tethys Path

trajectory

20221202T050449 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20221202T050449 [SBIT]:DAT.ignoreElevationAngle=0 bool;#

20221202T050449 [SBIT]:DAT.surfaceThreshold=-1 meter;#

20221202T050449 [SBIT]:DAT.verbosity=3 count;#

20221202T050449 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5 meter;#

20221202T050449 [SBIT]:HorizontalControl.rudDeadband=0.1 degree;#

20221202T050449 [SBIT]:InternalEnvSim.loadAtStartup=0 bool;#

20221202T050449 [SBIT]:LineCapture.acousticTimeout=10 minute;#

20221202T050449 [SBIT]:LineCapture.midcourseDepth=60 meter;#

20221202T050449 [SBIT]:RudderServo.offsetAngle=2 degree;#

20221202T050449 [SBIT]:VerticalControl.buoyancyNeutral=350.416357 cubic_centimeter;#

20221202T050449 [SBIT]:VerticalControl.elevDeadband=0.1 degree;#

20221202T050449 [SBIT]:VerticalControl.kiDepth=0 radian_per_second_per_meter;#

20221202T050449 [SBIT]:VerticalControl.kpDepth=0.07 radian_per_meter;#

20221202T050449 [SBIT]:VerticalControl.massDefault=6 millimeter;#

20221202T050449 [SBIT]:WetLabsSeaOWL_UV_A.loadAtStartup=0 bool;#

20221202T050450 [MissionManager]:Started mission Startup

20221202T050555 [MissionManager]:Started mission DefaultWithUndock

20221202T050616 [RDI_Pathfinder]:only read 3 of 4 data items

20221202T050626 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221202T050637 [DAT]:No response from remote modem.

20221202T050647 [DAT]:No response from remote modem.

20221202T050657 [DAT]:No response from remote modem.

20221202T050715 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221202T051341 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.760669 min

20221202T051920 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 13.410295 min

20221202T051941 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 11.5 h;set lineCaptureHoming.NeedCommsTime 11.5 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 10.5 h" 1g9b2 1 4.000000

20221202T051941 [CommandExec]:Scheduling command #1 of 4 with id=1g9b2

20221202T051941 [CommandExec]:Scheduled #2 (#1 of 4 with id='1g9b2'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 11.5 h;set lineCaptureHoming.NeedCommsTime 11.5 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 10.5 h", ASAP

20221202T052002 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8 m" 1g9b2 2 4.000000

20221202T052002 [CommandExec]:Scheduling command #2 of 4 with id=1g9b2

20221202T052002 [CommandExec]:Scheduled #3 (#2 of 4 with id='1g9b2'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8 m", ASAP

20221202T052014 [CommandExec]:got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.Lat1 36.771 degree" 1g9b2 3 4.000000

20221202T052014 [CommandExec]:Scheduling command #3 of 4 with id=1g9b2

20221202T052014 [CommandExec]:Scheduled #4 (#3 of 4 with id='1g9b2'): "set lineCaptureHoming.InvalidAltitudeTimeout 13 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.Lat1 36.771 degree", ASAP

20221202T052032 [CommandExec]:got command schedule asap "set lineCaptureHoming.Lon1 -121.86 degree;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 1g9b2 4 4.000000

20221202T052032 [CommandExec]:Scheduled #5 (#4 of 4 with id='1g9b2'): "set lineCaptureHoming.Lon1 -121.86 degree;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", ASAP

20221202T052032 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20221202T052037 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20221202T052052 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 11.5 hour

20221202T052052 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 11.5 hour

20221202T052052 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20221202T052052 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 10.5 hour

20221202T052107 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20221202T052107 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20221202T052107 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 1 meter

20221202T052107 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 8 meter

20221202T052122 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 13 minute

20221202T052122 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20221202T052122 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20221202T052122 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20221202T052122 [CommandExec]:got command set lineCaptureHoming.Lat1 36.771 degree

20221202T052133 [CommandExec]:got command set lineCaptureHoming.Lon1 -121.86 degree

20221202T052133 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20221202T052133 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20221202T052133 [CommandExec]:got command run

20221202T052134 [CommandExec]:Running

20221202T052134 [MissionManager]:Started mission lineCaptureHoming

20221202T052321 [RDI_Pathfinder]:only read 1 of 4 data items

20221202T052708 [DockingStepper]:uart error: serial timeout

20221202T052708 [DockingStepper]:Communications Fault

20221202T052708 [CBIT]:Communications Fault in component: DockingStepper

20221202T052717 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221202T052727 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221202T052737 [RDI_Pathfinder]:only read 0 of 4 data items

20221202T052807 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221202T052827 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221202T052847 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221202T052927 [NanoDVR]:serial timeout

20221202T054111 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221202T054608 filter is initialized with decay: 0.30.

20221202T054612 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 241.130420 deg.

20221202T054642 [DockingStepper]:uart error: serial timeout

20221202T054642 [DockingStepper]:Communications Fault

20221202T054642 [CBIT]:Communications Fault in component: DockingStepper

20221202T054704 approach. Armed for intercept at range: 43.80 m.

20221202T054723 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221202T054807 [DAT]:#Rx 1: Read range message, but no direction.

20221202T054813 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221202T054822 [DAT]:#Rx 1: Read range message, but no direction.

20221202T054826 [DAT]:#Rx 1: Read range message, but no direction.

20221202T054832 REINIT: LOS rate is -14.645802 deg/s. Setting heading cmd to target acoustic bearing of 239.190820 deg.

20221202T054832 REINIT: LOS rate is -19.418636 deg/s. Setting heading cmd to target acoustic bearing of 239.190820 deg.

20221202T054833 REINIT: LOS rate is -35.413183 deg/s. Setting heading cmd to target acoustic bearing of 239.190820 deg.

20221202T054904 longer in short final. Rolling out. Range: 15.60 m.

20221202T054907 [DAT]:Requesting device enable set for address 50.

20221202T055019 [DAT]:Requesting device enable clr for address 50.

20221202T055050 rollout at range: 162.60 m. Resuming terminal guidance.

20221202T055051 to midcourse guidance. Received last range of 162.600006 m 0.002793 min ago.

20221202T055233 filter is initialized with decay: 0.30.

20221202T055337 approach. Armed for intercept at range: 39.10 m.

20221202T055457 REINIT: LOS rate is 23.210268 deg/s. Setting heading cmd to target acoustic bearing of 221.126894 deg.

20221202T055458 REINIT: LOS rate is 32.713222 deg/s. Setting heading cmd to target acoustic bearing of 221.126894 deg.

20221202T055458 REINIT: LOS rate is 49.115937 deg/s. Setting heading cmd to target acoustic bearing of 221.126894 deg.

20221202T055515 missed at range: 7.80 m. Rolling out.

20221202T055523 [DAT]:Requesting device enable set for address 50.

20221202T055539 new target pos. Approach rate out of bounds.#

20221202T055539 [DAT]:Requesting device enable clr for address 50.

20221202T055721 rollout at range: 165.60 m. Resuming terminal guidance.

20221202T055722 to midcourse guidance. Received last range of 165.600006 m 0.004398 min ago.

20221202T055813 filter is initialized with decay: 0.30.

20221202T055817 new target pos. Approach rate out of bounds.#

20221202T055818 to midcourse guidance. Received last range of 163.100006 m 0.005485 min ago.

20221202T055931 approach. Armed for intercept at range: 59.40 m.

20221202T060019 [DAT]:Requesting device enable set for address 50.

20221202T060041 missed at range: 9.10 m. Rolling out.

20221202T060219 rollout at range: 171.30 m. Resuming terminal guidance.

20221202T060220 [DAT]:Requesting device enable clr for address 50.

20221202T060753 longer in short final. Rolling out. Range: 16.20 m.

20221202T061713 longer in short final. Rolling out. Range: 15.20 m.

20221202T062549 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range.

20221202T063425 missed at range: 179.70 m. Rolling out.

20221202T063832 [NanoDVR]:Ack message checksum did not match.

20221202T064211 [DockingStepper]:Initialization uart error serial timeout

20221202T064211 [DockingStepper]:Failed to initialize

20221202T064332 new target pos. Approach rate out of bounds.#

20221202T064605 sequence complete at range 2.30 m. Cable present.

20221202T064650 [DockingStepper]:Initialization uart error serial timeout

20221202T064650 [DockingStepper]:Failed to initialize

20221202T064700 [DockingStepper]:Initialization uart error serial timeout

20221202T064700 [DockingStepper]:Failed to initialize

20221202T082725 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).

20221202T091741 [RudderServo]:getPosition uart error serial timeout

20221202T091741 [RudderServo]:Rudder uart error - getPosition..serial timeout

20221202T091741 [RudderServo]:Communications Fault

20221202T091741 [CBIT]:Communications Fault in component: RudderServo

20221202T094030 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20221202T104334 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).

20221202T110407 [CBIT]:Beginning ground fault scan

20221202T151146 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).

20221202T165135 [MissionManager]:Started mission DefaultWithUndock

20221202T165229 [ElevatorOffsetCalculator]:Completed estimation for commanded vars: speed 0.50 m/s, pitch 0.00 deg, mass-position 6.00 mm. Average elevator angle=0.008663 +/- 0.001908 deg (conf. level 99.90%, sigma: 0.017168 deg).

20221202T165305 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221202T165707 [DataOverHttps]:Could not stat file Logs/20221202T050301/Courier0028.lzma

20221202T165707 [DataOverHttps]:Could not open file Logs/20221202T050301/Courier0028.lzma

20221202T165715 [DataOverHttps]:Could not stat file Logs/20221202T050301/Courier0028.lzma

20221202T165715 [DataOverHttps]:Could not open file Logs/20221202T050301/Courier0028.lzma

20221202T165749 [DataOverHttps]:Could not stat file Logs/20221202T050301/Courier0028.lzma

20221202T165749 [DataOverHttps]:Could not open file Logs/20221202T050301/Courier0028.lzma

20221202T170204 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 10.489978 min