tethys Path

trajectory

20220330T202115 [CommandExec]:got command restart logs

20220330T202351 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 10.281929 min

20220330T202740 [RDI_Pathfinder]:only read 2 of 4 data items

20220330T203035 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 90 min;set lineCaptureHoming.NeedCommsTime 90 min;set lineCaptureHoming.MicromodemCommsInterval 90 min;set lineCaptureHoming.Repeat 6 count" 47kxh 1 4.000000

20220330T203035 [CommandExec]:Scheduling command #1 of 4 with id=47kxh

20220330T203035 [CommandExec]:Scheduled #5 (#1 of 4 with id='47kxh'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 90 min;set lineCaptureHoming.NeedCommsTime 90 min;set lineCaptureHoming.MicromodemCommsInterval 90 min;set lineCaptureHoming.Repeat 6 count", ASAP

20220330T203036 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 17.041964 min

20220330T203050 [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" 47kxh 2 4.000000

20220330T203050 [CommandExec]:Scheduling command #2 of 4 with id=47kxh

20220330T203050 [CommandExec]:Scheduled #6 (#2 of 4 with id='47kxh'): "set lineCaptureHoming.WaitOnDockTimeout 10 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 49 count;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count", ASAP

20220330T203105 [CommandExec]:got command schedule asap "set lineCaptureHoming.DockingAltitude 9.2 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m" 47kxh 3 4.000000

20220330T203105 [CommandExec]:Scheduling command #3 of 4 with id=47kxh

20220330T203105 [CommandExec]:Scheduled #7 (#3 of 4 with id='47kxh'): "set lineCaptureHoming.DockingAltitude 9.2 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m", ASAP

20220330T203114 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 47kxh 4 4.000000

20220330T203114 [CommandExec]:Scheduled #8 (#4 of 4 with id='47kxh'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20220330T203114 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20220330T203119 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20220330T203138 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 90 minute

20220330T203138 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 90 minute

20220330T203138 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 90 minute

20220330T203138 [CommandExec]:got command set lineCaptureHoming.Repeat 6 count

20220330T203201 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 10 minute

20220330T203201 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20220330T203201 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 49 count

20220330T203201 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count

20220330T203227 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 9.2 meter

20220330T203227 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20220330T203227 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 69 meter

20220330T203227 [CommandExec]:got command set lineCaptureHoming.MinAltitude 8.5 meter

20220330T203227 [CommandExec]:got command set lineCaptureHoming.MaxDepth 70 meter

20220330T203246 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20220330T203246 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20220330T203246 [CommandExec]:got command run

20220330T203246 [CommandExec]:Running

20220330T203246 [MissionManager]:Started mission lineCaptureHoming

20220330T203954 filter is initialized with decay: 0.30.

20220330T203957 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 322.001554 deg.

20220330T204151 approach. Armed for intercept at range: 40.60 m.

20220330T204216 [RDI_Pathfinder]:only read 2 of 4 data items

20220330T204250 REINIT: LOS rate is 465.299439 deg/s. Setting heading cmd to target acoustic bearing of 321.520570 deg.

20220330T204251 REINIT: LOS rate is 12.512406 deg/s. Setting heading cmd to target acoustic bearing of 321.520570 deg.

20220330T204317 missed at range: 23.70 m. Rolling out.

20220330T204426 [DAT]:No response from remote modem.

20220330T204526 [DAT]:No response from remote modem.

20220330T204556 [RDI_Pathfinder]:only read 2 of 4 data items

20220330T204617 rollout at range: 44.90 m. Resuming terminal guidance.

20220330T204626 [DAT]:No response from remote modem.

20220330T204656 [RDI_Pathfinder]:DVL uart error: serial timeout

20220330T204656 [RDI_Pathfinder]:Communications Fault

20220330T204656 [CBIT]:Communications Fault in component: RDI_Pathfinder

20220330T205056 approach. Armed for intercept at range: 46.90 m.

20220330T205103 [RDI_Pathfinder]:only read -1 of 1 data item for BIT error

20220330T205113 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220330T205218 REINIT: LOS rate is -14.244445 deg/s. Setting heading cmd to target acoustic bearing of 57.880446 deg.

20220330T205219 REINIT: LOS rate is -11.472409 deg/s. Setting heading cmd to target acoustic bearing of 57.880446 deg.

20220330T205219 REINIT: LOS rate is -15.062888 deg/s. Setting heading cmd to target acoustic bearing of 57.880446 deg.

20220330T205241 missed at range: 8.70 m. Rolling out.

20220330T205541 rollout at range: 81.70 m. Resuming terminal guidance.

20220330T205759 approach. Armed for intercept at range: 36.00 m.

20220330T205844 REINIT: LOS rate is 46.943213 deg/s. Setting heading cmd to target acoustic bearing of 322.881698 deg.

20220330T205904 missed at range: 11.70 m. Rolling out.

20220330T210205 rollout at range: 12.50 m. Resuming terminal guidance.

20220330T210707 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220330T210837 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220330T210847 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220330T211020 new target pos. Approach rate out of bounds.# range: 212.100006 m,# bearing: nan deg,# deltaT: 2.543000 s,# deltaX: 64.500000 m,# approachRate: 25.363743 m/s,# posRepo size: 4

20220330T211022 new target pos. Approach rate out of bounds.# range: 211.399994 m,# bearing: nan deg,# deltaT: 3.542501 s,# deltaX: 63.799988 m,# approachRate: 18.009872 m/s,# posRepo size: 4

20220330T212133 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220330T212503 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220330T213003 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220330T213108 [DockingServo]:Overload Error

20220330T213108 [DockingServo]:Hardware Fault

20220330T213108 [CBIT]:Hardware Fault in component: DockingServo

20220330T213114 [DockingServo]:Overload Error

20220330T213114 [DockingServo]:Hardware Fault

20220330T213114 [CBIT]:Hardware Fault in component: DockingServo

20220330T213120 [DockingServo]:Overload Error

20220330T213120 [DockingServo]:Hardware Fault

20220330T213120 [CBIT]:Hardware Fault in component: DockingServo

20220330T213136 sequence complete at range 2.00 m. Cable present. Reached intercept timeout.

20220330T214144 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 2.000000 m .

20220330T214404 filter is initialized with decay: 0.30.

20220330T214814 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220330T214852 [ElevatorServo]:getPosition uart error serial timeout

20220330T214852 [ElevatorServo]:Elevator uart error - getPosition.serial timeout

20220330T214852 [ElevatorServo]:Communications Fault

20220330T214853 [CBIT]:Communications Fault in component: ElevatorServo

20220330T214904 new target pos. Approach rate out of bounds.# range: 223.699997 m,# bearing: nan deg,# deltaT: 1.035600 s,# deltaX: 53.399994 m,# approachRate: 51.564304 m/s,# posRepo size: 1

20220330T214914 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220330T220248 [MissionManager]:Started mission DefaultWithUndock

20220330T220348 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220330T220602 [RDI_Pathfinder]:No DVL communication! Re-initializing

20220330T220602 [RDI_Pathfinder]:Communications Fault

20220330T220602 [CBIT]:Communications Fault in component: RDI_Pathfinder

20220330T220639 [NAL9602]:Failed to initiate SBD session. Error code: 2