCaptureHoming.MaxDepth 70 meter

20220325T172146 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20220325T172146 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20220325T172146 [CommandExec]:got command run

20220325T172146 [CommandExec]:Running

20220325T172146 [MissionManager]:Started mission lineCaptureHoming

20220325T172304 [RDI_Pathfinder]:only read -1 of 4 data items

20220325T172651 [InternalSim]:Simulator run error: error=UNSTABLE SIMULATION -- ABORTED,

20220325T172651 [InternalSim]:Software Fault

20220325T172652 [CBIT]:Software Fault in component: InternalSim

20220325T173144 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220325T174656 filter is initialized with decay: 0.30.

20220325T174700 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 265.442515 deg.

20220325T174727 [DAT]:#Rx 2: Read range message, but no direction.

20220325T174925 approach. Armed for intercept at range: 41.70 m.

20220325T174950 [DAT]:#Rx 30: Read range message, but no direction.

20220325T175035 REINIT: LOS rate is -11.766476 deg/s. Setting heading cmd to target acoustic bearing of 173.380054 deg.

20220325T175036 REINIT: LOS rate is -12.685494 deg/s. Setting heading cmd to target acoustic bearing of 173.380054 deg.

20220325T175037 REINIT: LOS rate is -12.685494 deg/s. Setting heading cmd to target acoustic bearing of 129.902733 deg.

20220325T175052 missed at range: 9.00 m. Rolling out.

20220325T175352 rollout at range: 20.30 m. Resuming terminal guidance.

20220325T175359 new target pos. Approach rate out of bounds.# range: 178.800003 m,# bearing: nan deg,# deltaT: 1.223234 s,# deltaX: -23.800003 m,# approachRate: -19.456623 m/s,# posRepo size: 1

20220325T175400 new target pos. Approach rate out of bounds.# range: 179.100006 m,# bearing: nan deg,# deltaT: 1.723432 s,# deltaX: -23.500000 m,# approachRate: -13.635583 m/s,# posRepo size: 1

20220325T175400 new target pos. Approach rate out of bounds.# range: 179.699997 m,# bearing: nan deg,# deltaT: 2.223833 s,# deltaX: -22.900009 m,# approachRate: -10.297540 m/s,# posRepo size: 1

20220325T175401 target pos rejection count limit. Clearing pos repo.

20220325T175402 REINIT: LOS rate is 1047185.357030 deg/s. Setting heading cmd to target acoustic bearing of 101.217286 deg.

20220325T175403 REINIT: LOS rate is 1047185.357030 deg/s. Setting heading cmd to target acoustic bearing of 101.785938 deg.

20220325T175515 [RDI_Pathfinder]:only read 2 of 4 data items

20220325T175544 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220325T175554 [RDI_Pathfinder]:only read 2 of 4 data items

20220325T175705 approach. Armed for intercept at range: 43.20 m.

20220325T175819 REINIT: LOS rate is 13.834749 deg/s. Setting heading cmd to target acoustic bearing of 164.166554 deg.

20220325T175958 missed at range: 28.40 m. Rolling out.

20220325T180259 rollout at range: 47.00 m. Resuming terminal guidance.

20220325T180322 new target pos. Approach rate out of bounds.# range: 246.800003 m,# bearing: nan deg,# deltaT: 4.031951 s,# deltaX: 21.600006 m,# approachRate: 5.357210 m/s,# posRepo size: 1

20220325T180728 approach. Armed for intercept at range: 42.60 m.

20220325T180913 missed at range: 10.40 m. Rolling out.

20220325T180917 new target pos. Approach rate out of bounds.# range: 12.000000 m,# bearing: nan deg,# deltaT: 0.133717 s,# deltaX: 0.700000 m,# approachRate: 5.234935 m/s,# posRepo size: 4

20220325T181207 rollout at range: 180.60 m. Resuming terminal guidance.

20220325T182411 new target pos. Approach rate out of bounds.# range: 23.100000 m,# bearing: nan deg,# deltaT: 0.150071 s,# deltaX: 0.900000 m,# approachRate: 5.997159 m/s,# posRepo size: 4

20220325T182506 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220325T183506 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220325T183516 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220325T185302 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220325T185402 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range.

20220325T185433 [DockingServo]:Overload Error

20220325T185433 [DockingServo]:Hardware Fault

20220325T185433 [CBIT]:Hardware Fault in component: DockingServo

20220325T185439 sequence complete at range 2.40 m. Reached intercept timeout.

20220325T190156 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220325T190446 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 2.700000 m .

20220325T190731 filter is initialized with decay: 0.30.

20220325T191308 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220325T191418 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220325T192146 [MissionManager]:Started mission DefaultWithUndock

20220325T192252 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220325T192524 [CBIT]:Beginning ground fault scan

20220325T192623 [CommandExec]:got command schedule asap "load Transport/keepstation.xml;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.78 degree;set keepstation.Longitude -121.857 degree;set keepstation.Depth 45 m" 3y6qu 1 2.000000

20220325T192623 [CommandExec]:Scheduling command #1 of 2 with id=3y6qu

20220325T192623 [CommandExec]:Scheduled #37 (#1 of 2 with id='3y6qu'): "load Transport/keepstation.xml;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.78 degree;set keepstation.Longitude -121.857 degree;set keepstation.Depth 45 m", ASAP

20220325T193201 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 10.238644 min

20220325T193224 [CommandExec]:got command schedule asap "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run" 3y6qu 2 2.000000

20220325T193224 [CommandExec]:Scheduling command #2 of 2 with id=3y6qu

20220325T193224 [CommandExec]:Scheduled #38 (#2 of 2 with id='3y6qu'): "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run", ASAP

20220325T193224 [CommandExec]:got command load ./Missions/Transport/keepstation.xml

20220325T193225 [CommandExec]:Loaded ./Missions/Transport/keepstation.xml

20220325T193246 [CommandExec]:got command set keepstation.MissionTimeout 2 hour

20220325T193246 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20220325T193246 [CommandExec]:got command set keepstation.Latitude 36.78 degree

20220325T193246 [CommandExec]:got command set keepstation.Longitude -121.857 degree

20220325T193246 [CommandExec]:got command set keepstation.Depth 45 meter

20220325T193306 [CommandExec]:got command set keepstation.ApproachDepth 45 meter

20220325T193306 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20220325T193306 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20220325T193306 [CommandExec]:got command set keepstation.Radius 500 meter

20220325T193306 [CommandExec]:got command set keepstation.MaxDepth 60 meter

20220325T193306 [CommandExec]:got command run

20220325T193306 [CommandExec]:Running

20220325T193306 [MissionManager]:Started mission keepstation

20220325T194442 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached Waypoint: 36.779999,-121.857002

20220325T213307 [MissionManager]:Started mission DefaultWithUndock

20220325T213413 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220325T214335 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 10.468127 min

20220325T224136 [CommandExec]:got command schedule asap "load Transport/keepstation.xml;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.78 degree;set keepstation.Longitude -121.857 degree;set keepstation.Depth 45 m" 3yhof 1 2.000000

20220325T224136 [CommandExec]:Scheduling command #1 of 2 with id=3yhof

20220325T224136 [CommandExec]:Scheduled #39 (#1 of 2 with id='3yhof'): "load Transport/keepstation.xml;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.78 degree;set keepstation.Longitude -121.857 degree;set keepstation.Depth 45 m", ASAP

20220325T224145 [CommandExec]:got command schedule asap "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run" 3yhof 2 2.000000

20220325T224145 [CommandExec]:Scheduling command #2 of 2 with id=3yhof

20220325T224145 [CommandExec]:Scheduled #40 (#2 of 2 with id='3yhof'): "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run", ASAP

20220325T224145 [CommandExec]:got command load ./Missions/Transport/keepstation.xml

20220325T224146 [CommandExec]:Loaded ./Missions/Transport/keepstation.xml

20220325T224159 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20220325T224159 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20220325T224159 [CommandExec]:got command set keepstation.Latitude 36.78 degree

20220325T224159 [CommandExec]:got command set keepstation.Longitude -121.857 degree

20220325T224159 [CommandExec]:got command set keepstation.Depth 45 meter

20220325T224229 [CommandExec]:got command set keepstation.ApproachDepth 45 meter

20220325T224229 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20220325T224229 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20220325T224229 [CommandExec]:got command set keepstation.Radius 500 meter

20220325T224229 [CommandExec]:got command set keepstation.MaxDepth 60 meter

20220325T224229 [MissionManager]:Started mission keepstation

20220325T234641 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached Waypoint: 36.779999,-121.857002

20220326T002959 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20220326T012535 [CBIT]:Beginning ground fault scan

20220326T024502 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20220326T024536 [RDI_Pathfinder]:DVL uart error: serial timeout

20220326T024536 [RDI_Pathfinder]:Communications Fault

20220326T024536 [CBIT]:Communications Fault in component: RDI_Pathfinder

20220326T031914 [CommandExec]:got command schedule asap "load Transport/keepstation.xml;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.78 degree;set keepstation.Longitude -121.857 degree;set keepstation.Depth 45 m" 3yujl 1 2.000000

20220326T031914 [CommandExec]:Scheduling command #1 of 2 with id=3yujl

20220326T031914 [CommandExec]:Scheduled #41 (#1 of 2 with id='3yujl'): "load Transport/keepstation.xml;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.78 degree;set keepstation.Longitude -121.857 degree;set keepstation.Depth 45 m", ASAP

20220326T031924 [CommandExec]:got command schedule asap "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run" 3yujl 2 2.000000

20220326T031924 [CommandExec]:Scheduling command #2 of 2 with id=3yujl

20220326T031924 [CommandExec]:Scheduled #42 (#2 of 2 with id='3yujl'): "set keepstation.ApproachDepth 45 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run", ASAP

20220326T072547 [CBIT]:Beginning ground fault scan

20220326T094642 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20220326T095824 [RDI_Pathfinder]:No DVL communication! Re-initializing

20220326T095824 [RDI_Pathfinder]:Communications Fault

20220326T095824 [CBIT]:Communications Fault in component: RDI_Pathfinder

20220326T103529 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).

20220326T105052 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220326T105054 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220326T105056 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220326T113958 [BPC1]:BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).