tethys Path

trajectory

20220328T221207 [DAT]:#Rx 1: Read range message, but no direction.

20220328T221215 [DAT]:#Rx 1: Read range message, but no direction.

20220328T221219 [DAT]:#Rx 1: Read range message, but no direction.

20220328T221231 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220328T221232 [DAT]:No response from remote modem.

20220328T222055 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 9.481801 min

20220328T222120 [CommandExec]:got command configSet VerticalControl.elevDeadband 0.05 degree persist

20220328T222125 [RDI_Pathfinder]:only read 0 of 4 data items

20220328T222133 [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.WaitOnDockTimeout 10 min" 440qv 1 4.000000

20220328T222133 [CommandExec]:Scheduling command #1 of 4 with id=440qv

20220328T222133 [CommandExec]:Scheduled #1 (#1 of 4 with id='440qv'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 120 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.WaitOnDockTimeout 10 min", ASAP

20220328T222149 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 49 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count;set lineCaptureHoming.DockingAltitude 9.7 m" 440qv 2 4.000000

20220328T222149 [CommandExec]:Scheduling command #2 of 4 with id=440qv

20220328T222149 [CommandExec]:Scheduled #2 (#2 of 4 with id='440qv'): "set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 49 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count;set lineCaptureHoming.DockingAltitude 9.7 m", ASAP

20220328T222202 [CommandExec]:got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m" 440qv 3 4.000000

20220328T222202 [CommandExec]:Scheduling command #3 of 4 with id=440qv

20220328T222202 [CommandExec]:Scheduled #3 (#3 of 4 with id='440qv'): "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m", ASAP

20220328T222215 [RDI_Pathfinder]:only read 3 of 4 data items

20220328T222224 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 440qv 4 4.000000

20220328T222224 [CommandExec]:Scheduled #4 (#4 of 4 with id='440qv'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20220328T222224 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20220328T222239 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20220328T222327 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 120 minute

20220328T222327 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 60 minute

20220328T222327 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 60 minute

20220328T222327 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 10 minute

20220328T222415 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20220328T222415 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 49 count

20220328T222415 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count

20220328T222415 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 9.7 meter

20220328T222510 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20220328T222510 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 69 meter

20220328T222510 [CommandExec]:got command set lineCaptureHoming.MinAltitude 8.5 meter

20220328T222510 [CommandExec]:got command set lineCaptureHoming.MaxDepth 70 meter

20220328T222540 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20220328T222540 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20220328T222540 [CommandExec]:got command run

20220328T222540 [CommandExec]:Running

20220328T222540 [MissionManager]:Started mission lineCaptureHoming

20220328T222819 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220328T223351 [DAT]:No response from remote modem.

20220328T223417 [RDI_Pathfinder]:only read 1 of 4 data items

20220328T224151 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220328T224249 filter is initialized with decay: 0.30.

20220328T224253 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 287.904646 deg.

20220328T224440 approach. Armed for intercept at range: 38.10 m.

20220328T224445 [DAT]:Requesting device enable set for address 50.

20220328T224654 missed at range: 23.60 m. Rolling out.

20220328T224902 [DAT]:No response from remote modem.

20220328T224954 rollout at range: 26.90 m. Resuming terminal guidance.

20220328T225008 [DAT]:Requesting device enable clr for address 50.

20220328T225146 [DAT]:Requesting device enable set for address 50.

20220328T225157 approach. Armed for intercept at range: 37.90 m.

20220328T225238 REINIT: LOS rate is -12.085197 deg/s. Setting heading cmd to target acoustic bearing of 275.560753 deg.

20220328T225249 [DockingServo]:Invalid EZ Servo response:"/0@#"

20220328T225249 [DockingServo]:Communications Fault

20220328T225249 [DockingServo]:Docking arm reporting null position

20220328T225250 [CBIT]:Communications Fault in component: DockingServo

20220328T225258 missed at range: 16.10 m. Rolling out.

20220328T225342 [DAT]:Requesting device enable clr for address 50.

20220328T225558 rollout at range: 56.30 m. Resuming terminal guidance.

20220328T230116 approach. Armed for intercept at range: 48.90 m.

20220328T230142 [DAT]:Requesting device enable set for address 50.

20220328T230155 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220328T230227 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220328T230248 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220328T230258 REINIT: LOS rate is -14.287117 deg/s. Setting heading cmd to target acoustic bearing of 167.998285 deg.

20220328T230258 REINIT: LOS rate is -11.548613 deg/s. Setting heading cmd to target acoustic bearing of 167.998285 deg.

20220328T230342 missed at range: 14.70 m. Rolling out.

20220328T230544 rollout at range: 183.60 m. Resuming terminal guidance.

20220328T230544 [DAT]:Requesting device enable clr for address 50.

20220328T231031 REINIT: LOS rate is 60.416993 deg/s. Setting heading cmd to target acoustic bearing of 241.904810 deg.

20220328T231031 REINIT: LOS rate is 45.282690 deg/s. Setting heading cmd to target acoustic bearing of 241.904810 deg.

20220328T231032 REINIT: LOS rate is 20.522599 deg/s. Setting heading cmd to target acoustic bearing of 241.904810 deg.

20220328T231420 new target pos. Approach rate out of bounds.# range: 166.199997 m,# bearing: nan deg,# deltaT: 0.468698 s,# deltaX: -47.000000 m,# approachRate: -100.277794 m/s,# posRepo size: 2

20220328T231421 new target pos. Approach rate out of bounds.# range: 166.699997 m,# bearing: nan deg,# deltaT: 0.969000 s,# deltaX: -46.500000 m,# approachRate: -47.987617 m/s,# posRepo size: 2

20220328T231421 new target pos. Approach rate out of bounds.# range: 167.000000 m,# bearing: nan deg,# deltaT: 1.469200 s,# deltaX: -46.199997 m,# approachRate: -31.445683 m/s,# posRepo size: 2

20220328T231428 target pos rejection count limit. Clearing pos repo.

20220328T231431 new target pos. Approach rate out of bounds.# range: 218.000000 m,# bearing: nan deg,# deltaT: 1.530698 s,# deltaX: 46.100006 m,# approachRate: 30.116983 m/s,# posRepo size: 1

20220328T231431 new target pos. Approach rate out of bounds.# range: 218.300003 m,# bearing: nan deg,# deltaT: 2.030799 s,# deltaX: 46.400009 m,# approachRate: 22.848154 m/s,# posRepo size: 1

20220328T231432 new target pos. Approach rate out of bounds.# range: 218.699997 m,# bearing: nan deg,# deltaT: 2.531099 s,# deltaX: 46.800003 m,# approachRate: 18.489994 m/s,# posRepo size: 1

20220328T231433 target pos rejection count limit. Clearing pos repo.

20220328T231451 target pos rejection count limit. Clearing pos repo.

20220328T232810 [RDI_Pathfinder]:only read -1 of 1 data item for altitude

20220328T232905 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220328T233207 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220328T233529 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220328T233558 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220328T233635 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220329T000352 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220329T000356 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220329T000858 sequence complete at range 3.30 m. Reached intercept timeout.

20220329T000936 [lineCaptureHoming:Lap:Docked:Docked.Docked]:VEHICLE DETACHED FROM DOCK.

20220329T000936 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 2.700000 m .

20220329T001212 [MissionManager]:Started mission DefaultWithUndock

20220329T001317 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.