tethys Path

trajectory

20220330T234053 [CommandExec]:got command restart logs

20220330T234307 [CommandExec]:got command load ./Missions/Transport/keepstation.xml

20220330T234308 [CommandExec]:Loaded ./Missions/Transport/keepstation.xml

20220330T234317 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20220330T234317 [CommandExec]:got command set keepstation.NeedCommsTime 35 minute

20220330T234317 [CommandExec]:got command set keepstation.Latitude 36.78 degree

20220330T234317 [CommandExec]:got command set keepstation.Longitude -121.8648 degree

20220330T234317 [CommandExec]:got command run

20220330T234317 [CommandExec]:Running

20220330T234318 [MissionManager]:Started mission keepstation

20220330T235045 [RDI_Pathfinder]:only read 2 of 4 data items

20220330T235941 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached Waypoint: 36.779999,-121.864799

20220331T000205 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220331T002208 [CBIT]:Beginning ground fault scan

20220331T004057 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220331T004615 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220331T005003 [RDI_Pathfinder]:only read 2 of 4 data items

20220331T005043 [RDI_Pathfinder]:only read 2 of 4 data items

20220331T012825 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220331T014811 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220331T015834 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220331T022803 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220331T023941 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220331T024021 [NAL9602]:Inadequate Iridium signal strength reported: 0

20220331T024032 [NAL9602]:Inadequate Iridium signal strength reported: 0

20220331T024037 [NAL9602]:Inadequate Iridium signal strength reported: 0

20220331T032826 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220331T034318 [MissionManager]:Started mission DefaultWithUndock

20220331T034400 [DAT]:No response from remote modem.

20220331T034409 [DAT]:No response from remote modem.

20220331T034417 [DAT]:No response from remote modem.

20220331T034433 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220331T034454 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220331T034909 [CommandExec]:got command load ./Missions/Transport/keepstation.xml

20220331T034909 [CommandExec]:Loaded ./Missions/Transport/keepstation.xml

20220331T034918 [CommandExec]:got command set keepstation.MissionTimeout 12 hour

20220331T034918 [CommandExec]:got command set keepstation.NeedCommsTime 60 minute

20220331T034918 [CommandExec]:got command set keepstation.Latitude 36.78 degree

20220331T034918 [CommandExec]:got command set keepstation.Longitude -121.8648 degree

20220331T034918 [CommandExec]:got command run

20220331T034918 [CommandExec]:Running

20220331T034919 [MissionManager]:Started mission keepstation

20220331T035058 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached Waypoint: 36.779999,-121.864799

20220331T045724 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220331T050851 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220331T062219 [CBIT]:Beginning ground fault scan

20220331T072251 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20220331T082046 [NAL9602]:Failed to receive proper response when querying signal strength for MT queue check.

20220331T092005 [RDI_Pathfinder]:only read -1 of 1 data item for altitude

20220331T122231 [CBIT]:Beginning ground fault scan

20220331T154919 [MissionManager]:Started mission DefaultWithUndock

20220331T155025 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220331T155814 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 8.904073 min

20220331T160350 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 14.499765 min

20220331T160927 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 20.124849 min

20220331T161728 [CommandExec]:got command load ./Missions/Transport/keepstation.xml

20220331T161729 [CommandExec]:Loaded ./Missions/Transport/keepstation.xml

20220331T161738 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20220331T161738 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20220331T161738 [CommandExec]:got command set keepstation.Latitude 36.78 degree

20220331T161738 [CommandExec]:got command set keepstation.Longitude -121.8648 degree

20220331T161738 [CommandExec]:got command run

20220331T161738 [CommandExec]:Running

20220331T161738 [MissionManager]:Started mission keepstation

20220331T162827 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached Waypoint: 36.779999,-121.864799

20220331T163028 [CommandExec]:got command stop

20220331T163028 [CommandExec]:Scheduling is paused

20220331T163028 [MissionManager]:Started mission DefaultWithUndock

20220331T163133 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220331T163451 [CommandExec]:got command show variable dock

20220331T163451 [CommandExec]:Dock.docking_state_cmd (enum)

20220331T163451 [CommandExec]:Dock.docking_state (enum)

20220331T163451 [CommandExec]:DockingServo.loadAtStartup (bool)

20220331T163451 [CommandExec]:DockingServo.simulateHardware (bool)

20220331T163451 [CommandExec]:DockingServo.countsPerDeg (count_per_angular_degree)

20220331T163451 [CommandExec]:DockingServo.currLimit (percent)

20220331T163451 [CommandExec]:DockingServo.deviationAngle (angular_degree)

20220331T163451 [CommandExec]:DockingServo.limitHi (count)

20220331T163451 [CommandExec]:DockingServo.limitLo (count)

20220331T163451 [CommandExec]:DockingServo.mtrCenter (count)

20220331T163451 [CommandExec]:DockingServo.offsetAngle (degree)

20220331T163451 [CommandExec]:DockingServo.pidW (count)

20220331T163451 [CommandExec]:DockingServo.pidX (count)

20220331T163451 [CommandExec]:DockingServo.pidY (count)

20220331T163451 [CommandExec]:DockingServo.powerOnTimeout (second)

20220331T163451 [CommandExec]:DockingServo.openAngle (degree)

20220331T163451 [CommandExec]:DockingServo.closedAngle (degree)

20220331T163451 [CommandExec]:DockingServo.loadControl (none)

20220331T163451 [CommandExec]:DockingServo.uart (none)

20220331T163451 [CommandExec]:DockingServo.baud (bit_per_second)

20220331T163451 [CommandExec]:Dock.lat (angular_degree)

20220331T163451 [CommandExec]:Dock.lon (angular_degree)

20220331T163451 [CommandExec]:Dock.depth (meter)

20220331T163451 [CommandExec]:Dock.transponderCode (count)

20220331T163451 [CommandExec]:Docked.dockingDepthOffset (meter)

20220331T163451 [CommandExec]:Docked.dockRange (meter)

20220331T163451 [CommandExec]:Docked.dockPitch (degree)

20220331T163451 [CommandExec]:Docked.detachTimeout (second)

20220331T163451 [CommandExec]:Docked.dockTimeout (second)

20220331T163451 [CommandExec]:Docked.dataTimeout (second)

20220331T163451 [CommandExec]:Docked.verbose (bool)

20220331T163451 [CommandExec]:SetNav.dockRange (meter)

20220331T163451 [CommandExec]:Undock.undockDepth (meter)

20220331T163451 [CommandExec]:Undock.undockRange (meter)

20220331T163451 [CommandExec]:Undock.undockTimeout (second)

20220331T163451 [CommandExec]:Undock.reverseThrustTimeout (second)

20220331T163451 [CommandExec]:Undock.verbose (bool)

20220331T163451 [CommandExec]:DockingServo.enableBroadcast (bool)

20220331T163451 [CommandExec]:DockingServo.component_voltage (volt)

20220331T163451 [CommandExec]:DockingServo.component_avgVoltage (volt)

20220331T163451 [CommandExec]:DockingServo.component_current (milliampere)

20220331T163451 [CommandExec]:DockingServo.component_avgCurrent (milliampere)

20220331T163451 [CommandExec]:DockingServo.armAngle (radian)

20220331T163451 [CommandExec]:Dock.dock_cable_present (bool)

20220331T163451 [CommandExec]:DockingServo.cableValue (count)

20220331T163451 [CommandExec]:DefaultWithUndock.ElapsedSinceDefaultStarted (minute)

20220331T163451 [CommandExec]:DefaultWithUndock.DetachTimeout (minute)

20220331T163451 [CommandExec]:DefaultWithUndock.TransponderCode (count)

20220331T163451 [CommandExec]:DefaultWithUndock.TrackingUpdatePeriod (second)

20220331T163451 [CommandExec]:DefaultWithUndock.NumberOfPings (count)

20220331T163451 [CommandExec]:DefaultWithUndock.DetachModeDDM (count)

20220331T163457 [CommandExec]:got command show variable speed

20220331T163457 [CommandExec]:platform_speed_wrt_ground (meter_per_second)

20220331T163457 [CommandExec]:platform_speed_wrt_sea_water (meter_per_second)

20220331T163457 [CommandExec]:sea_water_speed (unknown)

20220331T163457 [CommandExec]:speed_of_sound_in_sea_water (unknown)

20220331T163457 [CommandExec]:ThrusterHE.ratedSpeed (count)

20220331T163457 [CommandExec]:SpeedControl.loadAtStartup (bool)

20220331T163457 [CommandExec]:SpeedControl.propPitch (meter_per_radian)

20220331T163457 [CommandExec]:SpeedCalculator.loadAtStartup (bool)

20220331T163457 [CommandExec]:SpeedCalculator.speedAccuracy (meter_per_second)

20220331T163457 [CommandExec]:BR_Ping1D.soundSpeed (meter_per_second)

20220331T163457 [CommandExec]:DUSBL_Hydroid.defaultSoundSpeed (meter_per_second)

20220331T163457 [CommandExec]:Rowe_600.maxSpeed (meter_per_second)

20220331T163458 [CommandExec]:DeadReckonUsingSpeedCalculator.loadAtStartup (bool)

20220331T163458 [CommandExec]:DeadReckonUsingSpeedCalculator.verbosity (count)

20220331T163458 [CommandExec]:LBLNavigation.speedOfSound (meter_per_second)

20220331T163458 [CommandExec]:LBLNavigation.maxSpeedWrtTransponder (meter_per_second)

20220331T163458 [CommandExec]:Config/Simulator.designSpeed (meter_per_second)

20220331T163458 [CommandExec]:Config/Simulator.speedRud (angular_degree_per_second)

20220331T163458 [CommandExec]:Config/Simulator.speedElev (angular_degree_per_second)

20220331T163458 [CommandExec]:Config/Simulator.soundSpeed (meter_per_second)

20220331T163458 [CommandExec]:Config/Simulator.speedMovableMass (millimeter_per_second)

20220331T163458 [CommandExec]:Config/Simulator.speedBuoyancy (cubic_centimeter_per_second)

20220331T163458 [CommandExec]:LineCapture.midcourseSpeed (meter_per_second)

20220331T163458 [CommandExec]:LineCapture.armSpeed (meter_per_second)

20220331T163458 [CommandExec]:LineCapture.rolloutSpeed (meter_per_second)

20220331T163458 [CommandExec]:SpeedCalculator.platform_speed_wrt_sea_water (meter_per_second)

20220331T163458 [CommandExec]:SpeedControl.propOmegaAction (radian_per_second)

20220331T163458 [CommandExec]:SpeedControl.speedCmd (meter_per_second)

20220331T163458 [CommandExec]:SpeedControl.enableBroadcast (bool)

20220331T163458 [CommandExec]:SpeedCalculator.enableBroadcast (bool)

20220331T163524 [CommandExec]:got command get LineCapture.midcourseSpeed

20220331T163524 [CommandExec]:LineCapture.midcourseSpeed 0.800000 m/s

20220331T163705 [CommandExec]:got command configSet LineCapture.midcourseSpeed 1 meter_per_second persist

20220331T163705 [CommandExec]:got command configSet LineCapture.armSpeed 1 meter_per_second persist

20220331T163705 [CommandExec]:got command configSet LineCapture.rolloutSpeed 1 meter_per_second persist

20220331T163821 [CommandExec]:got command get LineCapture.midcourseSpeed

20220331T163821 [CommandExec]:LineCapture.midcourseSpeed 1.000000 m/s

20220331T164107 [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" 494yz 1 4.000000

20220331T164107 [CommandExec]:Scheduling command #1 of 4 with id=494yz

20220331T164107 [CommandExec]:Scheduled #13 (#1 of 4 with id='494yz'): "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

20220331T164115 [CommandExec]:got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 2 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0 m;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count" 494yz 2 4.000000

20220331T164115 [CommandExec]:Scheduling command #2 of 4 with id=494yz

20220331T164115 [CommandExec]:Scheduled #14 (#2 of 4 with id='494yz'): "set lineCaptureHoming.WaitOnDockTimeout 2 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0 m;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count", ASAP

20220331T164124 [CommandExec]:got command schedule asap "set lineCaptureHoming.DockingAltitude 9.1 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m" 494yz 3 4.000000

20220331T164124 [CommandExec]:Scheduling command #3 of 4 with id=494yz

20220331T164124 [CommandExec]:Scheduled #15 (#3 of 4 with id='494yz'): "set lineCaptureHoming.DockingAltitude 9.1 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m", ASAP

20220331T164133 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 494yz 4 4.000000

20220331T164133 [CommandExec]:Scheduled #16 (#4 of 4 with id='494yz'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20220331T164133 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20220331T164138 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20220331T164150 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 90 minute

20220331T164150 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 90 minute

20220331T164150 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 90 minute

20220331T164150 [CommandExec]:got command set lineCaptureHoming.Repeat 6 count

20220331T164210 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 2 minute

20220331T164210 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20220331T164210 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0 meter

20220331T164210 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count

20220331T164226 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 9.1 meter

20220331T164226 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20220331T164226 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 69 meter

20220331T164226 [CommandExec]:got command set lineCaptureHoming.MinAltitude 8.5 meter

20220331T164226 [CommandExec]:got command set lineCaptureHoming.MaxDepth 70 meter

20220331T164241 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20220331T164241 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20220331T164241 [MissionManager]:Started mission lineCaptureHoming

20220331T164857 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20220331T165249 filter is initialized with decay: 0.30.

20220331T165253 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 184.026036 deg.

20220331T165435 approach. Armed for intercept at range: 36.90 m.

20220331T165536 missed at range: 16.80 m. Rolling out.

20220331T165727 [RDI_Pathfinder]:DVL uart error: serial timeout

20220331T165727 [RDI_Pathfinder]:Communications Fault

20220331T165727 [CBIT]:Communications Fault in component: RDI_Pathfinder

20220331T165741 rollout at range: 163.30 m. Resuming terminal guidance.

20220331T165916 approach. Armed for intercept at range: 36.90 m.

20220331T165958 REINIT: LOS rate is 14.125958 deg/s. Setting heading cmd to target acoustic bearing of 186.936350 deg.

20220331T165959 REINIT: LOS rate is 13.519251 deg/s. Setting heading cmd to target acoustic bearing of 186.936350 deg.

20220331T165959 REINIT: LOS rate is 16.019335 deg/s. Setting heading cmd to target acoustic bearing of 186.936350 deg.

20220331T170024 missed at range: 15.60 m. Rolling out.

20220331T170324 rollout at range: 56.10 m. Resuming terminal guidance.

20220331T170727 approach. Armed for intercept at range: 42.00 m.

20220331T170846 missed at range: 10.80 m. Rolling out.

20220331T171147 rollout at range: 12.60 m. Resuming terminal guidance.

20220331T171405 [DockingServo]:Could not parse cable state. Received:223,16179#

20220331T171405 [DockingServo]:Communications Fault

20220331T171405 [CBIT]:Communications Fault in component: DockingServo

20220331T172040 new target pos. Approach rate out of bounds.# range: 195.600006 m,# bearing: nan deg,# deltaT: 4.031908 s,# deltaX: -22.299988 m,# approachRate: -5.530877 m/s,# posRepo size: 1

20220331T172449 REINIT: LOS rate is -18.711944 deg/s. Setting heading cmd to target acoustic bearing of 13.775717 deg.

20220331T172450 REINIT: LOS rate is -20.966586 deg/s. Setting heading cmd to target acoustic bearing of 13.775717 deg.

20220331T172451 REINIT: LOS rate is -28.272363 deg/s. Setting heading cmd to target acoustic bearing of 13.775717 deg.

20220331T173847 [DockingServo]:Overload Error

20220331T173847 [DockingServo]:Hardware Fault

20220331T173847 [CBIT]:Hardware Fault in component: DockingServo

20220331T173853 [DockingServo]:Overload Error

20220331T173853 [DockingServo]:Hardware Fault

20220331T173853 [CBIT]:Hardware Fault in component: DockingServo

20220331T173859 sequence complete at range 2.10 m. Cable present.

20220331T174107 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 2.100000 m .

20220331T174418 filter is initialized with decay: 0.30.

20220331T180259 [DockingServo]:Overload Error

20220331T180259 [DockingServo]:Hardware Fault

20220331T180259 [CBIT]:Hardware Fault in component: DockingServo

20220331T180314 sequence complete at range 2.10 m. Cable present.

20220331T180359 [BPC1]:BPC1A failed to parse battery data due to unrecognized msg size.

20220331T180522 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 2.300000 m .

20220331T180800 filter is initialized with decay: 0.30.

20220331T191134 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.