tethys Path

trajectory

20220330T032841 [CommandExec]:got command get DockingServo.armAngle degree

20220330T032841 [CommandExec]:DockingServo.armAngle 14.012485 arcdeg

20220330T032851 [CommandExec]:got command DockingServo standby

20220330T032851 [CommandExec]:Switching docking moudle to STANDBY.

20220330T032902 [CommandExec]:got command get DockingServo.armAngle degree

20220330T032902 [CommandExec]:DockingServo.armAngle -15.994159 arcdeg

20220330T032935 [CommandExec]:got command get

20220330T032935 [CommandExec]:Incomplete syntax. Try: help get

20220330T032945 [CommandExec]:got command show variable ignoreElev

20220330T032945 [CommandExec]:DAT.ignoreElevationAngle (bool)

20220330T032954 [CommandExec]:got command get DAT.ignoreElevationAngle

20220330T032954 [CommandExec]:DAT.ignoreElevationAngle 1 bool

20220330T033007 [CommandExec]:got command configSet DAT.ignoreElevationAngle 0 bool persist

20220330T033015 [CommandExec]:got command failComponent hardware DAT

20220330T033015 [DAT]:Hardware Fault

20220330T033015 [CommandExec]:DAT failureMode is Hardware Fault

20220330T033015 [CBIT]:Hardware Fault in component: DAT

20220330T033033 [CommandExec]:got command configSet list

20220330T033033 [CommandExec]:Listing configuration overrides from Data/persisted.cfg

20220330T033033 [CommandExec]:DAT.ignoreElevationAngle=0 bool;#

20220330T033033 [CommandExec]:DAT.verbosity=0 count;#

20220330T033033 [CommandExec]:Docked.dockingDepthOffset=1.7 meter;#

20220330T033033 [CommandExec]:DockingServo.loadAtStartup=1 bool;#

20220330T033033 [CommandExec]:DockingServo.pidW=800 count;#

20220330T033033 [CommandExec]:DockingServo.pidX=300 count;#

20220330T033033 [CommandExec]:DockingServo.pidY=100 count;#

20220330T033033 [CommandExec]:Express linearApproximation DAT.acoustic_contact_range 5 meter;#

20220330T033033 [CommandExec]:IBIT.batteryCapacityThreshold=20 ampere_hour;#

20220330T033033 [CommandExec]:IBIT.batteryVoltageThreshold=12 volt;#

20220330T033033 [CommandExec]:InternalEnvSim.loadAtStartup=1 bool;#

20220330T033033 [CommandExec]:InternalEnvSim.timeAdjust=2 day;#

20220330T033033 [CommandExec]:LineCapture.navigationGain=3 none;#

20220330T033033 [CommandExec]:VerticalControl.buoyancyNeutral=94.085018 cubic_centimeter;#

20220330T033033 [CommandExec]:VerticalControl.elevDeadband=0.05 degree;#

20220330T033033 [CommandExec]:VerticalControl.massDefault=-20.850460 millimeter;#

20220330T033050 [DAT]:failed to set time

20220330T033056 [RDI_Pathfinder]:only read 2 of 4 data items

20220330T033112 [CommandExec]:got command show variable LineCapture

20220330T033112 [CommandExec]:LineCapture.midcourseSpeed (meter_per_second)

20220330T033112 [CommandExec]:LineCapture.midcourseDepth (meter)

20220330T033112 [CommandExec]:LineCapture.midcourseTimeout (hour)

20220330T033112 [CommandExec]:LineCapture.terminalRange (meter)

20220330T033112 [CommandExec]:LineCapture.acousticTimeout (minute)

20220330T033112 [CommandExec]:LineCapture.armRange (meter)

20220330T033112 [CommandExec]:LineCapture.armSpeed (meter_per_second)

20220330T033112 [CommandExec]:LineCapture.lockoutRange (meter)

20220330T033112 [CommandExec]:LineCapture.interceptTimeout (second)

20220330T033112 [CommandExec]:LineCapture.latchDelayTimeout (second)

20220330T033112 [CommandExec]:LineCapture.rolloutDistance (meter)

20220330T033112 [CommandExec]:LineCapture.rolloutSpeed (meter_per_second)

20220330T033112 [CommandExec]:LineCapture.rolloutTimeout (minute)

20220330T033112 [CommandExec]:LineCapture.kpHeadingTerminalGuidance (ratio)

20220330T033112 [CommandExec]:LineCapture.kiHeadingTerminalGuidance (reciprocal_second)

20220330T033112 [CommandExec]:LineCapture.kpHeadingFinalApproach (ratio)

20220330T033112 [CommandExec]:LineCapture.kiHeadingFinalApproach (reciprocal_second)

20220330T033112 [CommandExec]:LineCapture.navigationGain (none)

20220330T033112 [CommandExec]:LineCapture.verbose (bool)

20220330T033112 [CommandExec]:LineCapture.searchTimeout (hour)

20220330T033112 [CommandExec]:LineCapture.searchCircleRadius (meter)

20220330T033124 [CommandExec]:got command get LineCapture.verbose

20220330T033124 [CommandExec]:LineCapture.verbose 1 bool

20220330T033312 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 60 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.WaitOnDockTimeout 10 min" 469tq 1 4.000000

20220330T033312 [CommandExec]:Scheduling command #1 of 4 with id=469tq

20220330T033312 [CommandExec]:Scheduled #1 (#1 of 4 with id='469tq'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 60 min;set lineCaptureHoming.NeedCommsTime 60 min;set lineCaptureHoming.MicromodemCommsInterval 60 min;set lineCaptureHoming.WaitOnDockTimeout 10 min", ASAP

20220330T033321 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 56 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count;set lineCaptureHoming.DockingAltitude 9.7 m" 469tq 2 4.000000

20220330T033321 [CommandExec]:Scheduling command #2 of 4 with id=469tq

20220330T033321 [CommandExec]:Scheduled #2 (#2 of 4 with id='469tq'): "set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 56 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count;set lineCaptureHoming.DockingAltitude 9.7 m", ASAP

20220330T033330 [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" 469tq 3 4.000000

20220330T033330 [CommandExec]:Scheduling command #3 of 4 with id=469tq

20220330T033330 [CommandExec]:Scheduled #3 (#3 of 4 with id='469tq'): "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m", ASAP

20220330T033340 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 469tq 4 4.000000

20220330T033340 [CommandExec]:Scheduled #4 (#4 of 4 with id='469tq'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20220330T033340 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20220330T033346 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20220330T033403 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 60 minute

20220330T033403 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 60 minute

20220330T033403 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 60 minute

20220330T033403 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 10 minute

20220330T033425 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20220330T033425 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 56 count

20220330T033425 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count

20220330T033425 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 9.7 meter

20220330T033443 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20220330T033443 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 69 meter

20220330T033443 [CommandExec]:got command set lineCaptureHoming.MinAltitude 8.5 meter

20220330T033443 [CommandExec]:got command set lineCaptureHoming.MaxDepth 70 meter

20220330T033504 [Default:CheckIn:E]:Default mission has been running for 6.983348 min

20220330T033509 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20220330T033509 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20220330T033509 [CommandExec]:got command run

20220330T033509 [CommandExec]:Running

20220330T033509 [MissionManager]:Started mission lineCaptureHoming

20220330T033618 [DAT]:No response from remote modem.

20220330T033704 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220330T033718 [DAT]:No response from remote modem.

20220330T033731 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220330T033818 [DAT]:No response from remote modem.

20220330T034432 [InternalSim]:Simulator run error: error=UNSTABLE SIMULATION -- ABORTED,

20220330T034432 [InternalSim]:Software Fault

20220330T034433 [CBIT]:Software Fault in component: InternalSim

20220330T034619 [PowerOnly]:loadControl LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown.

20220330T034619 [PowerOnly]:Hardware Fault

20220330T034620 [CBIT]:Hardware Fault in component: PowerOnly

20220330T035012 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220330T035450 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220330T040040 [RDI_Pathfinder]:only read 2 of 4 data items

20220330T040222 filter is initialized with decay: 0.30.

20220330T040226 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 12.000546 deg.

20220330T040426 approach. Armed for intercept at range: 42.90 m.

20220330T040545 REINIT: LOS rate is 16.607475 deg/s. Setting heading cmd to target acoustic bearing of 338.045786 deg.

20220330T040545 REINIT: LOS rate is 53.717133 deg/s. Setting heading cmd to target acoustic bearing of 338.045786 deg.

20220330T040545 REINIT: LOS rate is 139.457172 deg/s. Setting heading cmd to target acoustic bearing of 338.045786 deg.

20220330T040558 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220330T040625 missed at range: 23.90 m. Rolling out.

20220330T040752 [RDI_Pathfinder]:only read 3 of 4 data items

20220330T040925 rollout at range: 42.80 m. Resuming terminal guidance.

20220330T041224 approach. Armed for intercept at range: 39.80 m.

20220330T041317 REINIT: LOS rate is -22.233271 deg/s. Setting heading cmd to target acoustic bearing of 197.693085 deg.

20220330T041317 REINIT: LOS rate is -20.082354 deg/s. Setting heading cmd to target acoustic bearing of 197.693085 deg.

20220330T041317 REINIT: LOS rate is -20.082354 deg/s. Setting heading cmd to target acoustic bearing of 112.850795 deg.

20220330T041341 missed at range: 15.20 m. Rolling out.

20220330T041541 rollout at range: 127.50 m. Resuming terminal guidance.

20220330T041550 new target pos. Approach rate out of bounds.# range: 135.000000 m,# bearing: nan deg,# deltaT: 0.673298 s,# deltaX: -72.600006 m,# approachRate: -107.827446 m/s,# posRepo size: 3

20220330T041550 new target pos. Approach rate out of bounds.# range: 135.600006 m,# bearing: nan deg,# deltaT: 1.173600 s,# deltaX: -72.000000 m,# approachRate: -61.349693 m/s,# posRepo size: 3

20220330T041551 new target pos. Approach rate out of bounds.# range: 135.899994 m,# bearing: nan deg,# deltaT: 1.673798 s,# deltaX: -71.700012 m,# approachRate: -42.836716 m/s,# posRepo size: 3

20220330T041553 target pos rejection count limit. Clearing pos repo.

20220330T041612 target pos rejection count limit. Clearing pos repo.

20220330T041815 approach. Armed for intercept at range: 44.70 m.

20220330T042320 sequence complete at range 2.80 m. Reached intercept timeout.

20220330T042632 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 97

20220330T042848 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220330T043312 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).

20220330T043331 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 2.700000 m .

20220330T043426 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220330T043510 [MissionManager]:Started mission Default