tethys Path

trajectory

20220607T033820 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 28.655267 min

20220607T033924 [CommandExec]:got command load ./Missions/Transport/transit.xml

20220607T033925 [CommandExec]:Loaded ./Missions/Transport/transit.xml

20220607T033940 [CommandExec]:got command set transit.MissionTimeout 45 minute

20220607T033940 [CommandExec]:got command set transit.NeedCommsTime 45 minute

20220607T033940 [CommandExec]:got command set transit.Latitude 36.772886 degree

20220607T033940 [CommandExec]:got command set transit.Longitude -121.86307 degree

20220607T033940 [CommandExec]:got command set transit.Northings 700 meter

20220607T033940 [CommandExec]:got command set transit.Eastings -700 meter

20220607T033940 [CommandExec]:got command run

20220607T033940 [CommandExec]:Running

20220607T033940 [CommandExec]:got command failComponent hardware DAT

20220607T033940 [DAT]:Hardware Fault

20220607T033941 [CommandExec]:DAT failureMode is Hardware Fault

20220607T033941 [MissionManager]:Started mission transit

20220607T033941 [CBIT]:Hardware Fault in component: DAT

20220607T034645 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220607T034914 [NAL9602]:Failed to initiate SBD session. Error code: 2

20220607T034927 [MissionManager]:Started mission DefaultWithUndock

20220607T035009 [DAT]:No response from remote modem.

20220607T035019 [DAT]:No response from remote modem.

20220607T035020 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220607T035029 [DAT]:No response from remote modem.

20220607T035606 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 6.645682 min

20220607T040144 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 12.283583 min

20220607T041227 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.NeedCommsTime 1.5 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 15 min" 2kx03 1 4.000000

20220607T041227 [CommandExec]:Scheduling command #1 of 4 with id=2kx03

20220607T041227 [CommandExec]:Scheduled #10 (#1 of 4 with id='2kx03'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.NeedCommsTime 1.5 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 15 min", ASAP

20220607T041236 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 60 count;set lineCaptureHoming.RangeUSBL 25 m;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count" 2kx03 2 4.000000

20220607T041236 [CommandExec]:Scheduling command #2 of 4 with id=2kx03

20220607T041236 [CommandExec]:Scheduled #11 (#2 of 4 with id='2kx03'): "set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.NumPingsUSBL 60 count;set lineCaptureHoming.RangeUSBL 25 m;set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count", ASAP

20220607T041245 [CommandExec]:got command schedule asap "set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 5 m;set lineCaptureHoming.MaxDepth 70 m" 2kx03 3 4.000000

20220607T041245 [CommandExec]:Scheduling command #3 of 4 with id=2kx03

20220607T041245 [CommandExec]:Scheduled #12 (#3 of 4 with id='2kx03'): "set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MinAltitude 5 m;set lineCaptureHoming.MaxDepth 70 m", ASAP

20220607T041254 [CommandExec]:got command schedule asap "set lineCaptureHoming.Lat1 36.7793 degree;set lineCaptureHoming.Lon1 -121.86319 degree;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 2kx03 4 4.000000

20220607T041254 [CommandExec]:Scheduled #13 (#4 of 4 with id='2kx03'): "set lineCaptureHoming.Lat1 36.7793 degree;set lineCaptureHoming.Lon1 -121.86319 degree;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20220607T041254 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20220607T041258 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20220607T041316 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 1 hour

20220607T041316 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 1.5 hour

20220607T041316 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20220607T041316 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 15 minute

20220607T041338 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20220607T041338 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 60 count

20220607T041338 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 25 meter

20220607T041338 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL 7 count

20220607T041402 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 8.3 meter

20220607T041402 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20220607T041402 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 69 meter

20220607T041402 [CommandExec]:got command set lineCaptureHoming.MinAltitude 5 meter

20220607T041402 [CommandExec]:got command set lineCaptureHoming.MaxDepth 70 meter

20220607T041442 [CommandExec]:got command set lineCaptureHoming.Lat1 36.7793 degree

20220607T041442 [CommandExec]:got command set lineCaptureHoming.Lon1 -121.86319 degree

20220607T041442 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20220607T041442 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20220607T041442 [CommandExec]:got command run

20220607T041442 [CommandExec]:Running

20220607T041442 [MissionManager]:Started mission lineCaptureHoming

20220607T043429 filter is initialized with decay: 0.30.

20220607T043432 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 105.073579 deg.

20220607T043555 approach. Armed for intercept at range: 43.90 m.

20220607T043625 [DAT]:Requesting device enable set for address 50.

20220607T043625 [RDI_Pathfinder]:only read 2 of 4 data items

20220607T043635 [RDI_Pathfinder]:only read 1 of 4 data items

20220607T043636 REINIT: LOS rate is -12.739444 deg/s. Setting heading cmd to target acoustic bearing of 99.309641 deg.

20220607T043637 REINIT: LOS rate is -12.027336 deg/s. Setting heading cmd to target acoustic bearing of 99.309641 deg.

20220607T043637 REINIT: LOS rate is -12.027336 deg/s. Setting heading cmd to target acoustic bearing of 177.569805 deg.

20220607T043638 REINIT: LOS rate is 23.085089 deg/s. Setting heading cmd to target acoustic bearing of 177.569805 deg.

20220607T043638 REINIT: LOS rate is 23.064445 deg/s. Setting heading cmd to target acoustic bearing of 177.569805 deg.

20220607T043638 REINIT: LOS rate is 23.193222 deg/s. Setting heading cmd to target acoustic bearing of 177.569805 deg.

20220607T043639 [DAT]:#Rx 30: Read range message, but no direction.

20220607T043639 [DAT]:#Rx 32: Read range message, but no direction.

20220607T043640 [DAT]:#Rx 33: Read range message, but no direction.

20220607T043645 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220607T043804 missed at range: 23.70 m. Rolling out.

20220607T043815 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220607T043839 [DAT]:Requesting device enable clr for address 50.

20220607T043909 new target pos. Approach rate out of bounds.# range: 160.100006 m,# bearing: nan deg,# deltaT: 5.011181 s,# deltaX: 84.000008 m,# approachRate: 16.762518 m/s,# posRepo size: 4

20220607T044009 rollout at range: 193.50 m. Resuming terminal guidance.

20220607T044256 approach. Armed for intercept at range: 43.20 m.

20220607T044325 [DAT]:Requesting device enable set for address 50.

20220607T044415 missed at range: 20.60 m. Rolling out.

20220607T044427 new target pos. Approach rate out of bounds.# range: 155.699997 m,# bearing: nan deg,# deltaT: 2.084999 s,# deltaX: 127.500000 m,# approachRate: 61.151108 m/s,# posRepo size: 4

20220607T044506 [DAT]:Requesting device enable clr for address 50.

20220607T044617 rollout at range: 180.90 m. Resuming terminal guidance.

20220607T044833 approach. Armed for intercept at range: 43.20 m.

20220607T044858 [DAT]:Requesting device enable set for address 50.

20220607T044942 missed at range: 19.50 m. Rolling out.

20220607T045029 [DAT]:Requesting device enable clr for address 50.

20220607T045242 rollout at range: 62.20 m. Resuming terminal guidance.

20220607T045249 new target pos. Approach rate out of bounds.# range: 162.699997 m,# bearing: nan deg,# deltaT: 4.032091 s,# deltaX: -49.500000 m,# approachRate: -12.276508 m/s,# posRepo size: 1

20220607T045531 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20220607T045621 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20220607T045631 [RDI_Pathfinder]:only read 2 of 4 data items

20220607T051056 [NanoDVR]:serial timeout

20220607T051319 new target pos. Approach rate out of bounds.# range: 171.000000 m,# bearing: nan deg,# deltaT: 4.035932 s,# deltaX: -25.600006 m,# approachRate: -6.343022 m/s,# posRepo size: 1

20220607T051443 [MissionManager]:Started mission DefaultWithUndock

20220607T051537 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20220607T051948 [NAL9602]:Failed to initiate SBD session. Error code: 2