tethys Path

trajectory

20221204T212519 [DAT]:No response from remote modem.

20221204T213047 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.028313 min

20221204T213129 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221204T213221 [CommandExec]:got command schedule resume

20221204T213328 [CommandExec]:got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.76993 degree;set transit.Longitude -121.86082 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m" 1l7vk 1 2.000000

20221204T213328 [CommandExec]:Scheduling command #1 of 2 with id=1l7vk

20221204T213328 [CommandExec]:Scheduled #1 (#1 of 2 with id='1l7vk'): "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.76993 degree;set transit.Longitude -121.86082 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m", ASAP

20221204T213336 [CommandExec]:got command schedule asap "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1l7vk 2 2.000000

20221204T213336 [CommandExec]:Scheduling command #2 of 2 with id=1l7vk

20221204T213336 [CommandExec]:Scheduled #2 (#2 of 2 with id='1l7vk'): "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run", ASAP

20221204T213336 [CommandExec]:got command load ./Missions/Transport/transit.tl

20221204T213336 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20221204T213337 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20221204T213349 [CommandExec]:got command set transit.MissionTimeout 60 minute

20221204T213349 [CommandExec]:got command set transit.NeedCommsTime 30 minute

20221204T213349 [CommandExec]:got command set transit.Latitude 36.76993 degree

20221204T213349 [CommandExec]:got command set transit.Longitude -121.86082 degree

20221204T213349 [CommandExec]:got command set transit.Depth 10 meter

20221204T213349 [CommandExec]:got command set transit.MaxDepth 20 meter

20221204T213349 [CommandExec]:got command schedule "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 2 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s" 1l7vr 1 4.000000

20221204T213349 [CommandExec]:Scheduling command #1 of 4 with id=1l7vr

20221204T213349 [CommandExec]:Scheduled #3 (#1 of 4 with id='1l7vr'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 2 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s", AFTER MISSION

20221204T213353 [CommandExec]:got command set transit.MinOffshore 1 kilometer

20221204T213353 [CommandExec]:got command set transit.MinAltitude 7 meter

20221204T213353 [CommandExec]:got command run

20221204T213353 [CommandExec]:Running

20221204T213353 [MissionManager]:Started mission transit

20221204T213355 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.769932,-121.860817

20221204T213359 [CommandExec]:got command schedule "set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8 m;set lineCaptureHoming.InvalidAltitudeTimeout 15 min;set lineCaptureHoming.AltitudeDepthLimit 72 m" 1l7vr 2 4.000000

20221204T213359 [CommandExec]:Scheduling command #2 of 4 with id=1l7vr

20221204T213359 [CommandExec]:Scheduled #4 (#2 of 4 with id='1l7vr'): "set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 1 m;set lineCaptureHoming.DockingAltitude 8 m;set lineCaptureHoming.InvalidAltitudeTimeout 15 min;set lineCaptureHoming.AltitudeDepthLimit 72 m", AFTER MISSION

20221204T213412 [CommandExec]:got command schedule "set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.Lat1 36.771 degree;set lineCaptureHoming.Lon1 -121.86 degree;set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 m" 1l7vr 3 4.000000

20221204T213412 [CommandExec]:Scheduling command #3 of 4 with id=1l7vr

20221204T213412 [CommandExec]:Scheduled #5 (#3 of 4 with id='1l7vr'): "set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.Lat1 36.771 degree;set lineCaptureHoming.Lon1 -121.86 degree;set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 m", AFTER MISSION

20221204T214526 [RDI_Pathfinder]:only read 2 of 4 data items

20221204T220157 [CommandExec]:got command schedule "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 1l7vr 4 4.000000

20221204T220157 [CommandExec]:Scheduled #6 (#4 of 4 with id='1l7vr'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", AFTER MISSION

20221204T220220 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221204T220222 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221204T220314 [RDI_Pathfinder]:only read 2 of 4 data items

20221204T220856 [RDI_Pathfinder]:only read 3 of 4 data items

20221204T222158 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221204T222411 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20221204T222416 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20221204T222416 [MissionManager]:Started mission DefaultWithUndock

20221204T222432 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20221204T222432 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 2 hour

20221204T222432 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20221204T222432 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20221204T222449 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20221204T222449 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 1 meter

20221204T222449 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 8 meter

20221204T222449 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 15 minute

20221204T222449 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20221204T222508 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20221204T222508 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20221204T222508 [CommandExec]:got command set lineCaptureHoming.Lat1 36.771 degree

20221204T222508 [CommandExec]:got command set lineCaptureHoming.Lon1 -121.86 degree

20221204T222508 [CommandExec]:got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 meter

20221204T222511 [DAT]:#Rx 1: Read range message, but no direction.

20221204T222515 [DAT]:#Rx 1: Read range message, but no direction.

20221204T222519 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20221204T222519 [CommandExec]:got command set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 none

20221204T222519 [CommandExec]:got command run

20221204T222519 [CommandExec]:Running

20221204T222519 [MissionManager]:Started mission lineCaptureHoming

20221204T222520 [DAT]:#Rx 1: Read range message, but no direction.

20221204T222622 [CommandExec]:got command schedule "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run" 1l7vr 4 4.000000

20221204T222622 [CommandExec]:Scheduled #7 (#4 of 4 with id='1l7vr'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;set lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay 0.7 n/a;run", AFTER MISSION

20221204T223056 [DockingStepper]:Initialization uart error serial timeout

20221204T223056 [DockingStepper]:Failed to initialize

20221204T223202 [DAT]:No response from remote modem.

20221204T223233 [DAT]:No response from remote modem.

20221204T223924 filter is initialized with decay: 0.30.

20221204T223928 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 311.289652 deg.

20221204T223936 new target pos. Approach rate out of bounds.#

20221204T223936 to midcourse guidance. Received last range of 159.600006 m 0.002678 min ago.

20221204T223951 filter is initialized with decay: 0.30.

20221204T224129 approach. Armed for intercept at range: 39.80 m.

20221204T224204 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221204T224219 REINIT: LOS rate is 11.743966 deg/s. Setting heading cmd to target acoustic bearing of 318.746023 deg.

20221204T224219 REINIT: LOS rate is 401.076755 deg/s. Setting heading cmd to target acoustic bearing of 318.746023 deg.

20221204T224224 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221204T224244 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221204T224246 longer in short final. Rolling out. Range: 19.30 m.

20221204T224253 [DAT]:Requesting device enable set for address 50.

20221204T224423 rollout at range: 168.60 m. Resuming terminal guidance.

20221204T224424 to midcourse guidance. Received last range of 168.600006 m 0.005448 min ago.

20221204T224424 [DAT]:Requesting device enable clr for address 50.

20221204T224444 filter is initialized with decay: 0.30.

20221204T224446 [DockingStepper]:Initialization uart error serial timeout

20221204T224446 [DockingStepper]:Failed to initialize

20221204T224452 new target pos. Approach rate out of bounds.#

20221204T224453 to midcourse guidance. Received last range of 180.699997 m 0.004448 min ago.

20221204T224650 approach. Armed for intercept at range: 37.00 m.

20221204T224653 [DAT]:Requesting device enable set for address 50.

20221204T224801 missed at range: 9.60 m. Rolling out.

20221204T224917 [DAT]:Requesting device enable clr for address 50.

20221204T225017 rollout at range: 176.40 m. Resuming terminal guidance.

20221204T225057 new target pos. Approach rate out of bounds.#

20221204T225236 approach. Armed for intercept at range: 41.00 m.

20221204T225326 REINIT: LOS rate is 19.131626 deg/s. Setting heading cmd to target acoustic bearing of 340.877607 deg.

20221204T225353 longer in short final. Rolling out. Range: 15.90 m.

20221204T225357 [DAT]:Requesting device enable set for address 50.

20221204T225540 [DAT]:Requesting device enable clr for address 50.

20221204T225614 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221204T225712 rollout at range: 195.80 m. Resuming terminal guidance.

20221204T230101 sequence complete at range 1.50 m. Cable present.

20221204T230206 [DockingStepper]:Initialization uart error serial timeout

20221204T230206 [DockingStepper]:Failed to initialize

20221204T230609 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.900000 m .

20221204T231040 [lineCaptureHoming:Wpt1:C.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20221204T231701 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221204T232039 [lineCaptureHoming:Wpt1:C.Waypoint]:Reached waypoint: 36.771000,-121.860001

20221204T232039 [MissionManager]:Started mission DefaultWithUndock

20221204T232154 [DockingStepper]:uart error: serial timeout

20221204T232154 [DockingStepper]:Communications Fault

20221204T232154 [CBIT]:Communications Fault in component: DockingStepper

20221204T232155 [DockingStepper]:LCB fault: LCB Watchdog Reset. Hardware Overcurrent Shutdown. Current Limiter Activated.

20221204T232155 [DockingStepper]:Hardware Fault

20221204T232205 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221204T232525 [NAL9602]:Failed to initiate SBD session. Error code: 2