tethys Path

trajectory

20221206T160553 [CommandExec]:got command set keepstation.MissionTimeout 2 hour

20221206T160553 [CommandExec]:got command set keepstation.NeedCommsTime 20 minute

20221206T160553 [CommandExec]:got command set keepstation.Latitude Nan degree

20221206T160553 [CommandExec]:got command set keepstation.Longitude Nan degree

20221206T160553 [CommandExec]:got command set keepstation.DepthDeadband 15 meter

20221206T160556 [MissionManager]:Started mission DefaultWithUndock

20221206T160556 [CommandExec]:got command set keepstation.Speed 1 meter_per_second

20221206T160556 [CommandExec]:got command set keepstation.Radius 400 meter

20221206T160556 [CommandExec]:got command run

20221206T160556 [CommandExec]:Running

20221206T160557 [MissionManager]:Started mission keepstation

20221206T160558 [keepstation:StandardEnvelopes:A.AltitudeEnvelope]:Altitude Measurement is not Active.

20221206T160613 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221206T160953 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221206T162403 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221206T162413 [RDI_Pathfinder]:only read 2 of 4 data items

20221206T163505 [CommandExec]:got command stop

20221206T163505 [CommandExec]:Scheduling is paused

20221206T163506 [MissionManager]:Started mission DefaultWithUndock

20221206T163548 [DAT]:No response from remote modem.

20221206T163558 [DAT]:No response from remote modem.

20221206T163608 [DAT]:No response from remote modem.

20221206T163626 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221206T164235 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.476646 min

20221206T164817 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 13.183379 min

20221206T164839 [CommandExec]:got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.7819 degree;set transit.Longitude -121.85438 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m" 1ojrm 1 2.000000

20221206T164839 [CommandExec]:Scheduling command #1 of 2 with id=1ojrm

20221206T164839 [CommandExec]:Scheduled #3 (#1 of 2 with id='1ojrm'): "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.7819 degree;set transit.Longitude -121.85438 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m", ASAP

20221206T164852 [CommandExec]:got command schedule asap "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1ojrm 2 2.000000

20221206T164852 [CommandExec]:Scheduling command #2 of 2 with id=1ojrm

20221206T164852 [CommandExec]:Scheduled #4 (#2 of 2 with id='1ojrm'): "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run", ASAP

20221206T164852 [CommandExec]:got command load ./Missions/Transport/transit.tl

20221206T164852 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20221206T164853 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20221206T164904 [CommandExec]:got command set transit.MissionTimeout 60 minute

20221206T164904 [CommandExec]:got command set transit.NeedCommsTime 30 minute

20221206T164904 [CommandExec]:got command set transit.Latitude 36.7819 degree

20221206T164904 [CommandExec]:got command set transit.Longitude -121.85438 degree

20221206T164904 [CommandExec]:got command set transit.Depth 10 meter

20221206T164904 [CommandExec]:got command set transit.MaxDepth 20 meter

20221206T164907 [CommandExec]:got command set transit.MinOffshore 1 kilometer

20221206T164907 [CommandExec]:got command set transit.MinAltitude 7 meter

20221206T164907 [CommandExec]:got command run

20221206T164907 [CommandExec]:Running

20221206T164908 [MissionManager]:Started mission transit

20221206T164911 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.781898,-121.854378

20221206T170315 [MissionManager]:Started mission DefaultWithUndock

20221206T170350 [DockingStepper]:uart error: serial timeout

20221206T170350 [DockingStepper]:Communications Fault

20221206T170350 [CBIT]:Communications Fault in component: DockingStepper

20221206T170435 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221206T170604 [CommandExec]:got command show stack

20221206T170604 [CommandExec]:Behavior Stack:#

20221206T170604 [DefaultWithUndock:SurfaceDefault]:Priority 0: DefaultWithUndock:SurfaceDefault:A.GoToSurface

20221206T170604 [DefaultWithUndock:SurfaceDefault:CheckIn]:Priority 1: DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait

20221206T171010 [CommandExec]:got command schedule clear

20221206T171010 [CommandExec]:Cleared 0 scheduled commands.

20221206T171010 [CommandExec]:got command schedule resume

20221206T171010 [CommandExec]:Scheduling is resumed

20221206T171013 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 6.960619 min

20221206T171148 [CommandExec]:got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.7702 degree;set transit.Longitude -121.86598 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m" 1ol2f 1 2.000000

20221206T171148 [CommandExec]:Scheduling command #1 of 2 with id=1ol2f

20221206T171148 [CommandExec]:Scheduled #5 (#1 of 2 with id='1ol2f'): "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.7702 degree;set transit.Longitude -121.86598 degree;set transit.Depth 10 m;set transit.MaxDepth 20 m", ASAP

20221206T171157 [CommandExec]:got command schedule asap "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1ol2f 2 2.000000

20221206T171157 [CommandExec]:Scheduling command #2 of 2 with id=1ol2f

20221206T171157 [CommandExec]:Scheduled #6 (#2 of 2 with id='1ol2f'): "set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run", ASAP

20221206T171157 [CommandExec]:got command load ./Missions/Transport/transit.tl

20221206T171157 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20221206T171157 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20221206T171210 [CommandExec]:got command set transit.MissionTimeout 60 minute

20221206T171210 [CommandExec]:got command set transit.NeedCommsTime 30 minute

20221206T171210 [CommandExec]:got command set transit.Latitude 36.7702 degree

20221206T171210 [CommandExec]:got command set transit.Longitude -121.86598 degree

20221206T171210 [CommandExec]:got command set transit.Depth 10 meter

20221206T171210 [CommandExec]:got command set transit.MaxDepth 20 meter

20221206T171210 [CommandExec]:got command schedule "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 1.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 2 count" 1ol2m 1 4.000000

20221206T171210 [CommandExec]:Scheduling command #1 of 4 with id=1ol2m

20221206T171210 [CommandExec]:Scheduled #7 (#1 of 4 with id='1ol2m'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 1.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 2 count", AFTER MISSION

20221206T171214 [CommandExec]:got command set transit.MinOffshore 1 kilometer

20221206T171214 [CommandExec]:got command set transit.MinAltitude 7 meter

20221206T171214 [CommandExec]:got command run

20221206T171214 [CommandExec]:Running

20221206T171214 [MissionManager]:Started mission transit

20221206T171216 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.770199,-121.865982

20221206T171219 [CommandExec]:got command schedule "set lineCaptureHoming.WaitOnDockTimeout 1 min;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.01 m" 1ol2m 2 4.000000

20221206T171219 [CommandExec]:Scheduling command #2 of 4 with id=1ol2m

20221206T171219 [CommandExec]:Scheduled #8 (#2 of 4 with id='1ol2m'): "set lineCaptureHoming.WaitOnDockTimeout 1 min;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.01 m", AFTER MISSION

20221206T171228 [CommandExec]:got command schedule "set lineCaptureHoming.DockingAltitude 8 m;set lineCaptureHoming.InvalidAltitudeTimeout 15 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m" 1ol2m 3 4.000000

20221206T171228 [CommandExec]:Scheduling command #3 of 4 with id=1ol2m

20221206T171228 [CommandExec]:Scheduled #9 (#3 of 4 with id='1ol2m'): "set lineCaptureHoming.DockingAltitude 8 m;set lineCaptureHoming.InvalidAltitudeTimeout 15 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m", AFTER MISSION

20221206T171242 [CommandExec]:got command schedule "set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 1ol2m 4 4.000000

20221206T171242 [CommandExec]:Scheduled #10 (#4 of 4 with id='1ol2m'): "set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", AFTER MISSION

20221206T172616 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221206T173608 [RudderServo]:getPosition uart error serial timeout

20221206T173608 [RudderServo]:Rudder uart error - getPosition..serial timeout

20221206T173608 [RudderServo]:Communications Fault

20221206T173608 [CBIT]:Communications Fault in component: RudderServo

20221206T174100 [RDI_Pathfinder]:only read 3 of 4 data items

20221206T174236 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221206T174622 [RDI_Pathfinder]:only read 0 of 4 data items

20221206T175505 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20221206T175509 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20221206T175524 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20221206T175524 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 1.9 hour

20221206T175524 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20221206T175524 [CommandExec]:got command set lineCaptureHoming.Repeat 2 count

20221206T175539 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 1 minute

20221206T175539 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20221206T175539 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20221206T175539 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.01 meter

20221206T175555 [DAT]:#Rx 1: Read range message, but no direction.

20221206T175559 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 8 meter

20221206T175559 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 15 minute

20221206T175559 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20221206T175559 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20221206T175559 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20221206T175612 [CommandExec]:got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 meter

20221206T175612 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20221206T175612 [MissionManager]:Started mission lineCaptureHoming

20221206T175817 [DAT]:#Rx 1: Read range message, but no direction.

20221206T180821 [DAT]:#Rx 1: Read range message, but no direction.

20221206T180904 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221206T181547 filter is initialized with decay: 0.30.

20221206T181559 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 13.999797 deg.

20221206T181643 approach. Armed for intercept at range: 36.00 m.

20221206T181801 [DAT]:Requesting device enable set for address 50.

20221206T182009 to midcourse guidance. Received last range of 165.399994 m 0.005962 min ago.

20221206T182017 [DAT]:Requesting device enable clr for address 50.

20221206T182033 filter is initialized with decay: 0.30.

20221206T182153 approach. Armed for intercept at range: 42.00 m.

20221206T182302 missed at range: 13.20 m. Rolling out.

20221206T182311 [DAT]:Requesting device enable set for address 50.

20221206T182734 rollout at range: 156.90 m. Resuming terminal guidance.

20221206T182735 to midcourse guidance. Received last range of 156.899994 m 0.001746 min ago.

20221206T182735 [DAT]:Requesting device enable clr for address 50.

20221206T182804 filter is initialized with decay: 0.30.

20221206T182806 [DockingStepper]:Initialization uart error serial timeout

20221206T182806 [DockingStepper]:Failed to initialize

20221206T182909 [RDI_Pathfinder]:only read 0 of 1 data item for altitude

20221206T182919 approach. Armed for intercept at range: 43.00 m.

20221206T182935 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range.

20221206T183056 [DAT]:Requesting device enable set for address 50.

20221206T183158 sequence complete at range 1.00 m. Cable present. Reached intercept timeout.

20221206T183305 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.000000 m .

20221206T183311 [DockingStepper]:uart error: serial timeout

20221206T183311 [DockingStepper]:Communications Fault

20221206T183311 [CBIT]:Communications Fault in component: DockingStepper

20221206T183539 [DockingStepper]:uart error: serial timeout

20221206T183539 [DockingStepper]:Communications Fault

20221206T183539 [CBIT]:Communications Fault in component: DockingStepper

20221206T183744 REINIT: LOS rate is 15.151028 deg/s. Setting heading cmd to target acoustic bearing of 325.200717 deg.

20221206T183745 REINIT: LOS rate is 19.950304 deg/s. Setting heading cmd to target acoustic bearing of 325.200717 deg.

20221206T183745 REINIT: LOS rate is 21.807097 deg/s. Setting heading cmd to target acoustic bearing of 325.200717 deg.

20221206T183752 longer in short final. Rolling out. Range: 15.60 m.

20221206T184747 [DAT]:Requesting device enable clr for address 50.

20221206T185819 rollout at range: 167.60 m. Resuming terminal guidance.

20221206T185819 to midcourse guidance. Received last range of 167.600006 m 0.007006 min ago.

20221206T190258 sequence complete at range 1.00 m. Cable present. Reached intercept timeout.

20221206T190406 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.000000 m .

20221206T190629 [NanoDVR]:Ack message checksum did not match.

20221206T190757 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.