tethys Path

trajectory

20220331T191511 [CommandExec]:got command restart logs

20220331T191558 [RDI_Pathfinder]:only read 2 of 4 data items

20220331T191606 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220331T191608 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220331T191610 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 110

20220331T191625 [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" 49c5y 1 4.000000

20220331T191625 [CommandExec]:Scheduling command #1 of 4 with id=49c5y

20220331T191625 [CommandExec]:Scheduled #17 (#1 of 4 with id='49c5y'): "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

20220331T191635 [CommandExec]:got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 2 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 60 count;set lineCaptureHoming.RangeUSBL 25 m" 49c5y 2 4.000000

20220331T191635 [CommandExec]:Scheduling command #2 of 4 with id=49c5y

20220331T191635 [CommandExec]:Scheduled #18 (#2 of 4 with id='49c5y'): "set lineCaptureHoming.WaitOnDockTimeout 2 min;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 60 count;set lineCaptureHoming.RangeUSBL 25 m", ASAP

20220331T191647 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count;set lineCaptureHoming.DockingAltitude 9.1 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m" 49c5y 3 4.000000

20220331T191647 [CommandExec]:Scheduling command #3 of 4 with id=49c5y

20220331T191647 [CommandExec]:Scheduled #19 (#3 of 4 with id='49c5y'): "set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count;set lineCaptureHoming.DockingAltitude 9.1 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m", ASAP

20220331T191659 [CommandExec]:got command schedule asap "set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 49c5y 4 4.000000

20220331T191659 [CommandExec]:Scheduled #20 (#4 of 4 with id='49c5y'): "set lineCaptureHoming.MinAltitude 8.5 m;set lineCaptureHoming.MaxDepth 70 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20220331T191659 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20220331T191706 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20220331T191721 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 90 minute

20220331T191721 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 90 minute

20220331T191721 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 90 minute

20220331T191721 [CommandExec]:got command set lineCaptureHoming.Repeat 6 count

20220331T191738 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 2 minute

20220331T191738 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20220331T191738 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 60 count

20220331T191738 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 25 meter

20220331T191756 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count

20220331T191756 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 9.1 meter

20220331T191756 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20220331T191756 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 69 meter

20220331T191814 [CommandExec]:got command set lineCaptureHoming.MinAltitude 8.5 meter

20220331T191814 [CommandExec]:got command set lineCaptureHoming.MaxDepth 70 meter

20220331T191814 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20220331T191814 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20220331T191814 [CommandExec]:got command run

20220331T191814 [CommandExec]:Running

20220331T191814 [MissionManager]:Started mission lineCaptureHoming

20220331T191932 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20220331T192254 [RDI_Pathfinder]:only read 2 of 4 data items

20220331T193022 filter is initialized with decay: 0.30.

20220331T193025 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 325.891964 deg.

20220331T193219 approach. Armed for intercept at range: 45.70 m.

20220331T193616 REINIT: LOS rate is -11.460943 deg/s. Setting heading cmd to target acoustic bearing of 22.607078 deg.

20220331T193617 REINIT: LOS rate is -12.180480 deg/s. Setting heading cmd to target acoustic bearing of 22.607078 deg.

20220331T193618 REINIT: LOS rate is -13.178327 deg/s. Setting heading cmd to target acoustic bearing of 22.607078 deg.

20220331T193941 missed at range: 37.70 m. Rolling out.

20220331T194006 [DAT]:No response from remote modem.

20220331T194023 [DAT]:No response from remote modem.

20220331T194040 [DAT]:No response from remote modem.

20220331T194210 [RDI_Pathfinder]:only read 3 of 4 data items

20220331T194242 rollout at range: 37.70 m. Resuming terminal guidance.

20220331T194557 approach. Armed for intercept at range: 31.10 m.

20220331T194714 missed at range: 40.50 m. Rolling out.

20220331T194930 [RDI_Pathfinder]:only read -1 of 1 data item for altitude

20220331T195015 rollout at range: 40.50 m. Resuming terminal guidance.

20220331T195453 approach. Armed for intercept at range: 40.80 m.

20220331T195610 missed at range: 12.90 m. Rolling out.

20220331T195910 rollout at range: 46.20 m. Resuming terminal guidance.

20220331T200116 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220331T200136 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220331T201029 REINIT: LOS rate is 15.386463 deg/s. Setting heading cmd to target acoustic bearing of 201.428641 deg.

20220331T201029 REINIT: LOS rate is 209.649588 deg/s. Setting heading cmd to target acoustic bearing of 201.428641 deg.

20220331T201030 REINIT: LOS rate is 30.997574 deg/s. Setting heading cmd to target acoustic bearing of 201.428641 deg.

20220331T201052 [DockingServo]:Overload Error

20220331T201052 [DockingServo]:Hardware Fault

20220331T201052 [CBIT]:Hardware Fault in component: DockingServo

20220331T201102 [DockingServo]:Overload Error

20220331T201102 [DockingServo]:Hardware Fault

20220331T201103 [CBIT]:Hardware Fault in component: DockingServo

20220331T201110 [DockingServo]:Overload Error

20220331T201110 [DockingServo]:Hardware Fault

20220331T201110 [CBIT]:Hardware Fault in component: DockingServo

20220331T201123 sequence complete at range 1.70 m. Cable present.

20220331T201333 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.800000 m .

20220331T201553 filter is initialized with decay: 0.30.

20220331T201613 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220331T201943 new target pos. Approach rate out of bounds.# range: 192.600006 m,# bearing: nan deg,# deltaT: 1.540799 s,# deltaX: 61.300003 m,# approachRate: 39.784554 m/s,# posRepo size: 2

20220331T201944 new target pos. Approach rate out of bounds.# range: 192.300003 m,# bearing: nan deg,# deltaT: 2.040600 s,# deltaX: 61.000000 m,# approachRate: 29.893169 m/s,# posRepo size: 2

20220331T201944 new target pos. Approach rate out of bounds.# range: 193.699997 m,# bearing: nan deg,# deltaT: 2.541600 s,# deltaX: 62.399994 m,# approachRate: 24.551462 m/s,# posRepo size: 2

20220331T201947 target pos rejection count limit. Clearing pos repo.

20220331T202022 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220331T202102 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220331T203711 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220331T204029 [RDI_Pathfinder]:DVL uart error: serial timeout

20220331T204029 [RDI_Pathfinder]:Communications Fault

20220331T204029 [CBIT]:Communications Fault in component: RDI_Pathfinder

20220331T204815 [MissionManager]:Started mission DefaultWithUndock

20220331T204920 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220331T205305 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220331T205406 [NAL9602]:Failed to initiate SBD session. Error code: 2